Reaction cup grabbing method

Abstract

The present invention discloses a method for grasping a reaction cup. This method is implemented using a dual-axis anti-collision gripper. A lifting plate moves downward under the action of a drive mechanism, and the buffer lifting block, connecting plate, and rotating wheel also move downward. When the retaining arm of the rotating wheel contacts the retaining block of the shifting block assembly, the retaining arm is stressed, causing the rotating wheel to rotate. The concave-convex surface structure on the retaining plate contacts the roller. Under the reaction force of the roller, the connecting plate moves vertically along the guide column, and the clamping claws on the connecting plate open or close accordingly, thereby placing or removing the reaction cup. The present invention uses a purely mechanical triggering method to control the opening and closing of the clamping claws, resulting in rapid, delay-free operation, stable and reliable operation, higher grasping and releasing efficiency, and improved operating efficiency of in vitro diagnostic instruments.

Description

Technical Field

[0001] The present invention relates to the technical field of reaction cup grasping, and in particular to a reaction cup grasping method. Background Art

[0002] Existing in vitro diagnostic instruments require the relocation of reaction vessels during experiments, which necessitates automated grippers. Most existing grippers utilize electric drives (electromagnets, motors), relying on electrical control to open and close the gripper and grasp the reaction vessel. Currently, there are three main sources of gripping power: motor-driven, electromagnet-driven, and pneumatic. Motor-driven grippers require power cables, which can break due to fatigue after prolonged use, and the motor requires initialization with each movement, impacting efficiency. Electromagnet-driven grippers have a high failure rate and a limited lifespan. Prolonged use and rising temperatures weaken the magnetic force, affecting gripper stability. Pneumatic grippers require an air source, which produces noisy air compressors, requiring dust and moisture removal at the air inlet and regular filter replacement. Summary of the Invention

[0003] In order to solve the above problems, the present invention provides a stable, reliable and responsive mechanical cuvette grabbing method, which can specifically adopt the following technical solutions:

[0004] The cuvette grabbing method of the present invention is realized by a dual-axis anti-collision gripper.

[0005] The dual-axis anti-collision gripper includes

[0006] frame;

[0007] a lifting unit, arranged on the frame, comprising a driving mechanism and a lifting plate connected thereto;

[0008] An anti-collision unit is provided on the lifting plate, comprising a buffer mechanism and a buffer lifting block connected thereto, wherein the buffer lifting block is provided with a guide column;

[0009] Gripping unit, including

[0010] a connecting plate, slidably connected to the guide post;

[0011] The clamping jaws are provided in pairs, and have a first end hingedly connected to the connecting plate, a second end hingedly connected to the buffer lifting block, and a clamping end for clamping the reaction cup;

[0012] When the connecting plate moves upward along the guide column, the clamping end of the clamping claw opens; when the connecting plate falls along the guide column, the clamping end of the clamping claw closes;

[0013] Control unit, including

[0014] The shift block assembly includes a rotating arm, one end of which is hingedly connected to the frame and the other end of which is provided with a stop block;

[0015] The gripper trigger is a roller arranged on the connecting plate close to the guide post;

[0016] The associated part is a rotating wheel provided on the guide column, the rotating wheel having a concave-convex surface structure connected with the surface of the roller, and a stop arm extending outward from the center to interact with the stop block;

[0017] The reaction cup grabbing method comprises:

[0018] First, the lifting plate moves downward under the action of the driving mechanism, and the buffer lifting block, connecting plate and rotating wheel move downward accordingly. When the blocking arm of the rotating wheel contacts the blocking block of the shifting block assembly, the blocking arm is subjected to force, the rotating wheel rotates, and the concave and convex surface structure thereon contacts the roller. Under the reaction force of the roller, the connecting plate moves vertically along the guide column, and the clamping claws on the connecting plate open or close accordingly to place or take out the reaction cup.

[0019] The driving mechanism includes a motor and a transmission belt assembly connected thereto. A vertical guide rail is provided on one side of the transmission belt of the transmission belt assembly. One end of the lifting plate is connected to the transmission belt, and the other end is connected to the vertical guide rail.

[0020] The buffer mechanism includes a horizontal plate arranged on the lifting plate and extending forward, two vertical guide rods are arranged side by side on the horizontal plate, buffer springs are sleeved on the vertical guide rods, and the ends of the vertical guide rods are connected to the buffer lifting block through linear bearings.

[0021] The guide column is arranged on the rear side of the buffer lifting block, and the upper part of the connecting plate is provided with a vertical long hole adapted to the guide column. The lower part of the connecting plate is extended with two forks for connecting the first end of the clamping jaw. The second end of the clamping jaw is located on the inner side of the fork, and a tension spring for connecting the two clamping jaws is provided below the second end.

[0022] The clamping end is located below the first end and the second end, and the clamping end is adapted to the shape of the reaction cup. A flexible anti-slip layer is provided on the clamping surface of the clamping end.

[0023] The shift block assembly further comprises an arc-shaped limiting groove provided on the lifting plate, and the rotating arm is provided with a limiting rod which passes through the arc-shaped limiting groove.

[0024] The roller is arranged just above the guide column.

[0025] The rotating wheel is located between the connecting plate and the lifting plate, and the convex-concave surface structure of the rotating wheel is arranged close to one side of the connecting plate, and the blocking arm is arranged close to one side of the lifting plate.

[0026] The frame is provided with a driving mechanism origin sensor and a reaction cup sensor, the lifting plate is provided with an anti-collision sensor, the buffer lifting block is provided with a sensor baffle matched with the anti-collision sensor, and the buffer lifting block is also provided with a clamping claw opening and closing sensor adapted to the baffle arm.

[0027] The convex-concave surface structure includes convex surfaces and concave surfaces arranged alternately, and the concave surface has a first concave surface and a second concave surface with different recessed depths; the blocking arm includes a first arm that cooperates with the clamping jaw opening and closing sensor for identification and a second arm that avoids being identified by the clamping jaw opening and closing sensor.

[0028] The cuvette gripping method provided by the present invention utilizes a cleverly designed and compact dual-axis anti-collision gripper. It utilizes a purely mechanical triggering mechanism to control the opening and closing of the gripper jaws, resulting in rapid, reliable, and efficient gripping and release. A dual-axis anti-collision unit effectively prevents the gripper from excessively falling and colliding with the cuvette. A control unit, which uses different arm configurations to indicate the opening and closing of the gripper jaws, cooperates with the cuvette sensor to effectively facilitate cuvette placement. The present invention is suitable for transferring a variety of cuvette types, offering stable and rapid gripping, significantly improving the operational efficiency of in vitro diagnostic instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the dual-axis anti-collision gripper in the present invention.

[0030] Figure 2 yes Figure 1 Schematic diagram of the structure of the anti-collision unit.

[0031] Figure 3 yes Figure 2 sectional view.

[0032] Figure 4 yes Figure 1 Schematic diagram of the connection structure between the central gripping unit and the anti-collision unit (viewed from the rear).

[0033] Figure 5 yes Figure 4 sectional view.

[0034] Figure 6 yes Figure 4 Schematic diagram of the connection structure of the middle buffer lifting block, connecting plate and clamping claw.

[0035] Figure 7 yes Figure 1 Schematic diagram of the contact status between the middle shift block assembly and the rotating wheel.

[0036] Figure 8 yes Figure 1 Schematic diagram of the wheel structure in . DETAILED DESCRIPTION

[0037] The following describes an embodiment of the present invention in detail with reference to the accompanying drawings. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process. However, the protection scope of the present invention is not limited to the following embodiment.

[0038] like Figure 1-8 As shown, the cuvette grabbing method of the present invention is realized by a dual-axis anti-collision gripper.

[0039] The above-mentioned dual-axis anti-collision gripper consists of a frame 1, a lifting unit, an anti-collision unit, a clamping unit and a control unit.

[0040] The lifting unit consists of a drive mechanism and a lifting plate 21 connected thereto. The drive mechanism includes a motor 22 and a vertical guide rail 23 mounted on the frame 1. The driving end of the motor 22 is connected to a transmission belt assembly. The vertical guide rail 23 is located on one side of a transmission belt 24 of the transmission belt assembly. The lifting plate 21 is slidably connected to the vertical guide rail 23 and fixedly connected to the transmission belt 24. When the motor 22 rotates, the lifting plate 21 can move up and down along with the transmission belt 24.

[0041] The anti-collision unit is mounted on the lifting plate 21 and consists of a buffer mechanism and a connected buffer lift block 31. Specifically, the buffer mechanism comprises a horizontal plate mounted on the lifting plate 21 and extending forward. Two vertical guide rods 32 are mounted side by side on the horizontal plate. Buffer springs 33 are sleeved on the vertical guide rods 32, and the ends of the vertical guide rods 32 are connected to the buffer lift block 31 via linear bearings 34. A guide post 35 is mounted on the rear side of the buffer lift block 31 (i.e., the side opposite the lifting plate 21). This guide post 35 is used to connect to the gripping unit.

[0042] The clamping unit includes a connecting plate 41, the upper portion of which is provided with a vertical long hole adapted to the guide post 35, and the lower portion thereof is extended with two forks for connecting the clamping jaws 42. The connecting plate is sleeved on the guide post 35 via the vertical long hole and can move up and down along the guide post 35 under external force. The clamping jaws 42 are arranged in pairs, and each clamping jaw 42 has a first end hingedly connected to the connecting plate 41, a second end hingedly connected to the buffer lifting block 31, and a clamping end for clamping the reaction cup. Specifically, the clamping jaw 42 is a Z-shaped structure, wherein the first end is hingedly connected to the forked end of the connecting plate 41, the second end is located obliquely above the first end, and is hingedly connected to the buffer lifting block 31 on the inner side of the fork. A tension spring 43 for connecting the two clamping jaws 42 is installed at the lower corner of the second end, and the clamping end is located below the first end and the second end and extends downward. The clamping ends are adapted to the shape of the cuvette, and a flexible, non-slip layer is applied to the clamping surfaces of the clamping ends. When the connecting plate 41 moves upward along the guide post 35, the clamping ends of the jaws open outward. When the connecting plate 41 moves downward along the guide post 35, the clamping ends of the jaws retract inward under the action of the tension spring 43, closing the clamping end and allowing it to clamp the cuvette.

[0043] The control unit consists of a shift block assembly, a clamp trigger and associated parts. The shift block assembly includes a rotating arm 51 mounted on the lifting plate 21. One end of the rotating arm 51 is hingedly connected to the frame 1, and the other end is equipped with a stopper 52. In order to allow the rotating arm 51 to rotate within a controllable range, an arc-shaped limit groove 53 is also provided on the lifting plate 21. At the same time, a limit rod 54 is installed in the middle of the rotating arm 51, and the limit rod 54 is inserted into the arc-shaped limit groove 53. The clamp trigger is a roller 55 mounted on the connecting plate 41. The roller 55 is close to the guide column 35 and is arranged directly above it. The associated part is a rotating wheel 56 mounted on the guide column 35. The rotating wheel 56 has a concave-convex surface structure connected to the surface of the roller 55, and a stop arm extending outward from the center to interact with the stopper 52. The rotating wheel 56 is located between the connecting plate 41 and the lifting plate 21. Its convex-concave structure is formed by alternating convex and concave surfaces (the concave surface exists in two states: a first concave surface 561 and a second concave surface 562 of varying depths. The convex surface serves to separate the first concave surface 561 from the second concave surface 562, allowing the roller 55 to slide along the inclined surface of the convex surface into the next concave surface during rolling). It is positioned near the connecting plate 41, while the retaining arm is positioned near the lifting plate 21. This means the convex-concave structure is in front, and the retaining arm is in the back. When the rotating wheel 56 rotates, the roller 55 drives the connecting plate 41 upward along the guide post 35. The clamping jaws 42 rotate about their second ends, and the clamping ends, overcoming the elastic force of the tension spring 43, open outward, releasing the clamping jaws 42 and allowing the cuvette to drop. As wheel 56 continues to rotate and the concave surface contacts roller 55, connecting plate 41 moves downward, causing jaws 42 to rotate in the opposite direction about their second ends. The clamping ends, activated by tension spring 43, close and complete the cuvette gripping. To achieve a variety of gripping positions, the two concave surfaces have different depths. Concave surface 561 is slightly concave, positioning roller 55 in a lifted position with jaws 42 open. Concave surface 562 is more deeply concave, aligning the arc of the concave surface with roller 55 in this position, eliminating any lifting force. Jaws 42, activated by tension spring 43, remain closed. The present invention installs a clamping jaw opening and closing sensor 61 on the buffer lifting block 31. The barrier arm is configured as a first arm 563 and a second arm 564 with different tooth shapes. The first arm 563 has a larger, flat-shaped structure at its end, enabling it to be recognized by the clamping jaw opening and closing sensor 61. The second arm 564 has a cutaway structure at its end, preventing it from being recognized when it moves to the recognition position of the clamping jaw opening and closing sensor 61. This allows the clamping jaw 42 to be indicated in the open and closed state.

[0044] In addition, a drive mechanism origin sensor 62 and a cuvette sensor 63 are mounted on the frame 1, an anti-collision sensor 64 is mounted on the lift plate 21, and a sensor block 65, which is provided in conjunction with the anti-collision sensor 64, is mounted on the buffer lift block 31. The drive mechanism origin sensor 62 is used to reset the motor 22, and the cuvette sensor 64 is used to detect the gripping of the cuvette. The anti-collision sensor 63 and the sensor block 65 cooperate to generate an alarm signal when the gripper 42 collides with the cuvette.

[0045] The cuvette grabbing method described in the present invention mainly includes: the lifting plate 21 moves downward under the action of the motor 22, and the buffer lifting block 31, the connecting plate 41 and the rotating wheel 56 move downward accordingly. When the blocking arm of the rotating wheel 56 contacts the blocking block 52 of the shifting block assembly, the blocking arm is subjected to force, and the rotating wheel 56 rotates. The concave and convex surface structure thereon contacts the roller 55. Under the reaction force of the roller 55, the connecting plate 41 moves vertically along the guide column 35, and the clamping claw 42 on the connecting plate 41 opens or closes accordingly to place or remove the cuvette.

[0046] It should be noted that, in the description of the present invention, terms indicating orientation or positional relationships such as “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “inside”, and “outside” are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

Claims

1. A cuvette gripping method, implemented by a dual-axis anti-collision gripper, characterized in that: The dual-axis anti-collision gripper includes frame; a lifting unit, arranged on the frame, comprising a driving mechanism and a lifting plate connected thereto; an anti-collision unit, arranged on the lifting plate, comprising a buffer mechanism and a buffer lifting block connected thereto, wherein the buffer lifting block is provided with a guide column; Gripping unit, including a connecting plate, slidably connected to the guide post; The clamping jaws are provided in pairs, and have a first end hingedly connected to the connecting plate, a second end hingedly connected to the buffer lifting block, and a clamping end for clamping the reaction cup; When the connecting plate moves upward along the guide column, the clamping end of the clamping claw opens; when the connecting plate falls along the guide column, the clamping end of the clamping claw closes; Control unit, including The shift block assembly includes a rotating arm, one end of which is hingedly connected to the frame and the other end of which is provided with a stop block; The gripper trigger is a roller arranged on the connecting plate close to the guide post; The associated part is a rotating wheel provided on the guide column, the rotating wheel having a concave-convex surface structure connected with the surface of the roller, and a stop arm extending outward from the center to interact with the stop block; The rotating wheel is located between the connecting plate and the lifting plate, and the convex and concave surface structure of the rotating wheel is arranged close to the connecting plate, and the blocking arm is arranged close to the lifting plate; The frame is provided with a driving mechanism origin sensor and a reaction cup sensor, the lifting plate is provided with an anti-collision sensor, the buffer lifting block is provided with a sensor baffle matched with the anti-collision sensor, and the buffer lifting block is also provided with a clamping claw opening and closing sensor adapted to the baffle arm; The convex-concave surface structure includes convex surfaces and concave surfaces arranged alternately, and the concave surface includes a first concave surface and a second concave surface with different recessed depths; the blocking arm includes a first arm for cooperating with the clamping jaw opening and closing sensor for identification and a second arm for avoiding identification by the clamping jaw opening and closing sensor; The reaction cup grabbing method comprises: First, the lifting plate moves downward under the action of the driving mechanism, and the buffer lifting block, connecting plate and rotating wheel move downward accordingly. When the blocking arm of the rotating wheel contacts the blocking block of the shifting block assembly, the blocking arm is subjected to force, the rotating wheel rotates, and the concave and convex surface structure thereon contacts the roller. Under the reaction force of the roller, the connecting plate moves vertically along the guide column, and the clamping claws on the connecting plate open or close accordingly to place or take out the reaction cup.

2. The cuvette grabbing method according to claim 1, wherein: The driving mechanism includes a motor and a transmission belt assembly connected thereto. A vertical guide rail is provided on one side of the transmission belt of the transmission belt assembly. One end of the lifting plate is connected to the transmission belt, and the other end is connected to the vertical guide rail.

3. The cuvette grabbing method according to claim 1, wherein: The buffer mechanism includes a horizontal plate arranged on the lifting plate and extending forward, two vertical guide rods are arranged side by side on the horizontal plate, buffer springs are sleeved on the vertical guide rods, and the ends of the vertical guide rods are connected to the buffer lifting block through linear bearings.

4. The cuvette grabbing method according to claim 1, wherein: The guide column is arranged on the rear side of the buffer lifting block, and the upper part of the connecting plate is provided with a vertical long hole adapted to the guide column. The lower part of the connecting plate is extended with two forks for connecting the first end of the clamping jaw. The second end of the clamping jaw is located on the inner side of the fork, and a tension spring for connecting the two clamping jaws is provided below the second end.

5. The cuvette grabbing method according to claim 1, wherein: The clamping end is located below the first end and the second end, and the clamping end is adapted to the shape of the reaction cup. A flexible anti-slip layer is provided on the clamping surface of the clamping end.

6. The cuvette grabbing method according to claim 1, wherein: The shift block assembly further comprises an arc-shaped limiting groove provided on the lifting plate, and the rotating arm is provided with a limiting rod which passes through the arc-shaped limiting groove.

7. The cuvette grabbing method according to claim 1, wherein: The roller is arranged just above the guide column.

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