CN114034877A

CN114034877A - Clamping mechanism, sampling mechanism, detection device and clamping detection method

Info

Publication number: CN114034877A
Application number: CN202111298387.XA
Authority: CN
Inventors: 王盼
Original assignee: Shenzhen Furuikang Technology Co ltd
Current assignee: Shenzhen Furuikang Technology Co ltd
Priority date: 2021-11-04
Filing date: 2021-11-04
Publication date: 2022-02-11

Abstract

The invention discloses a clamping mechanism, a sampling mechanism, a detection device and a clamping detection method. The sampling mechanism adopts the clamping mechanism to take and place the gas collecting card, so that smooth sampling and lofting of the gas collecting card can be ensured, and the detection device with the sampling mechanism can ensure that the gas collecting card can be smoothly fed into the detection chamber or taken out of the detection chamber. In addition, when the gas collection card is detected by the detection device, whether the clamping mechanism clamps the gas collection card or not can be detected by the clamping detection method, so that the detection efficiency is improved.

Description

Clamping mechanism, sampling mechanism, detection device and clamping detection method

Technical Field

The invention relates to the technical field of detection equipment, in particular to a clamping mechanism, a sampling mechanism, a detection device and a clamping detection method.

Background

The detection device generally takes and places a sample to be detected through a clamping mechanism so as to facilitate sample introduction and detection. The clamping mechanism has the over-tight or over-loose clamping condition during sampling, so that the sample is damaged or fails to be clamped, the clamping reliability of the equipment is low, and the detection efficiency is influenced.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a clamping mechanism which can improve the clamping reliability, and provides a sampling mechanism and a detection device with the clamping mechanism. The invention also provides a clamping detection method for detecting whether the clamping mechanism clamps the gas collecting card.

The technical scheme adopted by the invention is as follows:

in a first aspect, the present invention provides a gripping mechanism comprising:

a first connecting member;

the clamping jaw assembly comprises a pair of clamping pieces which are oppositely arranged in parallel, and at least one clamping piece is movably connected with the first connecting piece and can move relative to the first connecting piece;

the elastic piece provides acting force to enable the clamping pieces to move oppositely and keep parallel;

the clamping jaw driving mechanism comprises a cam and a cam driving element, the cam is located between the clamping pieces, the cam driving element is used for driving the cam to rotate, and the cam can abut against at least one clamping piece through rotation, so that the distance between the two clamping pieces is increased and kept parallel.

As an improvement of the above technical solution, the pair of clamping pieces includes a first clamping piece and a second clamping piece, wherein an elastic piece is arranged between the first clamping piece and the first connecting piece and can move relative to the first connecting piece, and the second clamping piece is fixedly connected to the first connecting piece; the cam comprises a first contour and a second contour, the first contour protrudes out of one side of a base circle of the cam, the first contour is used for abutting against the first clamping piece and enabling the first clamping piece to move towards a direction far away from the second clamping piece, and the distance between the second contour and the axis is not larger than the distance between the second clamping piece and the axis of the cam.

As a further improvement of the above technical solution, each of the clamping pieces is movably connected to the first connecting piece, and the elastic piece is disposed between each of the clamping pieces and the first connecting piece, or the clamping pieces are connected by the elastic piece, the cam includes a first contour and a second contour protruding from two opposite sides of a base circle, and the first contour and the second contour are respectively used for abutting against the clamping pieces and moving the clamping pieces toward or away from each other.

As a further improvement of the above technical solution, a cross section of the cam perpendicular to an axis is an ellipse, the axis is located at a center of the ellipse, and the first contour and the second contour are correspondingly located on a major axis side of the ellipse.

As a further improvement of the above technical solution, the clamping piece movably connected to the first connecting piece includes a clamping end and a mounting end, and the clamping end is connected to the mounting end; the first connecting piece is provided with a sliding groove, the mounting end can be slidably arranged in the sliding groove, and the cam is positioned between the two clamping pieces.

As a further improvement of the above technical solution, the elastic member is a compression spring, one end of the mounting end located inside the chute is provided with a guide rod penetrating through the chute, the first connecting member is provided with a guide rod mounting hole for the guide rod to penetrate through, and the guide rod mounting hole is communicated with the chute; the compression spring is sleeved on the guide rod, and two ends of the compression spring respectively abut against the mounting end and the end wall of the sliding groove.

As a further improvement of the above technical solution, each of the clamping pieces is movably connected to the first connecting piece, the clamping piece includes a clamping end and a mounting end, the clamping end is connected to the mounting end, a sliding rod is arranged on the first connecting piece along a moving direction of the clamping piece, and the mounting end is sleeved on the sliding rod and can slide along the sliding rod.

As a further improvement of the above technical solution, the elastic member is an extension spring, two ends of the extension spring are respectively connected to the mounting ends of the two clamping pieces, and when the distance between the mounting ends is minimum, the length of the extension spring is not less than the length of the extension spring in a natural state.

As a further improvement of the above technical solution, a first hollow portion is formed in the middle of the first connecting member, the clamping piece is disposed in the first hollow portion, and a portion of the clamping piece for clamping extends to the outside of the first connecting member.

As a further improvement of the above technical solution, the cam is connected to the cam driving element through a rotating shaft, a limiting member is disposed on the rotating shaft, the limiting member and the cam rotate synchronously, the first connecting member is provided with a limiting portion in the first hollow portion, the limiting portion limits the limiting member to rotate within a range of a set angle, and the set angle is not less than an angle required by the cam to move the clamping piece between the minimum distance and the maximum distance.

As a further improvement of the above technical solution, the clamping mechanism further comprises a clamping detection module for detecting that the distance between the clamping pieces reaches a set distance.

As a further improvement of the above technical scheme, the clamping detection module includes a first optical coupler and a first blocking piece, the first optical coupler is disposed in the first connecting piece, the first blocking piece is disposed in one of the first connecting piece, the clamping piece is disposed on the clamp piece and moves along with the clamp piece, the distance between the clamp pieces is set to be the distance, and the first blocking piece changes the output level of the first optical coupler.

As a further improvement of the above technical scheme, a first notch has been seted up on the first separation blade, the first separation blade shelter from in between the light-emitting device of first opto-coupler and the photic ware and along with the removal of clamping piece removes, the clamping piece interval does during the settlement distance, first notch is aimed at first opto-coupler is in order to supply the light of light-emitting device passes through, the interval of clamping piece is greater than or less than during the settlement distance, first notch skew between the light-emitting device of first opto-coupler and the photic ware.

As a further improvement of the above technical solution, the distance between the clamping pieces is set as the distance, the first blocking piece is shielded between the light emitting device and the light receiving device of the first optical coupler, and the distance between the clamping pieces is greater than or less than the set distance, and the first blocking piece is deviated between the light emitting device and the light receiving device of the first optical coupler.

As a further improvement of the above technical solution, the clamping detection module further includes a second optocoupler and a second stop, and the second stop is connected to the cam and rotates with the cam; when the distance from the cam to the clamping pieces is the set distance, the second blocking piece changes the output level of the second optocoupler.

As a further improvement of the above technical solution, when the distance from the cam to the clamping piece is the set distance, the second blocking piece blocks between the light emitter and the light receiver of the second optocoupler; or, the second blocking piece blocks between the light emitting device and the light receiving device of the second optical coupler, a second notch is formed in the second blocking piece, the cam rotates to the position, where the distance between the clamping pieces is the set distance, of the second optical coupler, and the second notch is aligned between the light emitting device and the light receiving device of the second optical coupler.

In a second aspect, the present invention provides a sampling mechanism, including the clamping mechanism in the technical scheme of the first aspect, for clamping a sample to be measured; and the material moving mechanism is connected with the clamping mechanism and is used for moving the clamping mechanism along the set direction.

As an improvement of the above technical solution, the sampling mechanism further includes: the bracket is connected to the material moving mechanism; the second connecting piece is rotatably connected to the bracket, and the first connecting piece is detachably connected to the second connecting piece; and the rotating mechanism is used for driving the second connecting piece to rotate.

In a third aspect, the present invention further provides a detection apparatus for detecting a gas collection card, including a detection chamber, a sampling mechanism and the sampling mechanism of the second aspect, wherein the sampling mechanism is used for taking and placing the gas collection card, the sampling mechanism is connected to the sampling mechanism, and the sampling mechanism is used for sampling the gas collection card clamped by the sampling mechanism into the detection chamber or taking the gas collection card out of the detection chamber.

In a fourth aspect, the present invention further provides a clamping detection method, which is applied to the detection apparatus in the technical scheme of the third aspect, and is used for detecting the gas collection card, and the method includes:

controlling the cam to rotate to enable the clamping piece to be clamped tightly, and obtaining the change of the current first optical coupler output level;

and judging whether the change of the output level of the first optical coupler accords with a set change rule or not, if so, controlling the sampling mechanism to feed the clamped gas collecting card into the detection chamber, and if not, controlling the cam to rotate to open the clamping piece and controlling the clamping mechanism to move to the next sampling position.

The invention has at least the following beneficial effects:

in the clamping mechanism, the cam can abut against at least one clamping piece through rotation, so that the distance between the two clamping pieces is increased and kept parallel, the clamping jaws are opened, the elastic piece provides acting force to enable the clamping pieces to move oppositely and keep parallel, therefore, the clamping force of the clamping pieces is provided by the elastic piece, the elastic self-adaptive capacity is realized, the problem of over-loose or over-tight clamping is solved, and the clamping reliability is effectively improved.

The sampling mechanism adopts the clamping mechanism to take and place the gas collecting card, so that smooth sampling and lofting of the gas collecting card can be ensured, and the detection device with the sampling mechanism can ensure that the gas collecting card can be smoothly fed into the detection chamber or taken out of the detection chamber.

In addition, when the gas collection card is detected by the detection device, whether the clamping mechanism clamps the gas collection card or not can be detected by the clamping detection method, so that the detection efficiency is improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic perspective view of a clamping mechanism (including a gas collection card) according to an embodiment of the present invention;

FIG. 2 is a schematic view of a part of the internal structure of the gripping mechanism of FIG. 1;

FIG. 3 is a cross-sectional view taken along section A-A of FIG. 1;

FIG. 4 is a cross-sectional view taken along section B-B of FIG. 3;

FIG. 5 is a cross-sectional view taken along section C-C of FIG. 3;

FIG. 6 is a schematic view of another state of FIG. 5;

FIG. 7 is a simplified schematic illustration of a further embodiment of a clip in a closed position;

FIG. 8 is a schematic cross-sectional view of a cam, clip and first connector according to some embodiments;

FIG. 9 is a simplified schematic view of the cam and clip of FIG. 8;

FIG. 10 is a schematic cross-sectional view of a cam, clip and first connector in further embodiments;

FIG. 11 is a simplified schematic view of the cam and clip of FIG. 10;

FIG. 12 is a schematic view of a cam, clip and first connector in further embodiments;

FIG. 13 is a schematic structural view of the first connecting member of FIG. 1;

FIG. 14 is a schematic view of the second connector of FIG. 1;

fig. 15 is a partial schematic view of a gripping mechanism according to an embodiment;

FIG. 16 is a schematic structural view of a sampling mechanism according to one embodiment of the present invention;

fig. 17 is a partial structural schematic view of the sampling mechanism.

Reference numerals:

the clamping mechanism 100, the clamping piece 110, the first clamping piece 111, the second clamping piece 111', the mounting end 112, the clamping end 113, the gap 114, the first blocking piece 115, the first notch 1151, the guide rod 116 and the first optical coupler C1;

the clamping jaw driving mechanism 120, the rotating shaft 121, the cam 122, the cam driving element 123, the first profile 124, the second profile 125, the second stop piece 126, the limiting piece 127 and the second optical coupler C2;

first connecting piece 130, elastic piece 136, sliding groove 137, sliding rod 138, first hollow part 139;

the second connecting member 140, the gear ring 146, the second hollow portion 147, the stopper portion 148;

a rotating mechanism 200, a gear driving element 210, a gear 220, a bracket 230;

a material moving mechanism 300 and a gas collecting card 500.

Detailed Description

The concept and technical effects of the present invention will be clearly and completely described in the following embodiments to fully understand the objects, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" to another feature, it may be directly disposed, fixed, or connected to the other feature or may be indirectly disposed, fixed, connected, or mounted to the other feature. In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood as being used to distinguish between technical features, and not as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

Fig. 1 is a perspective view of a clamping mechanism (including a gas collecting card) according to an embodiment of the present invention, and fig. 2 is a schematic view of a partial internal structure of the clamping mechanism in fig. 1. the clamping mechanism 100 according to an embodiment of the present invention includes a first connecting member 130, a jaw assembly, an elastic member 136, and a jaw driving mechanism 120, wherein the jaw assembly includes a pair of jaws 110 disposed in parallel and opposite to each other, and at least one of the jaws 110 is movably connected to the first connecting member 130 and can move relative to the first connecting member 130, thereby achieving an opening and closing movement of the pair of jaws 110. The resilient members 136 provide a force to move the jaws 110 toward each other and parallel to provide a clamping force to the jaws 110 that tends to close the pair of jaws 110 under the action of the resilient members 136 for clamping the air collection card 500.

Fig. 3 is a sectional view taken along a-a in fig. 1, and fig. 4 is a sectional view taken along B-B in fig. 3, while referring to fig. 3 and 4, the jaw drive mechanism 120 includes cams 122 and cam drive members 123, the cams 122 being located between the jaws 110, the cam drive members 123 being adapted to drive the cams 122 to rotate. The cam 122 generally has a profile protruding from the base circle, i.e., a profile having a portion with a radius larger than the radius of the base circle, and the cam 122 can rotate against at least one of the clips 110 to increase the distance between the clips 110 and keep the clips parallel, thereby expanding a pair of clips 110.

Fig. 5 is a cross-sectional view taken along section C-C of fig. 3, illustrating a state in which the clip 110 is closed, fig. 6 is a schematic view of another state of fig. 5, illustrating a state in which the clip 110 is open, and fig. 7 is a simplified schematic view of a closed state of the clip 110 in further embodiments, while referring to fig. 5, 6, and 7, in some embodiments, in a no air trap 500 state: when the cam 122 rotates to the profile with the largest radial direction to abut against the clamping piece 110, the distance between the clamping pieces 110 is the largest (as shown in fig. 5), when the cam 122 rotates to the profile with the smallest radial direction to contact with the clamping piece 110, the distance between the clamping pieces 110 is the smallest (as shown in fig. 6), or when the profile with the smallest radial direction of the cam 122 is separated from the contact with the clamping piece 110, and the clamping piece 110 is kept closed under the action of the elastic piece 136, the distance between the clamping pieces 110 is the smallest (as shown in fig. 7). The minimum spacing of the clips 110 is less than the thickness of the gas collection card 500 to be held, thereby ensuring that the clips 110 can hold the gas collection card 500. The rotation of the cam 122 causes the clip 110 to be pushed from the position of minimum pitch to the position of maximum pitch under the push of the profile of the cam 122, this movement of the clip 110 is referred to as the push stroke, and the corresponding rotation angle of the cam 122 is referred to as the push stroke movement angle. When the cam 122 is further rotated, the clip 110 abuts against the contour of the cam 122 and moves from the maximum spacing position to the minimum spacing position under the elastic force of the elastic member 136, this movement process of the clip 110 is referred to as a return stroke, and the corresponding rotation angle of the cam 122 is referred to as a return stroke movement angle.

In the above embodiment, during the pushing and returning processes of the clip 110, the elastic member 136 provides the acting force to keep the clip 110 moving towards each other, and the clip 110 can clamp the air collecting card 500 during the returning process, therefore, the clamping force of the clip 110 is provided by the elastic member 136, which has the elastic self-adaptive capability, solves the problem of over-loose or over-tight clamping, avoids clamping the air collecting card 500, and simultaneously ensures the stability of clamping, and the clamping mechanism 100 realizes the opening and closing movement of the clip 110 through the combined action of the cam driving element 123, the cam 122 and the elastic member 136, and has direct driving mode and high mechanical efficiency.

Fig. 8 is a cross-sectional view of a cam, a clip and a first connector in other embodiments, and fig. 9 is a simplified view of the cam 122 and the clip 110 of fig. 8. referring to fig. 8 and 9, in some embodiments, a pair of clips includes a first clip 111 and a second clip 111', wherein the first clip 111 can move relative to the first connector 130, and the second clip 111' is fixedly connected to the first connector 130. The cam 122 may include a first profile 124 and a second profile 125, the first profile 124 protruding to one side of the base circle of the cam 122, and the second profile 125 being located at the opposite side of the first profile 124. The first profile 124 is used for supporting the first clip piece 111 and moving the first clip piece in a direction away from the second clip piece 111', and a distance (radial direction) between the second profile 125 and the axis of the cam 122 is not greater than a distance between the second clip piece 111' and the axis of the cam 122, so that interference between the second profile 125 and the second clip piece 111' during rotation of the cam 122 can be avoided. In this embodiment, the cam 122 may be an eccentric wheel, and has a second profile 125 coinciding with the base circle and a first profile 124 protruding from the base circle, and the first profile 124 and the second profile 125 smoothly transition, so as to maintain the smoothness of the movement of the first clip 111, avoid bouncing, and facilitate the processing of the cam 122.

In this embodiment, referring to fig. 8, the elastic element 136 may be disposed between the first connecting element 130 and the first clamping element 111 for providing a pushing force to the first clamping element 111 to move towards the second clamping element 111', for example, the elastic element 136 may be a compression spring, and is supported between the first connecting element 130 and a side of the first clamping element 111 away from the second clamping element 111'. Alternatively, the elastic member 136 may be connected between the first jaw 111 and the second jaw 111 'for providing a pulling force to the first jaw 111 to move the second jaw 111'. For example, the elastic member 136 may be a tension spring, and both ends of the tension spring are connected to the first jaw 111 and the second jaw 111', respectively. Therefore, as can be seen from the above description, the rotating cam 122 can move the first clamping piece 111 closer to or away from the second clamping piece 111', so as to close or open the pair of clamping pieces 110, and the structure is simple.

Referring to fig. 8, the first clamping piece 111 movably connected to the first connecting member 130 may include a clamping end 113 and a mounting end 112, the clamping end 113 is connected to the mounting end 112, the clamping end 113 is used for clamping the air collecting card 500, and the mounting end 112 is used for abutting against the cam 122. Fig. 13 is a schematic structural diagram of the first connecting element 130 in fig. 1, and referring to fig. 8 and 13, the first connecting element 130 may be provided with a sliding slot 137, and the mounting end 112 may be slidably disposed in the sliding slot 137, so as to achieve the movable connection between the first clamping piece 111 and the first connecting element 130. The sliding groove 137 has a limiting effect on the mounting end 112, and can limit the first clamping piece 111 to move along the sliding groove 137 and keep parallel, so that the movable first clamping piece 111 is prevented from deflecting to influence clamping. The cam 122 is located between the first jaw 111 and the second jaw 111', and when the distance between the clamping end 113 of the first jaw 111 and the second jaw 111' is the smallest, a gap 114 for accommodating the cam 122 is formed between the mounting end 112 of the first jaw 111 and the second jaw 111 '. When the maximum radial profile of the cam 122 abuts against the clip, the distance between the first clip piece 111 and the second clip piece 111' is the largest. If the minimum radial diameter of the cam 122 is smaller than the distance between the clamping ends 113 and the mounting ends 112 when the clamping ends are closed to contact, the distance between the first clamping piece 111 and the second clamping piece 111 'when the profile of the cam 122 is separated from the contact with the first clamping piece 111 is the minimum, and if the minimum radial diameter of the cam 122 is equal to the stroke between the clamping ends 113 of the first clamping piece 111 and the second clamping piece 111' when the profile of the minimum radial diameter of the cam 122 is closed to contact with the second clamping piece 111', the distance between the first clamping piece 111 and the second clamping piece 111' is the minimum.

Fig. 10 is a schematic cross-sectional view of the cam 122, the clip 110, and the first link 130 of another embodiment, and fig. 11 is a simplified schematic cross-sectional view of the cam 122 and the clip 110 of fig. 10, and referring to fig. 10 and 11, in another embodiment of the clamping mechanism 100, both clips 110 are movably connected to the first link 130 so that they can be moved toward the same centerline to close or away from the centerline to open. As shown in fig. 11, the cam 122 may include a first profile 124 and a second profile 125 protruding from opposite sides of the base circle, the first profile 124 and the second profile 125 being used to respectively hold the clips 110 and move the clips 110 toward or away from each other. When the maximum radial positions of the first profile 124 and the second profile 125 of the cam 122 respectively abut against the clamping pieces 110 at the two sides of the cam 122, the distance between the two clamping pieces 110 is maximum, and the rotating cam 122 can return the clamping pieces 110, so that the rotating cam 122 can move the two clamping pieces 110 respectively relative to the first connecting piece 130, and the two clamping pieces 110 can move towards or away from each other to realize the closing and opening of the clamping pieces 110. Wherein the cam 122 can be a symmetrical structure, i.e. the first profile 124 and the second profile 125 are symmetrical, which can make the two jaws 110 move synchronously. The cam 122 may have an oval wheel structure, that is, a cross section of the cam 122 perpendicular to the axis is an oval (refer to fig. 4 to 7), the axis of the cam 122 is located at the center of the oval, and the first profile 124 and the second profile 125 are correspondingly located at the major axis side of the oval. The cam 122 of the elliptical wheel structure can ensure that the two clips 110 move synchronously in the pushing process and the returning process, and the movement is smooth.

Referring to fig. 10, in the present embodiment, an elastic member 136 is disposed between the two clips 110 and the first connecting member 130 for providing a pushing force for the two clips 110 to move toward each other, for example, the elastic member 136 may be a compression spring, and is supported between the first connecting member 130 and a side of the two clips 110 facing away from each other. Alternatively, the resilient member 136 may be connected between the two jaws 110 for providing a pulling force on the two jaws toward each other. For example, the elastic member 136 may be a tension spring, and both ends of the tension spring are connected to the two clips 110. Therefore, as can be seen from the above description, the rotating cam 122 can move the two clips 110 toward or away from each other, so as to close or open the pair of clips 110.

Referring to fig. 10, the two clips 110 have the same structure, each clip 110 may include a clamping end 113 and a mounting end 112, the clamping end 113 is connected to the mounting end 112, the first connecting member 130 may be provided with sliding grooves 137 corresponding to the two clips 110, respectively, and the mounting end 112 of the clip 110 may be slidably disposed in the sliding grooves 137, so as to achieve the movable connection between the clip 110 and the first connecting member 130. The sliding groove 137 has a limiting function on the mounting end 112, and can limit the clip 110 to move along the sliding groove 137 and keep parallel, so that the movable clip 110 is prevented from deflecting to influence clamping. The cam 122 is located between the two jaws 110, and when the distance between the clamping ends 113 of the two jaws 110 is the smallest, the mounting ends 112 of the two jaws 110 have a gap 114 therebetween that accommodates the cam 122.

In the above embodiment, the elastic member 136 may be a compression spring movably connected to the clip 110 of the first connecting member 130, one end of the mounting end 112 located inside the sliding slot 137 may be provided with the guide rod 116 to pass through the sliding slot 137, the compression spring is sleeved on the guide rod 116, and two ends of the compression spring respectively abut against the mounting end 112 and the end wall of the sliding slot 137, and when the distance between the clips 110 is the minimum, the length of the compression spring is smaller than the natural length, so that the acting force for closing the clip 110 can be provided during both the pushing stroke and the returning stroke of the clip 110, thereby ensuring stable clamping of the gas collecting card 500. The first connecting member 130 is provided with a guide rod 116 mounting hole through which the guide rod 116 passes, and the guide rod 116 mounting hole is communicated with the sliding groove 137, so that the elastic member 136 is disposed inside the first connecting member 130, and the guide rod 116 can slide in the guide rod 116 mounting hole when the clip 110 moves, thereby maintaining stable installation of the compression spring.

Fig. 12 is a schematic view of the cam 122, the jaws 110 and the first connecting element 130 in another embodiment, referring to fig. 12, in another embodiment, a sliding rod 138 is disposed on the first connecting element 130 along a moving direction of the jaws 110, each of the two jaws 110 includes a clamping end 113 and a mounting end 112, the clamping end 113 is connected to the mounting end 112, and the mounting end 112 is sleeved on the sliding rod 138 and can slide along the sliding rod 138, so that each of the jaws 110 is movably connected to the first connecting element 130, and the sliding rod 138 can limit the two jaws 110 from moving in parallel, thereby ensuring stability of clamping. The clamping jaw 110 and the sliding rod 138 can be substantially sleeved, so that abrasion can be reduced, and clamping stagnation of the clamping jaw can be effectively avoided. In this embodiment, the elastic element 136 may be an extension spring, two ends of the extension spring are respectively connected to the mounting ends 112 of the two clamping pieces 110, and when the distance between the mounting ends 112 is the smallest, the length of the extension spring is not less than the length of the extension spring in the natural state, that is, the extension spring is mounted with a certain pretension force, which can provide a force that makes the clamping pieces 110 tend to close during both the pushing stroke and the returning stroke of the clamping pieces 110, thereby ensuring the stability of the clamping.

Fig. 13 is a schematic structural diagram of the first connecting element 130 in fig. 1, and in the above embodiment, referring to fig. 2, fig. 3 and fig. 13, the middle portion of the first connecting element 130 may be provided with a first hollow portion 139, the clip 110 is disposed in the first hollow portion 139, and a portion of the clip 110 for clamping extends to an outside of the first connecting element 130 so as to clamp the air collecting card 500. The first connector 130 can provide a shielding function to a portion of the clip 110 located in the first hollow portion 139 and form a compact assembly layout. For example, in some embodiments, the mounting end 112 of the clip 110 is located in the first hollow 139, and the clamping end 113 extends outside the first connector 130. The mounting end 112 is connected to the first connecting member 130 in the first hollow portion 139, and the movable connecting portion of the mounting end and the first connecting member 130 is located in the first connecting member 130, so as to avoid damage to the clamping piece 110 and effectively prevent clamping failure.

Fig. 14 is a schematic structural view of the second connector 140 of fig. 1, and referring to fig. 1, 2, 13 and 14, in some embodiments, the gripper mechanism connection of the above embodiment may be connected to an external member through the second connector 140, and the first connector 130 may be detachably connected to the second connector 140. In the clamping jaw mechanism, the cam 122 is connected to the cam driving element 123 through the rotating shaft 121, so that the cam driving element 123 drives the rotating shaft 121 to rotate, thereby driving the cam 122 to rotate, and realizing the opening and closing control of the clamping piece. The rotation shaft 121 is provided with a limiting member 127, and the limiting member 127 is connected to the rotation shaft 121 or the cam 122, so that the limiting member 127 and the cam 122 rotate synchronously. The first hollow portion 139 of the first connecting member 130 or the second connecting member 140 may have a limiting portion 148, and a minimum distance between the limiting portion 148 and the rotating shaft 121 is smaller than a maximum distance between a distal end of the limiting member 127 opposite to the rotating shaft 121 and the rotating shaft 121, so that the limiting member 127 can be abutted against the limiting portion 148 when rotating a set angle, and thus the limiting member 127 is limited by the limiting portion 148 to rotate within a range of the set angle, where the set angle is not smaller than an angle required by the cam 122 for moving the clip 110 between the minimum distance and the maximum distance, that is, the set angle is not smaller than a push stroke motion angle (or a return stroke motion angle) of the cam 122. In specific implementation, the set angle may be slightly larger than the push stroke motion angle (or the return stroke motion angle), and the cam driving element 123 may be allowed to rotate excessively in a proper range during a fault, and the limiting part 148 may limit the mechanical position of the limiting part 127, so as to effectively avoid the situation that the cam driving element 123 drives the cam 122 to rotate continuously and disorderly during a fault, and prevent the mechanism from being damaged, thereby improving the reliability of the gripping mechanism 100.

The clamping mechanism 100 of the above embodiment may further be configured with a clamping detection module for detecting that the distance between the clamping pieces 110 reaches a set distance, so as to determine whether the clamping pieces 110 are in the clamping state and whether the air collecting card 500 is clamped between the clamping pieces 110. The gripping detection module may be configured in the following manner:

fig. 15 is a partial structural schematic view of a clamping mechanism according to an embodiment, referring to fig. 2 and 15, in some embodiments, the clamping detection module includes a first optical coupler C1 and a first blocking piece 115, the first optical coupler C1 is disposed on the first connecting member 130, the first blocking piece 115 is disposed on a clamping piece 110 movably connected to the first connecting member 130 and moves along with the clamping piece 110, when a distance between the clamping pieces 110 is a set distance, the first blocking piece 115 changes an output level of the first optical coupler C1, the set distance is set as a distance between the two clamping pieces 110 when the air collecting card 500 is clamped between the clamping pieces 110, and therefore, the set distance is greater than a minimum distance between the clamping pieces 110. According to the change of the output level of the first optical coupler C1, whether the air collecting card 500 is clamped between the clamping pieces 110 can be judged.

Specifically, the chucking mechanism 100 is first debugged: the clamping piece 110 is opened, the control cam 122 rotates the return motion angle to enable the clamping piece 110 to return, the gas collection card 500 to be detected is clamped in the return, at the moment, the first blocking piece 115 moves along with the clamping piece 110, the output level of the first optical coupler C1 is changed when the clamping piece 110 reaches the set position, the first blocking piece 115 stops at the current position when the clamping piece 110 stops moving due to the fact that the gas collection card 500 is clamped by the clamping piece 110, the current state is kept after the output level of the first optical coupler C1 changes, the change rule of the output level of the first optical coupler C1 in the process is obtained, and the output level of the first optical coupler C1 jumps once. Therefore, according to whether the change of the output level of the first optical coupler C1 conforms to the above change rule, it is determined whether the gas collecting card 500 is clamped between the clamping pieces 110, and when the clamping mechanism 100 performs the clamping operation, the driving cam 122 rotates to return the clamping pieces 110, in the process: if the output level of the first optocoupler C1 jumps once, the change of the output level accords with the rule, and the clamping piece 110 clamps the gas collecting card 500; if the gas collecting card 500 is not clamped by the clamping piece 110 after the output level of the first optical coupler C1 is changed by the first blocking piece 115, the clamping piece 110 is continuously closed to be less than the set distance, meanwhile, the first blocking piece 115 deviates from the first optical coupler C1, and at the moment, the output level of the first optical coupler C1 is changed again, the output level of the first optical coupler C1 jumps twice in the process, and the change does not accord with the rule, so that the fact that the gas collecting card 500 is not clamped by the clamping piece 110 can be judged; if the clip 110 stops moving when the distance between the clips is greater than the set distance, the first blocking piece 115 always does not change the output level of the first optical coupler C1, that is, the output level of the first optical coupler C1 does not jump, so the change does not conform to the change rule, and it can be determined that the clip 110 does not clamp the air collecting card 500 at this time.

In some embodiments, the first blocking piece 115 may be disposed to keep blocking between the light emitter and the light receiver of the first light coupler C1, the first blocking piece 115 moves along with the movement of the clip 110, the length of the first blocking piece 115 along the moving direction of the clip 110 is greater than the stroke of the clip 110, and a first notch 1151 is formed on the first blocking piece 115. When the distance between the clips 110 is a set distance, the first notch 1151 is aligned with the first optical coupler C1 to allow the light of the optical coupler to pass through, thereby changing the output level of the first optical coupler C1. When the distance between the clips 110 is greater than or less than the set distance, the first notch 1151 is deviated from the position between the light emitter and the light receiver of the first optical coupler C1, and the first blocking piece 115 is kept to block the position between the light emitter and the light receiver of the first optical coupler C1.

Specifically, in the above embodiment, the first optical coupler C1 may be a conventional optical coupler having an optical extractor and an optical receiver, and the output level of the first optical coupler C1 may be changed by changing the shielding condition between the optical extractor and the optical receiver. When the light receiver and the light emitter of the first optical coupler C1 are shielded and not conducted, the first optical coupler C1 outputs high level, and when the light receiver and the light emitter of the first optical coupler C1 are conducted, the first optical coupler C1 outputs low level. Therefore, during the picking and placing operation of the clamping mechanism 100, the clamping state of the clamping piece 110 can be detected according to the variation rule of the output level of the first optical coupler C1 during the movement of the clamping piece 110.

In the open state of the clips 110, the distance between the clips 110 is greater than the set distance, the first optical coupler C1 is shielded by the first blocking piece 115, and at this time, the first optical coupler C1 outputs a high level. When the clip 110 is closed from the open state to the set position, the first notch 1151 is aligned with the first optical coupler C1, so that the first optical coupler C1 is turned on, and at this time, the first optical coupler C1 outputs a low level. The clip 110 is continuously closed from the set position, the first notch 1151 is deviated from the first optical coupler C1, so that the first optical coupler C1 is shielded by the first blocking piece 115 and becomes non-conductive, and at this time, the first optical coupler C1 outputs a high level. Accordingly, when the clamping mechanism 100 of the present embodiment is used to clamp the gas collecting card 500, the driving cam 122 rotates to return the clamping piece 110, and in the process: if the output level of the first optical coupler C1 changes from high level to low level, namely, the output level of the first optical coupler C1 jumps once and accords with the change rule, the clamping piece 110 is judged to clamp the gas collecting card 500; if the jumping times of the output level of the first optical coupler C1 do not meet the above change rule, it is determined that the gas collecting card 500 is not clamped by the clamping piece 110. On the contrary, in the same way, the change rule of the output level of the first optocoupler C1 can be used to judge whether the clamping jaw holding the gas collecting card 500 is smoothly opened to successfully release the gas collecting card 500, and the driving cam 122 rotates to move the clamping jaw 110 from the state holding the gas collecting card 500 to the open state, in the pushing process: if the output level of the first optical coupler C1 changes from low level to high level, that is, the output level of the first optical coupler C1 makes one jump, which meets the jump rule, it is determined that the clamping piece 110 opens smoothly, and if not, it is determined that the clamping piece 110 does not release the clamped gas collection card 500 smoothly.

For the clamping process of the clamping mechanism 100, when the change of the output level of the first optical coupler C1 does not meet the change rule, the approximate position of the clamping piece 110 can be judged according to the change of the output level of the first optical coupler C1, so as to assist in troubleshooting, for example: in the process that the driving cam 122 rotates to enable the clamping piece 110 to return, if the output level of the first optical coupler C1 changes to high-low-high, namely two jumps occur, the clamping piece 110 can be judged to be closed until the distance between the clamping pieces 110 is smaller than the set distance, so that the clamping jaw can be judged to return smoothly without clamping the gas collecting card 500, and accordingly the clamping stagnation condition of the clamping piece 110 can be eliminated; if the output level of the first optocoupler C1 is continuously high and does not change, it can be determined that the clamping piece 110 is not closed to the set distance, and the clamping piece 110 is located at a position where the distance is greater than the set distance, so that it can be determined that a failure occurs in the movement process of the clamping piece 110, such as clamping of the clamping piece 110, rotation of the cam 122, or failure of the cam driving element 123; if the output level of the first optocoupler C1 continuously jumps after two jumps, i.e. continuously changes between the high level and the low level after the change of high-low-high, it can be determined that the clip 110 repeatedly opens and closes, and accordingly, it can be determined that the clip 110 abnormally moves due to the continuous rotation of the cam 122 caused by the motor failure.

In other embodiments, the first flap 115 may take on another arrangement, such as: when the interval of clamping piece 110 is greater than or less than the settlement distance, between the light-emitting device and the photic ware of the skew first opto-coupler C1 of first separation blade 115, first opto-coupler C1 is the on-state, when first separation blade 115 removes the interval to clamping piece 110 along with clamping piece 110 and is for setting for the distance, first separation blade 115 shelters from between the light-emitting device and the photic ware of first opto-coupler C1, first opto-coupler C1 disconnection switches on to change the output level of first opto-coupler C1. Like the above embodiment, when being sheltered from and not conducting between the photic ware of first opto-coupler C1 and the light emergent ware, count as first opto-coupler C1 output high level, when conducting between the photic ware of first opto-coupler C1 and the light emergent ware, count as first opto-coupler C1 output low level, when the clamp that adopts this embodiment gets mechanism 100 and puts operation to air collection card 500, can detect the clamping state of clamping piece 110 according to the output level change rule of first opto-coupler C1, the height change of the first opto-coupler C1 output level of this embodiment is opposite with the change in the above-mentioned embodiment, for example:

in the process of the return trip of the clamping piece 110, if the output level of the first optical coupler C1 changes from low level to high level, that is, the output level of the first optical coupler C1 jumps once, it is determined that the clamping piece 110 clamps the gas collecting card 500; if the jump of the output level of the first optocoupler C1 does not meet the change rule, it is determined that the gas collecting card 500 is not clamped by the clamping piece 110. Conversely, in the same way, the clip 110 is moved from the state of holding the air collecting card 500 to the state of opening, and in the pushing process: if the output level of the first optical coupler C1 changes from high level to low level, that is, the output level of the first optical coupler C1 makes one jump to meet the change rule, it is determined that the clamping piece 110 opens smoothly, and if not, it is determined that the clamping piece 110 does not release the clamped gas collection card 500 smoothly.

In the process of the return trip of the clip 110, when the jump of the output level of the first optical coupler C1 does not meet the change rule, the approximate position of the clip 110 can be judged according to the change of the output level of the first optical coupler C1 to assist in troubleshooting, for example: in the process that the driving cam 122 rotates to enable the clamping piece 110 to return, if the output level of the first optical coupler C1 changes to low-high-low, namely two jumps occur, the clamping piece 110 can be judged to be closed until the distance between the clamping pieces 110 is smaller than a set distance, so that the clamping jaw can be judged to return smoothly without clamping the gas collecting card 500, and accordingly the clamping stagnation condition of the clamping piece 110 can be eliminated; if the output level of the first optocoupler C1 is continuously low and does not change, it may be determined that the clamping piece 110 is not closed to the set distance, and the clamping piece 110 is located at a position where the distance is greater than the set distance, so that it may be determined that a failure occurs in the movement process of the clamping piece 110, such as a clamping stagnation of the clamping piece 110, a rotation stagnation of the cam 122, or a failure of the cam driving element 123; if the output level of the first optocoupler C1 continuously jumps after twice jumps, i.e. continuously changes between the high level and the low level after the low-high-low change, it can be determined that the clip 110 repeatedly opens and closes, and accordingly, it can be determined that the cam 122 continuously rotates due to a motor failure and the clip 110 does not normally move.

As can be seen from the above embodiments, the first blocking piece 115 is arranged according to any of the above embodiments, and the rule that the first blocking piece 115 makes the output level of the first optical coupler C1 jump with the movement of the clamping piece 110 is consistent, so that the clamping condition can be detected by the number of jumping times of the output level of the first optical coupler C1, and the detection method is described in detail later.

Referring to fig. 2, in the gripping mechanism 100 of some embodiments, the gripping detection module further includes a second optical coupler C2 and a second shutter 126, the second shutter 126 is connected to the cam 122 and rotates with the cam 122, when the distance from the cam 122 to the clamping piece 110 is a set distance, the output level of the first optical coupler C1 changes according to the above rule, and meanwhile, the second shutter 126 changes the output level of the second optical coupler C2, so as to sense the rotation state of the cam 122, thereby, it is possible to determine whether the jaw moves normally with the rotation of the cam 122 by checking the states of the first optical coupler C1 and the second optical coupler C2, thereby verifying whether the system operates normally.

Similarly, in the changing manner of the output level of the first optical coupler C1, the output level of the second optical coupler C2 can be changed by changing the shielding manner of the second blocking piece 126 on the second optical coupler C2, for example: when the cam 122 rotates to the set distance between the clips 110, the second blocking piece 126 blocks the space between the light emitting device and the light receiving device of the second optical coupler C2, so that the on-off condition of the second optical coupler C2 is changed, and the output level of the second optical coupler C2 is changed. Or, the second blocking piece 126 keeps blocking between the light emitting device and the light receiving device of the second optical coupler C2, and a second notch for light to pass through is formed in the second blocking piece 126, and when the position of the second notch is set so that the cam 122 rotates to the distance between the clamping pieces 110, the second notch is aligned between the light emitting device and the light receiving device of the second optical coupler C2, so that the on-off condition of the second optical coupler C2 is changed, and the output level of the second optical coupler C2 is changed. Whether the change states of the output levels of the first optical coupler C1 and the second optical coupler C2 correspond to each other or not is checked, whether the clamping mechanism 100 operates normally or not is confirmed, and the reliability of the clamping mechanism can be improved.

The embodiment of the second aspect of the invention provides a sampling mechanism, which is used for acquiring and conveying a sample to be detected. Fig. 16 is a schematic structural diagram of a sampling mechanism according to an embodiment of the present invention, fig. 17 is a partial schematic structural diagram of the sampling mechanism, and referring to fig. 16, the sampling mechanism of this embodiment includes a material moving mechanism 300 and the clamping mechanism 100 according to the first embodiment, a sample to be measured can be collected in the gas collection card 500, the clamping mechanism 100 is used for clamping the gas collection card 500, the material moving mechanism 300 is connected to the clamping mechanism 100 and is used for moving the clamping mechanism 100 along a set direction so as to move the clamping mechanism 100 to a desired position to obtain the gas collection card 500 or place the clamped gas collection card 500 at a desired position, and from the first embodiment, the clamping mechanism 100 can ensure the reliability of clamping, thereby ensuring that the sampling mechanism can smoothly sample and release the gas collection card 500. The device is used for the detection device, and effectively avoids the problems of sample damage and sample acquisition failure, thereby improving the detection efficiency.

In some detection equipment, because the restriction of established structure or inner space, the detection device for detecting the sample needs gas collection card 500 to advance the appearance and detect with the gesture of setting for, and based on this, some detection equipment are when detecting, and gas collection card 500 is placed according to the gesture that detects needs, for example places through the sample frame location, obtains by sampling mechanism so that advance to detect to detection device and detect again, and in this scheme, the required space or the area that occupies of putting of gas collection card 500 is great, and the gas collection card 500 that single sample frame can put is small in quantity. In some embodiments of the present invention, referring to fig. 16 and 17, the sampling mechanism further comprises a bracket 230, a second connector 140 and a rotating mechanism 200, wherein the bracket 230 is connected to the material moving mechanism 300, the second connector 140 is rotatably connected to the bracket 230, and the first connector 130 of the gripping mechanism 100 is detachably connected to the second connector 140. Slewing mechanism 200 is used for driving second connecting piece 140 to rotate, can drive from this and press from both sides the whole rotation of getting mechanism 100, thereby can adjust the gesture of gas collection card 500, therefore, a sample frame for holding gas collection card 500, can adopt comparatively intensive mode to hold gas collection card 500, it all can rotate required angle through slewing mechanism 200 around getting mechanism 100 and obtaining gas collection card 500 to press from both sides, realize gas collection card 500's sample, attitude adjustment and laying-out, also help the rationalization overall arrangement of check out test set overall structure simultaneously. The rotation mechanism 200 may be implemented by a conventional mechanism capable of outputting rotation, such as a rotary cylinder, a belt transmission mechanism, and the like. In this embodiment, the rotation mechanism 200 drives the second connecting member 140 to rotate in the following manner:

the second connecting piece 140 is provided with a gear ring 146, the bracket 230 is further connected with a gear ring 146 driving mechanism, the gear ring 146 driving mechanism comprises a gear 220 and a gear driving element 210, the gear 220 is meshed with the gear ring 146, and the gear driving element 210 is connected to the gear 220 and is used for driving the gear 220 to rotate so as to drive the second connecting piece 140 to rotate relative to the bracket 230, so that the clamping mechanism 100 rotates relative to the bracket 230. The angle of rotation of the control gear 220 can adjust the angle of rotation of the gripping mechanism 100, thereby adjusting the posture of the gripping jaws or the gas collection card 500 gripped by the gripping jaws. The gear driving element 210 can select a motor with a proper specification according to requirements, and the output shaft of the motor drives the gear 220 to rotate to drive the second connecting member 140 to rotate.

Alternatively, a rack may be used to drive the second connector 140 to rotate, that is, the second connector 140 is provided with a gear ring 146, the bracket 230 is further connected with a gear ring 146 driving mechanism, the gear ring 146 driving mechanism includes a rack and a rack driving element, the rack is engaged with the gear ring 146, and the rack driving element is used to drive the rack to move so as to drive the second connector 140 to rotate relative to the bracket 230, so that the clamping mechanism 100 rotates relative to the bracket 230. The travel of the rack is controlled to adjust the angle of rotation of the gripper mechanism 100, thereby adjusting the attitude of the jaws or the gas collection card 500 gripped by the jaws.

In the above embodiment, the ring gear 146 is a half ring gear having a set arc length, and the arc length of the half ring gear defines that the gears or racks are engaged between both ends of the half ring gear in the circumferential direction, thereby defining that the gripping mechanism 100 rotates within a set range. For example, when the gear driving element 210 drives the gear 220 to rotate to engage with either end of the half gear ring in the circumferential direction, the gear 220 and the connecting member 140 will be jammed and will not rotate. For example: when the clamping mechanism 100 rotates anticlockwise to one end of the gear 220 meshed with the circumferential direction of the half gear ring, the gear 220 is clamped, if the rotating mechanism 200 drives the clamping mechanism 100 to rotate reversely, and the clamping mechanism 100 rotates clockwise to the other end of the gear 220 meshed with the circumferential direction of the half gear ring, the gear 220 is also clamped, so that the rotating limit position of the clamping mechanism 100 is structurally limited, when the driving element 210 runs out of control, the clamping mechanism 100 can be prevented from rotating excessively, the damage of the mechanism or the damage of the sample collecting device 500 caused by faults is avoided, and the reliability of the sampling mechanism is improved.

In some embodiments of the sampling mechanism, a gear ring 146 is disposed on the outer surface of the second connector 140 to facilitate machining of the second connector 140. The gear 220 can be engaged with the gear ring 146 at the outside of the second connecting member 140, so that the rotating mechanism 200 can be arranged at the side of the clamping mechanism 100 for convenient arrangement and assembly and disassembly. Specifically, the second connecting member 140 may be a solid of revolution, the gear ring 146 is circumferentially disposed on the outer peripheral surface of the connecting member 140, and the gear ring 146 and the second connecting member 140 are coaxial. The middle of the second connecting member 140 is provided with a second hollow portion 147 (refer to fig. 14), the cam driving element 123 is connected to the bracket 230 or the second connecting member 140, and the cam driving element 123 passes through the second hollow portion 147 to be connected to the cam 122 and drive the cam 122 to rotate by taking the axis of the second connecting member 140 as a rotating axis, so as to drive the clamping piece 110 to perform opening and closing movements by taking the rotating axis as a center line, therefore, the sampling mechanism forms a compact structure which is arranged along the axial direction of the second connecting member 140, and the space of the sampling mechanism along the radial direction of the second connecting member 140 is saved on the premise of actual connection and driving functions.

In a third embodiment of the present invention, a detection apparatus (not shown) is provided for detecting a gas collection card 500, and includes a detection chamber, a sampling mechanism and the sampling mechanism of the second embodiment, with reference to the above embodiments and the drawings, the sampling mechanism is used to pick and place the gas collection card 500, the sampling mechanism is connected to the sampling mechanism and is used to drive the sampling mechanism to move so as to sample the gas collection card 500 held by the sampling mechanism into the detection chamber or take the gas collection card 500 out of the detection chamber, and the gas collection card 500 performs a related detection in the detection chamber. It can be known from the foregoing embodiment that the sampling mechanism can smoothly sample and sample the gas collection card 500, and therefore, the gas collection card 500 can smoothly sample into the detection chamber or smoothly take out from the detection chamber by driving of the sampling mechanism, thereby ensuring the detection efficiency.

The embodiment of the fourth aspect of the present invention further provides a clamping detection method, which is applied to the detection of the detection apparatus, and the clamping detection method includes:

the control cam 122 rotates to clamp the clamping piece, and the change of the current output level of the first optocoupler C1 is obtained;

and judging whether the change of the output level of the first optical coupler C1 accords with a set change rule or not, if so, controlling the sampling mechanism to sample the clamped gas collecting card 500 into the detection chamber, and if not, controlling the cam 122 to rotate to open the clamping piece and controlling the clamping mechanism 100 to move to the next sampling position.

Based on the clamping mechanism 100 of the above embodiment, the first optical coupler C1 is disposed on the first connecting member 130, the first blocking piece 115 is disposed on one of the clamping pieces movably connected to the first connecting member 130 and moves along with the clamping piece, and when the distance between the clamping pieces is a set distance, the first blocking piece 115 changes the output level of the first optical coupler C1. The cam 122 can rotate between a first angle position and a second angle position, wherein when the cam 122 rotates to the first angle position, the cam 122 pushes the clips to open to the maximum distance, and when the cam 122 rotates to the second angle position, the clips return and the force of the elastic element can make the clips lean against the minimum distance. Taking the clamping mechanism 100 of one of the above embodiments as an example, when the cam 122 rotates to the first angle position, the profile of the maximum radial position of the cam 122 abuts against the clip, and at this time, the clip opens to the maximum distance, and when the cam 122 rotates to the second angle position, the profile of the minimum radial position of the cam 122 abuts against the clip or is separated from the contact of the clip, and at this time, the clip closes to the minimum distance.

In the above gripping detection method, the method for judging whether the change of the output level of the first optocoupler C1 meets the set change rule includes the following steps:

the control cam 122 rotates to a first angle position, so that a circuit of the first optical coupler C1 is started, and the current output level of the first optical coupler C1 is obtained;

rotating the cam 122 to the second angular position, the clip is returned, during which: if the output level of the first optocoupler C1 jumps once, the preset change rule is met, at the moment, the distance between the return stroke of the clamping pieces and the clamping pieces can be judged to be a preset distance, and the gas collecting card 500 is clamped between the clamping pieces; if the number of times of jumping of the output level of the first optocoupler C1 is greater than or less than 1, the set change rule is not met, and the gas collecting card 500 is not clamped between the clamping pieces.

During the process of rotating the cam 122 from the first angular position to the second angular position, the case that the change of the output level of the first optical coupler C1 does not conform to the set change rule includes but is not limited to:

the output level of the first optocoupler C1 jumps again after the first jump, namely two jumps occur, and then the distance between the return stroke of the clamping pieces and the clamping pieces is judged to be smaller than a set distance, and the gas collecting card 500 is not clamped between the clamping pieces;

if the output level of the first optocoupler C1 does not jump, it can be judged that the distance between the return strokes of the clamping pieces is larger than a set distance or the clamping pieces do not return, and the gas collecting card 500 is not clamped between the clamping pieces;

the output level of the first optocoupler C1 continuously jumps after the two jumps, and it can be determined that the clamping piece continuously opens and closes, and the air collecting card 500 is not clamped by the clamping piece.

In the clamping detection method of the embodiment, the open state of the clamping piece can be detected, and the detection method comprises the following steps:

the control cam 122 rotates to open the clamping piece from the clamping state, the change of the current output level of the first optical coupler C1 is obtained, whether the change rule of the output level of the first optical coupler C1 accords with the set rule or not is judged, and if the change rule does not accord with the set rule, an error is reported.

Specifically, on the premise that the gas collection card 500 is clamped between the jaws, in the process that the cam 122 rotates from the second angle position to the first angle position, the cam 122 pushes the jaws to move, if the output level of the first optical coupler C1 jumps once, the jaws are normally opened, otherwise, the method can be used for detecting whether the clamping mechanism 100 smoothly releases the clamped gas collection card 500.

Or, under the condition that the gas collection card 500 is not clamped between the clips, in the process that the cam 122 rotates from the second angle position to the first angle position, the cam 122 pushes the clips to move, if the output level of the first optical coupler C1 jumps twice, the clips are normally opened, otherwise, the clips are abnormal, and the method can be used for detecting whether the clips are smoothly opened for clamping before the clamping mechanism 100 clamps the gas collection card 500.

When the jump of the output level of the first optical coupler C1 does not meet the change rule, the approximate position of the clamping piece can be judged according to the change of the output level of the first optical coupler C1 to assist in troubleshooting, and the judging method includes but is not limited to: the driving cam 122 rotates from the first angle position to the second angle position, so that in the process of returning the clamping pieces, if the output level of the first optical coupler C1 jumps twice, the clamping pieces can be judged to be closed until the distance between the clamping pieces is smaller than a set distance, and therefore the clamping jaws can be judged to return smoothly without clamping the gas collecting card 500, and accordingly clamping stagnation of the clamping pieces can be eliminated; if the output level of the first optocoupler C1 does not change, the clamping pieces can be judged to be not closed to the set distance and be positioned at the position where the distance is greater than the set distance, and accordingly, the occurrence of a fault in the movement process of the clamping pieces, such as clamping stagnation of the clamping pieces, can be judged; if the output level of the first optocoupler C1 continuously jumps after two jumps, the repeated opening and closing movement of the clamping piece can be judged, and accordingly, the situation that the clamping piece abnormally moves due to the fact that the cam 122 continuously rotates due to the motor failure can be judged.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims

1. A gripping mechanism, comprising:

a first connecting member;

2. The clamping mechanism as recited in claim 1 wherein said pair of jaws comprises a first jaw and a second jaw, wherein a resilient member is disposed between said first jaw and said first connector and is movable relative to said first connector, and wherein said second jaw is fixedly attached to said first connector; the cam comprises a first profile and a second profile, the first profile protrudes out of one side of a base circle of the cam, the first profile is used for abutting against the first clamping piece and enabling the first clamping piece to move towards a direction far away from the second clamping piece, and the distance between the second profile and the axis is not greater than the distance between the second clamping piece and the axis of the cam.

3. The mechanism of claim 1, wherein each clip is movably connected to the first connector and the spring is disposed between each clip and the first connector, or the clips are connected by the spring, and the cam comprises a first profile and a second profile protruding from opposite sides of a base circle, the first profile and the second profile being configured to engage the clips and move the clips toward or away from each other, respectively.

4. The gripper mechanism of claim 3, wherein the cross-section of the cam perpendicular to the axis is an ellipse, the axis is located at the center of the ellipse, and the first profile and the second profile are located on the sides of the major axis of the ellipse.

5. The gripper mechanism of claim 1, wherein the jaw that is movably coupled to the first coupler includes a gripping end and a mounting end, the gripping end coupled to the mounting end; the first connecting piece is provided with a sliding groove, the mounting end can be slidably arranged in the sliding groove, and the cam is positioned between the two clamping pieces.

6. The clamping mechanism as recited in claim 5, wherein said resilient member is a compression spring, one end of said mounting end located inside said chute is provided with a guide rod passing through said chute, said first connecting member is provided with a guide rod mounting hole for said guide rod to pass through, said guide rod mounting hole is communicated with said chute; the compression spring is sleeved on the guide rod, and two ends of the compression spring respectively abut against the mounting end and the end wall of the sliding groove.

7. The clamping mechanism as recited in claim 1, wherein each of said clamping pieces is movably connected to said first connecting piece, said clamping piece includes a clamping end and a mounting end, said clamping end is connected to said mounting end, a slide bar is disposed on said first connecting piece along a moving direction of said clamping piece, and said mounting end is sleeved on said slide bar and can slide along said slide bar.

8. The clamping mechanism as claimed in claim 7, wherein the elastic member is an extension spring, two ends of the extension spring are respectively connected to the mounting ends of the two clamping pieces, and when the distance between the mounting ends is minimum, the length of the extension spring is not less than the length of the extension spring in a natural state.

9. The clamping mechanism as claimed in claim 1, wherein a first hollow portion is formed in a middle portion of the first connecting member, the clip is disposed in the first hollow portion, and a portion of the clip for clamping extends to an outside of the first connecting member.

10. The clamping mechanism as claimed in claim 9, wherein the cam is connected to the cam driving element through a rotating shaft, a limiting member is disposed on the rotating shaft, the limiting member rotates synchronously with the cam, the first connecting member has a limiting portion disposed in the first hollow portion, the limiting portion limits the limiting member from rotating within a range of a set angle, and the set angle is not less than an angle required for the cam to move the clamping piece between the minimum distance and the maximum distance.

11. The gripping mechanism of any one of claims 1 to 10, further comprising a gripping detection module for detecting that the jaws are spaced apart by a set distance.

12. The clamping mechanism as claimed in claim 11, wherein the clamping detection module comprises a first optical coupler and a first blocking piece, the first optical coupler is disposed on the first connecting piece, the first blocking piece is disposed on one of the clamping pieces movably connected to the first connecting piece and moves along with the clamping piece, and when the distance between the clamping pieces is the set distance, the first blocking piece changes the output level of the first optical coupler.

13. The clamping mechanism according to claim 12, wherein the first blocking piece has a first notch, the first blocking piece is blocked between the light emitter and the light receiver of the first optical coupler and moves along with the movement of the clamping piece, when the distance between the clamping pieces is the set distance, the first notch is aligned with the first optical coupler so that the light of the light emitter passes through, and when the distance between the clamping pieces is greater than or less than the set distance, the first notch deviates from between the light emitter and the light receiver of the first optical coupler.

14. The clamping mechanism as claimed in claim 12, wherein when the distance between the clamping pieces is the predetermined distance, the first blocking piece is blocked between the light emitting device and the light receiving device of the first optical coupler, and when the distance between the clamping pieces is greater than or less than the predetermined distance, the first blocking piece is deviated from between the light emitting device and the light receiving device of the first optical coupler.

15. The clamping mechanism as recited in any one of claims 12 to 14, wherein said clamping detection module further comprises a second opto-coupler and a second stop, said second stop being coupled to said cam and rotating therewith; when the distance from the cam to the clamping pieces is the set distance, the second blocking piece changes the output level of the second optocoupler.

16. The clamping mechanism as claimed in claim 15, wherein when the cam rotates to a distance between the clamping pieces is the set distance, the second shutter blocks between the light emitter and the light receiver of the second optical coupler;

or, the second blocking piece blocks between the light emitting device and the light receiving device of the second optical coupler, a second notch is formed in the second blocking piece, the cam rotates to the position, where the distance between the clamping pieces is the set distance, of the second optical coupler, and the second notch is aligned between the light emitting device and the light receiving device of the second optical coupler.

17. A sampling mechanism, comprising:

the grasping mechanism according to any one of claims 1 to 16, for grasping a sample to be tested;

and the material moving mechanism is connected with the clamping mechanism and is used for moving the clamping mechanism along the set direction.

18. The sampling mechanism of claim 17, further comprising:

the bracket is connected to the material moving mechanism;

the second connecting piece is rotatably connected to the bracket, and the first connecting piece is detachably connected to the second connecting piece;

and the rotating mechanism is used for driving the second connecting piece to rotate.

19. A testing device, which is used to test the gas collection card, and comprises a testing chamber, a sample feeding mechanism and the sampling mechanism of claim 17 or 18, wherein the sampling mechanism is used to take and place the gas collection card, the sample feeding mechanism is connected to the sampling mechanism, and the sample feeding mechanism is used to feed the gas collection card clamped by the sampling mechanism into the testing chamber or take the gas collection card out of the testing chamber.

20. A gripping detection method applied to the detection of claim 19, comprising:

and judging whether the change of the output level of the first optical coupler accords with a set change rule or not, if so, controlling the sampling mechanism to sample the clamped gas collecting card into the detection chamber, and if not, controlling the cam to rotate to enable the clamping piece to be opened and controlling the clamping mechanism to move to the next sampling position.