A sample tube grasping device and a sample tube scheduling device

Abstract

The present invention discloses a sample tube grabbing device and sample tube scheduling equipment. The sample tube grabbing device includes a Z-axis mechanism and a clamping mechanism assembled on the Z-axis mechanism. The clamping mechanism has clamping and rotating functions, and a barcode scanner is provided on the Z-axis mechanism. The Z-axis mechanism is used to drive the clamping mechanism to move down to the sample tube clamping position to clamp the sample tube cover, and after clamping, drive the clamping mechanism to move up and remove the sample tube. The clamping mechanism rotates the sample tube during the upward movement to remove the sample tube, so that the barcode scanner scans and identifies the barcode on the sample tube body. The present invention realizes scanning while transporting by rotating and scanning the barcode while removing the sample tube to realize the sample tube scheduling function. There is no need to set up a separate barcode scanning and identification link, which has the advantages of saving equipment working time and improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a sample tube grabbing device and a sample tube scheduling device. Background Art

[0002] In the uncapping process of biochemical sample testing, the sample tube grabbing device first grabs the sample tube from the sample rack and moves it to the code scanning position for sample tube scanning and identification. After the code scanning and identification are completed, the sample tube is transported to the sample tube uncapping position for uncapping. When there are large quantities of sample tubes that need to be tested, the uncapping process is an important part of the testing efficiency. How to reduce the time consumption of the uncapping process is currently the focus of improving testing efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a sample tube grabbing device and a sample tube scheduling device, aiming to solve the problem that the time consumption of the existing sample tube opening process needs to be optimized.

[0004] To solve the above technical problems, the present invention is achieved through the following technical solutions: providing a sample tube gripping device, comprising a Z-axis mechanism and a clamping mechanism mounted on the Z-axis mechanism, wherein the Z-axis mechanism is used to drive the clamping mechanism downward to a sample tube clamping position to clamp the sample tube cap, and then drive the clamping mechanism upward to remove the sample tube after clamping, wherein:

[0005] The clamping mechanism includes a support seat, a push rod motor assembly, a rotating motor assembly, a shaft linkage assembly and a clamping claw assembly;

[0006] The support base is mounted on the Z-axis mechanism, and the Z-axis mechanism is used to drive the support base to move up and down in the height direction;

[0007] The push rod motor assembly and the rotating motor assembly are both mounted on the support base;

[0008] The clamping jaw assembly is installed at the bottom of the rotating motor assembly, and the rotating motor assembly is used to drive the clamping jaw assembly to rotate, and the clamping jaw assembly can clamp in the horizontal direction;

[0009] The top of the axial linkage assembly is connected to the output end of the push rod motor assembly, and the bottom of the axial linkage assembly passes through the bottom of the rotating motor assembly and is slidably connected to the clamping claw assembly. The push rod motor assembly is used to drive the axial linkage assembly to move up and down in the height direction, and the bottom of the axial linkage assembly can rotate relative to the push rod motor assembly. When the push rod motor assembly drives the axial linkage assembly to move downward in the height direction, it can link the clamping claw assembly to clamp in the horizontal direction, so as to realize the clamping of the sample tube cover by the clamping claw assembly;

[0010] A barcode scanner is provided on the Z-axis mechanism. When the clamping mechanism moves upward to take out the sample tube, the rotating motor assembly drives the clamping assembly to rotate and links the sample tube to rotate, so that the barcode scanner scans and identifies the barcode on the sample tube body.

[0011] Furthermore, the push rod motor assembly includes a push rod motor seat, a push rod motor, a spring piece and a pull ring; the push rod motor seat is installed on the support seat; the front end of the push rod motor is installed on the push rod motor seat facing downward, and the output shaft of the front end of the push rod motor can be pushed out downward; the spring piece is sleeved on the output shaft of the push rod motor; the pull ring is installed on the output shaft of the push rod motor, and the top of the axial linkage assembly is connected to the pull ring to achieve pushing and pulling downward along with the output shaft of the push rod motor.

[0012] Furthermore, the push rod motor assembly also includes a position block mounted on the output shaft of the push rod motor; an opening and closing identification optical coupler is installed on the support plate, and when the output shaft of the push rod motor is pushed downward, the push rod assembly and the elastic slide rod assembly are linked to move downward in sequence, so as to link the clamping claw assembly to clamp in the horizontal direction until the position block moves downward into the opening and closing identification optical coupler and triggers the stop movement, thereby completing the clamping of the clamping claw assembly.

[0013] Furthermore, the axial linkage assembly includes a push rod assembly and an elastic slide rod assembly; the top of the elastic slide rod assembly is connected to the bottom of the rotating motor assembly, and the bottom of the elastic slide rod assembly is slidably connected to the clamping jaw assembly along the height direction; the top of the push rod assembly is connected to the output end of the push rod motor assembly, and the bottom of the push rod assembly passes through the bottom of the rotating motor assembly and is rotatably connected to the elastic slide rod assembly, and the push rod motor assembly is used to push the push rod assembly to move downward and link the elastic slide rod assembly to move downward in elastic compression.

[0014] Furthermore, the push rod assembly includes an adapter pull seat and a bearing rod; the top of the adapter pull seat is fixedly connected to the pull ring; the top of the bearing rod is connected to the bottom of the adapter pull seat, and the bottom of the bearing rod is rotatably connected to the top of the elastic slide rod assembly.

[0015] Furthermore, the bearing rod includes a push rod limiting column, a push rod, an angular contact bearing and a bearing seat; the top of the push rod limiting column is fixedly connected to the bottom of the adapter pull seat; the top of the push rod is fixedly connected to the bottom of the push rod limiting column; the angular contact bearing is built into the bearing seat, and the bearing seat is clamped on the bottom of the push rod through the angular contact bearing and can rotate relative to the push rod; the bottom of the bearing seat is fixedly connected to the top of the elastic slide rod assembly.

[0016] Furthermore, the rotating motor assembly includes a fixed plate, a rotating motor seat, a rotating motor, a synchronous belt assembly and a guide rod mounting seat; the fixed plate is mounted on the support seat; the rotating motor seat is mounted on one end of the fixed plate, and the rotating motor is mounted on the rotating motor seat; the guide rod mounting seat is rotatably mounted on the other end of the fixed plate, and the elastic slide rod assembly and the clamping claw assembly are both mounted on the bottom of the guide rod mounting seat; one end of the synchronous belt assembly is connected to the output shaft of the rotating motor, and the other end of the synchronous belt assembly is connected to the top of the guide rod mounting seat; the interior of the guide rod mounting seat is used to accommodate the push rod assembly, the top of the push rod assembly protrudes upward and is connected to the push rod motor assembly, and the bottom of the push rod assembly is exposed downward and is rotatably connected to the elastic slide rod assembly.

[0017] Furthermore, the rotating motor assembly also includes a first bearing, a gasket, a second bearing and a bearing cover plate; a stepped circular hole for installing the guide rod mounting seat is provided on the other end of the fixed plate; the first bearing, gasket and second bearing are installed in the stepped circular hole in sequence, and the bearing cover plate is locked on the top surface of the stepped circular hole to press the first bearing, gasket and second bearing into the stepped circular hole; the guide rod mounting seat passes through the stepped circular hole and rotates in the first bearing and the second bearing.

[0018] Furthermore, the rotating motor assembly also includes a rotating baffle mounted on the guide rod mounting seat; a rotating identification optical coupler is installed on the support plate, and the edge of the rotating baffle is located in the detection port of the rotating identification optical coupler; when the rotating motor drives the synchronous belt assembly to transmit and links the guide rod mounting seat to drive the clamping assembly to rotate, the rotating identification optical coupler identifies the number of rotations and position of the rotating baffle to identify the number of rotations and position of the clamping assembly.

[0019] Furthermore, the elastic slide bar assembly includes: a T-shaped slide bar, a linear bearing, a guide rod and a positioning spring; the top of the T-shaped slide bar is fixedly connected to the bottom of the bearing seat, and the bottom of the T-shaped slide bar is slidably connected to the clamping claw assembly; the two linear bearings are respectively installed at the two ends of the top of the T-shaped slide bar; the two guide rods are respectively inserted into the two linear bearings, the tops of the two guide rods are both inserted into the bottom of the rotating motor assembly, and the bottoms of the two guide rods pass through the bottom of the T-shaped slide bar; the two positioning springs are respectively mounted on the two guide rods; when the elastic slide bar assembly moves downward in the height direction, the T-shaped slide bar moves downward on the guide rod through the linear bearing and compresses the positioning spring.

[0020] Furthermore, the elastic slide bar assembly also includes a rotating shaft, a rotating shaft bearing and a retaining spring; the rotating shaft passes through the bottom two sides of the T-shaped slide bar; the two rotating shaft bearings are respectively installed at the two ends of the rotating shaft; the two retaining springs are respectively clamped at the two ends of the rotating shaft to lock the two rotating shaft bearings on the rotating shaft; the two rotating shaft bearings are respectively slidably connected to the clamping jaw assembly.

[0021] Furthermore, the clamping jaw assembly includes two symmetrically arranged baffles, two connecting blocks and two clamping jaws; the two baffles are fixedly installed at the bottom of the rotating motor assembly, and the two baffles are located on both sides of the elastic slide rod assembly; the two connecting blocks are slidably installed one by one along the horizontal direction on the inner sides of the two baffles; the two clamping jaws are fixedly connected one by one to the bottoms of the two connecting blocks; the two connecting blocks are provided with inclined grooves, and the two rotating shaft bearings are slidably connected one by one in the two inclined grooves.

[0022] Furthermore, the clamping jaw assembly also includes two linear guide rails and two sliders; the two linear guide rails are fixedly installed on the inner sides of the two baffles; the two sliders are slidably installed on the two linear guide rails one by one along the horizontal direction; and the two connecting blocks are fixedly installed on the two sliders one by one.

[0023] Furthermore, the Z-axis mechanism includes a support plate, a drive assembly and an infrared photocoupler; the drive assembly is installed on the support plate and connected to the support base, and is used to drive the support base to move up and down in the height direction; the infrared photocoupler is installed on the support plate, and when the clamping mechanism moves up to take out the sample tube, the infrared photocoupler is used to detect whether the sample tube is clamped on the clamping mechanism.

[0024] An embodiment of the present invention further provides a sample tube scheduling device, which includes the sample tube grabbing device as described above.

[0025] An embodiment of the present invention provides a sample tube grabbing device and a sample tube scheduling device. The sample tube grabbing device includes a Z-axis mechanism and a clamping mechanism assembled on the Z-axis mechanism. The clamping mechanism has clamping and rotating functions, and a barcode scanner is provided on the Z-axis mechanism. The Z-axis mechanism is used to drive the clamping mechanism to move down to the sample tube clamping position to clamp the sample tube cover, and after clamping, drive the clamping mechanism to move up and remove the sample tube. The clamping mechanism rotates the sample tube during the process of moving up to remove the sample tube, so that the barcode scanner scans and identifies the barcode on the sample tube body. The present invention realizes scanning while transporting by rotating and scanning the barcode while removing the sample tube to realize the sample tube scheduling function. There is no need to set up a separate barcode scanning and identification link, which has the advantages of saving equipment working time and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic structural diagram of a sample tube grabbing device provided in an embodiment of the present invention;

[0028] Figure 2 A schematic structural diagram of a double clamping mechanism provided in an embodiment of the present invention;

[0029] Figure 3 A schematic structural diagram of a single clamping mechanism provided in an embodiment of the present invention;

[0030] Figure 4 A schematic cross-sectional view of a clamping mechanism according to an embodiment of the present invention;

[0031] Figure 5 A schematic structural diagram of a push rod motor assembly provided in an embodiment of the present invention;

[0032] Figure 6 A schematic structural diagram of a bearing rod provided in an embodiment of the present invention;

[0033] Figure 7 A schematic cross-sectional view of a bearing rod provided in an embodiment of the present invention;

[0034] Figure 8 A schematic structural diagram of a rotating electrical machine assembly provided in an embodiment of the present invention;

[0035] Figure 9 A schematic cross-sectional view of a rotating electrical machine assembly provided in an embodiment of the present invention;

[0036] Figure 10 A schematic structural diagram of an elastic sliding rod assembly provided in an embodiment of the present invention;

[0037] Figure 11 A schematic cross-sectional view of the elastic sliding rod assembly provided in an embodiment of the present invention;

[0038] Figure 12 A schematic structural diagram of a clamping jaw assembly provided in an embodiment of the present invention;

[0039] Figure 13 A schematic structural diagram of the Z-axis assembly provided in an embodiment of the present invention.

[0040] Description of the symbols in the figure:

[0041] 1. Z-axis mechanism; 11. Barcode scanner; 12. Support plate; 13. Drive assembly; 14. Infrared optical coupler;

[0042] 2. Clamping mechanism;

[0043] 21. Support seat; 211. Opening and closing identification optical coupler; 212. Rotation identification optical coupler;

[0044] 22. Push rod motor assembly; 221. Push rod motor base; 222. Push rod motor; 223. Spring; 224. Position stopper; 225. Pull ring;

[0045] 23. Rotating motor assembly; 231. Fixing plate; 232. Rotating motor base; 233. Rotating motor; 234. First synchronous pulley; 235. Synchronous belt; 236. Second synchronous pulley; 237. Guide rod mounting base; 238. First bearing; 239. Backing ring; 2310. Second bearing; 2320. Bearing cover plate; 2330. Rotating baffle;

[0046] 24. Push rod assembly; 241. Adapter pull seat; 242. Bearing rod; 2421. Push rod limit column; 2422. Push rod; 2423. Angular contact bearing; 2424. Bearing seat;

[0047] 25. Elastic slide bar assembly; 251. T-shaped slide bar; 252. Linear bearing; 253. Guide rod; 254. Positioning spring; 255. Rotating shaft; 256. Rotating shaft bearing; 257. Circlip; 258. Assembly screw;

[0048] 26. Clamping jaw assembly; 261. Baffle; 262. Connecting block; 2621. Inclined slide; 263. Clamping jaw; 264. Linear guide rail; 265. Slider. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0051] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0052] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0053] Combine Figure 1 and Figure 2 An embodiment of the present invention provides a sample tube grabbing device, which is used to grab the sample tube to be opened from the sample rack during the sample tube opening process. The device includes a Z-axis mechanism 1 and a clamping mechanism 2 assembled on the Z-axis mechanism 1. The Z-axis mechanism 1 is used to drive the clamping mechanism 2 to move downward to the sample tube clamping position to clamp the sample tube cap, and after clamping, drive the clamping mechanism 2 to move upward to remove the sample tube.

[0054] Combine Figure 3 and Figure 4 The clamping mechanism 2 of this embodiment is described in detail below:

[0055] The clamping mechanism 2 includes: a support base 21, a push rod motor assembly 22, a rotating motor assembly 23, a shaft linkage assembly and a clamping claw assembly 26;

[0056] The shaft linkage assembly includes a push rod assembly 24 and an elastic slide rod assembly 25;

[0057] The support base 21 is mounted on the Z-axis mechanism 1. The Z-axis mechanism 1 drives the support base 21 to move up and down in the height direction, thereby driving the entire clamping mechanism 2 to move up and down in the height direction, so as to move the sample tube downward to clamp it and then move it upward to remove it.

[0058] The rotating motor assembly 23 is mounted on the support base 21; the clamping jaw assembly 26 and the elastic slide bar assembly 25 are both mounted on the bottom of the rotating motor assembly 23; the clamping jaw assembly 26 can perform clamping movement in the horizontal direction, and the elastic slide bar assembly 25 can move up and down in the height direction; the elastic slide bar assembly 25 is slidably connected to the clamping jaw assembly 26, and when the elastic slide bar assembly 25 moves downward in the height direction, the clamping jaw assembly 26 is linked to perform clamping movement to achieve clamping of the sample tube cap, and the rotating motor assembly 23 is used to drive the elastic slide bar assembly 25 and the clamping jaw assembly 26 to perform rotational movement;

[0059] The push rod motor assembly 22 is mounted on the support base 21; the top of the push rod assembly 24 is connected to the output end of the push rod motor assembly 22, and the bottom of the push rod assembly 24 passes through the bottom of the rotary motor assembly 23 and is rotatably connected to the elastic slide assembly 25. The push rod motor assembly 22 is used to push the push rod assembly 24 downward and link the elastic slide assembly 25 to elastically compress downward.

[0060] A barcode scanner 11 is provided on the Z-axis mechanism 1. When the clamping mechanism 2 moves up to take out the sample tube, the rotating motor assembly 23 drives the clamping claw assembly 26 to rotate and links the sample tube to rotate, so that the barcode scanner 11 scans and identifies the barcode on the sample tube.

[0061] It can be understood that this embodiment splits the axial linkage assembly into a push rod assembly 24 and an elastic slide rod assembly 25; and designs the elastic slide rod assembly 25 as a rotatable structure, which can realize the compression movement of the push rod motor assembly 22 to link the elastic slide rod assembly 25 downward, while the rotating motor assembly 23 can also drive the elastic slide rod assembly 25 to rotate.

[0062] It can be understood that the process of clamping the sample tube is as follows: first, the Z-axis mechanism 1 drives the entire clamping mechanism 2 to move downward to the sample tube clamping position and makes the clamping claw assembly 26 correspond to the tube cover position of the sample tube to be clamped, and then the push rod motor assembly 22 pushes the push rod assembly 24 downward and links the elastic slide bar assembly 25 to elastically compress downward, thereby linking the clamping claw assembly 26 to clamp in the horizontal direction and clamp the tube cover position of the sample tube, and then the Z-axis mechanism 1 drives the entire clamping mechanism 2 to move upward to remove the sample tube from the sample rack.

[0063] It can be understood that the process of scanning and identifying the sample tube is as follows: when the Z-axis mechanism 1 drives the entire clamping mechanism 2 to move upward and takes the sample tube out of the sample rack, the body of the sample tube corresponds to the position of the scanner 11 in the height direction, and then the sample rack can be directly transported to the uncapping position (the sample tube grasping device can be driven to the uncapping position by the X-axis mechanism of the sample tube scheduling equipment), and in the process of transporting to the uncapping position, the clamping claw assembly 26 is driven to rotate by the rotating motor assembly 23, so that the barcode on the body of the sample tube can be rotated to the scanning range of the scanner 11, and the barcode on the body of the sample tube can be scanned and identified by the scanner 11 to obtain sample information; the present application combines the steps of scanning and identifying the sample tube with the process of transporting the sample tube to the uncapping position after taking out the sample tube, thereby realizing the operation of scanning while transporting, without the need to set a separate scanning position, and effectively saving the working time of the automatic uncapping link of the sample tube.

[0064] It should be noted that two clamping mechanisms 2 of this embodiment can be provided, and the two clamping mechanisms 2 can be integrally assembled via a support base 21. The two clamping mechanisms 2 can be symmetrically distributed or distributed at right angles. Partially exposed structures in the two clamping mechanisms 2 can be staggered up and down to avoid interference, thereby making the two clamping mechanisms 2 more compact. It is understood that two barcode scanners 11 can be provided corresponding to the two clamping mechanisms 2 for one-to-one scanning and recognition.

[0065] For ease of understanding, the structure of a single clamping mechanism 2 is specifically introduced below.

[0066] Combine Figure 5 As shown, the push rod motor assembly 22 in the clamping mechanism 2 is described in detail below:

[0067] In some embodiments, the push rod motor assembly 22 includes a push rod motor seat 221, a push rod motor 222, a spring piece 223 and a pull ring 225; the push rod motor seat 221 is installed on the support seat 21; the front end of the push rod motor 222 is installed on the push rod motor seat 221 facing downward, and the output shaft of the front end of the push rod motor 222 can push and pull downward; the spring piece 223 is mounted on the output shaft of the push rod motor 222; the pull ring 225 is installed on the output shaft of the push rod motor 222, and the top of the push rod assembly 24 is connected to the pull ring 225 to realize pushing and pulling movement downward with the output shaft of the push rod motor 222.

[0068] In this embodiment, the push rod motor base 221 can be an L-shaped plate. One side of the push rod motor base 221 is fixedly mounted on the support base 21 by screws. The other side of the push rod motor base 221 has an opening. The front end of the push rod motor 222 is fixedly mounted on the other side of the push rod motor base 221 facing downward, and the output shaft of the front end of the push rod motor 222 extends downward from the opening. The spring 223 is sleeved on the output shaft of the push rod motor 222, providing a certain buffering effect when the push rod motor 222 is pushed downward. The cylindrical surface of the bottom of the pull ring 225 is designed to be flattened to facilitate clamping and tightening with a tool to lock the structure on the output shaft of the sleeve push rod motor 222. After the top of the push rod assembly 24 is connected to the pull ring 225, the push rod assembly 24 can be pushed downward along with the output shaft of the push rod motor 222, thereby pushing the elastic slide assembly 25 downward and elastically compressing it, thereby linking the clamping claw assembly 26 to perform the clamping work.

[0069] In some embodiments, the push rod motor assembly 22 further includes a position baffle 224 mounted on the output shaft of the push rod motor 222; a closing identification optical coupler 211 (see FIG. Figure 3), when the output shaft of the push rod motor 222 is pushed downward and drives the push rod assembly 24 and the elastic slide assembly 25 to move downward, the clamping claw assembly 26 is driven to clamp in the horizontal direction until the position block 224 moves downward to the opening and closing identification optical coupler 211 and triggers the stop movement, thereby completing the clamping of the clamping claw assembly 26.

[0070] In this embodiment, the position block 224 can be installed on the output shaft of the push rod motor 222 after the spring piece 223, and then the spring piece 223 and the position block 224 can be locked on the output shaft of the push rod motor 222 through the pull ring 225; through the cooperation between the position block 224 and the opening and closing identification optical coupler 211, when the output shaft of the push rod motor 222 is pushed downward, the opening and closing identification optical coupler 211 can identify the Z-direction position of the position block 224, thereby identifying the Z-direction movement stroke of the push rod motor 222, thereby controlling the opening and closing size of the clamping jaw assembly 26.

[0071] Combine Figure 4 、 Figure 6 and Figure 7 , the push rod assembly 24 in the clamping mechanism 2 is described in detail below:

[0072] In some embodiments, the push rod assembly 24 includes an adapter pull seat 241 and a bearing rod 242; the top of the adapter pull seat 241 is fixedly connected to the pull ring 225; the top of the bearing rod 242 is connected to the bottom of the adapter pull seat 241, and the bottom of the bearing rod 242 is rotatably connected to the top of the elastic slide rod assembly 25.

[0073] In this embodiment, a flat groove can be designed on the top of the adapter pull seat 241, and the bottom cylindrical surface of the pull ring 225 can be designed to be flattened. The pull ring 225 is inserted into the flat groove of the adapter pull seat 241 through the flattening of the bottom. 3mm circular holes are designed on the top of the adapter pull seat 241 and the bottom cylindrical surface of the pull ring 225. After aligning the circular holes of the two parts, a pin is inserted. The diameter of the cylindrical head at one end of the pin is greater than 3mm, and an installation groove is designed at the other end and a retaining ring 257 is installed. The push rod motor assembly 22 and the adapter pull seat 241 can be fixedly connected.

[0074] In some embodiments, the bearing rod 242 includes a push rod limiting column 2421, a push rod 2422, an angular contact bearing 2423 and a bearing seat 2424; the top of the push rod limiting column 2421 is fixedly connected to the bottom of the adapter pull seat 241; the top of the push rod 2422 is fixedly connected to the bottom of the push rod limiting column 2421; the angular contact bearing 2423 is built into the bearing seat 2424, and the bearing seat 2424 is clamped to the bottom of the push rod 2422 through the angular contact bearing 2423 and can rotate relative to the push rod 2422; the bottom of the bearing seat 2424 is fixedly connected to the top of the elastic slide rod assembly 25.

[0075] In this embodiment, an angular contact bearing 2423 is first installed in the middle circular hole of the bearing seat 2424, and then the push rod 2422 is inserted into the middle circular hole of the bearing seat 2424, and then another angular contact bearing 2423 is installed. A circular boss is provided on the rod wall of the push rod 2422, which can limit the two angular contact bearings 2423 at the upper and lower ends of the middle circular hole of the bearing seat 2424; the upper end of the push rod 2422 is fixedly connected to the bottom of the push rod limiting column 2421, and the top of the push rod limiting column 2421 is locked in the circular hole step provided at the bottom of the adapter pull seat 241, which is convenient for positioning and concentric installation, and the push rod motor assembly 22, the adapter pull seat 241 and the bearing rod 242 can be fixedly connected in sequence.

[0076] Combine Figure 8 and Figure 9 The rotating motor assembly 23 in the clamping mechanism 2 is described in detail below:

[0077] In some embodiments, the rotating motor assembly 23 includes a fixed plate 231, a rotating motor seat 232, a rotating motor 233, a synchronous belt assembly and a guide rod mounting seat 237; the fixed plate 231 is mounted on the support seat 21; the rotating motor seat 232 is mounted on one end of the fixed plate 231, and the rotating motor 233 is mounted on the rotating motor seat 232; the guide rod mounting seat 237 is rotatably mounted on the other end of the fixed plate 231, and the elastic slide bar assembly 25 and the clamping claw assembly 26 are both mounted on the bottom of the guide rod mounting seat 237; one end of the synchronous belt assembly is connected to the output shaft of the rotating motor 233, and the other end of the synchronous belt assembly is connected to the top of the guide rod mounting seat 237; the interior of the guide rod mounting seat 237 is used to accommodate the push rod assembly 24, the top of the push rod assembly 24 protrudes upward and is connected to the push rod motor assembly 22, and the bottom of the push rod assembly 24 is exposed downward and is rotatably connected to the elastic slide bar assembly 25.

[0078] Among them, the synchronous belt assembly includes a first synchronous wheel 234, a synchronous belt 235 and a second synchronous wheel 236. The first synchronous wheel 234 is coaxially connected to the output shaft of the rotating motor 233. The second synchronous wheel 236 is installed on the point-stepped cylindrical surface designed at the upper end of the guide rod mounting seat 237. The synchronous belt 235 is mounted on the first synchronous wheel 234 and the second synchronous wheel 236.

[0079] In this embodiment, the support base 21 may be designed with multiple limiting bosses, and the fixed plate 231 may be designed with grooves that cooperate with the limiting bosses on the support base 21 to increase the installation accuracy of the fixed plate 231. The rotating motor base 232 may be an inverted U-shaped structure, with the bottom of the rotating motor base 232 mounted on the two side edges of one end of the fixed plate 231. Two grooves are designed on the two side edges of one end of the fixed plate 231, with the middle protrusion width consistent with the inner width of the rotating motor base 232. The front end of the rotating motor 233 is fixedly mounted on the top of the rotating motor base 232, and the output shaft of the front end of the rotating motor 233 extends downward into the interior of the rotating motor base 232. The first synchronous gear 234 is coaxially connected to the output shaft of the rotating motor 233 and is located inside the rotating motor base 232. The guide rod mounting seat 237 is rotatably mounted on the other end of the fixed plate 231, and the second synchronous wheel 236 is coaxially connected to the top of the guide rod mounting seat 237. After installation, the second synchronous wheel 236 and the first synchronous wheel 234 are at the same horizontal height. After the synchronous belt 235 is mounted on the first synchronous wheel 234 and the second synchronous wheel 236, a stable transmission structure can be formed. The tightness of the synchronous belt 235 can be adjusted by rotating the motor seat 232 and adjusting the position of the fixed plate 231.

[0080] Thus, the rotary motor 233 drives the first synchronous wheel 234 to rotate and the synchronous belt 235 to rotate the second synchronous wheel 236, which can drive the guide rod mounting seat 237 to rotate. Here, the cooperation of the push rod motor assembly 22, the adapter pull seat 241 and the bearing rod 242 described above is explained. The bearing rod 242 is inserted upward from the bottom circular hole of the guide rod mounting seat 237 into the interior of the guide rod mounting seat 237. After insertion, the top of the bearing rod 242 is exposed in the second synchronous wheel 236 installed at the top of the guide rod mounting seat 237 and connected to the adapter pull seat 241 at this position. This ensures that the bearing rod 242 is stably placed in the interior of the guide rod mounting seat 237, facilitating the linkage and cooperation between the bearing rod 242 and the elastic slide bar assembly 25 installed at the bottom of the guide rod mounting seat 237.

[0081] The elastic slide rod assembly 25 is fixedly mounted on the bottom of the guide rod mounting seat 237, and the bearing rod 242 is connected to the elastic slide rod assembly 25 mounted on the bottom of the guide rod mounting seat 237. When the bearing rod 242 is driven downward by the push rod motor assembly 22, the elastic slide rod assembly 25 can be linked to perform elastic compression movement downward, thereby linking the clamping claw assembly 26 to perform clamping movement to achieve clamping of the sample tube cover.

[0082] The clamping jaw assembly 26 is fixedly mounted on the bottom of the guide rod mounting seat 237. After the clamping jaw assembly 26 clamps the sample tube cover, the device drives the sample tube to move up and take it out. Then, the rotating motor 233 can drive the synchronous belt assembly to operate and link the guide rod mounting seat 237 to rotate, thereby driving the clamping jaw assembly 26 and the elastic slide rod assembly 25 to rotate, and then the clamping jaw assembly 26 drives the sample tube to rotate to realize the barcode recognition of the sample tube body by the barcode scanner 11.

[0083] In some embodiments, the rotating motor assembly 23 also includes a first bearing 238, a gasket 239, a second bearing 2310 and a bearing cover plate 2320; a stepped circular hole for installing the guide rod mounting seat 237 is provided on the other end of the fixed plate 231; the first bearing 238, the gasket 239 and the second bearing 2310 are installed in the stepped circular hole in sequence, and the bearing cover plate 2320 is locked on the top surface of the stepped circular hole to press the first bearing 238, the gasket 239 and the second bearing 2310 into the stepped circular hole; the guide rod mounting seat 237 passes through the stepped circular hole and rotates in the first bearing 238 and the second bearing 2310.

[0084] In this embodiment, the guide rod mounting seat 237 passes through the stepped circular hole of the fixing plate 231 from the lower end circular hole of the fixing plate 231 upward. To ensure that the guide rod mounting seat 237 rotates stably on the fixing plate 231, the first bearing 238, the washer 239 and the second bearing 2310 are placed respectively from the circular hole at the upper end of the fixing plate 231 and inserted into the guide rod mounting seat 237, and the bearing cover plate 2320 is locked on the top surface of the stepped circular hole of the fixing plate 231. The total of the first bearing 238, the washer 239 and the second bearing 2310 is greater than the height of the circular hole of the fixing plate 231. When the bearing cover plate 2320 is placed When locked with the fixed plate 231, the first bearing 238, the gasket 239 and the second bearing 2310 can be compressed to avoid up and down movement, and the rotational stability of the guide rod mounting seat 237 can be ensured by the first bearing 238 and the second bearing 2310; it should be noted that the guide rod mounting seat 237 can be connected with the first bearing 238 and the second bearing 2310 to achieve stability in the stepped circular hole of the fixed plate 231, and can also be connected with the fixed plate 231 through the second synchronous wheel 236 installed on the top of the guide rod mounting seat 237 to achieve stability in the stepped circular hole of the fixed plate 231.

[0085] In some embodiments, the rotating motor assembly 23 also includes a rotating block 2330 mounted on the guide rod mounting seat 237; a rotating identification optical coupler 212 is mounted on the support plate, and the edge of the rotating block 2330 is located in the detection port of the rotating identification optical coupler 212; when the rotating motor 233 drives the synchronous belt assembly to transmit and links the guide rod mounting seat 237 to drive the clamping jaw assembly 26 to rotate, the rotating identification optical coupler 212 identifies the number of rotations and position of the rotating block 2330 to identify the number of rotations and position of the clamping jaw assembly 26.

[0086] In this embodiment, the rotating block 2330 is mounted on the top of the guide rod mounting base 237. The height of the rotating optical coupler block exceeds the gap between the second synchronous wheel 236 and the second bearing 2310. The rotating block 2330 is first mounted on the top of the guide rod mounting base 237, and then the second synchronous wheel 236 is locked to the stepped cylindrical surface at the top of the guide rod mounting base 237. This can compress the rotating block 2330 to prevent it from moving in a tangential manner. Thus, when the rotating motor assembly 23 is operating, the rotating block 2330 rotates with the guide rod mounting base 237. The rotating identification optical coupler 212 can identify the number of rotations and position of the rotating block 2330 by identifying the notch mark on the rotating block 2330, and thus the number of rotations and position of the clamping jaw assembly 26.

[0087] Combine Figure 10 and Figure 11 The elastic slide bar assembly 25 in the clamping mechanism 2 is described in detail below:

[0088] In some embodiments, the elastic slide bar assembly 25 includes: a T-shaped slide bar 251, a linear bearing 252, a guide rod 253 and a positioning spring 254; the top of the T-shaped slide bar 251 is fixedly connected to the bottom of the bearing seat 2424, and the bottom of the T-shaped slide bar 251 is slidably connected to the clamping claw assembly 26; the two linear bearings 252 are respectively installed at the two ends of the top of the T-shaped slide bar 251; the two guide rods 253 are respectively inserted into the two linear bearings 252, the tops of the two guide rods 253 are both inserted into the bottom of the rotating motor assembly 23, and the bottoms of the two guide rods 253 are both inserted into the bottom of the T-shaped slide bar 251; the two positioning springs 254 are respectively mounted on the two guide rods 253; when the elastic slide bar assembly 25 moves downward in the height direction, the T-shaped slide bar 251 moves downward on the guide rod 253 through the linear bearing 252 and compresses the positioning spring 254.

[0089] In the present embodiment, the elastic slide bar assembly 25 adopts a symmetrical design as a whole. Wherein the top middle position design of the T-shaped slide bar 251 is a flattened cylinder, which is used for aligning the groove of the bottom design of the bearing seat 2424, and on the top of the T-shaped slide bar 251, it is located at the flattened cylinder peripheral position and four through holes are set. The four through holes and the four threaded holes of the bottom design of the bearing seat 2424 are locked and fixed to realize that the elastic slide bar assembly 25 rotates relative to the bearing rod 242 of the bearing seat 2424. The top two ends of the T-shaped slide bar 251 are provided with a cylinder with a stepped circular hole, which is used to install the linear bearing 252, and the linear bearing 252 is pressed in the T-shaped slide bar 251 by a combination screw 258 to prevent the linear bearing 252 from moving up and down. Two positioning springs 254 are mounted on the bottom surfaces of the top ends of the T-shaped slide 251. Two guide rods 253 are inserted into two linear bearings 252. The tops of the guide rods 253 are fixedly inserted into the bottom of the guide rod mounting base 237. The bottoms of the guide rods 253 penetrate the positioning springs 254 and are positioned with the bottoms of the positioning springs 254. When the push rod motor assembly 22 pushes the bearing rod 242 downward, it drives the T-shaped slide 251 to elastically compress downward on the guide rods 253 via the linear bearings 252, thereby driving the clamping jaw assembly 26 to clamp the sample tube cap. The positioning springs 254 provide a spring buffer during the upward and downward movement of the push rod motor assembly 22. They also provide a certain amount of auxiliary clamping force when the clamping jaw assembly 26 clamps the sample tube cap, reducing the risk of the cap falling off.

[0090] In some embodiments, the elastic slide assembly 25 also includes a rotating shaft 255, a rotating shaft bearing 256 and a retaining spring 257; a through hole is opened at the bottom of the T-shaped slide 251, the rotating shaft 255 passes through the through hole and its two ends are located on both sides of the bottom of the T-shaped slide 251; the two rotating shaft bearings 256 are respectively installed at the two ends of the rotating shaft 255; the two retaining springs 257 are respectively clamped at the two ends of the rotating shaft 255 to lock the two rotating shaft bearings 256 on the rotating shaft 255; the two rotating shaft bearings 256 are respectively slidably connected to the clamping jaw assembly 26, and when the T-shaped slide 251 is elastically compressed downward on the guide rod 253, the rotating shaft bearings 256 at both ends of the rotating shaft 255 are linked to move downward, thereby linking the clamping jaw assembly 26 to perform a clamping movement to achieve clamping of the sample tube cover.

[0091] Combine Figure 12 As shown, the clamping claw assembly 26 in the clamping mechanism 2 is described in detail below:

[0092] In some embodiments, the clamping jaw assembly 26 includes two symmetrically arranged baffles 261, two connecting blocks 262, two clamping jaws 263, two linear guide rails 264 and two sliders 265; the two baffles 261 are fixedly installed at the bottom of the rotating motor assembly 23, and the two baffles 261 are located on both sides of the elastic slide assembly 25; the two linear guide rails 264 are fixedly installed one by one on the inner sides of the two baffles 261; the two sliders 265 are slidably installed one by one on the two linear guide rails 264 along the horizontal direction; the two connecting blocks 262 are fixedly installed one by one on the two sliders 265; the two clamping jaws 263 are fixedly connected one by one to the bottom of the two connecting blocks 262; the two connecting blocks 262 are each provided with an inclined groove 2621, and the two rotating shaft bearings 256 are slidably connected one by one in the two inclined grooves 2621.

[0093] The present embodiment is illustrated by taking one side baffle 261 as an example. The top of the baffle 261 is fixed to one side of the bottom of the guide rod mounting seat 237 by screws. The linear guide 264 is fixedly mounted on the inner side of the bottom of the baffle 261. A sliding groove is provided on the linear guide 264. The slider 265 slides horizontally in the sliding groove of the linear guide 264. The connecting block 262 is fixedly mounted on the slider 265 by screws to slide horizontally with the slider 265. The inclined sliding groove 2621 is inclinedly opened on the inner side of the top of the connecting block 262, and the clamping claw 263 is fixedly connected to the bottom of the connecting block 262. It should be noted that the inclined directions of the two inclined sliding grooves 2621 on the two connecting blocks 262 are opposite. Therefore, when the two rotating shaft bearings 256 slide downward in the two inclined sliding grooves 2621, the two connecting blocks 262 can be linked to move toward each other in the horizontal direction on the corresponding linear guide 264, and the two clamping claws 263 can be driven to move toward each other to achieve clamping.

[0094] Combine Figure 13 As shown, the Z-axis mechanism 1 is described in detail below:

[0095] The Z-axis mechanism 1 includes a support plate 12, a drive assembly 13, and an infrared photocoupler 14; the drive assembly 13 is installed on the support plate 12 and connected to the support base 21, and is used to drive the support base 21 to move up and down in the height direction; the infrared photocoupler 14 is installed on the support plate, and when the clamping mechanism 2 moves up to remove the sample tube, the infrared photocoupler 14 is used to detect whether the clamping mechanism 2 holds the sample tube.

[0096] In this embodiment, the drive assembly 13 can be a structure in which a lead screw motor drives the slider, which in turn drives the support base 21 to move. The infrared photocoupler 14 can detect whether the clamping mechanism 2 is holding the sample tube cap during the process of removing the sample tube from the clamping mechanism 2. If the cap is present, the sample tube has been successfully removed.

[0097] An embodiment of the present invention further provides a sample tube scheduling device, comprising the above sample tube grabbing device.

[0098] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A sample tube gripping device comprising a Z-axis mechanism and a clamping mechanism mounted on the Z-axis mechanism, wherein the Z-axis mechanism is configured to drive the clamping mechanism downward to a sample tube clamping position to clamp a sample tube cap, and then drive the clamping mechanism upward to remove the sample tube after clamping. The device is characterized in that: The clamping mechanism includes a support seat, a push rod motor assembly, a rotating motor assembly, a shaft linkage assembly and a clamping claw assembly; The support base is mounted on the Z-axis mechanism, and the Z-axis mechanism is used to drive the support base to move up and down in the height direction; The push rod motor assembly and the rotating motor assembly are both mounted on the support base; The axial linkage assembly includes a push rod assembly and an elastic slide rod assembly; the top of the push rod assembly is connected to the output end of the push rod motor assembly, the bottom of the push rod assembly passes through the bottom of the rotating motor assembly and is rotatably connected to the elastic slide rod assembly, and the push rod motor assembly is used to push the push rod assembly to move downward in the height direction and link the elastic slide rod assembly to move downward in elastic compression; The clamping jaw assembly and the elastic slide bar assembly are both installed at the bottom of the rotating motor assembly. The clamping jaw assembly can perform clamping movement in the horizontal direction. The elastic slide bar assembly is slidably connected to the clamping jaw assembly, and when the elastic slide bar assembly elastically compresses downward, the clamping jaw assembly is linked to perform clamping movement to achieve clamping of the sample tube cover; the rotating motor assembly is used to drive the elastic slide bar assembly and the clamping jaw assembly to perform rotational movement; The Z-axis mechanism is provided with a barcode scanner. When the clamping mechanism moves upward to remove the sample tube, the rotating motor assembly drives the clamping assembly to rotate and the sample tube to rotate, so that the barcode scanner scans and identifies the barcode on the sample tube. The push rod motor assembly also includes a position block mounted on the output shaft of the push rod motor; an opening and closing identification optical coupler is installed on the support plate of the Z-axis mechanism. When the output shaft of the push rod motor is pushed downward, the push rod assembly and the elastic slide assembly are linked to move downward in sequence, so as to link the clamping claw assembly to clamp in the horizontal direction until the position block moves downward into the opening and closing identification optical coupler and triggers the stop movement, thereby completing the clamping of the clamping claw assembly.

2. The sample tube grabbing device according to claim 1, characterized in that: The push rod motor assembly includes a push rod motor seat, a push rod motor, a spring piece and a pull ring; The push rod motor seat is installed on the support seat; The front end of the push rod motor is mounted on the push rod motor seat facing downward, and the output shaft of the front end of the push rod motor can be pushed out downward; The spring piece is sleeved on the output shaft of the push rod motor; The pull ring is mounted on the output shaft of the push rod motor, and the top of the shaft-type linkage assembly is connected to the pull ring to achieve pushing and pulling downward along with the output shaft of the push rod motor.

3. The sample tube grabbing device according to claim 2, characterized in that: The push rod assembly includes an adapter pull seat and a bearing rod; The top of the adapter pull seat is fixedly connected to the pull ring; The top of the bearing rod is connected to the bottom of the adapter pull seat, and the bottom of the bearing rod is rotatably connected to the top of the elastic sliding rod assembly.

4. The sample tube grabbing device according to claim 3, characterized in that: The bearing rod comprises a push rod limiting column, a push rod, an angular contact bearing and a bearing seat; The top of the push rod limiting column is fixedly connected to the bottom of the adapter pull seat; The top of the push rod is fixedly connected to the bottom of the push rod limiting column; The angular contact bearing is built into the bearing seat, and the bearing seat is clamped to the bottom of the push rod through the angular contact bearing and can rotate relative to the push rod; The bottom of the bearing seat is fixedly connected to the top of the elastic sliding rod assembly.

5. The sample tube grabbing device according to claim 1, characterized in that: The rotating motor assembly includes a fixed plate, a rotating motor seat, a rotating motor, a synchronous belt assembly and a guide rod mounting seat; The fixing plate is mounted on the supporting seat; The rotating motor seat is mounted on one end of the fixing plate, and the rotating motor is mounted on the rotating motor seat; The guide rod mounting seat is rotatably mounted on the other end of the fixed plate, and the elastic sliding rod assembly and the clamping claw assembly are both mounted on the bottom of the guide rod mounting seat; One end of the synchronous belt assembly is connected to the output shaft of the rotating motor, and the other end of the synchronous belt assembly is connected to the top of the guide rod mounting seat; The interior of the guide rod mounting seat is used to accommodate the push rod assembly. The top of the push rod assembly protrudes upward and is connected to the push rod motor assembly. The bottom of the push rod assembly is exposed downward and is rotatably connected to the elastic sliding rod assembly.

6. The sample tube grabbing device according to claim 5, characterized in that: The rotating electrical machine assembly further comprises a first bearing, a backing ring, a second bearing and a bearing cover plate; The other end of the fixing plate is provided with a stepped circular hole for mounting the guide rod mounting seat; The first bearing, backing ring and second bearing are sequentially installed in the stepped circular hole, and the bearing cover plate is locked on the top surface of the stepped circular hole to press the first bearing, backing ring and second bearing into the stepped circular hole; The guide rod mounting seat passes through the stepped circular hole and rotates in the first bearing and the second bearing.

7. The sample tube grabbing device according to claim 5, characterized in that: The rotating motor assembly further includes a rotating baffle sleeved on the guide rod mounting seat; A rotation identification optical coupler is installed on the support plate, and the edge of the rotation baffle is located in the detection port of the rotation identification optical coupler; When the rotating motor drives the synchronous belt assembly and links the guide rod mounting seat to drive the clamping jaw assembly to rotate, the rotation identification optical coupler identifies the number of rotations and position of the rotating baffle to identify the number of rotations and position of the clamping jaw assembly.

8. The sample tube grabbing device according to claim 4, characterized in that: The elastic slide bar assembly includes: a T-shaped slide bar, a linear bearing, a guide rod and a positioning spring; The top of the T-shaped slide bar is fixedly connected to the bottom of the bearing seat, and the bottom of the T-shaped slide bar is slidably connected to the clamping jaw assembly; The two linear bearings are respectively installed at the top ends of the T-shaped slide bar; The two guide rods are respectively inserted into the two linear bearings, the tops of the two guide rods are inserted into the bottom of the rotating motor assembly, and the bottoms of the two guide rods pass through the bottom of the T-shaped slide bar; The two positioning springs are respectively mounted on the two guide rods; When the elastic sliding bar assembly moves downward in the height direction, the T-shaped sliding bar moves downward on the guide bar through the linear bearing and compresses the positioning spring.

9. The sample tube grabbing device according to claim 8, characterized in that: The elastic slide bar assembly also includes a rotating shaft, a rotating shaft bearing and a retaining spring; The rotating shaft passes through both sides of the bottom of the T-shaped sliding bar; The two rotating shaft bearings are respectively installed at both ends of the rotating shaft; The two retaining springs are respectively mounted on both ends of the rotating shaft to lock the two rotating shaft bearings on the rotating shaft; The two rotating shaft bearings are respectively slidably connected to the clamping jaw components.

10. The sample tube grabbing device according to claim 9, characterized in that: The clamping jaw assembly includes two symmetrically arranged baffles, two connecting blocks and two clamping jaws; The two baffles are fixedly mounted on the bottom of the rotating motor assembly, and the two baffles are located on both sides of the elastic sliding rod assembly; The two connecting blocks are slidably mounted one by one on the inner sides of the two baffles along the horizontal direction; The two clamping jaws are fixedly connected to the bottoms of the two connecting blocks one by one; The two connecting blocks are both provided with inclined sliding grooves, and the two rotating shaft bearings are slidably connected in the two inclined sliding grooves one by one.

11. The sample tube grabbing device according to claim 10, characterized in that: The clamping jaw assembly also includes two linear guide rails and two slide blocks; The two linear guide rails are fixedly mounted on the inner sides of the two baffles one by one; The two sliders are slidably mounted on the two linear guide rails one by one along the horizontal direction; The two connecting blocks are fixedly mounted on the two sliding blocks one by one.

12. The sample tube grabbing device according to claim 1, characterized in that: The Z-axis mechanism includes a support plate, a drive assembly and an infrared optical coupler; The driving assembly is mounted on the support plate and connected to the support base, and is used to drive the support base to move up and down in the height direction; The infrared photocoupler is installed on the support plate. When the clamping mechanism moves upward to take out the sample tube, the infrared photocoupler is used to detect whether the clamping mechanism holds the sample tube.

13. A sample tube scheduling device, characterized in that: It comprises a sample tube gripping device as described in any one of claims 1 to 12.

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