CN117805418B - Reaction cup grabbing device for reaction disc - Google Patents
Reaction cup grabbing device for reaction disc Download PDFInfo
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- CN117805418B CN117805418B CN202410225990.2A CN202410225990A CN117805418B CN 117805418 B CN117805418 B CN 117805418B CN 202410225990 A CN202410225990 A CN 202410225990A CN 117805418 B CN117805418 B CN 117805418B
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 78
- 238000011534 incubation Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000000903 blocking effect Effects 0.000 claims description 19
- 230000008859 change Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005057 finger movement Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003018 immunoassay Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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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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- 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
- G01N2035/0439—Rotary sample carriers, i.e. carousels
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- General Health & Medical Sciences (AREA)
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Abstract
The invention provides a reaction cup grabbing device which comprises an incubation tray, wherein a sample tray is arranged on one side of the incubation tray, and a reaction cup grabbing mechanism arranged on one side of the incubation tray and the sample tray is further arranged, the reaction cup grabbing mechanism comprises a movable support, a transverse guide rail mounting plate, a transverse guide rail, a transverse sliding block, a vertical guide rail mounting plate, a vertical sliding rail, a vertical sliding block and a grabbing mounting plate, a rotary support is arranged on the grabbing mounting plate, a spring tray rotating shaft is arranged below the rotary support, an upper spring tray is arranged at the upper end of the spring tray rotating shaft, a lower spring tray is connected to the free end of the spring tray rotating shaft, and a reaction cup grabbing part is arranged below the lower spring tray; the invention realizes the grasping and releasing of the reaction cup from the incubation plate to the sample plate by the rotary motor, but can change the angle when the reaction cup is grasped and placed while realizing the function, and simultaneously saves the cost, and the audience space is wide.
Description
Technical Field
The invention relates to a reaction cup grabbing device.
In particular to a reaction cup grabbing device for a reaction disc.
Background
Along with the progress of science and technology, the detection rate of chemiluminescent immunoassay appearance is higher and higher, and the position of each reaction dish, sample dish in the machine that requires is more and more complicated, and the angle that the reaction cup grabbing device in the past can not change snatch or place, and the position of placing is either all horizontal direction or all vertical direction, and the position space is limited.
When the traditional device aims to achieve different angles of grabbing and placing the reaction cup, two motors are often needed to operate, one set of motor device achieves the closing and opening of grabbing fingers, and the other set of motor device changes the angle of placing the reaction cup; or an integrated electric rotary clamping jaw is used, the two schemes are high in price, so that the cost is not beneficial to saving, meanwhile, the occupied space is large, and the clamping jaw is inflexible and convenient. The device adopts mechanical triggering without delay, adopts one driving unit to realize two different functions, and reduces the production cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a reaction cup grabbing device for a reaction plate.
The aim of the invention is achieved by the following technical measures: the utility model provides a reaction cup device is snatched to reaction dish, includes the incubation dish, one side of incubating the dish is equipped with the sample dish, still including setting up the incubation dish with reaction cup snatch mechanism on one side of the sample dish, its characterized in that: the reaction cup grabbing mechanism comprises a movable support, a transverse guide rail mounting plate is arranged on the movable support, a transverse guide rail is arranged on the transverse guide rail mounting plate, a transverse sliding block is arranged on the transverse guide rail, a vertical guide rail mounting plate is arranged on the transverse sliding block, a vertical sliding rail is arranged on the vertical guide rail mounting plate, a vertical sliding block is arranged on the vertical sliding rail, a grabbing mounting plate is arranged on the vertical sliding block, a rotating support is arranged on the grabbing mounting plate, a motor mounting plate is arranged above the rotating support, a rotating motor is arranged on the motor mounting plate, a spring tray rotating shaft is arranged below the rotating support, the spring tray rotating shaft is in power connection with the rotating motor, an upper spring tray is arranged at the upper end of the spring tray rotating shaft, a lower spring tray is connected to the free end of the spring tray rotating shaft through a bearing, a plurality of extension springs are arranged between the upper spring tray and the lower spring tray, and a reaction cup grabbing part is arranged below the lower spring tray.
As an improvement, reaction cup snatchs portion including setting up the line rail support of spring tray below down, be equipped with the line rail on the line rail support, be equipped with left slider and right slider on the line rail, be equipped with left finger fixed block on the left slider, be equipped with right finger fixed block on the right slider, the line rail support with be equipped with left reset spring between the left finger fixed block, the line rail support with be equipped with right reset spring between the right finger fixed block, be equipped with left finger on the left finger fixed block, be equipped with right finger on the right finger fixed block.
As a further improvement, the left finger fixing block is provided with a left locating pin and a left finger moving cam follower, and the right finger fixing block is provided with a right locating pin and a right finger moving cam follower.
As a further improvement, the device also comprises a horizontal position limiting device and a vertical position limiting device, wherein the horizontal position limiting device comprises a first mounting bracket which extends downwards on the rotating bracket, a horizontal position blocking cam bearing follower and a horizontal position photoelectric switch are arranged on the first mounting bracket, and a horizontal position photoelectric baffle is arranged on the left finger fixing block; the vertical position limiting device comprises a second mounting bracket which extends downwards on the rotating bracket, a vertical position blocking cam bearing follower and a vertical position photoelectric switch are arranged on the second mounting bracket, and a vertical position photoelectric baffle is arranged on the right finger fixing block.
As a further improvement, a motor horizontal position reset photoelectric switch and a motor vertical position reset photoelectric switch are further arranged on the rotating support, the motor horizontal position reset photoelectric switch and the motor vertical position reset photoelectric switch are arranged at 90 degrees, and a quarter circular motor rotating photoelectric baffle is arranged above the rotating motor.
As a further improvement, the upper spring tray is provided with a front oval follower post and a rear oval follower post 4520, and the front oval follower post and the rear oval follower post are oppositely arranged.
As a further improvement, the left finger fixing block is provided with a reaction cup with a photoelectric switch, the right finger fixing block is provided with a reaction cup with a photoelectric baffle, the left finger fixing block is provided with a clamping jaw opening photoelectric baffle, and the right finger fixing block is provided with a clamping jaw opening photoelectric switch.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the advantages that: the invention realizes the grasping and releasing of the reaction cup from the incubation plate to the sample plate by the rotary motor, but can change the angle when the reaction cup is grasped and placed while realizing the function, and simultaneously saves the cost, and the audience space is wide.
The invention is further described below with reference to the drawings and the detailed description.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 at another angle;
FIG. 3 is a schematic view of the structure of the initial position of the present invention;
FIG. 4 is a schematic view of the structure of FIG. 3 at another angle;
FIG. 5 is a schematic view of the structure of FIG. 4 at another angle;
FIG. 6 is a schematic view of the structure of FIG. 5 at another angle;
FIG. 7 is a schematic view of a portion of the structure of the present invention;
FIG. 8 is a schematic view of the structure of FIG. 7 at another angle;
FIG. 9 is a schematic view of the horizontal position of the motor rotating photoelectric barrier of the present invention, wherein the first edge of the motor rotating photoelectric barrier blocks the horizontal position reset photoelectric switch of the motor;
FIG. 10 is a schematic view of the structure of FIG. 9 at another angle;
FIG. 11 is a schematic view of the horizontal position of the left and right hand closure grasping reaction cup of the present invention with the front and rear elliptical follower posts separated from one point by the left and right hand movement cam followers;
FIG. 12 is a schematic view of the structure of FIG. 11 at another angle;
FIG. 13 is a schematic view of the horizontal position configuration of the left and right finger moving cam followers of the present invention tangential to the front and rear elliptical follower posts;
FIG. 14 is a schematic view of the structure of FIG. 13 at another angle;
FIG. 15 is a schematic view of the left and right finger moving cam followers of the present invention in a horizontal position tangential to the front and rear elliptical follower posts to the left and right fingers fully open;
FIG. 16 is a schematic view of the structure of FIG. 14 at another angle;
FIG. 17 is a schematic diagram of a vertical position structure of the motor rotating photoelectric blocking piece, wherein the second side line of the motor rotating photoelectric blocking piece blocks the vertical position reset photoelectric switch of the motor;
FIG. 18 is a schematic view of the structure of FIG. 17 at another angle;
FIG. 19 is a schematic view of the left and right finger moving cam followers of the present invention in a vertical position tangential to the front and rear elliptical follower posts to the left and right fingers fully open;
Fig. 20 is a schematic view of the structure of fig. 19 at another angle.
Incubating the tray-1000; sample tray-2000; reaction cup grabbing mechanism-3000; moving the support-3100; transverse guide rail mounting plate-3200; a transverse rail-3300; a transverse slide-3400; transverse electric machine-3410; a transverse driving wheel-3420; transverse driven wheel-3430; a transverse belt-3440; the vertical guide rail mounting plate is-3500; vertical slide rail-3600; vertical slider-3700; lead screw motor-3710; lead screw-3720; screw nut-3730; grabbing the mounting plate-3800; rotating the support-4100; resetting the photoelectric switch-4110 at the horizontal position of the motor; resetting the photoelectric switch-4120 at the vertical position of the motor; the motor rotates the photoelectric baffle plate-4130; first edge-4131; a second edge-4132; the reaction cup is provided with a non-photoelectric switch-4140; the reaction cup is provided with a non-photoelectric baffle plate-4150; jaw open photo-electric blade-4160; jaw open photo switch-4170; motor mounting plate-4200; rotating electrical machine-4300; spring tray spindle-4400; upper spring tray-4500; front elliptical follower post-4510; rear oval follower post-4520; lower spring tray-4530; extension spring-4540; bearing-4600; horizontal position limiting device-4700; a first mounting bracket-4710; horizontal position blocking cam bearing follower-4720; horizontal position photoelectric switch-4730; horizontal position photoelectric baffle-4740; vertical position limiting device-4800; a second mounting bracket-4810; vertical position blocking cam bearing follower-4820; vertical position photoelectric switch-4830; vertical position photoelectric baffle-4840; reaction cup gripping part-4900; a wire rail bracket-4910; -track-4920; left slider-4921; right slider-4922; left slider baffle-4923; right slider baffle-4924; left finger fixation block-4925; right finger securing block-4926; left return spring-4927; right return spring-4928; left finger-4930; right finger-4940; left locating pin-4950; left finger movement cam follower-4960; right locating pin-4970; right finger movement cam follower-4980; reaction cup-5000.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. 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 apparatus or elements 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.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "configured," "connected," "secured," "screwed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Examples: as shown in fig. 1-20, a reaction cup grabbing device for a reaction disk comprises an incubation disk 1000, wherein a sample disk 2000 is arranged on one side of the incubation disk 1000, and a reaction cup grabbing mechanism 3000 arranged on one side of the incubation disk 1000 and one side of the sample disk 2000 is further included, the reaction cup grabbing mechanism 3000 comprises a movable bracket 3100, a transverse guide rail mounting plate 3200 is arranged on the movable bracket 3100, a transverse guide rail 3300 is arranged on the transverse guide rail mounting plate 3200, a transverse sliding block 3400 is arranged on the transverse guide rail 3300, and the transverse sliding block 3400 is driven by a transverse motor 3410, a transverse driving wheel 3420, a transverse driven wheel 3430 and a transverse belt 3440 as power mechanisms to move transversely; a vertical guide rail mounting plate 3500 is arranged on the transverse sliding block 3400, a vertical sliding rail 3600 is arranged on the vertical guide rail mounting plate 3500, a vertical sliding block 3700 is arranged on the vertical sliding rail 3600, and the vertical sliding block 3700 is driven by a vertical lead screw motor 3710, a lead screw 3720 and a lead screw nut 3730 as a power mechanism to move up and down; the vertical slider 3700 is provided with a grabbing mounting plate 3800, the grabbing mounting plate 3800 is provided with a rotating support 4100, a motor mounting plate 4200 is arranged above the rotating support 4100, a rotating motor 4300 is arranged on the motor mounting plate 4200, a spring tray rotating shaft 4400 is arranged below the rotating support 4100, the spring tray rotating shaft 4400 is in power connection with the rotating motor 4300, an upper spring tray 4500 is arranged at the upper end of the spring tray rotating shaft 4400, a lower spring tray 4530 is connected to the free end of the spring tray rotating shaft 4400 through a bearing 4600, five extension springs 4540 are arranged between the upper spring tray 4500 and the lower spring tray 4530, and a reaction cup grabbing portion 4900 is arranged below the lower spring tray 4530.
The upper spring tray 4500 is provided with a front oval follower post 4510 and a rear oval follower post 4520, and the front oval follower post 4510 and the rear oval follower post 4520 are disposed opposite to each other.
The rotating motor 4300 drives the spring tray rotating shaft 4400 to rotate, the spring tray rotating shaft 4400 can drive the upper spring tray 4500 to rotate, the lower spring tray 4530 can also rotate under the action of the tension spring 4540, in the invention, because of the limit of the horizontal position limiting device, the lower spring tray 4530 can rotate or not rotate, and the reaction cup grabbing part 4900 is arranged below the lower spring tray 4530, so that the rotation of the lower spring tray 4530 can change the angle of the reaction cup 5000.
The advantage of using the tension spring 4540 in the present invention is that if the lower spring tray 4530 and the spring tray rotation shaft 4400 are connected by using a rubber brush or a cam gear, when the lower spring tray 4530 is limited, the spring tray rotation shaft 4400 can also continue to move, but in the present invention, when the left finger 4930 and the right finger 4940 are opened to the maximum, the left finger 4930 and the right finger 4940 need to be turned around by the spring tray rotation shaft 4400 to close, but in the turning process, the state of the grabbing reaction cup 5000 is ensured, that is, the left finger 4930 and the right finger 4940 cannot rotate, the position must be fixed, and if the rubber brush or the cam gear is used for connection, the lower spring tray 4530 can also turn together, but in the turning process, the tension spring 4540 cannot be adopted; for example, when the spring tension variable is 1mm or less, a pulling force is generated, and when the cup-grabbing distance between the two left fingers 4930 and the right finger 4940 is maximum, it is assumed that the tension variable of the tension spring 4540 is 10mm, at this time, under the action of the five tension springs 4540, the lower spring tray 4530 is firmly limited at one side, when the spring tray rotating shaft 4400 rotates by a small angle, the left fingers 4930 and the right fingers 4940 can be closed, and when the tension variable of the tension spring 4540 is 9mm, the lower spring tray 4530 is still limited at one side, at this time, the left fingers 4930 and the right fingers 4940 cannot rotate, but can be smoothly closed to grab the reaction cup 5000.
The reaction cup gripping portion 4900 includes a line rail bracket 4910 disposed below the lower spring tray 4530, a line rail 4920 is disposed on the line rail bracket 4910, a left slider 4921 and a right slider 4922 are disposed on the line rail 4920, a left slider baffle 4923 and a right slider baffle 4924 are disposed at two ends of the line rail 4920, the left slider baffle 4923 and the right slider baffle 4924 are disposed to limit the left slider 4921 and the right slider 4922, firstly, the left slider 4921 and the right slider 4922 can be prevented from being separated from the line rail 4920, secondly, the front oval follower 4510 and the rear oval follower 4520 can be guaranteed to be tangent to the left finger moving cam follower 4960 and the right finger moving cam follower 4980 at the left side and the right side to be the radial maximum positions, and if the rotating motor 4300 is out of control or is not operated to continue to move, the positions of the front oval follower 4510 and the rear oval follower 4520 can be guaranteed, and the phenomenon of reset cannot occur.
A left finger fixing block 4925 is arranged on the left sliding block 4921, a right finger fixing block 4926 is arranged on the right sliding block 4922, a left return spring 4927 is arranged between the linear rail bracket 4910 and the left finger fixing block 4925, a right return spring 4928 is arranged between the linear rail bracket 4910 and the right finger fixing block 4926, a left finger 4930 is arranged on the left finger fixing block 4925, and a right finger 4940 is arranged on the right finger fixing block 4926; the left return spring 4927 and the right return spring 4928 may be configured to allow the left finger pad 4925 and the right finger pad 4926 to return to a closed state without a pushing force. The left finger fixing block 4925 is provided with a left positioning pin 4950 and a left finger moving cam follower 4960, and the right finger fixing block 4926 is provided with a right positioning pin 4970 and a right finger moving cam follower 4980.
The invention further comprises a horizontal position limiting device 4700 and a vertical position limiting device 4800, wherein the horizontal position limiting device 4700 comprises a first mounting bracket 4710 which extends downwards on the rotating bracket 4100, a horizontal position blocking cam bearing follower 4720 and a horizontal position photoelectric switch 4730 are arranged on the first mounting bracket 4710, and a horizontal position photoelectric baffle 4740 is arranged on the left finger fixing block 4925; the vertical position limiting device 4800 comprises a second mounting bracket 4810 extending downwards on the rotating bracket 4100, a vertical position blocking cam bearing follower 4820 and a vertical position photoelectric switch 4830 are arranged on the second mounting bracket 4810, and a vertical position photoelectric blocking piece 4840 is arranged on the right finger fixing block 4926. The horizontal position limiting device 4700 is used for limiting the left positioning pin 4950 and the horizontal position blocking cam bearing follower 4720, the vertical position limiting device 4800 is used for limiting the right positioning pin 4970 and the vertical position blocking cam bearing follower 4820, and the left finger 4930 and the right finger 4940 also need to be opened and closed in a series of movements when being limited, and the traditional limiting mode can lead to inaccuracy due to the fact that the finger is opened and closed by a large friction force, and the cam follower is used because of the unique property, static friction force (the friction force is converted into rolling friction by static friction) is not generated, so that the finger is smoother when being opened and closed.
When the upper spring tray 4500 rotates clockwise, the front oval follower column 4510 is tangent to the left finger moving cam follower 4960 and pushes the left finger moving cam follower 4960 to move leftwards, the left finger moving cam follower 4960 drives the left finger fixing block 4925 to move leftwards, so as to drive the left finger 4930 to move leftwards, the rear oval follower column 4520 is tangent to the right finger moving cam follower 4980 and pushes the right finger moving cam follower 4980 to move rightwards, and the right finger moving cam follower 4980 drives the right finger fixing block 4926 to move rightwards, so as to drive the right finger 4940 to move rightwards, and the reaction cup grabbing portion 4900 is opened to grab the reaction cup 5000.
The rotating bracket 4100 is further provided with a motor horizontal position resetting photoelectric switch 4110 and a motor vertical position resetting photoelectric switch 4120, the motor horizontal position resetting photoelectric switch 4110 and the motor vertical position resetting photoelectric switch 4120 are arranged at 90 degrees, a quarter round motor rotating photoelectric baffle 4130 is arranged above the rotating motor 4300, a reaction cup is arranged on the left finger fixing block 4925 and is provided with a no-light photoelectric switch 4140, a reaction cup is arranged on the right finger fixing block 4926 and is provided with a no-light baffle 4150, a clamping jaw opening photoelectric baffle 4160 is arranged on the left finger fixing block 4925, and a clamping jaw opening photoelectric switch 4170 is arranged on the right finger fixing block 4926; the arrangement can enable the operation precision of the device to be higher.
The working principle of the invention is as follows:
The invention provides that when the horizontal position photoelectric baffle 4740 keeps the horizontal position photoelectric switch 4730 at an initial position for grabbing the reaction cup 5000, at this time, the rotating motor 4300 rotates left in a default initialization direction after being electrified, so as to drive the spring tray rotating shaft 4400 and the motor rotating photoelectric baffle 4130 to rotate together, and the lower spring tray 4530 rotates along with the spring tray rotating shaft 4400 under the action of five tension springs 4540.
When the left positioning pin 4950 contacts the horizontal position blocking cam bearing follower 4720, the horizontal position photoelectric shutter 4740 blocks the horizontal position photoelectric switch 4730; at this time, the lower spring tray 4530 and the spring tray rotating shaft 4400 do not have corresponding rotational displacement yet, and the horizontal position photoelectric switch 4730 is completely blocked by the horizontal position photoelectric blocking piece 4740, but in order to ensure the reliability of the position when the reaction cup 5000 is grabbed, the rotating motor 4300 continues to rotate left, and since the left positioning pin 4950 contacts with the horizontal position blocking cam bearing follower 4720, the lower spring tray 4530 cannot continue to rotate, and the upper spring tray 4500 and the spring tray rotating shaft 4400 can continue to rotate at this time due to the soft connection performed by the tension spring 4540; when the first edge 4131 of the motor rotating photo-blocking plate 4130 completely blocks the motor horizontal position resetting photo-switch 4110, the rotating motor 4300 stops moving and maintains the current state, and the tension spring 4540 is in the tension state, so that the left positioning pin 4950 can be completely ensured to be firmly contacted with the horizontal position blocking cam bearing follower 4720 and no virtual position is generated.
When the device moves to a required position, the rotating motor 4300 continuously drives the spring tray rotating shaft 4400 to rotate, while the spring tray rotating shaft 4400 continuously rotates, the front oval follower column 4510 and the rear oval follower column 4520 are tangential to the left finger moving cam follower 4960 and the right finger moving cam follower 4980, at this time, the lower spring tray 4530 cannot rotate relatively, the left finger 4930 and the right finger 4940 can be opened to two sides, a large friction force cannot be generated due to the cam bearing follower when the left positioning pin 4950 and the right positioning pin 4970 move to the left and right, the same-side fingers can be conveniently opened, and when the clamping jaw opening photoelectric barrier 4160 completely shields the clamping jaw opening photoelectric switch 4170, the rotating motor 4300 stops moving.
When the left finger 4930 and the right finger 4940 reach the proper positions, the reaction cup 5000 is grasped as follows:
The rotation motor 4300 rotates in the opposite direction (counterclockwise) by a certain angle, which may be larger because the front oval follower post 4510 and the rear oval follower post 4520 need only reverse by a small angle under the action of the left return spring 4927 and the right return spring 4928 (the reverse angle is based on the front oval follower post 4510 and the rear oval follower post 4520 leaving the left finger moving cam follower 4960 and the right finger moving cam follower 4980), and the left finger 4930 and the right finger 4940 are centered to grasp the reaction cup 5000 under the action of the left return spring 4927 and the right return spring 4928.
When the spring tray rotating shaft 4400 rotates in the opposite direction (anticlockwise rotation) by a certain angle, the five tension springs 4540 are still in a stretched state, the left side of the left positioning pin 4950 is still horizontally limited, the left finger 4930 and the right finger 4940 do not horizontally rotate, only the grabbing reaction cup 5000 is closed, the rotating motor 4300 rotates in the opposite direction by a larger angle, and only the left positioning pin 4950 and the horizontal position blocking cam bearing follower 4720 are required to be tightly tangent.
According to the invention, the thickness of the reaction cup 5000 is 7mm, the distance between the left finger 4930 and the right finger 4940 in the initial state is 6mm, the maximum opening degree of the left finger 4930 and the right finger 4940 is 9mm, when the left finger 4930 and the right finger 4940 grab the reaction cup 5000, the reaction cup is not blocked by the no-electricity baffle plate to prevent the reaction cup from having the no-electricity switch 4140, and at the moment, the reaction cup 5000 can be judged to be grabbed, and if the reaction cup is blocked by the no-electricity baffle plate to prevent the reaction cup from having the no-electricity switch 4140, the fact that the reaction cup 5000 is grabbed at the moment is not grabbed is indicated.
Rotational movement of the cuvette 5000: when the reaction cup 5000 is detected to be grabbed, after the reaction cup 5000 is moved to a required position, the rotating motor 4300 continues to rotate anticlockwise, the spring tray rotating shaft 4400 drives the lower spring tray 4530, the left finger 4930, the right finger 4940 and the reaction cup 5000 to rotate together under the action of five stretching springs 4540, when the vertical position photoelectric switch 4830 is completely shielded by the rotating motor 4840, the reaction cup 5000 is proved to rotate in place at the moment, the right positioning pin 4970 and the vertical position blocking cam bearing follower 4820 are mutually contacted, limiting is generated, in order to ensure that the position is more accurate, the virtual position is avoided, the rotating motor 4300 continues to rotate at the moment, the photoelectric switch 4120 is completely reset at the motor vertical position at one end of a second side line 4132 of the motor rotating photoelectric switch 4130, at the moment, the state of stopping and maintaining the rotating motor 4300 can be ensured under the action of the stretching springs 4540, and the right positioning pin 4970 and the vertical position blocking cam bearing follower 4820 are not in contact with each other in a virtual position.
When the reaction cup 5000 is put in place, the rotating motor 4300 continues to move anticlockwise, the spring tray rotating shaft 4400 drives the front oval follower column 4510 and the rear oval follower column 4520 to be tangent to the left finger moving cam follower 4960 and the right finger moving cam follower 4980, the left finger 4930 and the right finger 4940 are opened to two sides, when the clamping jaw opening photoelectric baffle 4160 keeps the clamping jaw opening photoelectric switch 4170, the rotating motor 4300 stops rotating, at this time, the left finger 4930 and the right finger 4940 are completely opened in place, and the reaction cup 5000 falls smoothly.
The rotating motor 4300 rotates clockwise to the position of the first edge 4131 of the motor rotating photoelectric baffle 4130, completely shields the motor horizontal position reset photoelectric switch 4110, and meanwhile, the horizontal position photoelectric switch 4730 judges whether the motor is shielded or not, and further judges whether the motor rotates in place, so that the rotary grabbing reaction cup device finishes a cup grabbing action of one cycle.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (2)
1. The utility model provides a reaction cup device is snatched to reaction dish, includes the incubation dish, one side of incubating the dish is equipped with the sample dish, still including setting up the incubation dish with reaction cup snatch mechanism on one side of the sample dish, its characterized in that: the reaction cup grabbing mechanism comprises a movable support, a transverse guide rail mounting plate is arranged on the movable support, a transverse guide rail is arranged on the transverse guide rail mounting plate, a transverse sliding block is arranged on the transverse guide rail, a vertical guide rail mounting plate is arranged on the transverse sliding block, a vertical sliding rail is arranged on the vertical guide rail mounting plate, a vertical sliding block is arranged on the vertical sliding rail, a grabbing mounting plate is arranged on the vertical sliding block, a rotating support is arranged on the grabbing mounting plate, a motor mounting plate is arranged above the rotating support, a rotating motor is arranged on the motor mounting plate, a spring tray rotating shaft is arranged below the rotating support, the spring tray rotating shaft is in power connection with the rotating motor, an upper spring tray is arranged at the upper end of the spring tray rotating shaft, a lower spring tray is connected at the free end of the spring tray rotating shaft through a bearing, a plurality of stretching springs are arranged between the upper spring tray and the lower spring tray, and a reaction cup grabbing part is arranged below the lower spring tray; a front ellipse follow-up column and a rear ellipse follow-up column are arranged on the upper spring tray, and the front ellipse follow-up column and the rear ellipse follow-up column are oppositely arranged;
The reaction cup grabbing part comprises a wire rail bracket arranged below the lower spring tray, a wire rail is arranged on the wire rail bracket, a left sliding block and a right sliding block are arranged on the wire rail, a left finger fixing block is arranged on the left sliding block, a right finger fixing block is arranged on the right sliding block, a left reset spring is arranged between the wire rail bracket and the left finger fixing block, a right reset spring is arranged between the wire rail bracket and the right finger fixing block, a left finger is arranged on the left finger fixing block, and a right finger is arranged on the right finger fixing block; the left finger fixing block is provided with a left locating pin and a left finger moving cam follower, and the right finger fixing block is provided with a right locating pin and a right finger moving cam follower; the left finger fixing block is provided with a reaction cup with a photoelectric switch, the right finger fixing block is provided with a reaction cup with a photoelectric baffle, the left finger fixing block is provided with a clamping jaw opening photoelectric baffle, and the right finger fixing block is provided with a clamping jaw opening photoelectric switch;
The left finger fixing block is provided with a left finger fixing block, and the left finger fixing block is provided with a left finger fixing block; the vertical position limiting device comprises a second mounting bracket which extends downwards on the rotating bracket, a vertical position blocking cam bearing follower and a vertical position photoelectric switch are arranged on the second mounting bracket, and a vertical position photoelectric baffle is arranged on the right finger fixing block.
2. A reaction disk gripping cuvette assembly according to claim 1, wherein: the rotary support is also provided with a motor horizontal position resetting photoelectric switch and a motor vertical position resetting photoelectric switch, the motor horizontal position resetting photoelectric switch and the motor vertical position resetting photoelectric switch are arranged at 90 degrees, and a quarter circular motor rotary photoelectric baffle is arranged above the rotary motor.
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| CN202410225990.2A CN117805418B (en) | 2024-02-29 | 2024-02-29 | Reaction cup grabbing device for reaction disc |
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| CN202410225990.2A CN117805418B (en) | 2024-02-29 | 2024-02-29 | Reaction cup grabbing device for reaction disc |
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| CN117805418A CN117805418A (en) | 2024-04-02 |
| CN117805418B true CN117805418B (en) | 2024-05-17 |
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| CN202410225990.2A Active CN117805418B (en) | 2024-02-29 | 2024-02-29 | Reaction cup grabbing device for reaction disc |
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