CN217846331U - Mechanical gripper and chemiluminescence immunoassay analyzer - Google Patents

Abstract

The application provides a mechanical tongs and chemiluminescence immunoassay appearance, mechanical tongs include: a drive assembly, comprising: the motor drives the cam to rotate; the fixed seat is fixedly connected with the driving component; the first clamping assembly and the second clamping assembly are respectively arranged on two sides of the cam, and the cam rotates to enable the first clamping assembly and/or the second clamping assembly to slide on the fixed seat in a reciprocating mode; and two ends of the elastic piece are fixedly connected with the first clamping assembly and the second clamping assembly respectively. The mechanical gripper has the advantages of being simple in structure, small in occupied space, low in maintenance cost, stable in gripping and the like.

Description

Mechanical gripper and chemiluminescence immunoassay analyzer

Technical Field

The application relates to the field of medical detection equipment, in particular to a mechanical gripper and a chemiluminescence immunoassay analyzer.

Background

The chemiluminescence immune analyzer is a medical inspection instrument for carrying out immune analysis on a human body by detecting serum of a patient, and mainly comprises a tube bank unit, an incubation unit, a cleaning unit, a detection unit and the like. The chemiluminescent immunoassay analyzer transfers the reaction tube between the tube bank unit, the incubation unit, the washing unit, and the detection unit using a mechanical gripper.

The mechanical gripper plays an important role in the working process of the chemiluminescence immunoassay analyzer. However, the conventional mechanical gripper has the problems of complex structure, large occupied space, insufficient gripping force and the like. Therefore, a new type of mechanical gripper is needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists among the prior art, this application has provided a mechanical tongs, includes: a drive assembly and a transmission assembly connected to each other, the drive assembly comprising: the motor drives the cam to rotate; the transmission assembly includes: the fixed seat is fixedly connected with the driving component; the first clamping assembly and the second clamping assembly are respectively arranged on two sides of the cam, and the cam rotates to cause the first clamping assembly and/or the second clamping assembly to slide on the fixed seat in a reciprocating manner; and two ends of the elastic piece are fixedly connected with the first clamping assembly and the second clamping assembly respectively. The mechanical gripper has the advantages of being simple in structure, small in occupied space, low in maintenance cost, stable in gripping and the like.

According to the mechanical gripper, the first clamping assembly and the second clamping assembly respectively comprise a bearing, and the first clamping assembly and the second clamping assembly are in abutting contact with the peripheral surface of the outer edge of the cam through the bearings.

The mechanical gripper further comprises claw pieces, the claw pieces are respectively arranged at the free ends of the first clamping assembly and the second clamping assembly, and grooves are formed in the inner sides of the claw pieces and used for forming accommodating spaces for accommodating objects to be clamped.

The mechanical gripper further comprises a reset elastic piece, one end of the reset elastic piece is arranged in the middle of the fixing seat, and the other end of the reset elastic piece is arranged on the first clamping assembly or the second clamping assembly.

As above the transmission assembly further comprises a limiting block and a limiting groove, the limiting block is arranged on the first clamping assembly or the second clamping assembly, and the limiting groove abuts against the limiting block to limit the first clamping assembly or the second clamping assembly to move upwards in the middle of the fixing seat.

The mechanical gripper further comprises an optical coupler and a trigger plate, the driving assembly comprises a motor fixing plate, the optical coupler is arranged on the motor fixing plate, and the trigger plate is arranged on the first clamping assembly or the second clamping assembly, is located in the optical coupler detection range and is used for judging the opening and closing positions of the mechanical gripper.

The mechanical hand grip comprises a fixed seat, a guide rail, and the first clamping assembly and/or the second clamping assembly slide along the guide rail in a reciprocating mode.

According to the mechanical gripper, the cam comprises a first end and a second end, the first end is fixedly connected with the second end through the connecting block, and the width of the connecting block is smaller than that of the first end and that of the second end.

The mechanical gripper as described above, wherein the farthest distance from the first end to the second end is greater than the distance between the first clamping assembly and the second clamping assembly; the width of the joint block is smaller than the distance between the first clamping assembly and the second clamping assembly.

The mechanical gripper as described above, wherein the farthest distance from the first end to the second end is greater than the distance between the claws on the first clamping assembly and the second clamping assembly; the width of the joint block is smaller than the distance between the claw sheets on the first clamping assembly and the second clamping assembly.

The mechanical hand grip is characterized in that the connecting positions between the first end, the second end and the connecting block are in circular arc transition.

According to another aspect of the present application, a chemiluminescent immunoassay analyzer is provided, which comprises at least a tube library unit, an incubation unit, a washing unit and a detection unit, wherein a reaction tube is transferred among the tube library unit, the incubation unit, the washing unit and the detection unit, and the taking or placing of the reaction tube is realized through one or more mechanical grippers.

This application utilizes mutually supporting of cam and spring, realizes that mechanical tongs opens and the closed state, has simple structure, occupies advantages such as small. And moreover, a sensor is arranged on the mechanical gripper, so that the state of the mechanical gripper can be judged to judge whether the object to be clamped is successfully gripped. Further, the spring in this application is including tightening up spring and reset spring, avoids mechanical tongs because of unable reseing, leads to the problem of unable work, has improved the job stabilization nature of mechanical tongs. Utilize the chemiluminescence immunoassay appearance of this application mechanical tongs, can reduce chemiluminescence immunoassay appearance's volume, improved chemiluminescence immunoassay appearance's space utilization.

Drawings

Preferred embodiments of the present application will now be described in further detail with reference to the accompanying drawings, in which:

FIGS. 1A and 1B are schematic diagrams illustrating the gripping and releasing states, respectively, of a mechanical gripper according to one embodiment of the present application;

FIG. 2 is a schematic structural diagram of a drive assembly according to one embodiment of the present application;

FIG. 3A is a schematic structural diagram of a transmission assembly according to an embodiment of the present application;

FIGS. 3B and 3C are schematic views of the rear side of the transmission assembly of FIG. 3A, respectively; and

FIG. 4A is a perspective view of a cam according to one embodiment of the present application;

FIG. 4B is a schematic view of the A-direction structure of FIG. 4A;

FIGS. 4C and 4D are schematic views of a cam and bearing in different operating states, respectively, according to an embodiment of the present application; and

fig. 5 is a schematic diagram of a structure of a chemiluminescent immunoassay analyzer according to one embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the following detailed description, reference is made to the accompanying drawings that form a part hereof and in which is shown by way of illustration specific embodiments of the application. In the drawings, like numerals describe substantially similar components throughout the different views. Various specific embodiments of the present application are described in sufficient detail to enable those skilled in the art, having the benefit of this disclosure, to practice the subject application. It is to be understood that other embodiments may be utilized and structural, logical or electrical changes may be made to the embodiments of the present application.

Fig. 1A and 1B are schematic views of a mechanical gripper configured to grip and release two states, respectively, according to one embodiment of the present application. As shown in fig. 1A in combination with fig. 1B, the mechanical gripper 100 includes a driving assembly 10 and a transmission assembly 20, and the transmission assembly 20 is fixedly connected to the driving assembly 10. Referring to fig. 1A, when the driving assembly 10 is not in contact with the transferring assembly 20, the transferring assembly 20 maintains a closed state. The closed state of the transferring assembly 20 can clamp the object to be clamped and transfer the object to be clamped to a predetermined position. Referring to fig. 1B, when the driving assembly 10 contacts the transmission assembly 20, the transmission assembly 20 maintains the opened state. After the mechanical gripper 100 transfers the object to be clamped to a predetermined position, the transmission assembly 20 is kept in an open state, the object to be clamped is released, and the object to be clamped is transferred. Wherein, the object to be clamped can be a reaction tube. It will be understood by those skilled in the art that the mechanical gripper in the present application may also transfer other objects to be gripped, without limitation.

FIG. 2 is a schematic structural diagram of a drive assembly according to one embodiment of the present application. As shown in fig. 2, the driving assembly 10 includes a motor 110, a cam 120, and a motor fixing plate 130. The cam 120 is fixed to the motor 110, and the motor fixing plate 130 is fixed between the motor 110 and the cam 120. The motor fixing plate 130 is used to fix the transmission assembly 20, so that the mechanical gripper 100 is assembled into an integral device, and the overall volume of the mechanical gripper 100 is reduced. The cam 120 includes a fixing hole and a connecting rod (not shown), the fixing hole can be located at the axial center of the cam 120, and the connecting rod passes through the fixing hole and is fixedly connected with the rotor of the motor 110, so that the motor 110 drives the cam 120 to rotate. The cam 120 is directly connected with the motor 110 by a connecting rod, so that the number of the transmission devices in the middle is reduced, and the energy loss can be reduced. In addition, the cam 120 is directly driven to rotate by the motor 110, and the cam has the advantages of simple structure, low maintenance cost and the like.

In one embodiment, the cam 120 is secured to the motor 110 using a cam retainer plate 140. The cam 120 is fixed on the motor 110 by the cam fixing plate 140, so that the cam 120 is not loosened in the rotation process, and the working stability of the cam 120 is improved.

FIG. 3A is a schematic diagram of a transmission assembly according to an embodiment of the present application. As shown in fig. 3A, the driving assembly 20 includes a fixing base 210, a first clamping assembly 220, a second clamping assembly 230, and an elastic member 240. The fixing base 210 is fixedly connected with the motor fixing plate 130, the first clamping assembly 220 and the second clamping assembly 230 are fixed on the fixing base 210, and the first clamping assembly 220 and the second clamping assembly 230 are respectively arranged on two sides of the cam 120. The two ends of the elastic member 240 are fixedly connected to the first clamping assembly 220 and the second clamping assembly 230, respectively. When the elastic member 240 is stretched, a pulling force is generated between the first clamping assembly 220 and the second clamping assembly 230, so that the first clamping assembly 220 and the second clamping assembly 230 are drawn together towards the middle, and the function of resetting is achieved. In addition, when the first clamping assembly 220 and the second clamping assembly 230 are closed, the elastic member 240 provides a clamping force therebetween, so as to ensure that the object to be clamped does not fall off due to the gravity of the object to be clamped. Wherein the elastic member may be an extension spring. It will be appreciated by those skilled in the art that other types of elastic members may be used in the solution of the present application, and are not limited thereto.

In one embodiment, either of the first clamping assembly 220 and the second clamping assembly 230 slides back and forth on the mounting base 210, and the other clamping assembly is fixed to the mounting base 210. The cam 120, when rotated into contact with the slidable clamp assembly, causes the slidable clamp assembly to slide on the anchor block 210, creating an expanded state between the first clamp assembly 220 and the second clamp assembly 230.

In another embodiment, the first clamping assembly 220 and the second clamping assembly 230 slide back and forth on the holder 210. When the cam 120 contacts the first clamping assembly 220 and the second clamping assembly 230 through rotation, the first clamping assembly 220 and the second clamping assembly 230 slide on the fixed seat 210, so that the first clamping assembly 220 and the second clamping assembly 230 are unfolded. Through setting up one side or two side centre gripping subassemblies and reciprocating sliding on fixing base 210, can adapt to different application scenes, reduced and applied the threshold.

In one embodiment, the contact portions of the first clamping member 220 and the second clamping member 230 with the cam 120 are curved. When the first clamping assembly 220 and the second clamping assembly 230 contact the cam 120, the curved surfaces of the first clamping assembly 220 and the second clamping assembly 230 slide relative to the peripheral surface of the outer edge of the cam 120, so that the first clamping assembly 220 and the second clamping assembly 230 are spread and kept in the spread state.

In another embodiment, each of the first clamping member 220 and the second clamping member 230 includes a bearing 250, and the first clamping member 220 and the second clamping member 230 are in pressing contact with the outer peripheral surface of the cam 120 through the bearing 250. By utilizing the rotation of the bearing 250, the transmission friction resistance between the cam 120 and the first clamping assembly 220 and the second clamping assembly 230 can be further reduced, the first clamping assembly 220, the second clamping assembly 230 and the cam 120 are not easily worn, and the service life is prolonged.

The driving assembly 20 further includes claw pieces 260, the claw pieces 260 are respectively disposed at free ends of the first clamping assembly 220 and the second clamping assembly 230, and grooves are disposed at inner sides of the claw pieces 260 for forming accommodating spaces for accommodating objects to be clamped. The inner side of the claw piece 260 is provided with a groove, so that the claw piece has a positioning function when an object to be clamped is clamped, and the accuracy of a grabbing position is improved. When the two claw pieces 260 are clamped, the shape formed by the inner sides is matched with the shape of an object to be clamped, so that the contact area between the object to be clamped and the inner sides is increased, and the object to be clamped is prevented from falling off.

Referring to fig. 2 and 3A, the mechanical gripper 100 further includes an optical coupler 150 and a trigger plate 270, the optical coupler 150 is disposed on the motor fixing plate 130, and the trigger plate 270 is disposed on the first clamping assembly 220 or the second clamping assembly 230 and is located within a detection range of the optical coupler 150, so as to determine an opening and closing position of the mechanical gripper 100. The optical coupler 150 and the trigger plate 270 act together to judge the position of the first clamping assembly 220 or the second clamping assembly 230, further judge the opening and closing position of the mechanical gripper 100, and accurately feed back the position of the mechanical gripper. It should be understood by those skilled in the art that other position sensors may be used in the solution of the present application, and are not limited herein.

In one embodiment, mount 210 includes a rail 280 along which first clamp assembly 220 and/or second clamp assembly 230 slide back and forth. Corresponding positions on the first clamping assembly 220 and/or the second clamping assembly 230 are provided with slideways, and the guide rails 280 can be embedded in the slideways. First clamp assembly 220 and/or second clamp assembly 230 are reciprocally slidable in a direction of extension of rail 280. The first clamping assembly 220 and/or the second clamping assembly 230 slide on the fixing seat 210 in a reciprocating manner, so that the opening and closing states of the mechanical gripper 100 are realized, and the mechanical gripper has the advantages of simple structure, low failure rate and the like.

Fig. 3B and 3C are schematic views of the rear side of the transmission assembly of fig. 3A. As shown in fig. 3B, the mechanical gripper 100 further includes a return elastic member 290, one end of the return elastic member 290 is disposed at the middle position of the fixing seat, and the other end of the return elastic member 290 is disposed on the first clamping assembly 220 or the second clamping assembly 230. The elastic resetting member 290 has a resetting function, when the first clamping assembly 220 or the second clamping assembly 230 deviates during operation and the elastic resetting member 290 is stretched, the elastic resetting member 290 exerts a reverse force on the first clamping assembly 220 or the second clamping assembly 230, so as to ensure that the first clamping assembly 220 or the second clamping assembly 230 returns to the position before operation, and improve the operation stability of the mechanical gripper 100.

As shown in fig. 3C, the driving assembly 20 further includes a limiting block 231 and a limiting groove 211. The limiting block 231 may be disposed on the first clamping assembly 220 or the second clamping assembly 230, and the limiting groove 211 is disposed on a side of the fixing base 210 close to the limiting block 231. Taking the limiting block 231 disposed on the second clamping assembly 230 as an example, when the first clamping assembly 220 and the second clamping assembly 230 clamp the reaction tube, the elastic resetting member 290 exerts a pulling force on the second clamping assembly 230 toward the middle, the second clamping assembly 230 is drawn toward the middle, and when the limiting block 231 abuts against the limiting groove 211, the limiting groove 211 limits the second clamping assembly 230 to continue moving toward the middle, thereby preventing the first clamping assembly 220 and the second clamping assembly 230 from wholly shifting toward one side, which results in the mechanical gripper 100 not working normally. It should be understood by those skilled in the art that the limiting block 231 may be disposed on the first clamping assembly 220, and accordingly, the limiting groove 211 is disposed on one side of the fixing base 210 close to the first clamping assembly 220.

Fig. 4A is a perspective view of a cam according to an embodiment of the present application. Fig. 4B is a schematic view of the structure in direction a of fig. 4A. As shown in fig. 4A in combination with fig. 4B, the cam 120 includes a first end 121, an engaging block 122 and a second end 123, wherein the first end 121 is fixedly connected to the second end 123 by the engaging block 122. The width of the engagement block 122 is less than the width of the first end 121 and the second end 123. The connection positions between the first end 121, the second end 123 and the connecting block 122 are in circular arc transition. The connection positions between the first end 121, the second end 123 and the engagement block 122 are formed by circular arc transition, so that the cam 120 can move smoothly when contacting with the first clamping assembly 220 and/or the second clamping assembly 230, and the friction force is reduced. The cam 120 may be a split design, and the first end 121, the connecting block 122 and the second end 123 are fixedly connected to form an integral structure of the cam 120; the cam 120 may also be integrally formed, with the first end 121, the engagement block 122, and the second end 123 being a unitary, distinct portion.

In one embodiment, the furthest distance from first end 121 to second end 123 is greater than the distance between first gripper assembly 220 and said second gripper assembly 230; the width of the engagement block 122 is less than the distance between the first clamping assembly 220 and the second clamping assembly 230. The distance between the first clamping assembly 220 and the second clamping assembly 230 may be a linear distance between the first clamping assembly 220 and the end of the second clamping assembly 230 in contact with the cam 120. In another embodiment, the farthest distance from the first end to the second end is greater than the distance between the claw sheets on the first clamping assembly and the second clamping assembly; the width of the connecting block is smaller than the distance between the first clamping assembly and the claw sheets on the second clamping assembly.

Fig. 4C and 4D are schematic structural views of a cam and a bearing in different operating states according to an embodiment of the present application. As shown in fig. 4C and 4D, the width of the joint block 122 is less than the distance between the two bearings 250; the furthest distance from the first end 121 to the second end 123 is greater than the distance between the two bearings 250. Wherein the furthest distance from first end 121 to second end 123 can be the cam diagonal distance, the furthest distance from first end 121 to second end 123 being 17-21 millimeters. The linear distance between the edges of the two bearings 250 is 10-15 mm. The distance from the first end 121 to the second end 123 is greater than the distance between the two bearings 250, so that the first clamping assembly 220 and the second clamping assembly 230 are opened to a certain distance, and the object to be clamped can be clamped. The width of the joint block 122 is smaller than the distance between the two bearings 250, so that the first clamping assembly 220 and the second clamping assembly 230 can maintain a clamped state when the cam rotates to a certain position, thereby clamping an object to be clamped. According to the mechanical gripper, the cam is in contact with the first clamping assembly and/or the second clamping assembly in the rotating process by utilizing the special-shaped structure of the cam, so that the mechanical gripper keeps an opening state; the mechanical gripper can be kept in a tightened state by the aid of elasticity of the elastic pieces. Through the alternation of the opening state and the tightening state, the mechanical gripper can grab and place the object to be clamped, and the function of transferring the object to be clamped is completed.

Fig. 5 is a schematic diagram of a chemiluminescent immunoassay analyzer according to one embodiment of the present application. As shown in fig. 5, the chemiluminescent immunoassay analyzer 1000 includes at least a tube library unit 200, an incubation unit 300, a washing unit 400, and a detection unit 500, and the reaction tubes are transferred among the tube library unit 200, the incubation unit 300, the washing unit 400, and the detection unit 500, and are taken or placed by one or more mechanical grippers 100. The reaction tubes are placed in the tube library unit 200, the incubation unit 300, the cleaning unit 400 and the detection unit 500 by using the mechanical hand 100, so that the functions of incubation, cleaning, detection and the like of the reaction tubes can be realized, and the mechanical hand plays an important role in the chemiluminescence immunoassay work.

To sum up, this application utilizes mutually supporting of cam and spring, realizes that mechanical tongs opens and the closed state, has simple structure, occupies advantages such as small. And moreover, a sensor is arranged on the mechanical gripper, so that the state of the mechanical gripper can be judged to judge whether the object to be clamped is successfully gripped. Further, the spring in this application is including tightening up spring and reset spring, avoids mechanical tongs because of unable reseing, leads to the problem of unable work, has improved the job stabilization nature of mechanical tongs. Utilize the chemiluminescence immunoassay appearance of this application mechanical tongs, can reduce chemiluminescence immunoassay appearance's volume, improved chemiluminescence immunoassay appearance's space utilization.

The above-described embodiments are provided for illustrative purposes only and are not intended to limit the present disclosure, and those skilled in the art can make various changes and modifications without departing from the scope of the present disclosure, and therefore, all equivalent technical solutions should fall within the scope of the present disclosure.

Claims (12)

1. A mechanical gripper, comprising: a driving component and a transmission component which are connected with each other,

the drive assembly includes: the motor drives the cam to rotate;

the transmission assembly comprises:

the fixed seat is fixedly connected with the driving component;

the first clamping assembly and the second clamping assembly are respectively arranged on two sides of the cam, and the cam rotates to cause the first clamping assembly and/or the second clamping assembly to slide on the fixed seat in a reciprocating manner;

and two ends of the elastic piece are fixedly connected with the first clamping assembly and the second clamping assembly respectively.

2. The mechanical gripper of claim 1, wherein each of the first and second gripping members includes a bearing, and the first and second gripping members are in pressing contact with an outer peripheral surface of the cam through the bearing.

3. The mechanical gripper according to claim 1, further comprising a claw piece respectively disposed at free ends of the first and second gripping members, wherein a groove is provided inside the claw piece for forming a receiving space for receiving an object to be gripped.

4. The mechanical gripper as claimed in claim 1, further comprising a return elastic member, one end of the return elastic member being disposed at a middle position of the fixing seat, and the other end of the return elastic member being disposed on the first clamping assembly or the second clamping assembly.

5. The mechanical gripper as claimed in claim 1, wherein the transmission assembly further comprises a limiting block and a limiting groove, the limiting block is disposed on the first clamping assembly or the second clamping assembly, and the limiting groove abuts against the limiting block to limit the first clamping assembly or the second clamping assembly to move towards the middle of the fixing seat.

6. The mechanical hand grip according to claim 1, further comprising an optical coupler and a trigger plate, wherein the driving assembly comprises a motor fixing plate, the optical coupler is arranged on the motor fixing plate, and the trigger plate is arranged on the first clamping assembly or the second clamping assembly and is located in the detection range of the optical coupler, so that the opening and closing positions of the mechanical hand grip can be judged.

7. The mechanical hand grip of claim 1 wherein the fixed seat includes a rail along which the first and/or second gripping assemblies reciprocally slide.

8. The mechanical gripper of claim 1, wherein the cam includes a first end and a second end, the first end fixedly connected to the second end by a joint block, the joint block having a width less than a width of the first end and the second end.

9. The mechanical hand grip of claim 8 wherein a furthest distance from the first end to the second end is greater than a distance between the first gripping assembly and the second gripping assembly; the width of the joint block is smaller than the distance between the first clamping assembly and the second clamping assembly.

10. The mechanical gripper of claim 8, wherein the free ends of the first and second gripping members are each provided with a claw piece, and the farthest distance from the first end to the second end is greater than the distance between the claw pieces on the first and second gripping members; the width of the joint block is smaller than the distance between the claw sheets on the first clamping assembly and the second clamping assembly.

11. The mechanical gripper of claim 8, wherein the connection between the first end, the second end, and the engagement block is radiused.

12. A chemiluminescent immunoassay analyzer comprising at least a cartridge unit, an incubation unit, a washing unit and a detection unit, the reaction tubes being transferred between the cartridge unit, the incubation unit, the washing unit and the detection unit, characterized in that the taking or placing of the reaction tubes is achieved by one or more mechanical grips according to any one of claims 1 to 11.

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