CN211718310U - Reaction cup lifting and rotating device and transfer mechanism - Google Patents

Abstract

The utility model provides a reaction cup lifting and rotating device, which comprises a lifting and rotating device body connected with a manipulator body, wherein the lifting and rotating device body comprises a lifting mechanism, a rotating mechanism and a spline connection assembly, one end of a spline shaft of the spline connection assembly is connected with the lifting mechanism, the other end of the spline shaft is used for being connected with the manipulator body, and the rotating mechanism is connected with a rotating piece of the spline connection assembly; the lifting mechanism drives the shaft to reciprocate in the rotating part, and the rotating mechanism drives the rotating part to rotate so as to drive the shaft to rotate, so that the manipulator body is driven to perform lifting or rotating motion, and the reaction cups are transported. The utility model also provides a reaction cup transport mechanism. The lifting or rotating motion is realized through the matching of the spline connecting assembly and the lifting mechanism and the rotating mechanism respectively, the lifting motion and the rotating motion are separately and independently carried out, and during the lifting motion, the rotating mechanism is kept still, so that the depreciation speed of the rotating mechanism is reduced, the maintenance cost is reduced, and the occupied space is small.

Description

Reaction cup lifting and rotating device and transfer mechanism

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a reaction cup lifting and rotating device and transport mechanism.

Background

In the medical field, it is essential to detect blood, body fluid, and the like, which are usually collected and placed in a cuvette, and then subjected to operations such as dispensing, liquid separation, dilution, detection, and the like.

The operations of liquid preparation, liquid separation, dilution, detection and the like are generally carried out by adopting automatic or semi-automatic equipment. When the equipment works, the reaction cups need to be transferred in different working areas. In order to grasp and transfer the cuvette elsewhere, a robot arm usually involves a lifting movement and a rotational movement. In the existing medical automation or semi-automation equipment, the transfer of the reaction cup is realized by lifting and rotating two independent transport mechanisms, the occupied space is large, the lifting and rotating two transport mechanisms need to work in a coordinated manner, and the corresponding control circuit is relatively complex; in addition, the conveying mechanism capable of lifting and rotating simultaneously is arranged, the rotating mechanism is connected with the lifting mechanism, the rotating mechanism is connected with a manipulator used for grabbing the reaction cups, the lifting mechanism drives the rotating mechanism to lift and move together when lifting and lowering movement is carried out, the manipulator is driven to lift and move, and after long-term operation, the rotating mechanism is easy to damage, and maintenance cost is increased.

SUMMERY OF THE UTILITY MODEL

In order to overcome the not enough of prior art, an object of the utility model is to provide a pair of reaction cup lifting and rotating device, realize lift or rotary motion with elevating system, rotary mechanism's cooperation respectively through spline coupling assembling, simple structure and ingenious, occupation space is little, and lift and rotary motion separately independently go on, and during lift, rotary mechanism keeps motionless, reduces rotary mechanism depreciation speed, reduces cost of maintenance.

In order to achieve the above purpose, the utility model is realized by the following technical scheme.

The utility model provides a reaction cup lifting and rotating device, which comprises a lifting and rotating device body connected with a manipulator body, wherein the lifting and rotating device body comprises a lifting mechanism, a rotating mechanism and a spline connection assembly, the spline connection comprises a spline shaft with a key groove and a rotating part with a key groove, the rotating part is sleeved outside the spline shaft, one end of the spline shaft is connected with the lifting mechanism, the other end is used for being connected with the manipulator body, and the rotating mechanism is connected with the rotating part; wherein,

the lifting mechanism drives the spline shaft to axially reciprocate in the rotating part, and the rotating mechanism drives the rotating part to rotate so as to drive the spline shaft to rotate, so that the manipulator body is driven to perform lifting or rotating motion, and the transportation of the reaction cup is realized.

Preferably, the manipulator further comprises a second fixing piece, the lifting mechanism comprises a lead screw nut component and a rotating device, the lead screw nut component comprises a nut and a lead screw, one end of the spline shaft, which is opposite to the manipulator body, and the nut are respectively and fixedly connected with the second fixing piece, and one end of the lead screw penetrates through the second fixing piece and is connected with the rotating device; wherein,

the rotating device drives the screw rod to rotate, so that the nut axially reciprocates along the screw rod, the second fixing piece is driven to reciprocate along the axis direction of the screw rod, and the spline shaft connected with the manipulator body reciprocates along the axis direction of the screw rod.

Preferably, the rotating device comprises a second motor, a second driving wheel, a second driven wheel and a second synchronous belt, the screw rod is coaxially connected with the second driven wheel, the second motor is connected with the second driving wheel, the second motor drives the second driving wheel to rotate, and the second driven wheel is driven to rotate so that the screw rod rotates.

Preferably, the electric vehicle further comprises a first fixing piece, and the second motor and the second driven wheel are fixed on the first fixing piece.

Preferably, rotary mechanism includes third motor, third action wheel, third from driving wheel, third hold-in range, the third is established from the driving wheel cover the rotating member outside, the third motor drive the third action wheel rotates, through the third hold-in range drives the third is followed the driving wheel and is rotated to make the rotating member of spline coupling subassembly rotate.

Preferably, the device further comprises a third fixing piece and a fourth fixing piece, two ends of the fourth fixing piece are respectively connected with the first fixing piece and the third fixing piece, and the rotating mechanism is connected to the third fixing piece.

Preferably, one end of the rotating member is rotatably disposed in the third fixing member through a bearing, and the other end of the rotating member is disposed in the third driven wheel.

Preferably, the lifting mechanism and the rotating mechanism are both provided with position detection devices for determining initial positions during movement.

Preferably, the position detection device comprises a blocking piece and an optical coupler, and the blocking piece and the optical coupler move relatively along with the movement of the lifting mechanism or the rotating mechanism so as to change the light blocking effect of the blocking piece on the optical coupler and perform position detection.

A second object of the utility model is to provide a reaction cup transport mechanism, including the manipulator body, as above the lifting and rotating device body, the manipulator body with the one end of the integral key shaft of the spline coupling subassembly of lifting and rotating device body is connected.

Compared with the prior art, the beneficial effects of the utility model reside in that:

(1) the utility model provides a reaction cup lifting and rotating device realizes going up and down or rotary motion with elevating system, rotary mechanism's cooperation respectively through the spline coupling subassembly, simple structure and ingenious, and occupation space is little, and elevating motion and rotary motion separately independently go on, and during lifting motion, rotary mechanism keeps motionless, reduces rotary mechanism depreciation speed, reduces cost of maintenance.

(2) The utility model provides a reaction cup transport mechanism, manipulator body are connected with the one end of integral key shaft, through spline coupling subassembly respectively with elevating system, rotary mechanism's cooperation, make manipulator body go up and down or rotate in certain space, the work area of reaction cup is compacter relatively in equipment, according to reaction cup work area's demand, sets for manipulator body lift or rotatory range, to the equipment that only needs at certain space internal transfer reaction cup, the utility model provides a transport mechanism's lift or rotatory range are convenient for set for and control, operation reaction cup that can be accurate.

The lifting mechanism, the rotating mechanism and the manipulator body are all provided with zero position detection devices used for determining initial positions during movement, and when the manipulator is required to be operated to move each time, the corresponding mechanisms are reset to the zero positions and then move, so that the control of the movement distance is facilitated.

The above description is only an outline of the technical solution of the present invention, and some embodiments are described in detail below in order to make the technical means of the present invention clearer and to implement the technical solution according to the content of the description. The present invention is described in detail by the following examples.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is a schematic perspective view of a lifting and rotating device body of the present invention;

FIG. 2 is a first schematic view of the three-dimensional structure of the transfer mechanism for reaction cups;

FIG. 3 is an enlarged view taken at A in FIG. 2;

FIG. 4 is a sectional view of the transfer mechanism for reaction cups according to the present invention;

FIG. 5 is a schematic diagram of the three-dimensional structure of the transfer mechanism for reaction cups of the present invention;

fig. 6 is a first schematic view of a three-dimensional structure of the manipulator of the present invention;

fig. 7 is a schematic view of a three-dimensional structure of the manipulator of the present invention;

in the figure:

110. a manipulator body; 111. a clamping jaw; 1111. a clamping area; 1111a, a convex rib; 112. a first motor; 113. a cam; 114. a guide rod return spring; 1141. a spring; 1142. a guide bar; 115. a guide rail; 116. a slider;

130. a lifting mechanism; 131. a second motor; 132. a feed screw nut member; 1321. a nut; 1322. a screw rod; 133. a second drive wheel; 134. a second driven wheel; 135. a second synchronous belt;

140. a rotation mechanism; 141. a third motor; 142. a third driving wheel; 143. a third driven wheel; 144. a third synchronous belt;

151. a first fixing member; 152. a second fixing member; 153. a third fixing member; 154. a fourth fixing member; 155. a fifth fixing member; 156. a sixth fixing member; 1561. a first through hole; 1562. a second through hole;

160. a spline coupling assembly; 161. a spline shaft; 162. a rotating member;

180. a position detection device; 1821. a second baffle plate; 1822. a second optocoupler; 1831. a third baffle plate; 1832. a third optocoupler; 1841. a first baffle plate; 1842. a first optical coupler;

200. a reaction cup.

Detailed Description

The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses a more detailed description of the present invention, which will enable those skilled in the art to make and use the present invention. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, and the like are used based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.

Example 1

As shown in fig. 1 to 5, the present invention provides a reaction cup lifting and rotating device, including a lifting and rotating device body connected to a manipulator body 110 for grabbing a reaction cup 200, the lifting and rotating device body includes a lifting mechanism 130, a rotating mechanism 140, and a spline coupling assembly 160, the spline coupling assembly 160 includes a spline shaft 161 having a key slot and a rotating member 162 having a key slot, the rotating member 162 is sleeved outside the spline shaft 161, one end of the spline shaft 161 is connected to the lifting mechanism 130, the other end is used for being connected to the manipulator body 110, and the rotating mechanism 140 is connected to the rotating member 162; wherein,

the lifting mechanism 130 drives the spline shaft 161 to axially reciprocate in the rotating member 162, and the rotating mechanism 140 drives the rotating member 162 to rotate, so as to drive the spline shaft 161 to rotate, so as to drive the manipulator body 110 to perform lifting or rotating motion, thereby realizing transportation of the reaction cup 200.

In one embodiment, the lifting mechanism 130 is a cylinder assembly, the spline coupling assembly 160 is connected to the cylinder assembly with respect to the other end of the robot body 110, and the spline shaft 161 of the spline coupling assembly 160 reciprocates in the rotation member 162 as the cylinder assembly reciprocates.

In one embodiment, a second fixing member 152 is further included, and the lifting mechanism 130 includes a second motor 131 and a lead screw nut member 132. The lead screw nut member 132 includes a lead screw 1322 and a nut 1321 fitted over the lead screw 1322. The second fixing member 152 is provided with two through holes (not shown), one of which is fixedly connected to the nut 1321 of the feed screw nut member 132, and the other of which is fixedly connected to the spline shaft 161 of the spline coupling assembly 160 with respect to the other end of the robot 110. In one embodiment, the second motor 131 is coaxially connected to the lead screw 1322 of the lead screw nut member 132, the second motor 131 drives the lead screw 1322 to rotate, the rotation of the lead screw 1322 further causes the nut 1321 sleeved on the lead screw 1322 to axially reciprocate along the lead screw 1322, so as to drive the second fixing member 152 fixedly connected with the nut 1321 to reciprocate along the axial direction of the lead screw 1322, the second fixing member 152 drives the spline shaft 161 of the spline coupling assembly 160 fixedly connected with the second fixing member 152 to reciprocate along the axial direction of the lead screw 1322, and the spline shaft 161 reciprocates in the rotating member 162 sleeved on the spline shaft 161, and finally drives the manipulator 110 to reciprocate.

In one embodiment, the lifting mechanism 130 further includes a second driving pulley 133, a second driven pulley 134, and a second timing belt 135; the second motor 131 drives the second driving pulley 133 to rotate, and further drives the second timing belt 135 to move, so as to drive the second driven pulley 134 to rotate. The first fixing member 151 is provided with a hollow region inside, the second motor 131 is fixed to the outer wall of the first fixing member 151, and the second driving wheel 133, the second driven wheel 134 and the second synchronous belt 135 are located in the hollow region inside the first fixing member 151. The second driving wheel 133 is connected to the second motor 131 through a motor shaft (not shown) passing through a through hole in a side wall of the first fixing member 151, and the motor shaft can rotate in the through hole of the first fixing member 151, so that the arrangement between the lifting mechanism and the first fixing member 151 is compact, and the volume is reduced. The first fixing member 151 is further provided with a through hole (not shown) for a screw rod 1322 to pass through and be coaxially connected with the second driven wheel 134, and the screw rod 1322 is rotatable in the corresponding through hole. The second motor 131 drives the second driving wheel 133 to rotate, so as to drive the second synchronous belt 135 to move, so as to drive the second driven wheel 134 to rotate, and further drive the lead screw 1322 connected with the second driven wheel 134 to rotate, so as to drive the second fixing member 152 fixedly connected with the nut 1321, the second fixing member 152 drives the spline shaft 161 of the spline connection assembly 160 fixedly connected with the second fixing member 152 to axially reciprocate, and the spline shaft 161 reciprocates in the rotating member 162 sleeved on the spline shaft 161, so as to finally drive the manipulator body 110 to reciprocate.

The rotating mechanism 140 includes a third motor 141, a third driving wheel 142, a third driven wheel 143, and a third timing belt 144, where the third driven wheel 143 is sleeved on an outer side of one end of the rotating member 162 of the spline coupling assembly 160. The third driving wheel 142 is driven by the third motor 141 to rotate, so as to drive the third driven wheel 143, and further drive the rotating member 162 to rotate, so that the rotating member 162 of the spline coupling assembly 160 rotates to drive the spline shaft 161 sleeved in the rotating member 162 to rotate, and finally the manipulator body 110 connected with the spline shaft 161 rotates.

And further comprises a third fixing member 153 and a fourth fixing member 154, wherein two ends of the fourth fixing member are respectively connected with the first fixing member 151 and the third fixing member 153. The third motor 141 and the third driving wheel 142 pass through holes (not shown) of the third fixing member 153 through motor rotating shafts, so as to be respectively located at two sides of the third fixing member 153, and the corresponding motor rotating shafts can rotate in the through holes of the third fixing member 153. The third fixing member 153 is further provided with a through hole (not shown) for the spline coupling assembly 160 to pass through. In one embodiment, the rotating member 161 of the spline coupling assembly 160 is externally connected to the through hole through a bearing (not shown), an outer ring of the bearing is connected to the through hole, and an inner ring of the bearing is sleeved on an outer wall of the rotating member 161, so that the rotating member 161 can rotate in the corresponding through hole of the third fixing member 153. The third driving pulley 142, the third driven pulley 143, and the third timing belt 144 are disposed between the robot body 110 and the third fixing member 153.

The lifting mechanism 130 and the rotating mechanism 140 are both provided with a position detection device 180 for determining an initial position during movement.

Elevating system 130 is equipped with second protection piece 1821 and second opto-coupler 1822, second protection piece 1821 sets up on second mounting 152, second opto-coupler 1822 sets up on fourth mounting 154, and when second mounting 152 was in initial position, second protection piece 1821 was right second opto-coupler 1822 is in the light, and when second mounting 152 elevating movement left initial position, second protection piece 1821 was right second opto-coupler 1822 was in the light the effect and was removed to whether the realization detected elevating system 130 was in the condition of initial position.

The rotating mechanism 140 is provided with a third barrier 1831 and a third optical coupler 1832, the third barrier 1831 is disposed on the outer wall of the third driving wheel 142, the third optical coupler 1832 is disposed on the third fixing member 153, when the third fixing member 153 is at an initial position, the third barrier 1831 blocks light from the third optical coupler 1832, and when the third driving wheel 142 rotates, the third barrier 1831 changes the third optical coupler 1832, so that the rotation condition of the third driving wheel 142 is known.

Example 2

As shown in fig. 2 to 7, the present invention further provides a reaction cup transferring mechanism, which includes a manipulator body 110, the lifting and rotating device body as described in embodiment 1, wherein the manipulator body 110 is connected to the spline shaft 161 of the spline coupling assembly 160 of the lifting and rotating device body.

The manipulator body 110 comprises two opposite clamping jaws 111, a rotating device, a cam 113, two guide rails 115 and four sliders 116, wherein one end of each of the two clamping jaws 111 is provided with a clamping area 1111 for grabbing the reaction cup 200, the two clamping jaws 111 are respectively connected with the two sliders 116, each guide rail 115 is respectively connected with one slider 116 connected with the two clamping jaws 111 in a sliding manner, and the outer sides of the two clamping jaws 111 are respectively provided with a resetting member; wherein,

the cam 113 is located between the two clamping jaws 111, the length and the width of the cam 113 are not equal, the rotating device drives the cam 113 to rotate so as to change the outer contour of the contact between the cam 113 and the two clamping jaws 111, the two clamping jaws 111 are ejected or the two clamping jaws 111 are loosened under the action of the pushing force of the resetting member, so that the sliders 116 connected with the two opposite clamping jaws 111 move along the guide rails 115, the distance between the two clamping jaws 111 is changed, and the size of the clamping area 1111 is changed. The widest part of the cam 113 is larger than the narrowest part of the reaction cup 200, so that the clamping area 1111 of the widest part of the cam 113 after the two clamping jaws 111 are jacked open can release the clamping of the reaction cup 200; the narrowest part of the cam 113 is smaller than the widest part of the reaction cup 200, so that the narrowest part of the cam 113 can clamp the reaction cup 200 or a clamping area when the narrowest part of the cam 113 does not contact with the two clamping jaws 111, namely, the two clamping jaws 111 can be jacked open or loosened along with the rotation of the cam 113.

The clamping jaws 111 are provided with a protrusion (not shown), a clamping area 1111 is formed between the protrusions of the two clamping jaws 111, and the surface of the protrusion for clamping the reaction cup 200 is provided with a plurality of ribs 1111a for increasing the clamping force. In one embodiment, the clamping jaw 111 and the protrusion on the clamping jaw 111 form an "L" shape, the two clamping jaws 111 are aligned to form a "U" shape, and the clamping area 1111 is disposed at the bottom of the "U" shape. The clamping region 1111 is formed by a semicircular space formed by the grooves on the projections of the two clamping jaws 111, the size of the semicircular space is determined according to the size relation of the clamped part of the reaction cup 200 to be clamped, when the two clamping jaws 111 are close to each other, the formed clamping region 1111 can wrap the reaction cup 200 and has opposite acting force on the reaction cup 200, so that the reaction cup 200 is not easy to fall off; when the two clamping jaws 111 are far away from each other, the formed clamping area 1111 can easily separate the reaction cup 200. In one embodiment, when the two clamping jaws 111 abut against each other, the clamping area 1111 is formed to just clamp the reaction cup 200, and the semicircular space formed between the protrusions of the two clamping jaws 111 can better protect the reaction cup 200.

The clamping area 1111 is matched with the outer contour shape of the reaction cup 200, for example, the reaction cup 200 is a cylinder, and the cross section of the clamping area 1111 is circular when the two clamping jaws are abutted; the reaction cup is a cuboid, the cross section of the clamping area 1111 is rectangular when the two clamping jaws 111 are abutted, so that the clamping area 1111 and the reaction cup 200 can be attached and clamped conveniently, and the reaction cup 200 can be clamped quickly.

The rotating device is a first motor 112, and the driving end of the first motor 112 is connected with the cam 113 to drive the cam 113 to rotate.

The guide rail device further comprises a fifth fixing part 155, and the guide rail 115 is arranged on the fifth fixing part 155. The fifth fixing member 155 is provided with a through hole (not shown) through which the driving end of the first motor 112 rotates. In one embodiment, the cam 113 includes an oval boss and a circular base (not shown), the oval boss is located between the two clamping jaws 111, the circular base is located between the two clamping jaws 111 and the fifth fixing member 155, the circular base is not in contact with the fifth fixing member 155, and the circular base of the cam 113 is connected to the driving end of the first motor 112.

The reset component comprises a guide rod reset spring 141, the guide rod reset spring 141 comprises two springs 1141 and a guide rod 1142, the guide rod 1142 penetrates through the two clamping jaws 111, the outer sides of the two clamping jaws 111 are respectively provided with a spring 1141 sleeved on the guide rod 1142, one end part of the spring 1141 is connected in the clamping jaw 111, and the other end of the spring 1141 is fixedly connected with the guide rod 1142. When the cam 111 rotates to enable the distance between the clamping jaws 111 on the two sides of the cam 111 to be larger than the clamped position of the reaction cup 200, the two clamping jaws 111 respectively outwards prop against the springs 1141 on the corresponding outer sides of the two clamping jaws, and the springs 1141 are compressed and deformed, namely the two clamping jaws 1131 are propped open by the cam 1131, so that the manipulator body 110 loosens the reaction cup; when the clamping area 1111 has no force applied thereto by the cuvette 200, the two jaws approach each other under the force applied when the corresponding springs 1141 are deformed and restored, until the two jaws 111 abut against each other or clamp the cuvette 200.

In an embodiment, when the cuvette 200 is clamped by the clamping area 1111, the cam 113 is not in contact with the outer walls of the two clamping jaws 111 at the two sides, and the springs 1141 at the outer sides of the two clamping jaws 111 can respectively apply a force to the corresponding clamping jaws 111, so that the two clamping jaws 111 move relatively, thereby improving the clamping strength of the cuvette 200 and the clamping firmness.

It will be appreciated that the force of the spring 1141 outside the two jaws 111 on the jaws 111 to move the two jaws 111 closer together is greater than the opposing force of the reaction cup 200 on the jaws 111, so that the jaws 111 are effectively clamped by the guide bar return spring 141.

In one embodiment, the shape and size of the ribs 1111a match the shape and size of the outer contour of the portion of the cuvette 200 to be clamped. For example, if the clamped portion of the cuvette 200 has a ring-shaped protrusion, the clamping area 1111 is provided with a rib 1111a at the upper and lower sides corresponding to the position of the ring-shaped protrusion, so that the ring-shaped protrusion on the cuvette is clamped into the space formed between the ribs 1111a at the upper and lower sides of the clamping area 1111, thereby improving the clamping firmness. For example, the clamped portion of the reaction cup 200 is provided with a plurality of vertical bar concave-convex patterns, and the clamping area 1111 is provided with a plurality of vertical bar convex ridges 1111a matched with the vertical bar concave-convex patterns on the reaction cup 200 in shape, size and position, so as to increase the clamping friction.

The transfer mechanism further comprises a sixth fixing member 156 arranged on the other surface of the fifth fixing member 155 opposite to the guide rail 115, the fifth fixing member 155 is U-shaped, the fifth fixing member 155 and the sixth fixing member 156 form a cavity, the first motor 112 is located in the cavity, a first through hole 1561 is arranged on the side wall of the sixth fixing member 156 opposite to the fifth fixing member 155, and the spline shaft 161 of the transfer mechanism is connected in the first through hole 1561. The sixth fixing member 156 is further provided with two second through holes 1562, the second through holes 1562 are connected to the first through holes 1561 through the outer wall of the sixth fixing member, and the spline shaft 161 of the transfer mechanism is fixed to the inner wall of the first through hole 1561 by passing a screw through the second through hole 1562.

The manipulator body 110 is provided with a first blocking piece 1841 and a first optical coupler 1842, the side walls of the two clamping jaws 111 are respectively provided with the first blocking piece 1841, and the corresponding positions on the fifth fixing piece 155 are respectively provided with the first optical coupler 1842. Since the first optical coupler 1842 has a certain length, a through hole (not shown in the figure) for the first optical coupler 1842 to pass through is formed in the fifth fixing member 155. When the two clamping jaws 111 abut against each other, namely the two clamping jaws are in an unclamped state and are in an initial position, namely a zero position, when the first blocking piece 1841 moves along with the movement of the clamping jaws 111, the light blocking effect of the first blocking piece 1841 on the first light coupler 1842 is changed, and the rotation condition of the cam guide rod 113 is detected. In addition, the wear of the cam 1131 of the cam guide rod 113 can be detected, and when the cam 1131 is worn seriously, the distance of the cam 1131 ejecting the two clamping jaws is not enough, so that the light blocking effect of the first blocking piece 1841 on the first light coupler 1842 is weakened.

It should be understood that the positions of the blocking plate and the optical coupler are not limited to the above-mentioned embodiments, and may be implemented as long as the positions can detect the motion conditions of the robot 110, the lifting mechanism 130, and the rotating mechanism 140.

It should be understood that the descriptions of "first", "second", "third", "fourth", etc. in the above embodiments are merely used for distinguishing the names for describing the same or similar structures or components, and are not limited in any order, size, appearance order, etc.

The utility model provides a reaction cup lifting and rotating device realizes going up and down or rotary motion with elevating system, rotary mechanism's cooperation respectively through the spline coupling subassembly, simple structure and ingenious, and occupation space is little, and elevating motion and rotary motion separately independently go on, and during lifting motion, rotary mechanism keeps motionless, reduces rotary mechanism depreciation speed, reduces cost of maintenance.

The utility model provides a reaction cup transport mechanism to the equipment that only needs the adversion reaction cup in certain space, the utility model provides a transport mechanism's lift or rotatory range are convenient for set for and control, operation reaction cup that can be accurate.

While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields where the invention is suitable, and further modifications may readily be made by those skilled in the art, and the invention is thus not limited to the specific details and examples shown herein, without departing from the general concept defined by the claims and their equivalents.

Claims (10)

1. A reaction cup lifting and rotating device comprises a lifting and rotating device body connected to a manipulator body (110), and is characterized in that the lifting and rotating device body comprises a lifting mechanism (130), a rotating mechanism (140) and a spline connecting assembly (160), the spline connecting assembly (160) comprises a spline shaft (161) with a key groove and a rotating part (162) with a key groove, the rotating part (162) is sleeved on the outer side of the spline shaft (161), one end of the spline shaft (161) is connected with the lifting mechanism (130), the other end of the spline shaft is used for being connected with the manipulator body (110), and the rotating mechanism (140) is connected with the rotating part (162); wherein,

the lifting mechanism (130) drives the spline shaft (161) to axially reciprocate in the rotating part (162), and the rotating mechanism (140) drives the rotating part (162) to rotate so as to drive the spline shaft (161) to rotate, so that the manipulator body (110) is driven to lift or rotate, and the transportation of the reaction cup (200) is realized.

2. The cuvette lifting and rotating device according to claim 1, further comprising a second fixing member (152), wherein the lifting mechanism (130) comprises a screw nut member (132) and a rotating device, the screw nut member (132) comprises a nut (1321) and a screw (1322), the spline shaft (161) is fixedly connected with the second fixing member (152) through one end of the screw (1322) penetrating through the second fixing member (152) and connected with the rotating device, and the nut (1321) is fixedly connected with the second fixing member (152) respectively; wherein,

the rotating device drives the screw rod (1322) to rotate, so that the nut (1321) is axially reciprocated along the screw rod (1322), and drives the second fixing piece (152) to reciprocate along the axial direction of the screw rod (1322), so that the spline shaft (161) connected with the manipulator body (110) is reciprocated along the axial direction of the screw rod (1322).

3. The reaction cup lifting and rotating device as claimed in claim 2, wherein the rotating device comprises a second motor (131), a second driving wheel (133), a second driven wheel (134), and a second timing belt (135), the lead screw (1322) is coaxially connected to the second driven wheel (134), the second motor (131) is connected to the second driving wheel (133), and the second motor (131) drives the second driving wheel (133) to rotate, so as to drive the second driven wheel (134) to rotate, so that the lead screw (1322) rotates.

4. A device for lifting and rotating a reaction cup as claimed in claim 3, further comprising a first fixing member (151), wherein the second motor (131) and the second driven wheel (134) are fixed on the first fixing member (151).

5. The reaction cup lifting and rotating device as claimed in claim 4, wherein the rotating mechanism (140) comprises a third motor (141), a third driving wheel (142), a third driven wheel (143), and a third synchronous belt (144), the third driven wheel (143) is sleeved on the outer side of the rotating member (162), the third motor (141) drives the third driving wheel (142) to rotate, and the third driven wheel (143) is driven to rotate by the third synchronous belt (144), so that the rotating member (162) of the spline coupling assembly (160) rotates.

6. The device as claimed in claim 5, further comprising a third fixing member (153) and a fourth fixing member (154), wherein both ends of the fourth fixing member (154) are respectively connected to the first fixing member (151) and the third fixing member (153), and the rotating mechanism (140) is connected to the third fixing member (153).

7. The device as claimed in claim 6, wherein one end of the rotary member (162) is rotatably disposed in the third fixed member (153) via a bearing, and the other end is disposed in the third driven wheel (143).

8. A cuvette lifting and rotating device according to claim 1, wherein the lifting mechanism (130) and the rotating mechanism (140) are provided with position detecting means (180) for determining the initial position during movement.

9. The reaction cup lifting and rotating device as claimed in claim 8, wherein the position detecting device (180) comprises a blocking piece and an optical coupler, and the blocking piece and the optical coupler move relatively with the movement of the lifting mechanism (130) or the rotating mechanism (140) to change the light blocking effect of the blocking piece on the optical coupler for position detection.

10. A cuvette transfer mechanism, characterized by comprising a robot body (110), the elevation rotation apparatus body according to any one of claims 1 to 9, the robot body (110) being connected to one end of a spline shaft (161) of a spline coupling assembly (160) of the elevation rotation apparatus body.

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