CN116183944A - Reaction cup grabbing method - Google Patents
Reaction cup grabbing method Download PDFInfo
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- CN116183944A CN116183944A CN202211690217.0A CN202211690217A CN116183944A CN 116183944 A CN116183944 A CN 116183944A CN 202211690217 A CN202211690217 A CN 202211690217A CN 116183944 A CN116183944 A CN 116183944A
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- connecting plate
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000000903 blocking effect Effects 0.000 claims abstract description 22
- 230000003139 buffering effect Effects 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 8
- 230000006978 adaptation Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 238000000338 in vitro Methods 0.000 abstract description 3
- 230000003111 delayed effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a reaction cup grabbing method, which is realized by a double-shaft anti-collision gripper, wherein a lifting plate moves downwards under the action of a driving mechanism, a buffer lifting block, a connecting plate and a rotating wheel move downwards along with the lifting plate, when a blocking arm of the rotating wheel contacts a stop block of a shifting block assembly, the blocking arm is stressed, the rotating wheel rotates, a concave-convex surface structure on the blocking arm contacts with a roller, the connecting plate moves vertically along a guide post under the action of the counter force of the roller, and a clamping jaw on the connecting plate opens or closes along with opening or closing of a reaction cup to put or take the reaction cup. The invention adopts a pure mechanical triggering mode to control the opening and closing of the clamping jaw, has rapid and non-delayed action, is stable and reliable, has higher grabbing and releasing efficiency and improves the operation efficiency of the in-vitro diagnostic instrument.
Description
Technical Field
The invention belongs to the technical field of reaction cup grabbing, and particularly relates to a reaction cup grabbing method.
Background
The existing in-vitro diagnostic instrument needs to transfer the reaction container to the position in the experimental process, and therefore, an automatic hand grip is needed. Most of the existing grippers use electric drive (electromagnet and motor), and the opening and closing of the grippers are controlled by means of the electric drive to grip the reaction container. The grabbing power sources mainly comprise three modes at present: motor driving, electromagnet driving and pneumatic driving. The cable is required to provide power for the motor-driven gripper, the cable moves for a long time and can be broken by fatigue, and the motor needs to be initialized every time to influence the efficiency; the failure rate of the grip driven by the electromagnet is high, the service life is limited, the grip moves for a long time, the magnetic force can be weakened when the temperature rises, and the stability of the grip is influenced; the pneumatic gripper needs to provide an air source, the air compressor has high running noise, and the air inlet needs to remove dust, dehumidify and periodically replace the filter element.
Disclosure of Invention
In order to solve the problems, the invention provides a stable, reliable and sensitive mechanical reaction cup grabbing method, which concretely adopts the following technical scheme:
the reaction cup grabbing method of the invention is realized by double-shaft anti-collision grippers,
the double-shaft anti-collision grip comprises
A frame;
the lifting unit is arranged on the frame and comprises a driving mechanism and a lifting plate connected with the driving mechanism;
the anti-collision unit is arranged on the lifting plate and comprises a buffer mechanism and a buffer lifting block connected with the buffer mechanism, and a guide column is arranged on the buffer lifting block;
a gripping unit comprising
The connecting plate is connected with the guide post in a sliding way;
the clamping jaws are arranged in pairs and are provided with a first end hinged with the connecting plate, a second end hinged with the buffering lifting block and a clamping end for clamping the reaction cup;
when the connecting plate moves upwards along the guide post, the clamping ends of the clamping jaws are opened; when the connecting plate falls down along the guide post, the clamping ends of the clamping jaws are closed;
a control unit comprising
The shifting block assembly comprises a rotating arm, one end of the rotating arm is hinged with the frame, and the other end of the rotating arm is provided with a stop block;
the clamping jaw trigger piece is a roller wheel which is arranged on the connecting plate and is close to the guide post;
the association piece is a rotating wheel arranged on the guide post, the rotating wheel is provided with a concave-convex surface structure connected with the surface of the roller, and a blocking arm which extends outwards from the center and interacts with the stop block;
the reaction cup grabbing method comprises the following steps:
firstly, the lifting plate moves downwards under the action of the driving mechanism, the buffer lifting block, the connecting plate and the rotating wheel move downwards along with the buffer lifting block, when the blocking arm of the rotating wheel contacts with the stop block of the shifting block assembly, the blocking arm is stressed, the rotating wheel rotates, the concave-convex surface structure on the blocking arm is contacted with the roller, the connecting plate moves vertically along the guide post under the counter force action of the roller, and the clamping jaw on the connecting plate opens or closes along with the opening or closing of the clamping jaw for placing or taking the reaction cup.
The driving mechanism comprises a motor and a driving belt assembly connected with the motor, a vertical guide rail is arranged on one side of a driving belt of the driving belt assembly, one end of the lifting plate is connected with the driving belt, and the other end of the lifting plate is connected with the vertical guide rail.
The buffer mechanism comprises a horizontal plate which is arranged on the lifting plate and extends towards the front side, two vertical guide rods are arranged on the horizontal plate in parallel, buffer springs are sleeved on the vertical guide rods, and the tail ends of the vertical guide rods are connected with the buffer lifting blocks through linear bearings.
The guide post sets up the rear side at the buffering elevating block, the upper portion of connecting plate is provided with the vertical slot hole with guide post looks adaptation, and the lower part extension of connecting plate is provided with two and is used for connecting the branching of clamping jaw first end, the second end of clamping jaw is located the bifurcated inboard, and the below of second end is provided with the extension spring that is used for connecting two clamping jaws.
The clamping end is located below the first end and the second end, the clamping end is matched with the appearance of the reaction cup, and a flexible anti-slip layer is arranged on the clamping surface of the clamping end.
The shifting block assembly further comprises an arc-shaped limiting groove arranged on the lifting plate, and a limiting rod penetrating through the arc-shaped limiting groove is arranged on the rotating arm.
The roller is arranged right above the guide post.
The rotating wheel is positioned between the connecting plate and the lifting plate, the convex-concave structure of the rotating wheel is arranged close to one side of the connecting plate, and the blocking arm is arranged close to one side of the lifting plate.
Be provided with actuating mechanism former point sensor and reaction cup sensor in the frame, be provided with crashproof sensor on the lifter plate, be provided with on the buffering elevating block crashproof sensor supporting sensor separation blade that sets up still be provided with on the buffering elevating block with the clamping jaw sensor that opens and shuts of fender arm looks adaptation.
The convex-concave structure comprises convex surfaces and concave surfaces which are arranged in a staggered manner, and the concave surfaces are provided with a first concave surface and a second concave surface with different concave depths; the blocking arm comprises a first arm matched with the clamping jaw opening and closing sensor for identification and a second arm which is prevented from being identified by the clamping jaw opening and closing sensor.
The reaction cup grabbing method provided by the invention is realized by the double-shaft anti-collision gripper with ingenious structure and small volume, the opening and closing of the clamping jaw are controlled by adopting a pure mechanical triggering mode, the action is rapid and delay-free, the reaction cup grabbing method is stable and reliable, and the grabbing and releasing efficiency is higher; the double-shaft anti-collision unit is arranged, so that the excessive falling of the handles and the collision of the reaction cup can be effectively prevented; the reaction cup sensor is provided with a control unit, the opening and closing of the clamping jaw are indicated through different blocking arm forms, and the control unit is matched with the reaction cup sensor, so that the reaction cup can be effectively taken and placed. The invention is suitable for transferring various types of reaction cups, and has stable and quick grabbing, and obviously improves the operation efficiency of the in-vitro diagnostic instrument.
Drawings
FIG. 1 is a schematic view of the structure of a dual-axis crashproof grip of the present invention.
Fig. 2 is a schematic view of the crash unit of fig. 1.
Fig. 3 is a cross-sectional view of fig. 2.
Fig. 4 is a schematic view (rear view) of a connection structure of the clipping unit and the collision avoidance unit in fig. 1.
Fig. 5 is a cross-sectional view of fig. 4.
Fig. 6 is a schematic diagram of a connection structure of the buffer lifting block, the connection plate and the clamping jaw in fig. 4.
FIG. 7 is a schematic diagram illustrating a touch state of the dial assembly and the wheel in FIG. 1.
Fig. 8 is a schematic view of the wheel structure of fig. 1.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings, and the embodiments and specific operation procedures are given by the embodiments of the present invention under the premise of the technical solution of the present invention, but the scope of protection of the present invention is not limited to the following embodiments.
As shown in fig. 1-8, the reaction cup gripping method of the invention is realized by a double-shaft anti-collision gripper,
the double-shaft anti-collision gripper consists of a frame 1, a lifting unit, an anti-collision unit, a clamping unit and a control unit.
The lifting unit comprises a driving mechanism and a lifting plate 21 connected with the driving mechanism, the driving mechanism comprises a motor 22 and a vertical guide rail 23 which are arranged on the frame 1, the driving end of the motor 22 is connected with a driving belt assembly, the vertical guide rail 23 is positioned on one side of a driving belt 24 of the driving belt assembly, and the lifting plate 21 is connected with the vertical guide rail 23 in a sliding manner and is fixedly connected with the driving belt 24. As the motor 22 rotates, the lifter plate 21 may move up and down along with the belt 24.
The collision preventing unit is installed on the lifting plate 21 and consists of a buffer mechanism and a buffer lifting block 31 connected with the buffer mechanism. Specifically, the buffer mechanism includes a horizontal plate mounted on the lifting plate 21 and extending to the front side, two vertical guide rods 32 are mounted on the horizontal plate in parallel, buffer springs 33 are sleeved on the vertical guide rods 32, and the ends of the vertical guide rods 32 are connected with the buffer lifting blocks 31 through linear bearings 34. Wherein a guide post 35 is installed at the rear side of the buffer elevating block 31 (i.e., the side opposite to the elevating plate 21), and the guide post 35 is used for connecting the gripping unit.
The clamping unit comprises a connecting plate 41, wherein the upper part of the connecting plate 41 is provided with a vertical long hole matched with the guide post 35, and the lower part of the connecting plate is provided with two branches for connecting the clamping jaw 42 in an extending manner. The connecting plate is sleeved on the guide post 35 through a vertical long hole, and can move up and down along the guide post 35 under the driving of external force. The clamping jaws 42 are arranged in pairs, each clamping jaw 42 having a first end hingedly connected to the connecting plate 41, a second end hingedly connected to the buffer lifting block 31, and a clamping end for clamping the reaction cup. Specifically, the clamping jaw 42 has a zigzag structure, a first end is hinged to the forked end of the connecting plate 41, a second end is located obliquely above the first end, the inner side of the forking is hinged to the buffer lifting block 31, a tension spring 43 for connecting the two clamping jaws 42 is installed at the lower corner of the second end, and the clamping ends are located below the first end and the second end and extend downwards. The clamping end is matched with the appearance of the reaction cup, and a flexible anti-slip layer is arranged on the clamping surface of the clamping end. When the connecting plate 41 moves upwards along the guide posts 35, the clamping ends of the clamping jaws are outwards opened and are in an opened state; when the connecting plate 41 moves downwards along the guide post 35, the clamping ends of the clamping jaws are recovered inwards under the action of the tension springs 43, and are in a closed state and can be used for clamping the reaction cup.
The control unit is composed of a shifting block assembly, a clamping jaw trigger piece and an associated piece. The above-mentioned shifting block assembly includes a rotating arm 51 mounted on the lifting plate 21, one end of the rotating arm 51 is hinged with the frame 1, and the other end is mounted with a stop block 52. In order to enable the rotating arm 51 to rotate within a controllable range, the lifting plate 21 is further provided with an arc-shaped limiting groove 53, meanwhile, a limiting rod 54 is arranged in the middle of the rotating arm 51, and the limiting rod 54 is arranged in the arc-shaped limiting groove 53 in a penetrating mode. The jaw trigger is a roller 55 mounted on the web 41, the roller 55 being located adjacent to and directly above the guide post 35. The associated member is a wheel 56 mounted on the guide post 35, the wheel 56 having a concave-convex configuration that interfaces with the surface of the roller 55, and a stop arm extending from the center outwardly to interact with the stop 52. The rotating wheel 56 is located between the connecting plate 41 and the lifting plate 21, and the convex-concave structure of the rotating wheel 56 is formed by convex surfaces and concave surfaces (the concave surfaces are in two states, namely a first concave surface 561 and a second concave surface 562 with different concave depths), wherein the convex surfaces are used for separating the first concave surface 561 from the second concave surface 562, the roller 55 can slide into the next concave surface along the inclined surface of the convex surface during rolling, the baffle arm is arranged near one side of the connecting plate 41, namely, the convex-concave structure is in front, and the baffle arm is behind. When the rotating wheel 56 rotates, the roller 55 drives the connecting plate 41 to move upwards along the guide post 35, the clamping jaw 42 rotates around the second end, the clamping end is outwards opened against the elastic force of the tension spring 43, the clamping jaw 42 is opened, and the reaction cup falls down. When the rotating wheel 56 continues to rotate and the concave surface is connected with the roller 55, the connecting plate 41 moves downwards, the clamping jaw 42 reversely rotates around the second end, and the clamping end is restored to be closed under the action of the tension spring 43, so that the grabbing of the reaction cup is completed. In order to achieve multiple different gripping states, the two concave surfaces have different concave depths, the concave surface 561 has low concave degree, the roller 55 is in a lifted state at the position, and the clamping jaw 42 is opened; concave 562 is highly concave, and the cambered surface just coincides with concave radian when gyro wheel 55 is in this position, does not receive jacking force, and clamping jaw 42 is closed under the effect of extension spring 43. The clamping jaw opening and closing sensor 61 is arranged on the buffer lifting block 31, and meanwhile, the blocking arm is provided with the first arm 563 and the second arm 564 with different tooth shapes, wherein the end part of the first arm 563 is provided with a larger sheet structure and can be identified by the clamping jaw opening and closing sensor 61; the end of the second arm 564 is a corner-missing structure that cannot be identified when it moves to the identification position of the jaw open/close sensor 61. Thereby, the open/close state of the holding jaw 42 is indicated.
In addition, a driving mechanism origin sensor 62 and a cuvette sensor 63 are mounted on the frame 1, an anti-collision sensor 64 is mounted on the lifter plate 21, and a sensor blocking piece 65 provided in association with the anti-collision sensor 64 is mounted on the buffer lifter block 31. The driving mechanism original point sensor 62 is used for resetting the motor 22, the reaction cup sensor 64 is used for detecting the grabbing condition of the reaction cup, and the anti-collision sensor 63 and the sensor blocking piece 65 are matched to send out an alarm signal when the clamping jaw 42 collides with the reaction cup.
The reaction cup grabbing method mainly comprises the following steps: the lifting plate 21 moves downwards under the action of the motor 22, the buffer lifting block 31, the connecting plate 41 and the rotating wheel 56 move downwards along with the buffer lifting block, when the blocking arm of the rotating wheel 56 contacts the stop block 52 of the shifting block assembly, the blocking arm is stressed, the rotating wheel 56 rotates, the concave-convex surface structure on the blocking arm contacts with the roller 55, the connecting plate 41 moves vertically along the guide post 35 under the counter force action of the roller 55, and the clamping jaw 42 on the connecting plate 41 opens or closes along with the opening or closing of the reaction cup, so that the reaction cup is placed or taken.
It should be noted that, in the description of the present invention, terms such as "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Claims (10)
1. The utility model provides a reaction cup snatchs method, realizes through biax anticollision tongs, its characterized in that:
the double-shaft anti-collision grip comprises
A frame;
the lifting unit is arranged on the frame and comprises a driving mechanism and a lifting plate connected with the driving mechanism;
the anti-collision unit is arranged on the lifting plate and comprises a buffer mechanism and a buffer lifting block connected with the buffer mechanism, and a guide column is arranged on the buffer lifting block;
a gripping unit comprising
The connecting plate is connected with the guide post in a sliding way;
the clamping jaws are arranged in pairs and are provided with a first end hinged with the connecting plate, a second end hinged with the buffering lifting block and a clamping end for clamping the reaction cup;
when the connecting plate moves upwards along the guide post, the clamping ends of the clamping jaws are opened; when the connecting plate falls down along the guide post, the clamping ends of the clamping jaws are closed;
a control unit comprising
The shifting block assembly comprises a rotating arm, one end of the rotating arm is hinged with the frame, and the other end of the rotating arm is provided with a stop block;
the clamping jaw trigger piece is a roller wheel which is arranged on the connecting plate and is close to the guide post;
the association piece is a rotating wheel arranged on the guide post, the rotating wheel is provided with a concave-convex surface structure connected with the surface of the roller, and a blocking arm which extends outwards from the center and interacts with the stop block;
the reaction cup grabbing method comprises the following steps:
firstly, the lifting plate moves downwards under the action of the driving mechanism, the buffer lifting block, the connecting plate and the rotating wheel move downwards along with the buffer lifting block, when the blocking arm of the rotating wheel contacts with the stop block of the shifting block assembly, the blocking arm is stressed, the rotating wheel rotates, the concave-convex surface structure on the blocking arm is contacted with the roller, the connecting plate moves vertically along the guide post under the counter force action of the roller, and the clamping jaw on the connecting plate opens or closes along with the opening or closing of the clamping jaw for placing or taking the reaction cup.
2. The cuvette handling method according to claim 1, wherein: the driving mechanism comprises a motor and a driving belt assembly connected with the motor, a vertical guide rail is arranged on one side of a driving belt of the driving belt assembly, one end of the lifting plate is connected with the driving belt, and the other end of the lifting plate is connected with the vertical guide rail.
3. The cuvette handling method according to claim 1, wherein: the buffer mechanism comprises a horizontal plate which is arranged on the lifting plate and extends towards the front side, two vertical guide rods are arranged on the horizontal plate in parallel, buffer springs are sleeved on the vertical guide rods, and the tail ends of the vertical guide rods are connected with the buffer lifting blocks through linear bearings.
4. The cuvette handling method according to claim 1, wherein: the guide post sets up the rear side at the buffering elevating block, the upper portion of connecting plate is provided with the vertical slot hole with guide post looks adaptation, and the lower part extension of connecting plate is provided with two and is used for connecting the branching of clamping jaw first end, the second end of clamping jaw is located the bifurcated inboard, and the below of second end is provided with the extension spring that is used for connecting two clamping jaws.
5. The cuvette handling method according to claim 1, wherein: the clamping end is located below the first end and the second end, the clamping end is matched with the appearance of the reaction cup, and a flexible anti-slip layer is arranged on the clamping surface of the clamping end.
6. The cuvette handling method according to claim 1, wherein: the shifting block assembly further comprises an arc-shaped limiting groove arranged on the lifting plate, and a limiting rod penetrating through the arc-shaped limiting groove is arranged on the rotating arm.
7. The cuvette handling method according to claim 1, wherein: the roller is arranged right above the guide post.
8. The cuvette handling method according to claim 1, wherein: the rotating wheel is positioned between the connecting plate and the lifting plate, the convex-concave structure of the rotating wheel is arranged close to one side of the connecting plate, and the blocking arm is arranged close to one side of the lifting plate.
9. The cuvette handling method according to claim 8, wherein: be provided with actuating mechanism former point sensor and reaction cup sensor in the frame, be provided with crashproof sensor on the lifter plate, be provided with on the buffering elevating block crashproof sensor supporting sensor separation blade that sets up still be provided with on the buffering elevating block with the clamping jaw sensor that opens and shuts of fender arm looks adaptation.
10. The cuvette handling method according to claim 9, wherein: the convex-concave structure comprises convex surfaces and concave surfaces which are arranged in a staggered manner, and the concave surfaces are provided with a first concave surface and a second concave surface with different concave depths; the blocking arm comprises a first arm matched with the clamping jaw opening and closing sensor for identification and a second arm which is prevented from being identified by the clamping jaw opening and closing sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211690217.0A CN116183944A (en) | 2022-12-28 | 2022-12-28 | Reaction cup grabbing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211690217.0A CN116183944A (en) | 2022-12-28 | 2022-12-28 | Reaction cup grabbing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116183944A true CN116183944A (en) | 2023-05-30 |
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ID=86439516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211690217.0A Pending CN116183944A (en) | 2022-12-28 | 2022-12-28 | Reaction cup grabbing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116183944A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117169487A (en) * | 2023-11-03 | 2023-12-05 | 山东康华生物医疗科技股份有限公司 | Reaction cup grabbing and moving mechanism |
-
2022
- 2022-12-28 CN CN202211690217.0A patent/CN116183944A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117169487A (en) * | 2023-11-03 | 2023-12-05 | 山东康华生物医疗科技股份有限公司 | Reaction cup grabbing and moving mechanism |
| CN117169487B (en) * | 2023-11-03 | 2024-01-23 | 山东康华生物医疗科技股份有限公司 | Reaction cup grabbing and moving mechanism |
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| CB02 | Change of applicant information |
Country or region after: China Address after: 450016 No.199, Jingkai 15th Street, Zhengzhou Economic and Technological Development Zone, Henan Province Applicant after: AUTOBIO LABTEC INSTRUMENTS Co.,Ltd. Address before: No. 199, 15th Street, economic and Technological Development Zone, Zhengzhou City, Henan Province Applicant before: AUTOBIO LABTEC INSTRUMENTS Co.,Ltd. Country or region before: China |
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