CN217249015U - Clamping jaw, clamping mechanism and liquid transfer workstation - Google Patents

Abstract

The utility model belongs to the technical field of the automatic liquid that moves, a clamping jaw, clamping mechanism and move liquid workstation are disclosed. The utility model discloses a clamping jaw, clamping jaw include centre gripping arm and tongs piece, centre gripping arm execution end is equipped with the mounting groove, the tongs piece is installed in the mounting groove through the pivot to it is spacing through mounting groove tank bottom and lateral wall, but this clamping jaw has add the tongs piece of rotary activity, has increased the clamping jaw through its rotation and has got holding of error. The clamping mechanism comprises the clamping jaw, the gripper block flexibly swings in the consumable taking and placing process, so that the gripping flexibility is improved, the positioning error of the contained consumable is increased, and the taking and placing success rate is improved; in addition, the rigid contact between the clamping jaw and the consumable plate position can be avoided, and the service life of the instrument is prolonged. The liquid transfer workstation comprising the clamping mechanism is more convenient and efficient to use.

Description

Clamping jaw, clamping mechanism and liquid transfer workstation

Technical Field

The utility model belongs to the technical field of the automatic liquid that moves, concretely relates to clamping jaw, clamping mechanism and move liquid workstation.

Background

With the development of life science technology, there is a wide demand for automation of liquid treatment in the fields of genomics, proteomics, cell biology, immunology, drug development, etc., in which a pipetting workstation is a powerful tool for laboratory liquid treatment. The liquid transfer workstation mainly realizes consumable material handling through supporting clamping mechanism, and these consumables often are equipped with sample or reaction liquid, and its accuracy and the stability of getting and putting are crucial to following going on smoothly at experimental reaction processes such as control by temperature change, magnetism absorption, elution, amplification at different stations. Therefore, there is a need to develop a stable and reliable clamping mechanism to improve the automation of the pipetting station.

In the clamping mechanism, the clamping jaw is a key factor for determining whether the clamping is successful or not because the positioning precision requirement corresponding to the clamping is high. In the automatic technical field that moves liquid, current clamping jaw is mostly integrated into one piece's cubic, column or platelike structure, and it presss from both sides the portion of getting and gets thing rigid contact with the target clamp, if the target clamp gets thing position and takes place the skew, then can not in time make the adaptability adjustment to it.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: to the above-mentioned prior art, the utility model provides a get and put clamping jaw that holds the error increase. The utility model also provides a clamping mechanism who contains above-mentioned clamping jaw and contain this clamping mechanism's liquid-transfering work station.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a clamping jaw, includes centre gripping arm and tongs piece, centre gripping arm execution end is equipped with the mounting groove, the tongs piece is installed in the mounting groove through the pivot to it is spacing through mounting groove tank bottom and lateral wall. This clamping jaw centre gripping arm execution end installation rotatable tongs piece realizes snatching through the tongs piece, has promoted the flexibility and the adaptability of clamping jaw.

In some embodiments, the rotating shaft may be a pin, a screw, or the like.

In some technical schemes, the grip block extends to the bottom of the mounting groove to form a protruding portion, and the protruding portion is abutted to the bottom of the mounting groove. Through setting up bellying and mounting groove tank bottom butt, provide a fulcrum for the rotation of tongs piece, increase pivoted stability. In some technical solutions, the protruding portion is disposed in the middle of the grip block, and a person skilled in the art can also set the protruding portion at other positions of the grip block according to actual requirements, so as to provide a pivot for rotation of the grip block. Further, the protrusion may be provided with a smooth surface to prevent frictional loss caused by gripping. As a technical scheme, the section of the gripper block is arched, semicircular, rounded triangular and the like, and the convex parts of the shapes face the bottom of the mounting groove. In other technical solutions, the grip block may not be provided with the protrusion, and the rotation limitation is realized by the abutting of the end portion of the grip block and the bottom of the mounting groove, for example, the grip block is provided with a section of a rounded rectangle, a rounded trapezoid, a parallel polygon, or the like.

In some technical schemes, the mounting groove sets up along centre gripping arm length direction, the tongs piece is located between the mounting groove both sides wall through the pivot, and one end stretches out outside the mounting groove along centre gripping arm length direction. One end of the gripper block is arranged to extend out of the mounting groove, so that the flexibility of the whole use of the gripping jaw can be increased, the gripping operation space is larger, and the gripper is suitable for gripping articles on various small-space occasions.

In some technical scheme, the tongs piece stretch out to the outer one end of mounting groove is the wedge, when guaranteeing that the target object is stable to be got, can reduce the volume of the outer tongs piece of mounting groove by a wide margin, is favorable to the tongs piece to carry out the adaptability adjustment along with the target presss from both sides the department of placing of getting the thing, and the reinforcing snatchs the flexibility. For example, when consumptive material board position had spacing limit, the wedge end of tongs piece slided into consumptive material board position along its chamfer more easily, carries out the flexibility to the consumptive material and gets and put.

In some technical schemes, the gripper block is provided with a clamping surface, and the clamping surface is provided with a friction layer to increase the friction force when the gripper is used for clamping. Preferably, the friction member is a back cushion.

In some technical solutions, an acute angle formed by a plane where the clamping surface of the gripper block is located and a plane where the bottom of the clamping jaw mounting groove is located is a rotation included angle of the gripper block, and the maximum rotation angle of the acute angle can be 1 to 3 degrees, and is preferably 2 degrees.

The utility model also provides a clamping mechanism of including above-mentioned clamping jaw.

In some technical solutions, the clamping mechanism is a parallel clamping mechanism including two clamping jaws, and further includes a mounting frame, a linear guide rail and a driving assembly, and both the linear guide rail and the driving assembly are mounted on the mounting frame; the clamping jaws are slidably mounted on the linear guide rail, and the driving assembly drives the two clamping jaws to be close to or separated from each other. The linear guide rail can guarantee the operation stability of the clamping jaw, and the clamping success rate is improved.

In some technical solutions, the driving assembly includes a motor and a dual-rotation-direction lead screw, an output end of the motor is connected to the dual-rotation-direction lead screw, and the dual-rotation-direction lead screw is arranged in parallel with the linear guide rail; the clamping jaws are mounted at two ends of the double-rotation-direction screw rod through the nut seats, and the forward and reverse rotation of the motor can drive the double-rotation-direction screw rod to rotate clockwise or anticlockwise so as to drive the two clamping jaws to move oppositely or oppositely in the same plane and further complete the clamping or opening action.

In some technical schemes, for the order the motor is in mounted position on the mounting bracket has more space flexibility, drive assembly still includes transmission assembly, transmission assembly includes the action wheel, follows the driving wheel, and the two passes through synchronous belt drive and connects, the action wheel is connected the output of motor, follow the driving wheel with bispin is to lead screw fixed connection, the drive power accessible of motor transmission assembly extremely on the bispin is to the lead screw, and then drive the clamping jaw motion.

In some technical schemes, the driving assembly comprises a motor, a driving wheel, a driven wheel and a synchronous belt, the driving wheel is connected with the output end of the motor, the driven wheel is fixed on the mounting frame, the axis connecting line of the driving wheel and the driven wheel is parallel to the linear guide rail, and the driving wheel and the driven wheel are in transmission connection through the synchronous belt; the clamping jaws are respectively fixed on the upper section and the lower section of the synchronous belt. The motor drives the driving wheel and the driven wheel to rotate, so that the two clamping jaws are driven to clamp or open.

In some embodiments, to better enable the automatic operation of the parallel clamping mechanism, the parallel clamping mechanism further comprises a sensing assembly.

In some technical schemes, the sensing assembly comprises a detected piece and a detecting piece, the detected piece and the detecting piece are respectively arranged on any clamping jaw and a mounting rack on the outer side of the clamping jaw, the detecting piece is respectively in communication connection with the motor and the clamping jaw, and the farthest running distance of the clamping jaw when the clamping jaw is opened is controlled by whether the detected piece is detected or not. In the actual working process, when the detection piece detects the detected piece, the clamping jaw is shown to be opened to the maximum position, and when the detected piece is separated from the detection, the clamping jaw is shown to be in the clamping process.

In some technical solutions, the detection member is an optical coupler, the optical coupler includes a light emitter and a light receiver which are oppositely disposed, the detection member is an optical coupler blocking piece, the optical coupler blocking piece can enter between the light emitter and the light receiver of the optical coupler, and the clamping mechanism realizes automatic control of clamping actions of the clamping jaws through the fact that the optical coupler blocking piece blocks the optical coupler or not. In the actual working process, when the optical coupling separation blade runs between the light emitter and the light receiver, the motor stops running, the motor is adjusted to run reversely, and the optical coupling separation blade leaves the optical coupling piece. Optionally, a person skilled in the art may select other types of detecting elements and detected elements according to actual requirements, for example, an inductance detecting element, a magnetic inductance detecting element, and the like, to implement the detecting function.

In some technical schemes, the motor can be additionally provided with an encoder for realizing the function of giving an alarm when the clamping jaw loses steps.

The utility model also provides a move liquid workstation including above-mentioned clamping mechanism.

The working principle is as follows: the utility model discloses a clamping jaw, it has add rotatable tongs piece, when pressing from both sides the getting consumptive material, if the consumptive material takes place to incline, the tongs piece is fixed along consumptive material lateral wall adaptability to the consumptive material, and the consumptive material forms the extrusion spacing to tongs piece with the mounting groove this moment to realize that the stable clamp of consumptive material is got. When the tongs piece stretch out to when the outer one end of mounting groove is the wedge, with the clamping jaw gets and puts the consumptive material, even the consumptive material board position slightly squints, the automatic adaptability slope that takes place in chamfer limit that also can follow the consumptive material board position of tongs piece of clamping jaw, realizes that the consumptive material gets the flexibility of putting and corrects.

The utility model discloses a parallel clamping mechanism is driven by drive assembly the clamping jaw is followed linear guide sliding motion controls the clamp of consumptive material and gets. When drive assembly includes motor and bispin to lead screw, clamping mechanism drives bispin by motor drive and turns to the lead screw clockwise or anticlockwise rotation, drives the clamping jaw of its both sides and draws together or separate and carry out the consumptive material and get and put. When the driving assembly replaces the double-rotation-direction screw rod as the driving wheel, the driven wheel and the synchronous belt, the clamping mechanism is driven by the motor to make the clamping jaws respectively fixed on the upper section and the lower section of the clamping mechanism perform reverse motion by means of the motion of the synchronous belt so as to realize the taking and placing of consumables.

Has the advantages that: compared with the prior art, the utility model discloses an add the tongs piece of rotatable activity on the clamping jaw, rotated the error that has increased the clamping jaw through it and held the degree. The gripping mechanism comprises the gripping jaws, the gripping block flexibly swings in the consumable taking and placing process, so that the gripping flexibility is improved, the consumable positioning error which can be accommodated is increased, and the taking and placing success rate is improved; in addition, the rigid contact between the clamping jaw and the consumable plate position can be avoided, and the service life of the instrument is prolonged. The liquid transfer workstation comprising the clamping mechanism is more convenient and efficient to use.

Drawings

FIG. 1 is an exploded view of the jaws of example 1;

FIG. 2 is a diagram of a consumable plate position structure;

FIG. 3 is a structural view of a parallel clamping mechanism of embodiment 2;

FIG. 4 is an expanded state view of the parallel clamping mechanism of embodiment 2;

FIG. 5 is a view showing the construction of a tool in embodiment 2;

FIG. 6 is a view showing the assembled state of the tool in embodiment 2;

FIG. 7 is a structural view of a parallel clamp mechanism of embodiment 3;

in the drawing, a clamping arm (1), a mounting hole (101), a mounting groove (102), a rotating shaft (2), a gripper block (3), a clamping surface (301), a concave step surface (302), a gum pad (303), a mounting through hole (304), a consumable plate position (4), a mounting rack (5), a driving assembly (6), a motor (601), a driving wheel (602), a driven wheel (603), a synchronous belt (604), a double-rotation lead screw (605), a linear guide rail (7), a sliding block (8), a guide rail connecting piece (9), a nut seat (10), a nut (11), a deep groove ball bearing (12), a bearing seat (13), a first clamping jaw (14), a second clamping jaw (15), a motor adapter plate (16), a U-shaped tool (17), a sensing assembly (18), an optical coupler (1801), an optical coupler baffle plate (1802), an optical coupler mounting seat (1803), a hollow part (19), a clamping jaw mounting seat (20), Synchronous belt clamp plate (21), spacing nail (22), locating hole (23), bolt (24).

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary, and the structures, proportions, sizes, etc. shown in the drawings of the present specification are for explanation of the present invention only, and should not be construed as limitations of the present invention. Any modification of the structure, change of the ratio or adjustment of the size should still fall within the scope of the present invention without affecting the function and the purpose of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.

Example 1

The clamping jaw of this embodiment, as shown in fig. 1, including clamping arm 1 and tongs piece 3, the execution end of clamping arm 1 is provided with mounting groove 102, and tongs piece 3 is installed in mounting groove 102 through pivot 2 to it is spacing through mounting groove tank bottom and lateral wall. Wherein, the mounting groove 102 is arranged along the length direction of the clamping arm 1, and two opposite mounting holes 101 are arranged on the side wall of the mounting groove 102. The gripper block 3 extends towards the bottom of the mounting groove and is provided with a protruding part, the protruding part is internally provided with a mounting through hole 304, and the rotating shaft 2 penetrates through the mounting hole 101 and the mounting through hole 304 to fix the gripper block 3 in the mounting groove 102. The rotating shaft 2 can be a pin, a pin shaft, a screw and the like.

In some embodiments, the mounting through holes 304 may be replaced by two grooves symmetrically disposed on both sides of the protruding portion of the hand grip block, and the two sections of the rotating shafts 2 respectively pass through the mounting holes 101 from both sides of the mounting groove 102 to abut against the corresponding grooves, so as to rotatably fix the hand grip block 3 in the mounting groove 102. Optionally, the mounting hole 101 can be replaced by a groove according to actual requirements, and the rotatable fixing of the hand grip block 3 in the mounting groove 102 can be realized through the rotating shaft 2.

As shown in fig. 1, in order to enhance the flexibility of the whole use of the clamping jaw, one end of the gripping block 3 extends out of the mounting groove 102 along the length direction of the clamping arm 1, and the gripping block 3 is a two-section wedge-shaped structure gradually narrowed from the convex part to the two ends and spliced together, and the section of the gripping block is an isosceles triangle. The structural design that one end of the hand grip block 3 extends out of the mounting groove 102 increases the rotating space of the hand grip block 3, and further increases the tolerance that the hand grip block can accommodate. It can be seen from the common structure of the consumable plate position 4 shown in fig. 2 that when the portion of the gripper block 3 extending out of the mounting groove 102 is designed to be wedge-shaped, the gripper block 3 slides into the consumable plate position 4 along the chamfer of the limiting edge of the consumable plate position more easily, and the consumable is flexibly taken and placed, so that the flexibility of the adaptability adjustment of the consumable is enhanced.

In some embodiments, the grip block 3 may be further configured to have an arcuate, semicircular, non-isosceles triangle, crescent moon shape, etc. section according to actual requirements, so as to complete the adaptive adjustment function, and the convex portions of the above shapes face the bottom of the mounting groove 102.

In this embodiment, the protruding portion on the grip block 3 is abutted to the bottom of the mounting groove, so as to provide a fulcrum for the rotation of the grip block 3 and increase the stability of the rotation of the grip block 3. Optionally, the protruding portion of the hand grip block 3 may not abut against the bottom of the mounting groove according to actual requirements, or the protruding portion is not disposed on the hand grip block 3, and the rotation limitation is achieved through the hand grip block 3 and other contacts at the bottom of the mounting groove. In some embodiments, the gripper block 3 may also be configured to have a cross section of a rounded rectangle, a rounded trapezoid, a parallel polygon, or the like.

In this embodiment, the clamping surface 301 of the gripping block 3 is a plane, and the concave step surfaces 302 are designed at two ends of the clamping surface 301, and a back rubber pad 303 (shown in fig. 3) is attached therein to increase the friction force when the consumable is gripped. In other embodiments, the holding surface 301 may be configured as a plane, a curved surface, a folded surface, a wavy surface, etc. according to the shape of the outer surface of the consumable, a convex step surface or a concave step surface may be added on the entire surface or other positions of the holding surface 301, the back cushion 303 may be replaced with other material types capable of increasing the friction force, and the specific attachment position of the back cushion 303 may be changed to increase the friction force.

In the present embodiment, as shown in fig. 1, in the clamping jaw, an acute angle formed between a plane of the clamping surface 301 of the gripper block 3 and a plane of the bottom of the clamping jaw mounting groove is a rotation included angle of the gripper block 3, and the maximum rotation included angle is 2 °. According to practical conditions, the maximum rotation included angle can be set to be 1-3 degrees.

At the in-process of the above-mentioned clamping jaw of in-service use, if the consumptive material takes place the slope, tongs piece 3 can carry out the adaptability rotation along the consumptive material lateral wall, until the consumptive material is fixed, mounting groove 102 and consumptive material form the extrusion spacing to tongs piece 3 this moment to guarantee the steady application of force of tongs piece 3 to the consumptive material.

Example 2

A parallel clamping mechanism as shown in fig. 3 comprises a mounting frame 5, a driving assembly 6, a first clamping jaw 14, a second clamping jaw 15, a linear guide rail 7 arranged in parallel and a double-rotation-direction lead screw 605. The mounting frame 5 is rectangular, a linear guide rail 7 is arranged on the outer side of the long edge of the mounting frame, two sliding blocks 8 are arranged on the linear guide rail 7 in a penetrating mode and respectively locked with guide rail connecting pieces 9, and the other ends of the two guide rail connecting pieces 9 are respectively locked on two nut seats 10. The double-rotation-direction lead screw 605 passes through the hollow part of the nut seat 10 and is symmetrically fixed by the nut 11, and two ends of the double-rotation-direction lead screw 605 are arranged on the bearing seats 13 which are oppositely arranged outside the mounting rack 5 through the deep groove ball bearings 12. The two nut bases 10 are respectively fixed with a first clamping jaw 14 and a second clamping jaw 15.

In this embodiment, the driving assembly 6 includes a motor 601, a driving pulley 602, a driven pulley 603, and a timing belt 604. The motor 601 is fixed in the rectangular mounting frame 5, a motor shaft passes through the motor adapter plate 16 on the short side of one side of the mounting frame 5, and the driving wheel 602 is matched with the output end of the motor 601 through a set screw and fixed on the outer side of the motor adapter plate 16. The driven wheel 603 is mounted on the end of the double-rotation-direction lead screw 605 passing through the bearing seat 13, the driving wheel 602 is connected with the driven wheel 603 through a synchronous belt 604, and the tension degree of the synchronous belt 604 can be adjusted by adjusting the position of the motor adapter plate 16.

In this embodiment, the fitting of the jaws into the parallel clamping mechanism to achieve torque transfer from the motor 601 to the two jaws follows a sequence of requirements: 1) a double-rotation-direction lead screw 605 with two nuts 11 is arranged in the left and right nut seats 10 in a penetrating way, so that the nuts 11 are positioned between the two nut seats 10; 2) assembling two shaft ends of a double-rotation-direction lead screw 605 into a bearing seat 13 with a deep groove ball bearing 12; 3) the left and right nuts 11 are locked to fix the nut holder 10.

In this embodiment, a positioning hole 23 as shown in fig. 3 is added to the mounting frame 5 on the side where the linear guide 7 is installed, for positioning the U-shaped fixture 17 during the assembly process, so as to ensure the centering of the two clamping jaws when the two clamping jaws are opened and clamped. The U-shaped tool 17 is shown in FIG. 5, and a bolt 24 matched with the positioning hole 23 protrudes from the U-shaped tool 17, when the U-shaped tool is installed, the bolt 24 is inserted into the positioning hole 23, and the U-shaped tool 17 is fastened on the installation frame 5 through a screw; the two arms of the installed U-shaped tool 17 are perpendicular to the double-rotation-direction lead screw 605 and are symmetrical in the central section. The front ends of two arms of the U-shaped tool 17 are bent downwards, when in use, the two arms are respectively fastened and penetrated through two nut seats 10 of a double-rotation-direction lead screw 605, a left nut 11 and a right nut 11 are rotated (the double-rotation-direction lead screw 605 is rotated if necessary), so that the flange surfaces of the nuts 11 are attached to the nut seats 10, the nut hole positions on the two sides are opposite to the nut seat hole positions, and then the nut holes are fastened by screws to complete centering assembly work, wherein the integral structure is shown in figure 6 when the centering assembly work is completed; the U-shaped tool 17 is then removed and the two jaws are mounted on the fixed nut holder 10, respectively. In order to ensure that the through hole of the nut 11 is just opposite to the fixed threaded hole of the nut seat 10 when the nut flange and the side edge of the nut seat 10 are attached, it is necessary to ensure that the thread cut-in angles of the left and right sides of the double-handed lead screw 605 are in the same plane.

In other embodiments, in order to prevent the clamping jaws from losing steps, an encoder can be additionally arranged on the motor 601 and used for giving an alarm when the clamping jaws lose steps, so that the clamping safety of the clamping jaws is ensured.

In this embodiment, the parallel clamping mechanism shown in fig. 3 is further provided with a sensing assembly 18 to realize the automation of clamping, including opto-coupler 1801, opto-coupler separation blade 1802, opto-coupler mount 1803 is fixed on the opposite side short edge of mounting bracket 5 relative to motor adapter plate 16, opto-coupler 1801 sets up on opto-coupler mount 1803, and opto-coupler separation blade 1802 locks and pays on nut seat 10 fixed with first clamping jaw 14. In some embodiments, the optical coupler mounting seat 1803 equipped with the optical coupler 1801 may also be fixed on the short edge of the mounting frame 5 on the side of the motor adapter plate 16, and the optical coupler blocking piece 1802 may be correspondingly locked on the nut seat 10 fixed with the second clamping jaw 15. In other embodiments, the positions of the light coupler 1801 and the light coupler blocking piece 1802 can be reversed. The two can also be replaced by other sets of detection parts and detected parts, such as inductance detection components, magnetic sensing detection components and the like, and the purpose of sensing can be achieved.

In actual work, when the parallel clamping mechanism needs to be opened, the motor 601 rotates forward, the optical coupler blocking piece 1802 moves to cover the optical coupler 1801 along with the nut seat 10, at the moment, the clamping jaw is opened to the maximum position, and the state is shown in fig. 4; when the parallel clamping mechanism needs to clamp, the motor 601 rotates reversely, the motor 601 is controlled by a time sequence to move for a fixed pulse number at a certain frequency, and clamping jaws at two sides move towards the central line of the double-rotation lead screw 605 along with the nut 11 by means of opposite rotation directions at two sides of the double-rotation lead screw 605, so that the clamping operation of consumables is realized.

If the consumptive material board position 4 for placing the consumptive material is as shown in fig. 2, its spacing edge is provided with spacing chamfer, when placing the consumptive material, if the skew takes place for the position of consumptive material board position 4, parallel clamping mechanism accompanies the clamping jaw of consumptive material to getting into consumptive material board position 4 along vertical direction during, the automatic slope that takes place certain angle in chamfer limit that consumptive material board position 4 can be followed to tongs piece 3, thereby put into consumptive material board position 4 with the consumptive material flexibly, the accuracy nature that the consumptive material was placed has been improved, the deformation of consumptive material and clamping jaw that the rigid contact led to has also been avoided simultaneously, and service life is prolonged.

Example 3

A parallel clamping mechanism as shown in fig. 7 comprises a mounting frame 5, a driving assembly 6, a linear guide 7, a first clamping jaw 14 and a second clamping jaw 15, wherein the driving assembly 6 comprises a motor 601, a driving wheel 602, a driven wheel 603 and a synchronous belt 604.

In this embodiment, the mounting bracket 5 is a rectangular plate, the motor 601 is mounted on the back surface of the mounting bracket, the plate-shaped mounting bracket 5 is provided with a hollow portion 19, the motor shaft penetrates through the hollow portion 19 and is fixed to the driving wheel 602 at the proximal end of the hollow portion 19, the driven wheel 603 is mounted on the front surface of the mounting bracket 5 and is disposed at the distal end of the hollow portion 19, and the driving wheel 602 and the driven wheel 603 are in transmission connection through the synchronous belt 604. The linear guide 7 is parallel to the synchronous belt 604 and arranged below the synchronous belt 604, two clamping jaw mounting seats 20 are respectively arranged on two sides of the linear guide 7 in a sliding mode, the clamping jaw mounting seats 20 are respectively fixed with the upper side edge and the lower side edge of the synchronous belt 604 through synchronous belt pressing plates 21, and the first clamping jaw 14 and the second clamping jaw 15 are respectively mounted on the two clamping jaw mounting seats 20. When the motor 601 is started to rotate, the two clamping jaws move reversely at the same time because the moving directions of the two sides of the synchronous belt 604 are opposite, so that the clamping and the opening of the mechanism are realized.

In this embodiment, two sliding blocks 8 are arranged on the linear guide rail 7 in a penetrating manner, and the clamping jaw mounting base 20 is fixed on the sliding blocks 8 so as to enhance the flexibility of horizontal movement. In other embodiments, a person skilled in the art can also realize the sliding connection of the clamping jaw on the linear guide rail without arranging a sliding block on the linear guide rail according to actual conditions.

In the embodiment of the parallel clamping mechanism shown in fig. 7, a limit pin 22 is further provided on the mounting frame 5 to ensure the alignment of the two clamping jaws when the two clamping jaws are opened and clamped. Two limit nails 22 are respectively arranged at two ends of the linear guide rail 7, and the two limit nails are symmetrical along the central line of the mechanism. In the actual assembly process, firstly, the two clamping jaw mounting seats 20 slide along the linear guide rail 7 to be in contact with the limit nails 22, and then the synchronous belt 604 is fixed on the clamping jaw mounting seats 20 through the synchronous belt pressing plate 21. In some embodiments, the limiting nail can be replaced by a limiting block, a limiting edge and the like, so that the limiting effect can be realized, and the centering performance of the two clamping jaws can be ensured during assembly.

It should be finally noted that the above examples only show a part of the technical solutions of the present invention, and do not limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (12)

1. The clamping jaw is characterized by comprising a clamping arm (1) and a gripper block (3), wherein an installation groove (102) is formed in an execution end of the clamping arm (1), the gripper block (3) is installed in the installation groove (102) through a rotating shaft (2), and is limited through the bottom of the installation groove and a side wall.

2. A jaw as claimed in claim 1, characterized in that said grip block (3) extends with a projection towards the bottom of the mounting groove, said projection abutting against the bottom of the mounting groove.

3. A jaw as claimed in claim 1, characterized in that said mounting groove (102) is arranged along the length of the gripping arm (1), and one end of said gripper block (3) extends out of said mounting groove (102) along the length of the gripping arm (1).

4. A jaw as claimed in claim 3, characterized in that the end of said gripper block (3) projecting outside said mounting groove (102) is wedge-shaped.

5. A jaw as claimed in claim 1, characterized in that said grip block (3) is provided with a gripping surface (301), said gripping surface (301) being provided with a friction layer.

6. A clamping mechanism, characterized in that it comprises a clamping jaw according to any one of claims 1-5.

7. The clamping mechanism of claim 6, wherein:

the clamping mechanism is a parallel clamping mechanism comprising two clamping jaws, and further comprises an installation frame (5), a linear guide rail (7) and a driving assembly (6), wherein the linear guide rail (7) and the driving assembly (6) are installed on the installation frame (5);

the clamping jaws are slidably mounted on the linear guide rail (7), and the driving assembly (6) drives the two clamping jaws to be close to or separated from each other.

8. The clamping mechanism according to claim 7, wherein the driving assembly (6) comprises a motor (601) and a double-rotation lead screw (605), the output end of the motor (601) is connected with the double-rotation lead screw (605), and the double-rotation lead screw (605) is arranged in parallel with the linear guide rail (7); the clamping jaws are mounted at two ends of the double-rotation-direction lead screw (605) through a nut seat (10).

9. The clamping mechanism according to claim 8, wherein the driving assembly (6) further comprises a transmission assembly, the transmission assembly comprises a driving wheel (602) and a driven wheel (603), the driving wheel (602) is connected to an output end of the motor (601), the driven wheel (603) is fixedly connected to the double-rotation-direction lead screw (605), and the driving wheel (602) and the driven wheel (603) are in transmission connection through a synchronous belt (604).

10. The clamping mechanism as recited in claim 7, characterized in that the driving assembly comprises a motor (601), a driving wheel (602), a driven wheel (603) and a synchronous belt (604), the driving wheel (602) is connected to the output end of the motor (601), the driven wheel (603) is fixed on the mounting frame (5), the axis connecting line of the driving wheel (602) and the driven wheel (603) is parallel to the linear guide rail (7), and the driving wheel (602) and the driven wheel are in transmission connection through the synchronous belt (604); the clamping jaws are respectively fixed on the upper section and the lower section of the synchronous belt (604).

11. The clamping mechanism as recited in any of claims 7-10, characterised in that said parallel clamping mechanism further comprises a sensing assembly (18).

12. A pipetting station characterized by: comprising the clamping mechanism of claim 6.

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