WO2020062945A1

WO2020062945A1 - Electromagnetic gripper device

Info

Publication number: WO2020062945A1
Application number: PCT/CN2019/091423
Authority: WO
Inventors: 吴承云; 张猛; 房瑜; 许德晨; 景宏维; 孙家振; 张国秀
Original assignee: 基蛋生物科技股份有限公司
Priority date: 2018-09-28
Filing date: 2019-06-14
Publication date: 2020-04-02
Also published as: CN109109006A

Abstract

An electromagnetic gripper device (100), comprising a clamping jaw assembly (130), an electromagnetic driving mechanism (120), and a detection assembly (140). The electromagnetic driving mechanism (120) is transmittingly connected to the clamping jaw assembly (130), and is used for driving two grippers (131) of the clamping jaw assembly (130) to move close to or away from each other so as to clamp or release a reaction cup (150). The detection assembly (140) is connected to the electromagnetic driving mechanism (120) to detect, according to whether the electromagnetic driving mechanism (120) is reset, whether the grippers (131) grab the reaction cup (150). The electromagnetic gripper device (100) employs the electromagnetic driving mechanism (120) to drive the clamping jaw assembly (130). Compared with motor or air pressure drive in the prior art, the electromagnetic driving mechanism (120) has a small volume and a simple control system, and does not need to be equipped with an air source device, so that the entire electromagnetic gripper device (100) features a compact structure and low costs.

Description

Electromagnetic gripper

Technical field

The present application relates to the field of in vitro diagnostic instruments, and in particular, to an electromagnetic gripping device.

Background technique

At present, many in vitro diagnostic instruments require a reaction cup to add a sample to be tested and a reaction reagent, and serve as a container for testing a reaction.

The process of loading the cuvette, adding samples, and adding reagents often involves the transfer of the cuvette. For example, the empty cuvette must be moved from the cuvette storage area to the reaction area before the sample is added. Discard the cuvette.

In the prior art, common types of in vitro diagnostic instruments include manual, semi-automatic and fully automatic inspection instruments.

In manual and semi-automatic instruments, the operator generally moves the reaction cup manually, which is cumbersome and inefficient.

In full-automatic inspection instruments, motor-driven or pneumatic-driven grippers are often used. However, the gripper driven by a motor generally occupies a large space, and the control system is complicated and costly. The gripper using a pneumatic pressure requires the instrument to be equipped with an air source device, which makes the entire instrument larger in size and complicated in structure.

Summary of the Invention

The purpose of the present application is to provide an electromagnetic gripper device with a compact structure and simple control.

In order to achieve the foregoing objective, the technical solutions adopted in the embodiments of the present application are as follows:

An electromagnetic gripper device includes: a gripper assembly, the gripper assembly includes two grippers; an electromagnetic drive mechanism, which is drivingly connected to the gripper assembly, and is used to drive the two grippers of the gripper assembly toward or away from each other, so as to Clamp or release the cuvette; and a detection component, the detection component is connected to the electromagnetic drive mechanism, and the detection component detects whether the gripper has grasped the reaction cup according to whether the electromagnetic drive mechanism is reset.

In a preferred embodiment of the present application, the electromagnetic driving mechanism includes an electromagnet body; an electromagnet mandrel is arranged in the electromagnet body, and the electromagnet mandrel is drivingly connected to the clamping jaw assembly.

In a preferred embodiment of the present application, the gripper assembly further includes a gripper body, a gripper mandrel, and a gripper limit rail; the gripper mandrel is disposed inside the gripper body, and one end of the gripper mandrel is drivingly connected to the electromagnetic The other end of the iron mandrel is connected to the gripper limit rail; the gripper limit rail includes two, and the two gripper limit rails are respectively connected to two grippers.

In a preferred embodiment of the present application, two gripper limit rails are provided with T-shaped limit rails; the gripper body is provided with two opposite T-shaped grooves, and two gripper limit rails Slidingly connected to two T-shaped grooves respectively; two opposite T-shaped inclined surfaces are arranged on the gripper mandrel, and the two T-shaped inclined surfaces are respectively matched with two T-shaped limit rails for driving the two grippers The limit rail moves towards each other along the T-slot.

In a preferred embodiment of the present application, the electromagnet mandrel has a first end and an opposite second end, and the first end and the second end both pass through the electromagnet body; the second end is connected to the gripper mandrel; The first end is provided with an elastic member and a limiting member; when the electromagnet body is energized, the electromagnet mandrel moves in the direction of the second end under the attractive force of the electromagnet body, and at the same time, the limiting member compresses the elastic member.

In a preferred embodiment of the present application, the elastic member is a spring.

In a preferred embodiment of the present application, the detection component is connected to the first end.

In a preferred embodiment of the present application, the detection component is a photocoupler sensor component. The photocoupler sensor component includes a photocoupler sheet and a detection photocoupler, and the photocoupler sheet is connected to the electromagnet mandrel; the detection photocoupler is reset according to whether the photocoupler sheet is reset. Go to the detection optocoupler to check whether the gripper catches the reaction cup.

In a preferred embodiment of the present application, the electromagnetic gripper device further includes a gripper substrate, and the gripper assembly and the electromagnetic driving mechanism are both fixedly connected to the gripper substrate.

An electromagnetic gripping device includes a jaw assembly and an electromagnetic driving mechanism. The jaw assembly includes two grippers. The electromagnetic driving mechanism is drivingly connected with the jaw assembly, and the two grippers used to drive the jaw assembly approach or move away from each other to clamp or release the reaction cup.

The beneficial effects of this application are:

An electromagnetic gripper device provided in the present application includes a gripper assembly, an electromagnetic drive mechanism, and a detection assembly. The gripper assembly includes two grippers. The electromagnetic driving mechanism is drivingly connected with the jaw assembly, and the two grippers used to drive the jaw assembly approach or move away from each other to clamp or release the reaction cup. The detecting component is connected to the electromagnetic driving mechanism, and the detecting component detects whether the gripper catches the reaction cup according to whether the electromagnetic driving mechanism is reset. The electromagnetic gripper device adopts an electromagnetic driving mechanism to drive a gripper assembly for driving the two grippers to move toward each other. The gripper assembly, as the actuator of the electromagnetic gripper device, is driven and released by the electromagnetic drive mechanism. The detection component detects whether the entire electromagnetic gripper device successfully grasps the cuvette. The electromagnetic gripper device is provided with an electromagnetic drive mechanism. Compared with the motor or pneumatic drive in the prior art, the electromagnetic drive mechanism has a small volume, a simple control system, and does not need to be equipped with an air source device, thereby making the entire electromagnetic gripper structure compact. , The cost is lower. The setting of the detection component further guarantees the stability and reliability of the entire electromagnetic gripper device for grasping the reaction cup.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solution of the embodiments of the present application more clearly, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, so It should be regarded as a limitation on the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without paying creative work.

FIG. 1 is a schematic structural diagram of an electromagnetic gripper device according to a first embodiment of the present application; FIG.

FIG. 2 is a schematic exploded structure diagram of the electromagnetic gripper device provided by the first embodiment of the present application; FIG.

3 is a schematic structural diagram of an electromagnet mandrel of an electromagnetic gripper device provided by a first embodiment of the present application;

4 is a schematic structural diagram of a gripper limit rail of an electromagnetic gripper device according to a first embodiment of the present application;

FIG. 5 is a schematic diagram of two states of use of the electromagnetic gripper device provided by the first embodiment of the present application.

Icons: 100- electromagnetic gripper device; 110- gripper substrate; 120- electromagnetic drive mechanism; 121- electromagnet body; 122- electromagnet mandrel; 1221- first end; 1222- second end; 1223- slot; 1224-holes; 123-elastic pieces; 124-limiting pieces; 130-gripper components; 131-grip; 132-grip body; 1321-T groove; 133-grip mandrel; 1331-T inclined surface 134-handle limit track; 1341-T type limit track; 140-detection module; 141-photocoupler; 142-detection photocoupler; 150-reaction cup.

detailed description

In order to make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments These are part of the embodiments of the present application, but not all the embodiments. The components of embodiments of the present application, which are generally described and illustrated in the drawings herein, may be arranged and designed in a variety of different configurations.

Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, so once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms "up" and "inner" are based on the orientations or positional relationships shown in the accompanying drawings, or the products used in this application are often used. The orientation or position relationship of the placement is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, structure and operation in a specific orientation, so it cannot be understood as limit.

In the description of this application, it should also be noted that the terms “setup”, “installation”, “connected”, and “connected” should be understood in a broad sense, for example, fixed connections, unless otherwise specified and limited. It can also be detachable or integrally connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

First embodiment

Please refer to FIGS. 1-5. This embodiment provides an electromagnetic gripper device 100, which includes a gripper substrate 110, an electromagnetic drive mechanism 120, a gripper assembly 130, and a detection assembly 140.

Further, the grip substrate 110 is used as a mounting base of the electromagnetic grip device 100, and the electromagnetic driving mechanism 120, the gripper assembly 130 and the detection component 140 are all fixedly connected to the grip substrate 110.

Specifically, in this embodiment, the above-mentioned electromagnetic driving mechanism 120, the jaw assembly 130, and the detection assembly 140 are all mounted on the grip substrate 110 by screws.

Further, the electromagnetic driving mechanism 120 is a power element of the entire electromagnetic gripping device 100 and is used to drive the gripper assembly 130 to grip or release the reaction cup 150.

The electromagnetic gripper device 100 selects the electromagnetic drive mechanism 120 as a power component of the entire electromagnetic gripper device 100. Compared with the motor or pneumatic drive in the prior art, the electromagnetic drive mechanism 120 provided in this embodiment has a small volume and a control system. It is simple and does not need to be provided with an air source device, so that the entire electromagnetic gripping device 100 has a compact structure and a low cost.

Further, the electromagnetic driving mechanism 120 includes an electromagnet body 121.

Further, an electromagnet mandrel 122 is disposed in the electromagnet body 121, and the electromagnet mandrel 122 is drivingly connected to the gripper assembly 130. When the electromagnet body 121 moves up and down relative to the gripper substrate 110, it can drive the electromagnet mandrel 122 to move up and down, which drives the gripper assembly 130 to move. The gripper assembly 130 acts as an actuator of the electromagnetic gripper device 100, and moves the electromagnet core. The up-and-down movement of the shaft 122 is converted into the opposite movements of the two grippers 131 of the gripper assembly 130 to realize the grasping and releasing of the reaction cup 150.

Specifically, in this embodiment, the electromagnet body 121 is connected to the grip substrate 110 by screws. The electromagnet mandrel 122 is disposed in the electromagnet body 121 and penetrates through the electromagnet body 121.

Further, the electromagnet mandrel 122 has a first end 1221 and an opposite second end 1222. The first end 1221 and the second end 1222 pass through the electromagnet body 121; the second end 1222 is connected to the jaw assembly 130; the first end 1221 is provided with an elastic member 123 and a limiting member 124.

Further, a groove 1223 is formed in the first end 1221 of the electromagnet mandrel 122 for connecting the detection component 140. Further, a hole 1224 is opened in a direction perpendicular to the groove 1223 for mounting the position limiting member 124.

When the electromagnet body 121 is energized, the electromagnet mandrel 122 moves against the elastic force of the elastic member 123 toward the second end 1222 of the electromagnet mandrel 122 under the attraction of the electromagnet body 121;

When the electromagnet body 121 is powered off, the electromagnet mandrel 122 is reset in the direction of the first end 1221 of the electromagnet mandrel 122 under the elastic force of the elastic member 123. The limiter 124 plays a role of restricting the movement stroke of the electromagnet mandrel 122 in the direction of the second end 1222, so as to ensure that the opening distance of the jaw assembly 130 is limited to a specified range. Furthermore, the stability and reliability of the entire electromagnetic gripping device 100 for grasping or releasing the reaction cup 150 are ensured.

In this embodiment, optionally, the elastic member 123 is a spring. Specifically, the spring is sleeved on the first end 1221 of the electromagnet mandrel 122.

In this embodiment, optionally, the above-mentioned limiting member 124 is a limiting screw. Specifically, the limiting screw is installed in the aforementioned hole 1224.

Further, the gripper assembly 130 includes two grippers 131, a gripper body 132, a gripper mandrel 133, and a gripper limit rail 134.

Further, the gripper body 132 is connected to the gripper substrate 110. In this embodiment, optionally, the gripper body 132 is connected to the gripper substrate 110 by screws.

Further, the gripper mandrel 133 is disposed inside the gripper body 132. One end of the gripper mandrel 133 is drivingly connected to the electromagnet mandrel 122 and the other end is connected to the gripper limit rail 134.

Specifically, a hole is processed in the center of the gripper body 132. The gripper mandrel 133 is disposed at the center hole of the gripper body 132. One end of the gripper mandrel 133 is processed with a threaded hole. The end 1222 is threaded, and the gripper mandrel 133 is threadedly connected to the second end 1222 of the electromagnet mandrel 122. Therefore, when the electromagnet body 121 moves up and down relative to the grip substrate 110, the grip mandrel 133 can be driven to move up and down.

Further, the other end of the gripper mandrel 133 is processed with two opposite T-shaped inclined surfaces 1331 for matching and connecting to the gripper limit rail 134.

Specifically, referring to FIG. 4, the two gripper limit rails 134 are provided with T-shaped limit rails 1341 so as to be able to cooperate with the T-shaped inclined surface 1331 on the gripper mandrel 133.

Further, the gripper body 132 is provided with two opposite T-shaped grooves 1321, and the two gripper limit rails 134 are slidably connected to the two T-shaped grooves 1321. Therefore, the gripper limit rail 134 can be driven to move along the T-shaped groove 1321 on the gripper body 132.

Further, the two grippers 131 are respectively fixedly connected to the two gripper limit rails 134. Specifically, in this embodiment, the two grippers 131 are respectively correspondingly mounted on the two gripper limit rails 134 by screws. Thus, the up-and-down movement of the gripper mandrel 133 relative to the gripper substrate 110 is converted into the opposite movements of the two grippers 131, and the two grippers 131 are clamped or released by the reaction cup 150.

Further, the detection component 140 is connected to the electromagnetic driving mechanism 120 and is used to detect whether the gripper 131 has grasped the reaction cup 150.

Further, in this embodiment, the detection component 140 is a photocoupler sensor component, and the photocoupler sensor component includes a photocoupler sheet 141 and a detection photocoupler 142.

Further, the optocoupler sheet 141 is connected to the electromagnet mandrel 122 through the aforementioned limiting member 124. Specifically, the photocoupler 141 is disposed in the groove 1223 of the first end 1221 of the electromagnet mandrel 122, and the stopper 124 passes through the hole 1224 and the photocoupler 141, thereby fixing the photocoupler 141 to the electromagnet mandrel 122 on.

Further, the detection photocoupler 142 is mounted on the grip substrate 110 by screws. In addition, the detection photocoupler 142 is used in conjunction with the above-mentioned photocoupler sheet 141, and the detection photocoupler 142 is reset to the detection photocoupler 142 according to whether the photocoupler sheet 141 is reset to detect whether the gripper 131 has grasped the reaction cup 150.

Specifically, when the two grippers 131 clamp the reaction cup 150, the reaction cup 150 is located between the two grippers 131 at this time, and the two gripper limit rails 134 are prevented from moving toward each other, thereby causing an electromagnet. The mandrel 122 cannot be reset. Therefore, the photocoupler 141 does not return to the reset position of the detection photocoupler 142. At this time, the information detected by the detection component 140 is that the reaction cup 150 is grasped by the gripper 131. When the two grippers 131 release the reaction cup 150, the two gripper limit rails 134 move toward each other, which causes the electromagnet mandrel 122 to reset. Therefore, the photocoupler sheet 141 returns to the detection of the reset of the photocoupler 142. Position, the information detected by the detection component 140 at this time is that the gripper 131 releases the reaction cup 150.

Referring to FIG. 5, the working process of the electromagnetic gripper device 100:

The electromagnetic driving mechanism 120 is energized, and the electromagnet mandrel 122 overcomes the elastic force of the spring under the attraction of the electromagnet, and moves downward, and drives the gripper mandrel 133 screwed to the electromagnet mandrel 122 to move downwards. The T-shaped inclined surface 1331 on the mandrel 133 cooperates with the T-shaped limit rail 1341 of the gripper limit rail 134 to convert the up and down movement of the gripper mandrel 133 into the opposite motion of the two gripper limit rails 134, thereby The two grippers 131 fixed to the gripper limit rail 134 by screws are driven away from each other. After that, the electromagnetic gripper device 100 grips the reaction cup 150, the electromagnetic drive mechanism 120 is powered off, the suction force of the electromagnet body 121 disappears, and the electromagnet mandrel 122 under the elastic force of the spring drives the gripper mandrel 133 to move upward, thereby driving The gripper limit rails 134 are close to each other, which drives the two grippers 131 to grip the reaction cup 150. After the reaction cup 150 is clamped, the reaction cup 150 is located between the two grippers 131. Due to the obstruction of the reaction cup 150 in the middle of the gripper 131, the solenoid mandrel 122 is difficult to reset, so the photocoupler 141 does not return to the detection light. The reset position of the coupling 142. If the photocoupler 141 triggers the detection of the photocoupler 142, it means that the grabbing of the reaction cup 150 has failed. So far, the grasping and releasing of the reaction cup 150 and the detection of whether the reaction cup 150 is successfully grasped are realized.

Second embodiment

This embodiment provides an electromagnetic gripper device. The basic structure of the electromagnetic gripper device is the same as that of the electromagnetic gripper device provided in the first embodiment, except that the electromagnetic gripper device is not provided with a detection component.

The above description is only a preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, this application may have various modifications and changes. Any modification, equivalent replacement, or improvement made within the spirit and principle of this application shall be included in the protection scope of this application. It should be noted that similar reference numerals and letters indicate similar items in the following drawings, so once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

Claims

An electromagnetic gripping device, comprising:

A jaw assembly comprising two grippers;

An electromagnetic drive mechanism which is drivingly connected to the jaw assembly and is used to drive the two grippers of the jaw assembly closer to or farther from each other to clamp or release the reaction cup; and

A detection component connected to the electromagnetic drive mechanism, and the detection component detects whether the gripper has grasped the reaction cup according to whether the electromagnetic drive mechanism is reset.
The electromagnetic gripper device according to claim 1, wherein:

The electromagnetic driving mechanism includes an electromagnet body;

An electromagnet mandrel is provided in the electromagnet body, and the electromagnet mandrel is drivingly connected to the jaw assembly.
The electromagnetic gripper device according to claim 2, wherein:

The gripper assembly further includes a gripper body, a gripper mandrel, and a gripper limit rail;

The gripper mandrel is disposed inside the gripper body, one end of the gripper mandrel is drivingly connected to the electromagnet mandrel, and the other end is connected to the gripper limit rail;

The gripper limit rails include two, and the two gripper limit rails are respectively connected to two grippers.
The electromagnetic gripper device according to claim 3, wherein:

T-shaped limit rails are provided on the two gripper limit rails;

The gripper body is provided with two opposite T-slots, and the two gripper limit rails are slidably connected to the two T-slots, respectively;

The gripper mandrel is provided with two opposite T-shaped inclined surfaces, and the two T-shaped inclined surfaces are respectively matched with and connected to the two T-shaped limit rails for driving the two gripper limit rails. Opposing movement along the T-slot.
The electromagnetic gripper device according to claim 3, wherein:

The electromagnet mandrel has a first end and an opposite second end, and the first end and the second end both pass through the electromagnet body; the second end is connected to the gripper core A shaft; the first end is provided with an elastic member and a limiting member;

When the electromagnet body is energized, the electromagnet mandrel moves in the direction of the second end under the action of the attractive force of the electromagnet body, and at the same time, the stopper compresses the elastic member.
The electromagnetic gripper device according to claim 5, wherein:

The elastic member is a spring.
The electromagnetic gripper device according to claim 5, wherein:

The detection component is connected to the first end.
The electromagnetic gripper device according to claim 7, wherein:

The detection component is a photocoupler sensor component. The photocoupler sensor component includes a photocoupler sheet and a detection photocoupler. The photocoupler sheet is connected to the electromagnet mandrel; Whether to reset to the detecting photocoupler to detect whether the gripper has grasped the reaction cup.
The electromagnetic gripper device according to any one of claims 1 to 8, wherein:

The electromagnetic gripper device further includes a gripper substrate, and the jaw assembly and the electromagnetic driving mechanism are both fixedly connected to the gripper substrate.
An electromagnetic gripping device, comprising:

A jaw assembly including two grippers; and

An electromagnetic driving mechanism, which is drivingly connected with the jaw assembly, and is used to drive the two grippers of the jaw assembly to approach or move away from each other to clamp or release the reaction cup.