CN218614110U - Manipulator module - Google Patents
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- CN218614110U CN218614110U CN202222947898.6U CN202222947898U CN218614110U CN 218614110 U CN218614110 U CN 218614110U CN 202222947898 U CN202222947898 U CN 202222947898U CN 218614110 U CN218614110 U CN 218614110U
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- 230000033001 locomotion Effects 0.000 claims description 126
- 230000000903 blocking effect Effects 0.000 claims description 43
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 abstract description 7
- 230000004044 response Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 17
- 238000011534 incubation Methods 0.000 description 16
- 238000004140 cleaning Methods 0.000 description 12
- 238000007885 magnetic separation Methods 0.000 description 11
- 238000005070 sampling Methods 0.000 description 10
- 238000003018 immunoassay Methods 0.000 description 6
- 238000000926 separation method Methods 0.000 description 6
- 239000003153 chemical reaction reagent Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000010790 dilution Methods 0.000 description 3
- 239000012895 dilution Substances 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000002966 serum Anatomy 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model discloses a manipulator module, which comprises a manipulator device used for transferring a reaction cup; the manipulator device comprises a clamping jaw assembly, the clamping jaw assembly comprises a clamping jaw, and the clamping jaw consists of a clamping jaw arm I and a clamping jaw arm II; the clamping jaw assembly further comprises a clamping jaw motor, when the clamping jaw motor drives the pushing block to move downwards, the first clamping jaw arm and the second clamping jaw arm are far away from each other, the clamping jaw is opened, when the clamping jaw motor drives the pushing block to move upwards, the first clamping jaw arm and the second clamping jaw arm are close to each other, the clamping jaw is folded, and the reaction cup is clamped. The manipulator device clamps and releases the action of the reaction cup by the clamping jaw assembly, the clamping jaw assembly utilizes the pushing block to move upwards or downwards to fold or release the clamping jaw, the reaction cup is clamped, the action response is quick, the efficiency is high, and the time for transferring the reaction cup among all modules in the full-automatic chemiluminescence analyzer is saved.
Description
Technical Field
The utility model belongs to the technical field of medical equipment, especially, relate to a manipulator module for full-automatic chemiluminescence analysis appearance.
Background
The mainstream chemiluminescence product in the market needs to adopt serum or plasma as a detection sample, can not support direct and automatic detection of a whole blood sample, has long first sample report time and long total diagnosis time, hardly meets the requirement of detection turnover time, has long total waiting time, can aggravate the pain of a patient, easily causes the conflict emotion of family members or the patient, and is not beneficial to the treatment of subsequent patients.
In chinese patent document CN111735978A, a full-automatic chemiluminescence immunoassay analyzer is disclosed, which comprises a base, on which a reaction cup loading module, a mechanical arm sample introduction module, an incubation module, a mechanical arm and transfer module, a magnetic separation cleaning module and a detection module are integrally arranged, which are independent of each other: the reaction cup loading module is used for carrying the reaction cup to a preset position; the manipulator and the transfer module clamp the reaction cup into the incubation module, incubate the reaction cup and perform constant-temperature reaction; the reaction cup in the incubation module is clamped to the magnetic separation cleaning module for magnetic adsorption cleaning, and the cleaned reaction cup is clamped to the detection module by the manipulator and the transfer module for detection.
According to the manipulator and the transfer module disclosed in the technical scheme, the manipulator action assembly has poor action efficiency when clamping the reaction cup, so that the experience of an equipment user is poor, and improvement is necessary.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a manipulator module, the action response is quick, and is efficient, has practiced thrift the time that the reaction cup shifted between each module in full-automatic chemiluminescence analysis appearance.
In order to solve the technical problem, the utility model adopts the technical proposal that the manipulator module comprises a manipulator device for transferring the reaction cup; the manipulator device comprises a clamping jaw assembly, the clamping jaw assembly comprises a clamping jaw, and the clamping jaw consists of a clamping jaw arm I and a clamping jaw arm II; the clamping jaw assembly further comprises a clamping jaw motor, when the clamping jaw motor drives the pushing block to move downwards, the first clamping jaw arm and the second clamping jaw arm are far away from each other, the clamping jaw is opened, when the clamping jaw motor drives the pushing block to move upwards, the first clamping jaw arm and the second clamping jaw arm are close to each other, the clamping jaw is folded, and the reaction cup is clamped.
The manipulator device clamps and releases the reaction cup by the clamping jaw assembly, the clamping jaw assembly utilizes the pushing block to move upwards or downwards to fold or release the clamping jaw to clamp the reaction cup, the action response is quick, the efficiency is high, and the time for transferring the reaction cup among all modules in the full-automatic chemiluminescence analyzer is saved.
Preferably, the first clamping jaw arm is connected with the first clamping jaw sliding block through a first clamping jaw arm connecting piece, the second clamping jaw arm is connected with a second clamping jaw sliding block through a second clamping jaw arm connecting piece, and the first clamping jaw sliding block and the second clamping jaw arm are both connected to the clamping jaw sliding rail; the first clamping jaw arm connecting piece is provided with a first blocking wheel, the first blocking wheel is fixedly connected with a first blocking wheel block, and a first clamping jaw arm spring is arranged in the first blocking wheel block; and a second blocking wheel is arranged on the second claw-clamping arm connecting piece and fixedly connected with a second blocking wheel block, and a second claw-clamping arm spring is arranged in the second blocking wheel block.
The pushing block moves downwards to push a blocking wheel (a first blocking wheel and a second blocking wheel), the blocking wheel is fixedly connected with the blocking wheel block, the blocking wheel block is connected with the clamping jaw sliding block, moves along the clamping jaw sliding rail to drive the blocking wheel to move, and a clamping jaw arm spring arranged in the blocking wheel block is compressed; the clamping jaw arm is connected with the lower part of the clamping jaw sliding block, the clamping jaw arm is opened, otherwise, the pushing block moves upwards, and under the action of the clamping jaw arm spring, the clamping jaw arm is closed to clamp the reaction cup.
Preferably, still be provided with clamping jaw separation blade one on the clamping jaw arm connecting piece one still be provided with clamping jaw separation blade two on the clamping jaw arm connecting piece two, it is corresponding, clamping jaw opto-coupler one is furnished with to clamping jaw separation blade one, clamping jaw separation blade two is furnished with to clamping jaw opto-coupler two.
The clamping jaw separation blade cooperates with the clamping jaw opto-coupler to limit the movement of the clamping jaw arm on the clamping jaw slide rail.
Preferably, the jaw assembly has a jaw mounting bracket, and the jaw motor is located on the jaw mounting bracket; one end of the first clamping jaw arm spring is connected with the inner wall of the clamping jaw mounting support, and one end of the second clamping jaw arm spring is connected with the inner wall of the clamping jaw mounting support.
One end of the clamping jaw arm spring is connected with the inner wall of the clamping jaw mounting bracket, so that the blocking wheel block can compress the clamping jaw arm spring and the elasticity of the clamping jaw arm spring can be restored conveniently.
Preferably, the manipulator device further comprises a clamping jaw assembly up-and-down movement assembly and a clamping jaw assembly left-and-right movement assembly, wherein the clamping jaw assembly up-and-down movement assembly is used for driving the clamping jaw assembly to move up and down, and the clamping jaw assembly left-and-right movement assembly is used for driving the clamping jaw assembly to move left and right.
The clamping jaw component can move up and down, left and right, and clamping jaw all-around movement is facilitated to perform clamping jaw movement.
Preferably, the clamping jaw component up-and-down movement component comprises a clamping jaw component up-and-down movement motor, the clamping jaw component up-and-down movement motor is connected with a clamping jaw component up-and-down movement motor driving wheel, the clamping jaw component up-and-down movement motor driving wheel drives a clamping jaw component up-and-down movement motor driven wheel to rotate through a clamping jaw component up-and-down movement motor belt, the clamping jaw component up-and-down movement motor belt is connected with a clamping jaw component up-and-down movement sliding block, and the clamping jaw component up-and-down movement sliding block is connected with a clamping jaw component up-and-down movement sliding rail.
Preferably, a clamping jaw component up-and-down movement blocking piece is arranged on the clamping jaw component up-and-down movement sliding block, and correspondingly, the clamping jaw component up-and-down movement blocking piece is provided with a clamping jaw component up-and-down movement optical coupler; the clamping jaw component up-and-down movement component is installed on the clamping jaw component up-and-down movement component installation plate.
Preferably, the clamping jaw assembly left-right movement assembly comprises a clamping jaw assembly left-right movement motor, the clamping jaw assembly left-right movement motor is connected with a clamping jaw assembly left-right movement motor driving wheel, the clamping jaw assembly left-right movement motor driving wheel drives a clamping jaw assembly left-right movement motor driven wheel to rotate through a clamping jaw assembly left-right movement motor belt, the clamping jaw assembly left-right movement motor belt is connected with a clamping jaw assembly left-right movement sliding block through a clamping jaw assembly left-right movement motor belt connecting piece, and the clamping jaw assembly left-right movement sliding block is connected with a clamping jaw assembly left-right movement sliding rail; the belt connecting piece of the motor for moving the clamping jaw assembly left and right is also connected with the mounting plate of the up-and-down moving assembly of the clamping jaw assembly.
Preferably, the manipulator devices in the manipulator module have three groups, namely a first manipulator device, a second manipulator device and a third manipulator device.
The manipulator devices with different numbers are matched with different modules for operation, wherein the first manipulator device is used for clamping the cleaned reaction cup into the detection module, adding detection liquid, and clamping the reaction cup into a waste channel through the first manipulator device after detection is finished; the manipulator device II is used for clamping the reaction cups in the incubation and reaction module into the shaking module, and after the samples and the reaction reagents are shaken up, the reaction cups are clamped and returned to the incubation and reaction module; the third manipulator device is used for clamping the reaction cup after the reaction in the incubation and reaction module into the magnetic separation cleaning module, performing magnetic separation cleaning on the reaction cup, adding detection liquid, shaking up, clamping the reaction cup into the incubation and reaction module through the third manipulator device, and detecting; reaction cups in each module of the analyzer are transferred through different mechanical hand devices, so that the efficiency is high, the detection time is short, and the automation degree is high.
Drawings
The following is a more detailed description of embodiments of the present invention with reference to the accompanying drawings:
fig. 1 is a schematic diagram of an overall three-dimensional structure of a full-automatic chemiluminescence immunoassay analyzer;
fig. 2 is a schematic diagram of the overall three-dimensional structure of the full-automatic chemiluminescence immunoassay analyzer of the invention;
FIG. 3 is a schematic diagram of the overall top view structure of the full-automatic chemiluminescence immunoassay analyzer of the invention;
fig. 4 is a schematic perspective view of the functional body module;
FIG. 5 is a schematic top view of the functional body module;
figure 6.1 is a schematic front view of the robot arrangement in the robot module;
fig. 6.2 is a schematic perspective view of the first robot device;
FIG. 6.3 is a schematic perspective view of the robot apparatus;
figure 6.4 is a rear perspective view of the jaw assembly of the robot apparatus;
fig. 6.5 is a structural schematic diagram of a clamping jaw opening state in a clamping jaw assembly of the manipulator device;
FIG. 6.6 is a schematic view of a structure of a clamping jaw closed state in a clamping jaw assembly of the manipulator device;
wherein: 1-a base; 2-a functional body module; 3-a sampling needle module; 4-reaction cup loading module; 5-a reagent disk module; 6-sample management module, 601-sample loading and unloading assembly, 602-sample transport assembly, 603-sample sampling carrying assembly, 604-sample rack; 7-shaking up module; 8-incubation and reaction module; 9-a magnetic separation cleaning module; 10-a detection module; 11-a dilution module; 12-robot module, 1201, 1202, 1203-robot apparatus, 1204-jaw assembly, 120401-jaw, 120402-jaw arm one, 120403-jaw arm two, 120404-jaw motor, 120405-pusher, 120406-jaw arm connector one, 120407-jaw slider one, 120408-jaw arm connector two, 120409-jaw slider two, 1204010-jaw slide rail, 1204011-blocker wheel one, 1204012-blocker wheel one, 1204013-jaw arm spring one, 1204014-blocker wheel two, 1204015-blocker wheel block two, 1204016-jaw arm spring two, 4011207-jaw blocker wheel one, 1208-jaw blocker two, 1204019-jaw opto-coupler one, 1204020-jaw opto-coupler two, 1204021-jaw mounting bracket, 1205-jaw assembly up-down motion assembly, 120501-jaw assembly up-down motion motor, 120502-jaw assembly up-down motion motor driving wheel, 120503-jaw assembly up-down motion motor belt, 120504-jaw assembly up-down motion motor driven wheel, 120505-jaw assembly up-down motion slider, 120506-jaw assembly up-down motion slide rail, 120507-jaw assembly up-down motion catch, 120508-jaw assembly up-down motion optical coupler, 1206-jaw assembly left-right motion assembly, 120601-jaw assembly left-right motion motor, 120602-jaw assembly left-right motion motor driving wheel, 120603-jaw assembly left-right motion motor belt, 120604-jaw assembly left-right motion motor driven wheel, 120605-jaw assembly left-right motion motor belt connector, 120606-jaw assembly left-right motion slider, 120607-jaw assembly left-right motion slide rail, 1207-jaw assembly up-down motion assembly mounting plate; 13-reaction cup.
Detailed Description
In order to deepen the understanding of the present invention, the present invention will be described in further detail with reference to the following embodiments, which are only used to explain the present invention, and are not limited to the protection scope of the present invention.
As shown in fig. 6.1 to 6.6, the three sets of robot devices in the robot module 12, namely, the first robot device 1201, the second robot device 1202 and the third robot device 1203 (the three sets of robot devices in this embodiment have the same structure, and are only installed at different positions on the base 1), each include a clamping jaw assembly 1204, the clamping jaw assembly 1204 includes a clamping jaw 120401, and the clamping jaw 120401 is composed of a clamping jaw arm one 120402 and a clamping jaw arm two 120403; the jaw assembly 1204 further comprises a jaw motor 120404, when the jaw motor 120404 drives the pushing block 120405 to move downwards, the first jaw arm 120402 and the second jaw arm 120403 move away from each other, the jaw 120401 is opened, when the jaw motor 120404 drives the pushing block 120405 to move upwards, the first jaw arm 120402 and the second jaw arm 120403 move close to each other, the jaw 120401 is closed, and the reaction cup 13 is clamped.
The first jaw arm 120402 is connected with the first jaw slide block 120407 through the first jaw arm connector 120406, the second jaw arm 120403 is connected with the second jaw slide block 120409 through the second jaw arm connector 120408, and the first jaw slide block 120407 and the second jaw arm 120403 are both connected to the jaw slide rail 1204010; the first jaw arm connecting piece 120406 is provided with a first blocking wheel 1204011, the first blocking wheel 1204011 is fixedly connected with a first blocking wheel block 1204012, and a first jaw arm spring 1204013 is arranged in the first blocking wheel block 1204012; a second catch wheel 1204014 is arranged on the second gripper arm connecting piece 120408, the second catch wheel 1204014 is fixedly connected with a second catch wheel block 1204015, and a second gripper arm spring 1204016 is arranged in the second catch wheel block 1204015; the catch wheel is an external thread type bearing.
The first clamping jaw arm connecting piece 120406 is further provided with a first clamping jaw blocking piece 1204017, the second clamping jaw arm connecting piece 120408 is further provided with a second clamping jaw blocking piece 1204018, correspondingly, the first clamping jaw blocking piece 1204017 is provided with a first clamping jaw optical coupler 1204019, and the second clamping jaw blocking piece 1204018 is provided with a second clamping jaw optical coupler 1204020.
The jaw assembly 1204 has a jaw mounting bracket 1204021, and the jaw motor 120404 is positioned on the jaw mounting bracket 1204021; one end of the first jaw arm spring 1204013 is connected to the inner wall of the jaw mounting bracket 1204021, and one end of the second jaw arm spring 1204016 is connected to the inner wall of the jaw mounting bracket 1204021.
The manipulator device further comprises a clamping jaw assembly up-and-down movement assembly 1205 and a clamping jaw assembly left-and-right movement assembly 1206, wherein the clamping jaw assembly up-and-down movement assembly 1205 is used for driving the clamping jaw assembly 1204 to move up and down, and the clamping jaw assembly left-and-right movement assembly 1206 is used for driving the clamping jaw assembly 1204 to move left and right.
The gripper assembly up-and-down movement assembly 1205 comprises a gripper assembly up-and-down movement motor 120501, the gripper assembly up-and-down movement motor 120501 is connected with a gripper assembly up-and-down movement motor driving wheel 120502, the gripper assembly up-and-down movement motor driving wheel 120502 drives a gripper assembly up-and-down movement motor driven wheel 120504 to rotate through a gripper assembly up-and-down movement motor belt 120503, the gripper assembly up-and-down movement motor belt 120503 is connected with a gripper assembly up-and-down movement sliding block 120505, the gripper assembly up-and-down movement sliding block 120505 is connected with a gripper assembly up-and-down movement sliding rail 120506, and the sliding block and the sliding rail are matched to enable the gripper assembly 1204 to move up and down.
A clamping jaw component up-and-down movement blocking piece 120507 is arranged on the clamping jaw component up-and-down movement sliding block 120505, correspondingly, the clamping jaw component up-and-down movement blocking piece 120507 is matched with a clamping jaw component up-and-down movement optical coupler 120508, and the blocking piece is matched with the optical coupler to limit the amplitude of the up-and-down movement of the clamping jaw component 1204; the gripper assembly up-down motion assembly 1205 is mounted on the gripper assembly up-down motion assembly mounting plate 1207.
The clamping jaw assembly left and right movement assembly 1206 comprises a clamping jaw assembly left and right movement motor 120601, the clamping jaw assembly left and right movement motor 120601 is connected with a clamping jaw assembly left and right movement motor driving wheel 120602, the clamping jaw assembly left and right movement motor driving wheel 120602 drives a clamping jaw assembly left and right movement motor driven wheel 120604 to rotate through a clamping jaw assembly left and right movement motor belt 120603, the clamping jaw assembly left and right movement motor belt 120603 is connected with a clamping jaw assembly left and right movement slider 120606 through a clamping jaw assembly left and right movement motor belt connecting piece 120605, the clamping jaw assembly left and right movement slider 120606 is connected with a clamping jaw assembly left and right movement slide rail 120607, and the slider and the slide rail are matched to ensure that the clamping jaw assembly 1204 realizes left and right movement; the jaw assembly side-to-side motion motor belt connection 120605 is also connected to the jaw assembly up-and-down motion assembly mounting plate 1207.
The manipulator module 12 of the present embodiment is applied to a full-automatic chemiluminescence immunoassay analyzer, as shown in fig. 1-5, the full-automatic chemiluminescence immunoassay analyzer comprises a functional body module 2 arranged on a base 1, the functional body module 2 comprises a sampling needle module 3, a reaction cup loading module 4, a reagent disk module 5, a dilution module 11, a shaking module 7, an incubation and reaction module 8, a magnetic separation cleaning module 9 and a detection module 10, and further comprises a sample management module 6 mutually independent of the functional body module 2, the sample management module 6 comprises a sample loading and unloading assembly 601, a sample transmission assembly 602 and a sample sampling carrying assembly 603, wherein the sample loading and unloading assembly 601 is used for loading and unloading a sample rack 604, and the sample transmission assembly 602 is used for transferring the sample rack 604 between the sample loading and unloading assembly 601 and the sample sampling carrying assembly 603; the sampling needle module 3 is used to add the sample at the location of the sample sampling carrier assembly 603 to the incubation and reaction module 8.
As shown in fig. 3, the sample management module 6 is disposed adjacent to the L-shaped semi-enclosed base 1, and the sample sampling carrier assembly 603 is disposed adjacent to the sampling needle module 3; the reaction cup loading module 4, the reagent tray module 5, the shaking module 7, the magnetic separation cleaning module 9 and the detection module 10 are all arranged around the incubation and reaction module 8, wherein the dilution module 11 is arranged on the side surface of the sampling needle module 3, and the magnetic separation cleaning module 9 and the detection module 10 are arranged adjacently; the manipulator module 12 in the functional body module 2, and the manipulator devices 1201, 1202, 1203 in the manipulator module 12 (three sets of manipulator devices are provided in the present embodiment, and those skilled in the art can increase or decrease the number of manipulator devices according to the needs of the apparatus) are used to transfer the cuvettes 13 located in the cuvette loading module 4, the shaking module 7, the magnetic separation and cleaning module 9, and the detection module 10.
Wherein, the reaction cup in the reaction cup loading module 4 is clamped into the incubation and reaction module 8 by the first manipulator device 1201; the second manipulator device 1202 is used for clamping the reaction cups in the incubation and reaction module 8 into the shaking module 7, and then the reaction cups which are shaken up in the shaking module 7 are clamped into the incubation and reaction module 8 by the second manipulator device 1202; the third manipulator device 1203 clamps the reaction cups after the reaction in the incubation and reaction module 8 to the magnetic separation cleaning module 9, the third manipulator device 1203 clamps the reaction cups to the incubation and reaction module 8 after the treatment of the magnetic separation cleaning module 9, and the first manipulator device 1201 is ready to clamp the detection module 10.
The foregoing illustrates and describes the general principles, features and advantages of the present invention. The skilled person in this trade should understand that the utility model discloses do not receive the restriction of above-mentioned embodiment, the description only explains in above-mentioned embodiment and the description the utility model discloses a principle, under the prerequisite that does not deviate from the utility model discloses spirit and scope, the utility model discloses still can have various changes and improvements, for example do some other slight adjustments such as motion subassembly structure in the module, adopt slider, slide rail cooperation or adopt gear, rack cooperation to move, restriction, monitoring or control movement distance then adopt separation blade, opto-coupler cooperation to go on, these changes and improvement all fall into the protection of the utility model within the scope. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A robot module, characterized in that the robot module comprises a robot device for transferring reaction cups; the manipulator device comprises a clamping jaw assembly, the clamping jaw assembly comprises a clamping jaw, and the clamping jaw consists of a clamping jaw arm I and a clamping jaw arm II; the clamping jaw assembly further comprises a clamping jaw motor, when the clamping jaw motor drives the pushing block to move downwards, the first clamping jaw arm and the second clamping jaw arm are far away from each other, the clamping jaw is opened, when the clamping jaw motor drives the pushing block to move upwards, the first clamping jaw arm and the second clamping jaw arm are close to each other, the clamping jaw is folded, and the reaction cup is clamped.
2. The robot module of claim 1, wherein the first jaw arm is connected to the first jaw slide via a first jaw arm connector, the second jaw arm is connected to the second jaw slide via a second jaw arm connector, and the first jaw slide and the second jaw arm are both connected to a jaw slide; the first clamping jaw arm connecting piece is provided with a first blocking wheel, the first blocking wheel is fixedly connected with a first blocking wheel block, and a first clamping jaw arm spring is arranged in the first blocking wheel block; and a second blocking wheel is arranged on the second clamping jaw arm connecting piece, the second blocking wheel is fixedly connected with a second blocking wheel block, and a second clamping jaw arm spring is arranged in the second blocking wheel block.
3. The manipulator module according to claim 2, wherein a first jaw blocking piece is further disposed on the first jaw arm connecting piece, and a second jaw blocking piece is further disposed on the second jaw arm connecting piece, and accordingly, the first jaw blocking piece is provided with the first jaw optical coupler, and the second jaw blocking piece is provided with the second jaw optical coupler.
4. The robot module of claim 2 or 3, wherein the jaw assembly has a jaw mounting bracket on which the jaw motor is located; one end of the first clamping jaw arm spring is connected with the inner wall of the clamping jaw mounting support, and one end of the second clamping jaw arm spring is connected with the inner wall of the clamping jaw mounting support.
5. The robot module of claim 4, further comprising a gripper assembly up-and-down movement assembly and a gripper assembly left-and-right movement assembly, wherein the gripper assembly up-and-down movement assembly is used for driving the gripper assembly to move up and down, and the gripper assembly left-and-right movement assembly is used for driving the gripper assembly to move left and right.
6. The robot module of claim 5, wherein the gripper assembly up-and-down movement assembly comprises a gripper assembly up-and-down movement motor, the gripper assembly up-and-down movement motor is connected with a gripper assembly up-and-down movement motor driving wheel, the gripper assembly up-and-down movement motor driving wheel drives the gripper assembly up-and-down movement motor driven wheel to rotate through a gripper assembly up-and-down movement motor belt, the gripper assembly up-and-down movement motor belt is connected with a gripper assembly up-and-down movement slider, and the gripper assembly up-and-down movement slider is connected with a gripper assembly up-and-down movement slide rail.
7. The robot module of claim 6, wherein the gripper assembly up-and-down movement slider is provided with a gripper assembly up-and-down movement blocking piece, and correspondingly, the gripper assembly up-and-down movement blocking piece is provided with a gripper assembly up-and-down movement optical coupler; the clamping jaw component up-and-down movement component is arranged on the clamping jaw component up-and-down movement component mounting plate.
8. The manipulator module according to claim 7, wherein the gripper assembly left-right movement assembly comprises a gripper assembly left-right movement motor, the gripper assembly left-right movement motor is connected with a gripper assembly left-right movement motor driving wheel, the gripper assembly left-right movement motor driving wheel drives a gripper assembly left-right movement motor driven wheel to rotate through a gripper assembly left-right movement motor belt, the gripper assembly left-right movement motor belt is connected with a gripper assembly left-right movement slider through a gripper assembly left-right movement motor belt connecting piece, and the gripper assembly left-right movement slider is connected with a gripper assembly left-right movement slide rail; the belt connecting piece of the motor for moving the clamping jaw assembly left and right is also connected with the mounting plate of the up-and-down moving assembly of the clamping jaw assembly.
9. The robot module of claim 8, wherein the robot means in the robot module are three groups, a first robot means, a second robot means, and a third robot means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222947898.6U CN218614110U (en) | 2022-11-07 | 2022-11-07 | Manipulator module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222947898.6U CN218614110U (en) | 2022-11-07 | 2022-11-07 | Manipulator module |
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| Publication Number | Publication Date |
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| CN218614110U true CN218614110U (en) | 2023-03-14 |
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| CN202222947898.6U Active CN218614110U (en) | 2022-11-07 | 2022-11-07 | Manipulator module |
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| CN (1) | CN218614110U (en) |
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Effective date of registration: 20240612 Address after: 211100 No. 6, Qiande Road, Science Park, Jiangning District, Nanjing, Jiangsu Province Patentee after: LANSION BIOTECHNOLOGY Co.,Ltd. Country or region after: China Address before: 211100 No. 6, Qiande Road, Science Park, Jiangning District, Nanjing, Jiangsu Province Patentee before: LANSION BIOTECHNOLOGY Co.,Ltd. Country or region before: China Patentee before: Suzhou aikeruite Biomedical Technology Co.,Ltd. |