Grasping mechanism, transmission system and automatic analysis system

Abstract

The present invention provides a grasping mechanism, a transmission system and an automatic analysis system, including: an endless belt, which includes a first driving section, a first sleeved section, a second driving section and a second sleeved section connected in sequence; a first driving member, a second driving member and a driving main body, the first driving section is wound around the first driving member, and the second driving section is wound around the second driving member; the first limiting portion has a first limiting gap, and the first driving section is limited within the first limiting gap; the second limiting portion has a second limiting gap, and the second driving section is limited within the second limiting gap; when the driving main body rotates, it drives the first driving section to move through the first driving member and drives the second driving section to move through the second driving member, and under the limiting action of the first limiting portion and the second limiting portion, the first sleeved section and the second sleeved section enclose a grasping hole. Through the technical solution provided by the present invention, the technical problem of relatively high manufacturing cost of the grasping mechanism in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular, to a grasping mechanism, a transmission system, and an automatic analysis system. Background Art

[0002] Currently, the grasping mechanisms in the prior art generally include a clamping motor and a gripper. The clamping motor drives the gripper to move so that the gripper is in a clamping state or a released state, thereby realizing the clamping of the workpiece to be clamped in the clamping state and the release of the workpiece to be clamped in the released state.

[0003] However, such a grasping mechanism in the prior art often has a complex structure, the manufacturing cost of the gripper is relatively high, and it is often necessary to prepare different grippers according to different workpieces to be clamped, so the overall manufacturing cost of the grasping mechanism is relatively high. Summary of the Invention

[0004] The main object of the present invention is to provide a grasping mechanism, a transmission system, and an automatic analysis system to solve the technical problem of relatively high manufacturing cost of the grasping mechanism in the prior art.

[0005] To achieve the above object, according to one aspect of the present invention, there is provided a grasping mechanism, including: an endless belt including a first driving section, a first sleeved section, a second driving section, and a second sleeved section connected in sequence, the first sleeved section and the second sleeved section being disposed opposite to each other; a driving structure including a first driving member, a second driving member, and a driving body connected to both the first driving member and the second driving member, the first driving section being wound around the first driving member, and the second driving section being wound around the second driving member; a limiting component including a first limiting portion and a second limiting portion located outside the endless belt; the first limiting portion having a first limiting gap, and the first driving section being limited in the first limiting gap; the second limiting portion having a second limiting gap, and the second driving section being limited in the second limiting gap; wherein, the driving body is rotatably disposed so as to drive the first driving section to move through the first driving member and drive the second driving section to move through the second driving member when the driving body rotates, and under the limiting action of the first limiting portion and the second limiting portion, the first sleeved section and the second sleeved section enclose a grasping hole.

[0006] Further, the first limiting portion includes a first limiting protrusion and a second limiting protrusion disposed at intervals, and the gap between the first limiting protrusion and the second limiting protrusion forms the first limiting gap, and the first driving section passes through the first limiting gap and is wound around the first driving member; the second limiting portion includes a third limiting protrusion and a fourth limiting protrusion disposed at intervals, and the gap between the third limiting protrusion and the fourth limiting protrusion forms the second limiting gap, and the second driving section passes through the second limiting gap and is wound around the second driving member.

[0007] Further, a second mating structure is provided on the inner side of the annular belt. The second mating structure is located within the grasping hole to cooperate through the second mating structure when grasping is performed in the grasping hole; and / or, the annular belt is made of a rubber or plastic member embedded with metal wires or nylon wires.

[0008] Further, the limiting assembly further includes a limiting body, and both the first limiting portion and the second limiting portion are mounted on the limiting body; the limiting assembly has a starting torsional moment, so that when the moment acting on the first limiting portion and the second limiting portion is less than or equal to the starting torsional moment, the first driving section and the second driving section are driven to move through the driving structure and the first sleeved section and the second sleeved section are made to enclose the grasping hole; or when the moment acting on the first limiting portion and the second limiting portion is greater than the starting torsional moment, the limiting assembly and the annular belt are driven to move synchronously through the driving structure.

[0009] Further, a plurality of first limiting mating portions are spaced apart from each other along the arc direction are provided on the limiting body. The grasping mechanism further includes: an elastic limiting structure, which has an elastic portion and a second limiting mating portion connected to each other, and the second limiting mating portion is arranged to be adapted to the first limiting mating portion; wherein, when the moment acting on the first limiting portion and the second limiting portion is less than or equal to the starting torsional moment, the first limiting mating portion is limited by the second limiting mating portion and remains stationary; when the moment acting on the first limiting portion and the second limiting portion is greater than the starting torsional moment, the first limiting mating portion will rotate relative to the second limiting portion.

[0010] Further, the limiting body includes: a limiting sleeve, both the driving body and the annular belt are mounted within the limiting sleeve, and the first limiting mating portion is provided at one end of the limiting sleeve; a limiting end plate, provided at the other end of the limiting sleeve, both the first limiting portion and the second limiting portion are mounted on the limiting end plate, and a sleeved through hole is provided on the limiting end plate, and the sleeved through hole is arranged opposite to the inner circle of the annular belt, and the shape of the sleeved through hole is adapted to the grasping hole.

[0011] Further, the driving structure further includes a driving motor; the grasping mechanism further includes: a fixed sleeve, the motor shaft of the driving motor is arranged within the fixed sleeve, at least part of the driving body is arranged within the fixed sleeve, and the motor shaft is connected to at least part of the driving body; a bearing, mounted on the fixed sleeve, and the limiting sleeve is mounted on the fixed sleeve through the bearing.

[0012] Further, the grasping mechanism further includes: a first detection structure, the detection head of the first detection structure faces the limiting body, and the first detection structure is used for detecting the rotation angle of the limiting body; and / or, a second detection structure, the detection head of the second detection structure faces the annular belt.

[0013] According to another aspect of the present invention, a transmission system is provided, including the grasping mechanism provided above.

[0014] According to another aspect of the present invention, an automatic analysis system is provided, including the grasping mechanism provided above.

[0015] Applying the technical solution of the present invention, when grasping or releasing, only the driving body needs to be rotated in different directions. Specifically, when grasping, the driving body rotates along a first preset direction, drives the first driving segment to move through the first driving member, drives the second driving segment to move through the second driving member, and enables the first driving segment in the first limiting gap to abut and twist under the limiting action of the first limiting portion, and the second driving segment in the second limiting gap to abut and twist under the limiting action of the second limiting portion, so that the first sleeved segment and the second sleeved segment are tightened inward and gradually form a grasping hole with a certain grasping force to achieve grasping. The annular belt has a simple structure and a lower manufacturing cost, effectively reducing the manufacturing cost of the grasping mechanism. Further, after grasping the object to be grasped through the grasping hole formed by the first sleeved segment and the second sleeved segment, under the further driving action of the driving body, the first sleeved segment and the second sleeved segment can also be driven to move, and the rotational force of the first sleeved segment and the second sleeved segment acts on the cover portion of the object to be grasped to tighten or loosen the cover portion of the object to be grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0017] Figure 1 The schematic structural diagram of the annular belt and the object to be grasped when the driving member of the grasping mechanism provided by the embodiment of the present invention does not rotate is shown;

[0018] Figure 2 The schematic structural diagram of the annular belt and the object to be grasped when the driving member of the grasping mechanism provided by the embodiment of the present invention rotates along the first preset direction is shown;

[0019] Figure 3 The schematic structural diagram of the annular belt and the object to be grasped when the driving member of the grasping mechanism provided by the embodiment of the present invention rotates along the second preset direction is shown;

[0020] Figure 4 The cross-sectional view of the grasping mechanism provided by the embodiment of the present invention is shown;

[0021] Figure 5 The exploded view of the grasping mechanism provided by the embodiment of the present invention is shown;

[0022] Figure 6 The schematic structural diagram of the grasping mechanism provided by the embodiment of the present invention is shown;

[0023] Figure 7 Shows an installation schematic diagram of a grasping mechanism provided according to an embodiment of the present invention.

[0024] Among them, the above-mentioned drawings include the following reference numerals:

[0025] 10. Ring belt; 11. First driving section; 12. First sleeved section; 13. Second driving section; 14. Second sleeved section; 15. Second matching structure;

[0026] 20. Driving structure; 21. First driving member; 22. Second driving member; 23. Driving main body; 231. Connecting column; 232. Driving plate; 24. Driving motor;

[0027] 30. Limiting component; 31. First limiting part; 311. First limiting protrusion; 312. Second limiting protrusion; 32. Second limiting part; 321. Third limiting protrusion; 322. Fourth limiting protrusion; 33. Limiting main body; 331. First limiting matching part; 332. Limiting sleeve; 333. Limiting end plate; 3331. Sleeved through hole;

[0028] 40. Elastic limiting structure; 41. Elastic part; 42. Second limiting matching part;

[0029] 50. Fixed sleeve;

[0030] 60. Bearing;

[0031] 70. First detection structure; 71. Photoelectric switch; 72. Switch baffle;

[0032] 80. Object to be grasped; 81. Main body part; 82. Cover part;

[0033] 91. Outer retaining ring; 92. Inner retaining ring;

[0034] 100. Fixed plate;

[0035] 110. Bracket;

[0036] 120. Conveyor belt;

[0037] 130. Fixed seat. Detailed implementation manners

[0038] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0039] Such as Figures 1 to 7As shown in the figure, Embodiment 1 of the present invention provides a grasping mechanism, which includes an annular belt 10, a driving structure 20, and a limiting component 30. The annular belt 10 includes a first driving section 11, a first sleeved section 12, a second driving section 13, and a second sleeved section 14 that are connected in sequence. The first sleeved section 12 and the second sleeved section 14 are arranged oppositely. The driving structure 20 includes a first driving member 21, a second driving member 22, and a driving main body 23 connected to both the first driving member 21 and the second driving member 22. The first driving section 11 is wound around the first driving member 21, and the second driving section 13 is wound around the second driving member 22. The limiting component 30 includes a first limiting portion 31 and a second limiting portion 32 located outside the annular belt 10. The first limiting portion 31 has a first limiting gap, and the first driving section 11 is limited within the first limiting gap. The second limiting portion 32 has a second limiting gap, and the second driving section 13 is limited within the second limiting gap. Wherein, the driving main body 23 is rotatably arranged so that when the driving main body 23 rotates, the first driving section 11 is driven by the first driving member 21 to move, the second driving section 13 is driven by the second driving member 22 to move, and under the limiting action of the first limiting portion 31 and the second limiting portion 32, the first sleeved section 12 and the second sleeved section 14 enclose a grasping hole.

[0040] When using the grasping mechanism provided in this embodiment, when grasping or releasing, only the driving main body 23 needs to be rotated in different directions. Specifically, when grasping, the driving main body 23 rotates along a first preset direction, drives the first driving section 11 to move through the first driving member 21, drives the second driving section 13 to move through the second driving member 22, and makes the first driving section 11 within the first limiting gap undergo abutting torsion under the limiting action of the first limiting portion 31, and the second driving section 13 within the second limiting gap undergo abutting torsion under the limiting action of the second limiting portion 32, so that the first sleeved section 12 and the second sleeved section 14 shrink inward and gradually enclose a grasping hole with a certain grasping force to effectively achieve grasping through the grasping hole. When releasing, the driving main body 23 rotates along a second preset direction, the second preset direction is opposite to the first preset direction, the first driving member 21 drives the first driving section 11 to move, and the second driving member 22 drives the second driving section 13 to move, so that the first sleeved section 12 and the second sleeved section 14 are released outward, thereby realizing the releasing process of the object to be grasped 80. When using the grasping mechanism provided in this embodiment, only by driving the annular belt 10 through the driving structure 20 and the limiting cooperation of the limiting component 30, and performing adaptive operations on the annular belt 10, grasping and releasing can be achieved. The structure of the annular belt 10 is simple and the manufacturing cost is relatively low, so that the overall manufacturing cost of the grasping mechanism can be effectively reduced. Therefore, by using the grasping mechanism provided in this embodiment, the technical problem of the relatively high manufacturing cost of the grasping mechanism in the prior art can be solved.

[0041] Specifically, during grasping, the first set section 12 and the second set section 14 are used to be sleeved on the object to be grasped 80, and the object to be grasped 80 is wrapped and grasped by the first set section 12 and the second set section 14.

[0042] In this embodiment, the first limiting portion 31 includes a first limiting protrusion 311 and a second limiting protrusion 312 which are arranged at intervals. The gap between the first limiting protrusion 311 and the second limiting protrusion 312 forms a first limiting gap, and the first driving section 11 passes through the first limiting gap and is wound around the first driving member 21; the second limiting portion 32 includes a third limiting protrusion 321 and a fourth limiting protrusion 322 which are arranged at intervals. The gap between the third limiting protrusion 321 and the fourth limiting protrusion 322 forms a second limiting gap, and the second driving section 13 passes through the second limiting gap and is wound around the second driving member 22. With such a structural arrangement, it is convenient to grasp the object to be grasped 80 through the cooperation of the first limiting protrusion 311 and the third limiting protrusion 321, or to grasp the object to be grasped 80 through the cooperation of the second limiting protrusion 312 and the fourth limiting protrusion 322. In addition, the structure of the limiting protrusion is simple, the limiting effect is reliable, and it is convenient to stably limit the first driving section 11 and the second driving section 13, so that the first set section 12 and the second set section 14 can stably form a grasping hole with a certain grasping force, thereby improving the stability of the wrapping and grasping.

[0043] Specifically, the first limiting protrusion 311, the second limiting protrusion 312, the third limiting protrusion 321 and the fourth limiting protrusion 322 can all be provided in multiple numbers. The multiple first limiting protrusions 311 and the multiple second limiting protrusions 312 are arranged in one-to-one correspondence. Each first limiting protrusion 311 and the corresponding second limiting protrusion 312 are arranged at intervals and form corresponding first limiting gaps; the multiple third limiting protrusions 321 and the multiple fourth limiting protrusions 322 are arranged in one-to-one correspondence. Each third limiting protrusion 321 and the corresponding fourth limiting protrusion 322 are arranged at intervals and form corresponding second limiting gaps. By providing the multiple first limiting protrusions 311, the multiple second limiting protrusions 312, the multiple third limiting protrusions 321 and the multiple fourth limiting protrusions 322, it is convenient to stably limit the first driving section 11 and the second driving section 13, so that the first driving section 11 and the second driving section 13 can stably abut and twist, thereby facilitating the guarantee of the stability of the grasping.

[0044] In this embodiment, the limiting component 30 further includes a limiting body 33, and both the first limiting portion 31 and the second limiting portion 32 are installed on the limiting body 33; the limiting component 30 has a starting torsional moment, so that when the moment acting on the first limiting portion 31 and the second limiting portion 32 is less than or equal to the starting torsional moment, the first driving section 11 and the second driving section 13 are driven to move by the driving structure 20, and the first sleeved section 12 and the second sleeved section 14 are made to enclose a grasping hole; or when the moment acting on the first limiting portion 31 and the second limiting portion 32 is greater than the starting torsional moment, the limiting component 30 and the annular belt 10 are driven to move synchronously by the driving structure 20, and at least part of the to-be-grabbed section is rotated. With such a structural arrangement, it is convenient to tighten or loosen at least part of the to-be-grabbed part 80 from the main body part of the to-be-grabbed part 80, so that tightening and loosening operations can be realized after grasping. In addition, only the limiting body needs to be driven during the whole operation process, so only one driving motor is needed for driving, which simplifies the structure and reduces the overall cost of the grasping component.

[0045] Specifically, the to-be-grabbed part 80 includes a main body part 81 and a cover part 82, and a first matching structure is provided on the cover part 82. A second matching structure 15 adapted to the first matching structure is provided on the annular belt 10 to realize the cover closing operation and the cover opening operation of the cover part 82 under the combined action of the first matching structure and the second matching structure 15. With such a structural arrangement, it is convenient to better perform the cover closing operation and the cover opening operation on the cover part 82 and improve the quickness of the operation. Specifically, the second matching structure 15 is arranged on the inner sides of the first driving section 11 and the second driving section 13 to improve the operation convenience for the cover part 82. The inner sides of the first sleeved section 12 and the second sleeved section 14 can be made into a smooth surface structure.

[0046] In this embodiment, the cover closing operation and the cover opening operation of the cover part 82 can be respectively realized through the cooperation of the first limiting protrusion 311 and the third limiting protrusion 321, and the cooperation of the second limiting protrusion 312 and the fourth limiting protrusion 322.

[0047] Specifically, the first matching structure may include a plurality of first tooth-shaped structures annularly arranged along the circumference of the cover, and the second matching structure 15 is a second tooth-shaped structure adapted to the first tooth-shaped structures. Specifically, two tooth-shaped sections can be provided on the annular belt 10, and the second tooth-shaped structures are provided on both tooth-shaped sections. The two tooth-shaped sections are arranged oppositely, so as to drive the two tooth-shaped sections to wrap the cover part 82 when the driving body 23 moves, thereby facilitating the rotation operation.

[0048] In this embodiment, a plurality of first limiting and mating portions 331 are arranged at intervals on the limiting main body 33 along the arc direction. The grasping mechanism further includes an elastic limiting structure 40, which has an elastic portion 41 and a second limiting and mating portion 42 connected to each other. The second limiting and mating portion 42 is arranged to be adapted to the first limiting and mating portion 331. Among them, when the torque acting on the first limiting portion 31 and the second limiting portion 32 is less than or equal to the starting torsional torque, the first limiting and mating portion 331 is limited by the second limiting and mating portion 42 and remains stationary; when the torque acting on the first limiting portion 31 and the second limiting portion 32 is greater than the starting torsional torque, the first limiting and mating portion 331 will rotate relative to the second limiting portion 32. With such a structural arrangement, through the cooperation of the elastic limiting structure 40 and the first limiting and mating portion 331, the grasping and opening or closing operations can be realized respectively according to the magnitude of the starting torsional torque. The structure is simple and easy to implement.

[0049] Specifically, the first limiting and mating portion 331 can be a plurality of spaced-apart limiting tooth structures. The second limiting and mating portion 42 is a limiting pin that is in clearance fit with the gap between two adjacent limiting teeth, and the elastic portion 41 can be a spring. Alternatively, the elastic limiting structure 40 can be a torque-limiting spring plug, and the end of the spring plug forms a stud head that is in clearance fit with the gap between two adjacent limiting teeth.

[0050] In this embodiment, the limiting main body 33 includes a limiting sleeve 332 and a limiting end plate 333. The driving main body 23 and the annular belt 10 are both installed inside the limiting sleeve 332, and the first limiting and mating portion 331 is arranged at one end of the limiting sleeve 332. The limiting end plate 333 is arranged at the other end of the limiting sleeve 332. The first limiting portion 31 and the second limiting portion 32 are both installed on the limiting end plate 333. A sleeve-through hole 3331 is provided on the limiting end plate 333. The sleeve-through hole 3331 is arranged opposite to the inner ring of the annular belt 10, and the sleeve-through hole 3331 is adapted to the shape of the grasping hole, and the shape of the grasping hole is adapted to the outer shape of the workpiece 80 to be grasped. With such a structural arrangement, it is possible to facilitate the optimization of the structural layout of the grasping mechanism and improve the layout compactness of the grasping mechanism.

[0051] Specifically, in this embodiment, the driving structure 20 further includes a driving motor 24; the grasping mechanism further includes a fixed sleeve 50 and a bearing 60. The motor shaft of the driving motor 24 is disposed within the fixed sleeve 50, and at least a portion of the driving body 23 is disposed within the fixed sleeve 50. The motor shaft is connected to at least a portion of the driving body 23; the bearing 60 is mounted on the fixed sleeve 50, and the limiting sleeve 332 is mounted on the fixed sleeve 50 through the bearing 60. With such a structural arrangement, only one driving motor 24 is needed to smoothly drive the annular belt 10 to perform the operations of grasping and opening or closing the lid; at the same time, by arranging the bearing 60 in the above manner, the compactness of the layout is further improved, and it is also convenient for the limiting sleeve 332 to rotate smoothly when the starting torque is exceeded.

[0052] In this embodiment, the grasping mechanism further includes a first detection structure 70. The detection head of the first detection structure 70 faces the limiting body 33, and the first detection structure 70 is used to detect the rotation angle of the limiting body 33. With such a structural arrangement, it is convenient to determine whether the limiting body 33 returns to the initial state after the operation is completed, so as to facilitate subsequent corresponding control. Specifically, the first detection structure in this embodiment includes a photoelectric switch 71 and a switch flap 72. The switch flap 72 is fixedly installed on the limiting body 33, and a through groove adapted to the switch flap 72 is provided on the photoelectric switch 71. When the limiting body 33 drives the switch flap 72 to move to the through groove, the photoelectric switch 71 receives the corresponding signal.

[0053] Specifically, the grasping mechanism further includes a second detection structure. The detection head of the second detection structure faces the annular belt 10, and the second detection structure is used to detect whether there is a workpiece 80 to be grasped at the annular belt 10. With such an arrangement, it is possible to facilitate adaptive control according to whether there is a workpiece 80 to be grasped at the annular belt 10, and the control member of the grasping mechanism controls the driving structure 20 to perform corresponding movements. It should be noted that "at the annular belt 10" includes the position close to the annular belt 10 and the position directly below the annular belt 10.

[0054] Such as Figure 7As shown, the grasping mechanism is integrally arranged on the bracket 110 in a liftable manner. When it is detected that there is a sampling tube below the annular belt 10, the grasping mechanism is controlled to descend and corresponding operations are performed on the cover of the sampling tube. Specifically, the sampling tube is fixed on the fixing seat 130. The fixing seat 130 is provided with a limiting hole and is transported by the conveyor belt 120. During the specific working process, the conveyor belt 120 moves to drive the sampling tube to move in the front-back direction. When it is detected that a sampling tube moves to directly below the annular belt 10, the whole grasping mechanism descends so that the annular belt 10 is sleeved on the sampling tube. Subsequently, through the driving of the annular belt 10 by the driving structure 20 and the cooperation of the limiting component 30, the operations of grasping and tightening the cover or grasping and unscrewing the cover of the sampling tube are realized. Then, the whole grasping mechanism rises, and the conveyor belt 120 continues to transport. Until the next sampling tube moves to directly below the annular belt 10, the above operations are repeated.

[0055] In this embodiment, the grasping mechanism further includes a fixing plate 100. The driving motor 24 and the fixed sleeve 50 are respectively installed on both sides of the fixing plate 100. The motor shaft of the driving motor 24 passes through the through hole on the fixing plate 100 and is connected to the driving main body 23 located on the other side of the fixing plate 100. The driving main body 23 includes a connecting column 231 and a driving plate 232. The connecting column 231 is installed in the fixed sleeve 50 and is connected to the motor shaft. The driving plate 232 is arranged outside the fixed sleeve 50. The first driving member 21 and the second driving member 22 both protrude from the driving plate 232. Specifically, the part to be grasped 80 in this embodiment is mainly a sampling tube.

[0056] Specifically, the annular belt 10 is made of a rubber part embedded with metal wires or nylon wires, or the annular belt 10 is made of a plastic embedded with metal wires or nylon wires. In this way, both the structural strength of the annular belt 10 can be ensured, and the annular belt 10 can have a certain amount of deformation, ensuring that the annular belt 10 has a certain toughness.

[0057] As Figure 4 and Figure 5 As shown, the elastic limiting structure 40 of the grasping mechanism in this embodiment is fixed on the fixing plate 100. The fixed sleeve 50 is fixed on the fixing plate 100. The driving motor 24 is also fixed on the fixing plate 100. The main body part 81 of the driving motor 24 and the fixed sleeve 50 are respectively installed on both sides of the fixing plate 100. The driving main body 23 is fixedly connected to the motor shaft (i.e., the output shaft) of the driving motor 24 passing through the fixing plate 100, the fixed sleeve 50 and the bearing 60. At least two limiting structures are arranged on the driving main body 23. An outer retaining ring 91 that can limit the bearing 60 therein is arranged in the limiting sleeve 332. The upper surface of the limiting sleeve 332 is provided with a first limiting and cooperating part 331 that can abut against the elastic limiting structure 40.

[0058] In this embodiment, the elastic limit structure 40 can be a torque limiting spring plug, which can be replaced by a pin connected to one end of the spring, and one end of the torque limiting spring plug is a stud head. Specifically, the fixed sleeve 50 is a fixing sleeve for the bearing 60, and an inner retaining ring 92 is also provided at the fixed sleeve 50 to limit the bearing 60. In this embodiment, the first limit protrusion 311, the second limit protrusion 312, the third limit protrusion 321, and the fourth limit protrusion 322 can all be set as cylindrical structures. In this embodiment, the drive motor 24 can be a motor capable of rotating the output shaft, and the first limit mating part 331 can be a torque limiting tooth. The limit end plate 333 is fixed to the bottom of the limit sleeve 332, and the first limit protrusion 311 and the third limit protrusion 321 as well as the second limit protrusion 312 and the fourth limit protrusion 322 are arranged in a staggered manner on the limit end plate 333. The first limit protrusion 311 and the fourth limit protrusion 322 are symmetrically arranged, and the second limit protrusion 312 and the third limit protrusion 321 are symmetrically arranged. The inner surface of the annular belt 10 is provided with a toothed structure, the annular belt 10 is sleeved on the first driving member 21 and the second driving member 22, and the outer surface of the annular belt 10 abuts against the first limit portion 31 and the second limit portion 32.

[0059] As Figure 4 shown, the elastic limit structure 40 is axially adjustably mounted on the fixed plate 100, and the stud head at the end of the elastic limit structure 40 cooperates with the torque limiting teeth of the first limit mating part 331. Therefore, the rotatable torque of the limit sleeve 332 can be adjusted by adjusting the axial mating dimension between the elastic limit structure 40 and the torque limiting teeth. That is, when the external driving torque is less than the rotatable torque (corresponding to the starting torque), the limit sleeve 332 remains stationary, and when the external driving torque is greater than the rotatable torque, the limit sleeve 332 starts to rotate.

[0060] The annular belt 10 in this embodiment has a certain toughness, and the material can be PU or rubber embedded with metal wires or nylon wires. Two toothed sections can be provided on the inner side of the annular belt 10. The tooth pitch is equivalent to the tooth shape and tooth pitch of the circumference of the tube cap of the sampling tube, and the toothed parts are symmetrical, and the rest are smooth surfaces.

[0061] As Figure 1 shown, when the first driving member 21 is located at the middle position between the first limit protrusion 311 and the second limit protrusion 312, and the second driving member 22 is located at the middle position between the third limit protrusion 321 and the fourth limit protrusion 322, under the extrusion of the inner wall of the limit sleeve 332 and the limit assembly 30, the middle of the annular belt 10 bulges towards the inner wall of the limit sleeve 332, and the middle hole increases. At this time, the tube cap of the sampling tube can be passed through the through hole 3331 in the middle of the limit end plate 333 and extended to the middle hole position of the annular belt 10. Specifically, the through hole 3331 can be a circular hole.

[0062] AsFigure 2 As shown, when the driving body 23 starts to rotate in the first preset direction from the position in Figure 1 , under the stretching action of the first driving member 21 and the restricting action of the second limiting protrusion 312, as well as the stretching action of the second driving member 22 and the restricting action of the third limiting protrusion 321, the middle hole of the annular belt 10 will gradually shrink and finally wrap the tube cap of the sampling tube. When the driving body 23 continues to rotate, the rotational torque will be greater than the rotational torque that the limiting sleeve 332 can withstand, thereby driving the tube cap of the sampling tube to perform a rotational motion, realizing the opening of the sampling tube.

[0063] As Figure 3 shown, when the driving body 23 starts to rotate in the second preset direction from the position in Figure 1 , under the stretching action of the first driving member 21 and the restricting action of the first limiting protrusion 311, as well as the stretching action of the second driving member 22 and the restricting action of the fourth limiting protrusion 322, the middle hole of the annular belt 10 will also gradually shrink and finally wrap the sampling tube cap. When the driving body 23 continues to rotate, the rotational torque will be greater than the rotational torque that the limiting sleeve 332 can withstand, thereby driving the tube cap of the sampling tube to perform a rotational motion, realizing the closing of the sampling tube.

[0064] Embodiment 2 of the present invention provides a transmission system. The transmission system includes a sample introduction component, a scanning component, a grasping mechanism, and a recycling component. The sample introduction component is used for transporting the object to be grasped 80; the scanning component is used for scanning the object to be grasped 80, and the grasping mechanism is the grasping mechanism provided above, and the grasping mechanism is used for grasping the object to be grasped 80; the recycling component is arranged downstream of the sample introduction component, and the recycling component is used for recycling the object to be grasped 80. By adopting such a system, it is possible to facilitate the smooth transmission and scanning of the object to be grasped 80. Specifically, the object to be grasped 80 is mainly a sampling tube.

[0065] Embodiment 3 of the present invention provides an automatic analysis system. The automatic analysis system includes a sample introduction module, a reaction vessel loading module, an incubation module, a detection module, and an interpretation module. The sample introduction module includes the object to be grasped 80 provided above. The reaction vessel loading module is used for loading the object to be grasped 80 onto the incubation module; the detection module is used for detecting the object to be grasped 80, and the interpretation module is used for analyzing the detection results of the detection module. By adopting such a system, it is possible to facilitate the automatic analysis and detection process of the object to be grasped 80 and improve the degree of automation. Specifically, the object to be grasped 80 is mainly a sampling tube.

[0066] The incubation module in this embodiment also has a storage function. The detection module includes a chemiluminescence detection component, and the interpretation module can perform multiple interpretations. The automatic analysis system in this embodiment further includes a pipetting module, a washing module, a reaction vessel discarding module, and a control module, and the cooperation operation of the above-mentioned multiple modules is controlled by the control module.

[0067] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: The grasping and rotating function of the grasping and rotating mechanism on the market can be realized only by one driving motor. Compared with the grasping and rotating mechanism on the market, which includes a clamping component for clamping the reaction tube and a rotating component for providing rotational power to the clamping component, and the clamping component is powered by a lead screw motor and the rotating component is powered by a rotating motor, the grasping mechanism proposed in this embodiment can realize the grasping and rotating function of the grasping and rotating mechanism on the market only by one rotating motor, with lower cost.

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0069] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0070] In the description of the present application, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the protection scope of the present application; the orientation words "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0071] For ease of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations of the spatial relative descriptions used herein will be made accordingly.

[0072] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of differentiating the corresponding components. Without further statement, these terms have no special meaning, and thus should not be construed as limiting the scope of protection of the present application.

[0073] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A grasping mechanism, characterized in that, Comprising: A ring belt (10), including a first driving section (11), a first sleeved section (12), a second driving section (13), and a second sleeved section (14) connected in sequence. The first sleeved section (12) and the second sleeved section (14) are arranged oppositely; A driving structure (20), including a first driving member (21), a second driving member (22), and a driving body (23) connected to both the first driving member (21) and the second driving member (22). The first driving section (11) is wound around the first driving member (21), and the second driving section (13) is wound around the second driving member (22); A limiting assembly (30), including a first limiting portion (31) and a second limiting portion (32) located outside the ring belt (10); the first limiting portion (31) has a first limiting gap, and the first driving section (11) is limited within the first limiting gap; the second limiting portion (32) has a second limiting gap, and the second driving section (13) is limited within the second limiting gap; Wherein, the driving body (23) is rotatably arranged so that when the driving body (23) rotates, the first driving section (11) is driven to move by the first driving member (21), the second driving section (13) is driven to move by the second driving member (22), and under the limiting action of the first limiting portion (31) and the second limiting portion (32), the first sleeved section (12) and the second sleeved section (14) enclose a grasping hole.

2. The grasping mechanism according to claim 1, wherein The first limiting portion (31) includes a first limiting protrusion (311) and a second limiting protrusion (312) arranged at intervals, and the gap between the first limiting protrusion (311) and the second limiting protrusion (312) forms the first limiting gap. The first driving section (11) passes through the first limiting gap and is wound around the first driving member (21); The second limiting portion (32) includes a third limiting protrusion (321) and a fourth limiting protrusion (322) arranged at intervals, and the gap between the third limiting protrusion (321) and the fourth limiting protrusion (322) forms the second limiting gap. The second driving section (13) passes through the second limiting gap and is wound around the second driving member (22).

3. The grasping mechanism according to claim 1, wherein A second mating structure (15) is arranged on the inner side of the ring belt (10), and the second mating structure (15) is located within the grasping hole to cooperate through the second mating structure (15) when grasping with the grasping hole; and / or, The ring belt (10) is made of a rubber or plastic member embedded with metal wires or nylon wires.

4. The grasping mechanism according to claim 1, characterized in that, The limiting component (30) further includes a limiting body (33), and both the first limiting portion (31) and the second limiting portion (32) are installed on the limiting body (33); the limiting component (30) has a starting torsional moment, so that when the moment acting on the first limiting portion (31) and the second limiting portion (32) is less than or equal to the starting torsional moment, the first driving segment (11) and the second driving segment (13) are driven to move by the driving structure (20), and the first sleeved segment (12) and the second sleeved segment (14) are made to enclose the grasping hole; or when the moment acting on the first limiting portion (31) and the second limiting portion (32) is greater than the starting torsional moment, the limiting component (30) and the annular belt (10) are driven to move synchronously by the driving structure (20).

5. The grasping mechanism according to claim 4, wherein, A plurality of first limiting and mating portions (331) are arranged at intervals along the arc direction on the limiting body (33), and the grasping mechanism further includes: An elastic limiting structure (40), the elastic limiting structure (40) has an elastic portion (41) and a second limiting and mating portion (42) connected to each other, and the second limiting and mating portion (42) is arranged to be adapted to the first limiting and mating portion (331); Wherein, when the moment acting on the first limiting portion (31) and the second limiting portion (32) is less than or equal to the starting torsional moment, the first limiting and mating portion (331) is limited by the second limiting and mating portion (42) and remains stationary; when the moment acting on the first limiting portion (31) and the second limiting portion (32) is greater than the starting torsional moment, the first limiting and mating portion (331) will rotate relative to the second limiting portion (32).

6. The grasping mechanism according to claim 5, characterized in that, The limiting body (33) includes: A limiting sleeve (332), the driving body (23) and the annular belt (10) are both installed in the limiting sleeve (332), and the first limiting and mating portion (331) is arranged at one end of the limiting sleeve (332); A limiting end plate (333), arranged at the other end of the limiting sleeve (332), both the first limiting portion (31) and the second limiting portion (32) are installed on the limiting end plate (333), and a sleeved through hole (3331) is arranged on the limiting end plate (333), the sleeved through hole (3331) is arranged opposite to the inner circle of the annular belt (10), and the shape of the sleeved through hole (3331) is adapted to the grasping hole.

7. The grasping mechanism according to claim 6, wherein The driving structure (20) further includes a driving motor (24); the grasping mechanism further includes: A fixed sleeve (50), the motor shaft of the driving motor (24) is arranged in the fixed sleeve (50), at least part of the driving body (23) is arranged in the fixed sleeve (50), and the motor shaft is connected to at least part of the driving body (23). The bearing (60) is installed on the fixed sleeve (50), and the limit sleeve (332) is installed on the fixed sleeve (50) through the bearing (60).

8. The grasping mechanism according to claim 4, wherein The grasping mechanism further includes: The first detection structure (70), the detection head of the first detection structure (70) is arranged towards the limit main body (33), and the first detection structure (70) is used for detecting the rotation angle of the limit main body (33); and / or, The second detection structure, the detection head of the second detection structure is arranged towards the annular belt (10).

9. A transmission system, characterized in that, It includes the grasping mechanism according to any one of claims 1 to 8.

10. An automatic analysis system, characterized in that, It includes the grasping mechanism according to any one of claims 1 to 8.

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