Sample fixing device

Abstract

The present application relates to a sample fixing device, which includes a driving module, a winding column, a first rope, a second rope and a sample loading module. The driving module is arranged on the sample loading module, and a through hole is formed through the driving module and the sample loading module. The winding column is arranged in the through hole, and one side of the sample loading module away from the driving module is used for fixing the sample. The first end of the first rope is connected to the driving module, the second end of the first rope is arranged at the first end of the winding column, the first end of the second rope is connected to the driving module, and the second end of the second rope is arranged at the second end of the winding column. When the driving module rotates, it drives the first rope and the second rope to tighten and loosen one by one, so that the sample loading module moves in the direction close to or away from the sample. By adopting this method, the elastic flexibility of the rope itself and the cumulative elastic deformation during winding can be utilized to achieve precise flexible control of the movement of the sample loading module, and precise and safe flexible fixing of the sample can be realized.

Description

Technical Field

[0001] This application relates to the technical field of sample fixation, and particularly to a sample fixation device. Background Art

[0002] With the development of industrial technology, the requirements for sample fixation methods are getting higher and higher. For some soft and fragile objects, softer force control is needed for fixation.

[0003] In traditional methods, active flexible force control technology is mainly used to fix the position of the sample. The active flexible force control technology can achieve real-time force control at the contact position of the load. Among them, the active flexible force control technology usually transmits power through rigid transmission components for flexible force control. However, when the current active flexible force control technology is used to fix the sample, the structure using rigid transmission often has insufficient anti-impact characteristics, and it is easy to damage the sample. How to accurately and safely perform flexible fixation on the sample is still an urgent problem to be solved. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a sample fixation device that can accurately, safely and flexibly fix the sample.

[0005] In a first aspect, this application provides a sample fixation device, including a driving module, a winding column, a first rope, a second rope and a sample loading module;

[0006] The driving module is arranged on the sample loading module. A through hole is formed in the driving module and the sample loading module. The winding column is arranged in the through hole. The side of the sample loading module away from the driving module is used to fix the sample;

[0007] Both the first rope and the second rope are wound around the winding column. The first end of the first rope is connected to the driving module. The second end of the first rope is arranged at the first end of the winding column. The first end of the second rope is connected to the driving module. The second end of the second rope is arranged at the second end of the winding column;

[0008] When the driving module rotates, it drives the first rope and the second rope, one to tighten and the other to loosen, so that the sample loading module moves in a direction close to or away from the sample.

[0009] In one embodiment, the sample loading module includes a moving block, a support member, and a loading member. The moving block and the loading member are respectively disposed at two ends of the support member. The driving module is disposed on the moving block. A through hole is formed through the driving module and the moving block, and the winding column is disposed in the through hole. The side of the loading member away from the moving block is used to fix the sample.

[0010] In one embodiment, the driving module includes a rotary driving member, a transmission assembly, and a slewing assembly. The rotary driving member is disposed on the loading member and is connected to the slewing assembly through the transmission assembly. The slewing assembly is disposed on the moving block, and a through hole communicating with the through hole of the moving block is formed in the slewing assembly. The first end of the first rope is connected to the upper surface of the slewing assembly, and the first end of the second rope is connected to the lower surface of the slewing assembly.

[0011] In one embodiment, the transmission assembly includes a first synchronous belt, a second synchronous belt, and a transmission shaft. The first synchronous belt and the second synchronous belt are both disposed on the transmission shaft and are driven by the transmission shaft. The first synchronous belt is connected to the rotary driving member, and the second synchronous belt is connected to the slewing assembly.

[0012] In one embodiment, a force sensor is further included. The force sensor is disposed on the side of the sample loading module away from the driving module.

[0013] In one embodiment, a protection plate is further included. The force sensor is disposed on the protection plate, and the side of the protection plate away from the force sensor is used to fix the sample.

[0014] In one embodiment, a control module is further included. The control module is connected to the force sensor and the driving module and is used to control the operation of the driving module according to the detected value of the force sensor.

[0015] In one embodiment, a device fixing module is further included. The device fixing module is connected to the first end and the second end of the winding column and is used to fix the winding column.

[0016] In one embodiment, the device fixing module includes a fixed base, a fixed column, and a fixing plate. The fixed base and the fixing plate are respectively disposed at two ends of the fixed column. The fixed base is connected to the first end of the winding column, and the fixing plate is connected to the second end of the winding column.

[0017] In one embodiment, the device fixing module further includes an auxiliary motion assembly. The auxiliary motion assembly is disposed on the fixing plate and is used to limit the motion direction of the sample loading module.

[0018] The above-mentioned sample fixing device includes a driving module, a winding column, a first rope, a second rope, and a sample loading module. The driving module is arranged on the sample loading module. A through hole is formed in the driving module and the sample loading module, and the winding column is arranged in the through hole. The side of the sample loading module away from the driving module is used to fix the sample. The first end of the first rope is connected to the driving module, the second end of the first rope is arranged at the first end of the winding column, the first end of the second rope is connected to the driving module, and the second end of the second rope is arranged at the second end of the winding column. When the driving module rotates, it drives the first rope and the second rope, one is tightened and the other is loosened, so that the sample loading module moves in the direction of approaching or moving away from the sample. Driven by the driving module, the first rope and the second rope change their winding states. By using the elastic flexibility of the ropes themselves and the cumulative elastic deformation during winding, the movement of the sample loading module can be precisely and flexibly controlled according to the winding state, so as to achieve precise and safe flexible fixation of the sample. Description of the Drawings

[0019] Figure 1 It is an application environment diagram of the sample fixing device in an embodiment;

[0020] Figure 2 It is a structural block diagram of the sample fixing device in an embodiment;

[0021] Figure 3 It is a structural block diagram of the sample loading module in an embodiment;

[0022] Figure 4 It is a structural block diagram of the driving module in an embodiment;

[0023] Figure 5 It is a structural block diagram of the transmission component in an embodiment;

[0024] Figure 6 It is a structural block diagram of the sample fixing device in another embodiment;

[0025] Figure 7 It is a structural block diagram of the sample fixing device in yet another embodiment;

[0026] Figure 8 It is a schematic structural diagram of the sample fixing device in an embodiment;

[0027] Figure 9 It is a structural block diagram of the sample fixing device in still another embodiment;

[0028] Figure 10 It is a structural block diagram of the device fixing module in an embodiment;

[0029] Figure 11 It is a structural block diagram of the device fixing module in another embodiment;

[0030] Figure 12 Schematic structural diagram of the device fixing module in an embodiment;

[0031] Figure 13 Schematic structural diagram of the sample fixing device in another embodiment;

[0032] Figure 14 Schematic diagram of the motion state of the sample fixing device in an embodiment. Detailed implementation manners

[0033] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] It can be understood that the terms "first", "second", etc. used in the present application can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of the present application, the first resistor can be called the second resistor, and similarly, the second resistor can be called the first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0035] It can be understood that for "connection" in the following embodiments, if there is an electrical signal or data transfer between the connected circuits, modules, units, etc., it should be understood as "electrical connection", "communication connection", etc.

[0036] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprises / include" or "has" etc. specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the description of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0038] The sample fixing device 102 provided by the embodiments of the present application can be applied to, for example Figure 1In the application environment shown. Among them, the sample fixing device 102 is used to fix the sample 104. The sample 104 is placed between the platform 106 and the sample fixing device 102. The sample fixing device 102 adjusts its own working state, applies a force within a certain range to fix the sample 104, ensures that the sample 104 is between the sample fixing device 102 and the platform 106 and its position remains unchanged, and plays a role in fixing. Among them, the sample 104 can be various industrial products or other items that need to be measured and fixed. The platform 106 can be various planes or devices for carrying the sample 104. Exemplarily, it can be a test bench.

[0039] In one embodiment, as Figure 2 shown, a sample fixing device 102 is provided, including a driving module 202, a winding column 204, a first rope 206, a second rope 208, and a sample loading module 210. The driving module 202 is arranged on the sample loading module 210. A through hole is formed in the driving module 202 and the sample loading module 210. The winding column 204 is arranged in the through hole. The side of the sample loading module 210 away from the driving module 202 is used to fix the sample 104. Both the first rope 206 and the second rope 208 are wound around the winding column 204. The first end of the first rope 206 is connected to the driving module 202, the second end of the first rope 206 is arranged at the first end of the winding column 204, the first end of the second rope 208 is connected to the driving module 202, and the second end of the second rope 208 is arranged at the second end of the winding column 204. When the driving module 202 rotates, it drives the first rope 206 and the second rope 208 to tighten and loosen one by one, so that the sample loading module 210 moves in the direction of approaching or departing from the sample 104.

[0040] Among them, the winding methods of the first rope 206 and the second rope 208 around the winding column 204 are not unique. For example, one of the ropes can be wound around the winding column 204, or both ropes can be wound around the winding column 204. Specifically, there are three states of the rope winding setting: First, the first rope 206 is completely wound around the winding column 204, and the second rope 208 is completely relaxed, that is, the second rope 208 is in a non-wound state (such as the state of the rope in Figure 2 and Figure 7 ). Second, the second rope 208 is completely wound around the winding column 204, and the first rope 206 is completely relaxed, that is, the first rope 206 is in a non-wound state (such as the state of the rope in Figure 9 ). Third, both the first rope 206 and the second rope 208 are partially wound around the winding column 204, and the winding degrees of the first rope 206 and the second rope 208 can be different (such as the state of the rope in Figure 6 ). In Figure 2In this case, the first rope 206 is completely wound around the winding post 204, and the second rope 208 is completely relaxed. The second rope 208 in the relaxed state is represented by two short horizontal lines placed across the winding post 204.

[0041] Specifically, the driving module 202 rotates around the winding post 204 as the rotation center. The driving module 202 can output a rotational driving force. The rotational driving force output by the driving module 202 causes the ropes connected to the driving module 202 to move, specifically, the first ends of the first rope 206 and the second rope 208 to move. Since the first rope 206 and the second rope 208 are arranged on the winding post 204 such that one of them is completely wound and the other is completely relaxed, when the driving module 202 rotates, it will drive one of the first rope 206 and the second rope 208 to rotate and tighten, and the other to rotate and relax. When the winding states of the first rope 206 and the second rope 208 change, it drives the driving module 202 and the sample loading module 210 to move following the first ends of the first rope 206 and the second rope 208. Also, because through holes are formed in the driving module 202 and the sample loading module 210, and the winding post 204 is arranged in the through holes, the driving module 202 and the sample loading module 210 will move along the extending direction of the winding post 204 according to the winding states of the ropes. One side of the sample loading module 210 away from the driving module 202 is used to fix the sample 104. When the driving module 202 and the sample loading module 210 move along the extending direction of the winding post 204 according to the winding states of the ropes, the sample loading module 210 moves in a direction closer to or farther from the sample 104. The sample 104 is fixed by approaching the sample 104, and it is convenient for the staff to replace or move the sample 104 by moving away from the sample 104.

[0042] Optionally, threads for winding the first rope 206 and the second rope 208 can be provided on the winding post 204, and the pitch of the threads matches the thickness of the first rope 206 and the second rope 208. The number of the first rope 206 and the second rope 208 is the same and can be any number. Exemplarily, it can be 4. When the number of the first rope 206 and the second rope 208 is two or more, the first ends of the first rope 206 and the second rope 208 are equidistantly distributed relative to the center of the through hole on the driving module 202 and are arranged on the driving module 202, and the second ends of the first rope 206 and the second rope 208 are equidistantly distributed on the two side surfaces or the bottom surface at both ends of the winding post 204. To more conveniently change the winding states of the ropes, the materials, thicknesses, and installation positions of the first rope 206 and the second rope 208 need to correspond to each other. Specifically, the physical properties of the ropes themselves, such as materials and thicknesses, are the same or approximately the same.

[0043] Exemplarily, the driving module 202 can be a servo motor capable of outputting a rotational driving force.

[0044] In the above sample fixing device 102, there are included a driving module 202, a winding column 204, a first rope 206, a second rope 208, and a sample loading module 210. The driving module 202 is disposed on the sample loading module 210. A through hole is formed in both the driving module 202 and the sample loading module 210. The winding column 204 is disposed in the through hole. One side of the sample loading module 210 away from the driving module 202 is used to fix the sample 104. The first end of the first rope 206 is connected to the driving module 202, and the second end of the first rope 206 is disposed at the first end of the winding column 204. The first end of the second rope 208 is connected to the driving module 202, and the second end of the second rope 208 is disposed at the second end of the winding column 204. When the driving module 202 rotates, it drives the first rope 206 and the second rope 208, one to tighten and the other to loosen, so that the sample loading module 210 moves in a direction closer to or farther from the sample 104. Driven by the driving module 202, the first rope 206 and the second rope 208 change their winding states. By utilizing the elastic flexibility of the ropes themselves and the cumulative elastic deformation during winding, precise flexible control of the movement of the sample loading module 210 can be achieved according to the winding state, and precise and safe flexible fixation of the sample 104 can be realized.

[0045] The form of the sample loading module 210 is not limited and can be square or cylindrical. In one embodiment, as Figure 3 shown, the sample loading module 210 includes a moving block 302, a support member 304, and a loading member 306. The support member 304 is respectively provided with the moving block 302 and the loading member 306 at both ends. The driving module 202 is disposed on the moving block 302. A through hole is formed in both the driving module 202 and the moving block 302. The winding column 204 is disposed in the through hole. One side of the loading member 306 away from the moving block 302 is used to fix the sample 104.

[0046] Specifically, the sample loading module 210 of this embodiment is set as a hollow structure, including a moving block 302, a support member 304, and a loading member 306. The driving module 202 is disposed on the moving block 302. A through hole is formed in the driving module 202 and the moving block 302, and the winding column 204 is disposed in the through hole. Both ends of the support member 304 are connected to the moving block 302 and the loading member 306. The moving block 302 is configured to move along the extending direction of the winding column 204 following the driving module 202. One side of the loading member 306 close to the moving block 302 is connected to the support member 304, and the side away from the moving block 302 is used to fix the sample 104. The support member 304 is configured to determine the spatial position difference between the moving block 302 and the loading member 306, and transfer the movement of the moving block 302 to the loading member 306 to ensure that the movement trajectory of the loading member 306 is consistent with that of the moving block 302.

[0047] Optionally, the support member 304 can be a cylinder, a cuboid, an elliptical cylinder, etc., as long as it can achieve the fixation of the moving block 302 and the loading member 306. The number of the support members 304 is not limited and can be any integer. In Figure 3 it is one support member 304. Exemplarily, for stability considerations, the number of the support members 304 can be 3, and is preferably set at the vertices of an equilateral triangle between the moving block 302 and the loading member 306. The shape of the moving block 302 is not limited. It can be a disc-shaped flat plate, or a hollow cuboid or cylinder with a missing bottom surface and an internal depression, as long as it can be provided with the driving module 202 and form a through hole with the driving module 202. The shape of the loading member 306 is not limited. It is ensured that the side in contact with the sample 104 is a plane so that it can fully contact the sample 104. The loading member 306 can also be matched and set as a corresponding irregular plane according to the shape of the fixed sample 104.

[0048] In this embodiment, the sample loading module 210 includes a moving block 302, a support member 304, and a loading member 306. Both ends of the support member 304 are respectively provided with the moving block 302 and the loading member 306, which saves resources compared with the solidly arranged sample loading module 210. Moreover, the setting of the support member 304 leaves space for the movement of the winding column 204 and the rope, reduces the resistance caused by the friction with the sample loading module 210, and makes the operation process of the entire sample fixing device 102 smoother.

[0049] In one embodiment, as Figure 4As shown, the driving module 202 includes a rotary driving member 402, a transmission assembly 404, and a slewing assembly 406. The rotary driving member 402 is disposed on the loading member 306 and is connected to the slewing assembly 406 through the transmission assembly 404. The slewing assembly 406 is disposed on the moving block 302. A through hole penetrating the through hole of the moving block 302 is formed in the slewing assembly 406. The first end of the first rope 206 is connected to the upper surface of the slewing assembly 406, and the first end of the second rope 208 is connected to the lower surface of the slewing assembly 406.

[0050] Specifically, the driving module 202 includes a rotary driving member 402, a transmission assembly 404, and a slewing assembly 406. The rotary driving member 402 is disposed on the loading member 306 and outputs a rotary driving force. The transmission assembly 404 connects the rotary driving member 402 and the slewing assembly 406 to transmit the rotary driving force to the slewing assembly 406. The slewing assembly 406 is disposed on the moving block 302 and rotates according to the rotary driving force. Since a through hole penetrating the through hole of the moving block 302 is formed in the slewing assembly 406 and this through hole is used to arrange the winding column 204, the slewing assembly 406 rotates around the winding column 204 according to the rotary driving force. The first end of the first rope 206 is connected to the upper surface of the slewing assembly 406, and the first end of the second rope 208 is connected to the lower surface of the slewing assembly 406. When the slewing assembly 406 rotates according to the rotary driving force, the winding states of the first rope 206 and the second rope 208 change according to the rotation of the slewing assembly 406, and at the same time, the slewing assembly 406 and the moving block 302 are driven to move along the extending direction of the winding column 204 following the first ends of the first rope 206 and the second rope 208. The movement of the moving block 302 is transmitted to the loading member 306 through the support member 304. One side of the loading member 306 away from the moving block 302 is used to fix the sample 104. When the loading member 306 approaches the sample 104, the fixing of the sample 104 is realized; when the loading member 306 moves away from the sample 104, it is convenient for the staff to replace or move the sample 104.

[0051] Optionally, the structure and shape of the transmission assembly 404 are not limited as long as the transmission between the rotary driving member 402 and the slewing assembly 406 can be realized. The setting manner of the slewing assembly 406 and the moving block 302 is not unique. It can be that the slewing assembly 406 is disposed in the through hole of the moving block 302 and has the same thickness as the moving block 302; or the slewing assembly 406 is disposed in the through hole of the moving block 302 and protrudes from both sides of the moving block 302, and the slewing assembly 406 is connected to the first ends of the first rope 206 and the second rope 208.

[0052] Exemplarily, the rotary driving member 402 is a servo motor, which can output a stable rotary driving force.

[0053] In this embodiment, the driving module 202 includes a rotary driving member 402, a transmission assembly 404, and a slewing assembly 406. The driving of the rotary driving member 402 is transmitted through the transmission assembly 404 and then transmitted to the slewing assembly 406 for rotary motion, reducing the counterweight on the moving block 302, facilitating the driving of the rotary driving member 402, and improving the driving efficiency.

[0054] In one embodiment, as Figure 5 shown, the transmission assembly 404 includes a first synchronous belt 502, a second synchronous belt 506, and a transmission shaft 504. Both the first synchronous belt 502 and the second synchronous belt 506 are disposed on the transmission shaft 504 and are transmitted through the transmission shaft 504. The first synchronous belt 502 is connected to the rotary driving member 402, and the second synchronous belt 506 is connected to the slewing assembly 406.

[0055] Among them, both the first synchronous belt 502 and the second synchronous belt 506 are synchronous belt drive structures. Synchronous belt drive is a meshing belt drive, which has two belt pulleys and a transmission belt sleeved on the belt pulleys. The motion is transmitted through the engagement of the transverse teeth equally spaced on the inner surface of the transmission belt and the corresponding tooth grooves on the belt pulleys.

[0056] Specifically, the transmission shaft 504 is connected to the first synchronous belt 502 and the second synchronous belt 506. The first synchronous belt 502 is connected to the rotary driving member 402 and is used to transmit the rotational driving force of the rotary driving member 402 to the transmission shaft 504. The transmission shaft 504 rotates according to the rotational driving force and drives the second synchronous belt 506 to move, transmitting the rotational driving force to the second synchronous belt 506. The second synchronous belt 506 is connected to the slewing assembly 406. When the second synchronous belt 506 moves due to the rotation of the transmission shaft 504, it transmits the rotational driving force to the slewing assembly 406, driving the slewing assembly 406 to rotate according to the rotational driving force.

[0057] Furthermore, the transmission ratios of the first synchronous belt 502 and the second synchronous belt 506 are not limited and can be different, the same, or opposite. Workers can achieve different multiples of amplification or reduction of the rotational driving force by selecting synchronous belts with different transmission ratios.

[0058] In this embodiment, the transmission assembly 404 includes a first synchronous belt 502, a second synchronous belt 506, and a transmission shaft 504. By using a synchronous belt and the transmission shaft 504 for transmission, there is no relative sliding between the belt pulley and the transmission belt of the synchronous belt drive, which can ensure a strict transmission ratio. It reduces the loss of the rotational driving force during the transmission process and improves the transmission efficiency of the transmission assembly 404.

[0059] In one embodiment, as Figure 6 shown, the sample fixing device 102 further includes a force sensor 602, and the force sensor 602 is disposed on the side of the sample loading module 210 away from the driving module 202.

[0060] Specifically, since the fixed sample 104 is not limited, the fixed pressure values that different samples 104 can withstand are different. In order to more accurately represent the pressure output by the sample fixing device 102 to the sample 104, a force sensor 602 is added on the side of the sample loading module 210 away from the driving module 202. The force sensor 602 can detect the force condition, facilitating the staff to adjust the working state of the driving module 202 according to the detection value of the force sensor 602 and adjust the magnitude of the rotational driving force. In Figure 6 it, the first rope 206 and the second rope 208 are both partially wound around the winding column 204.

[0061] Optionally, the number of installed force sensors 602 is not limited and can be any number. Exemplarily, in order to fully detect the force condition, 4 force sensors 602 are evenly arranged on the side of the sample loading module 210 away from the driving module 202.

[0062] In this embodiment, by detecting the force condition of the sample 104 through the force sensor 602, it is convenient for the staff to adjust the work of the driving module 202 in a timely manner according to the detection value of the force sensor 602, which can ensure the use safety of the sample fixing device 102 and also improve the convenience of the sample fixing device 102.

[0063] In one embodiment, as Figure 7 shown, the sample fixing device 102 further includes a protection plate 702. The force sensor 602 is arranged on the protection plate 702, and the side of the protection plate 702 away from the force sensor 602 is used to fix the sample 104.

[0064] Specifically, in the actual use scenario of fixing the sample 104, if the force sensor 602 directly contacts the sample 104, it is easy to damage the force sensor 602. Therefore, in this embodiment, the force sensor 602 is arranged on the protection plate 702, and the protection plate 702 is used to isolate the force sensor 602 from the sample 104. The side of the protection plate 702 away from the force sensor 602 is used to fix the sample 104. It can protect the force sensor 602 and reduce the occurrence of the force sensor 602 being damaged or collided by the sample 104.

[0065] Optionally, the shape of the protection plate 702 is not limited. It can be a circular thin plate or a rectangular thin plate, as long as it can cover the setting area of the force sensor 602.

[0066] In this embodiment, by arranging the force sensor 602 on the protection plate 702, the force sensor 602 is protected from being damaged or collided by the sample 104, the use environment of the force sensor 602 is stabilized, and the accuracy of the detection value is maintained.

[0067] To better understand the above solution, an embodiment is provided herein, as Figure 8 shown. In this embodiment, the sample fixing device 102 includes a driving module 202, a winding column 204, a first rope 206, a second rope 208, a sample loading module 210, a force sensor 602, and a protection plate 702. The sample loading module 210 includes a moving block 302, a support 304, and a loading member 306. The driving module 202 includes a rotary driving member 402, a transmission assembly 404, and a slewing assembly 406. The transmission assembly 404 includes a first synchronous belt 502, a second synchronous belt 506, and a transmission shaft 504. Among them, the winding column 204 is disposed in the through hole of the slewing assembly 406. The first ends of the first rope 206 and the second rope 208 are connected to the slewing assembly 406. The second end of the first rope 206 is disposed at the first end of the winding column 204, and the second end of the second rope 208 is disposed at the second end of the winding column 204. The settings of the winding column 204, the first rope 206, and the second rope 208 are Figure 8 not shown in

[0068] In this embodiment, when the rotary driving member 402 is connected to the first synchronous belt 502, there are also 3 driving support columns provided to facilitate the connection between the first synchronous belt 502 and the rotary driving member 402. In Figure 8 , the moving block 302, the loading member 306, and the protection plate 702 are all circular plates. The slewing assembly 406 is disposed in the through hole of the moving plate and has the same thickness as the moving plate. The moving block 302 is also provided with a through hole for the transmission shaft 504 to pass through to facilitate transmission. The support 304 is a cylinder, and the number of settings is 3. There are 4 force sensors 602, which are evenly disposed on the protection plate 702.

[0069] In one embodiment, as Figure 9 shown, the sample fixing device 102 further includes a control module 902. The control module 902 is connected to the force sensor 602 and the driving module 202, and is used to control the operation of the driving module 202 according to the detection value of the force sensor 602.

[0070] Specifically, the control module 902 obtains the detection value of the force sensor 602 and the working state of the driving module 202, and can control the driving module 202 to adjust the working state according to the detection value of the force sensor 602 to perform feedback control of the rotational driving force. In Figure 9 , the first rope 206 is completely relaxed, and the second rope 208 is completely wound around the winding column 204. Two short horizontal lines placed horizontally on the winding column 204 represent the first rope 206 in the completely relaxed state.

[0071] Exemplarily, a preset force threshold range for each sample 104 in a fixed state is set in the control module 902. This preset threshold range is an interval composed of a preset maximum force value to a preset minimum force value. The staff selects the required sample 104 fixing mode. When the detected value of the force sensor 602 is less than the preset minimum force value, the control module 902 controls the rotational driving force output by the driving module 202 to increase. When the detected value of the force sensor 602 is greater than the preset maximum force value, the control module 902 controls the rotational driving force output by the driving module 202 to decrease. When the detected value of the force sensor 602 is within the preset threshold range, the control module 902 controls the driving module 202 to stop working.

[0072] Instructions for controlling the driving module 202 to enter each working state can also be set in the control module 902. Exemplarily, it can include a stop instruction, a low-speed instruction, a medium-speed instruction, and a high-speed instruction, corresponding to the driving module 202 being in a stopped working state, a low-speed working state, a medium-speed working state, and a high-speed working state. By default, the driving module 202 is in the medium-speed working state. When the detected value of the force sensor 602 is less than the preset minimum force value, the control module 902 sends a high-speed instruction to the driving module 202 to control the driving module 202 to be in the high-speed working state. When the detected value of the force sensor 602 is greater than the preset maximum force value, the control module 902 sends a low-speed instruction to the driving module 202 to control the driving module 202 to be in the low-speed working state. When the detected value of the force sensor 602 is within the preset threshold range, the control module 902 sends a stop instruction to the driving module 202 to control the driving module 202 to stop working.

[0073] In this embodiment, the control module 902 feedback-controls the driving module 202 according to the detected value of the force sensor 602, and can adjust the working state of the driving module 202 according to the real-time detected value of the force sensor 602, improving the convenience and safety of the sample fixing device 102.

[0074] In one embodiment, the sample fixing device 102 further includes a device fixing module. The device fixing module connects the first end and the second end of the winding column 204 for fixing the winding column 204.

[0075] Specifically, the device fixing module is used to fix the spatial position of the winding column 204, connecting the first end and the second end of the winding column 204. At the same time, optionally, the second end of the first rope 206 can be set at the connection part between the device fixing module and the first end of the winding column 204, and the second end of the second rope 208 can be set at the connection part between the device fixing module and the second end of the winding column 204.

[0076] The shape and structure of the device fixing module are not limited. In one embodiment, such as Figure 10As shown, the device fixing module includes a fixing base 1002, a fixing column 1004, and a fixing plate 1006. The fixing base 1002 and the fixing plate 1006 are respectively arranged at both ends of the fixing column 1004. The fixing base 1002 is connected to the first end of the winding column 204, and the fixing plate 1006 is connected to the second end of the winding column 204.

[0077] Specifically, the fixing plate 1006 is connected to the second end of the winding column 204, the fixing base 1002 is connected to the first end of the winding column 204, and the fixing column 1004 is used to connect the fixing plate 1006 and the fixing base 1002. At the same time, optionally, the second end of the first rope 206 can be arranged at the connection part between the fixing base 1002 and the first end of the winding column 204, and the second end of the second rope 208 can be arranged at the connection part between the fixing plate 1006 and the second end of the winding column 204.

[0078] Optionally, the fixing column 1004 can be a cylinder, a cuboid, an elliptical cylinder, etc., as long as it can fix the fixing base 1002 and the fixing plate 1006. The number of the fixing columns 1004 is not limited and can be any integer. In Figure 10 it is a support member 304. Exemplarily, for stability considerations, the number of the fixing columns 1004 can be 3, and taking the vertices of an equilateral triangle as the preferred points, they are arranged between the fixing base 1002 and the fixing plate 1006. The shape of the fixing plate 1006 is not limited and can be a disc-shaped flat plate or a rectangular flat plate, as long as it can stably connect the fixing column 1004 and the second end of the winding column 204. The shape of the fixing base 1002 is also not limited, as long as it can stably connect the fixing column 1004 and the first end of the winding column 204.

[0079] In this embodiment, the device fixing module includes a fixing base 1002, a fixing column 1004, and a fixing plate 1006, which fully fix the position of the winding column 204 and further strengthen the fixed connection relationship between the winding column 204 and the first rope 206 and the second rope 208. It can reduce the fixing errors caused by the looseness between the winding column 204 and the ropes or the position deviation of the winding column 204, and improve the use stability of the sample fixing device 102.

[0080] In one embodiment, as Figure 11 shown, the device fixing module further includes an auxiliary motion component 1102. The auxiliary motion component 1102 is arranged on the fixing plate 1006 and is used to limit the motion direction of the sample loading module 210.

[0081] Specifically, the auxiliary motion component 1102 can be arranged on the fixed plate 1006 and can be a guiding mechanical structure such as a slide rail, a groove, a bearing, etc., for restricting the motion direction of the sample loading module 210. In this embodiment, the motion direction of the sample loading module 210 is further defined by the auxiliary motion component 1102, improving the moving accuracy of the sample loading module 210 and the use reliability of the sample fixing device 102.

[0082] In one embodiment, the device fixing module can be as Figure 12 shown and includes a fixed base 1002, fixed columns 1004, a fixed plate 1006, and an auxiliary motion component 1102. The fixed base 1002 is cylindrical, the fixed columns 1004 are cylinders, and the number is three, evenly distributed between the fixed base 1002 and the fixed plate 1006. The fixed plate 1006 is disc-shaped, and three auxiliary motion components 1102 are evenly arranged on the fixed plate 1006, and the auxiliary motion component 1102 is a linear bearing.

[0083] To better understand the above solution, combined with Figure 1 the application scenario shown below, a specific embodiment will be described in detail for explanation.

[0084] In one embodiment, the sample fixing device 102 includes a driving module 202, a winding column 204, a first rope 206, a second rope 208, a sample loading module 210, a force sensor 602, a protection plate 702, a control module 902, and a device fixing module. The driving module 202 includes a rotary driving member 402, a transmission assembly 404, and a slewing assembly 406. The transmission assembly 404 includes a first synchronous belt 502, a second synchronous belt 506, and a transmission shaft 504. The sample loading module 210 includes a moving block 302, a support member 304, and a loading member 306. The device fixing module includes a fixed base 1002, fixed columns 1004, a fixed plate 1006, and an auxiliary motion component 1102. Among them, the winding column 204 is arranged in the through hole of the slewing assembly 406. The first end of the winding column 204 is connected to the fixed base 1002, and the second end of the winding column 204 is connected to the fixed plate 1006. The first ends of the first rope 206 and the second rope 208 are connected to the slewing assembly 406. The second end of the first rope 206 is arranged at the first end of the winding column 204, and the second end of the second rope 208 is arranged at the second end of the winding column 204. The control module 902 is connected to the rotary driving member 402 and the force sensor 602. The settings of the winding column 204, the first rope 206, the second rope 208, and the control module 902 are not shown in Figure 13 the figure.

[0085] In this embodiment, when the rotary driving member 402 is connected to the first synchronous belt 502, three driving support columns are further provided to facilitate the connection between the first synchronous belt 502 and the rotary driving member 402. The moving block 302, the loading member 306, and the protection plate 702 are all circular plates. The rotary assembly 406 is disposed in the through hole of the moving plate and has the same thickness as the moving plate. The moving block 302 is further provided with a through hole for the transmission shaft 504 to pass through to facilitate transmission. The support member 304 is a cylinder, and the number of the support members is three. Four force sensors 602 are provided and evenly disposed on the protection plate 702. The detailed structures of the sample loading module 210, the driving module 202, the force sensor 602, and the protection plate 702 can be referred to Figure 8 , which will not be elaborated herein. The fixed base 1002 is cylindrical, the fixed columns 1004 are cylinders, and the number of the fixed columns is three, which are equally spaced between the fixed base 1002 and the fixed plate 1006. The fixed plate 1006 is disc-shaped, and three auxiliary motion assemblies 1102 are evenly disposed on the fixed plate 1006. The auxiliary motion assembly 1102 is a linear bearing. The detailed structure of the device fixing module can be referred to Figure 12 , which will not be elaborated herein.

[0086] Furthermore, in order to make the structure connection of the overall sample fixing device 102 tight, the moving block 302 is provided with a through hole for the fixed column 1004 to pass through, and the number of the through holes matches that of the fixed column 1004. The fixed plate 1006 is provided with a through hole for the support member 304 to pass through, and the number of the through holes matches that of the support member 304. The fixed plate 1006 is further provided with a through hole for the transmission shaft 504 to pass through.

[0087] When the sample fixing device 102 works, the rotary driving force is output by the rotary driving member 402 and transmitted to the rotary assembly 406 through the first synchronous belt 502, the transmission shaft 504, and the second synchronous belt 506. The rotary assembly 406 rotates under the force, driving the first ends of the first rope 206 and the second rope 208 disposed on the rotary assembly 406 to rotate. The first rope 206 and the second rope 208 change their winding states under the force, one is tightened and the other is loosened. The tightened rope generates a pulling force on the rotary assembly 406, driving the rotary assembly 406 to move along the winding column 204. The rotary assembly 406 is disposed on the moving block 302, and the moving block 302 moves following the rotary assembly 406, driving the loading member 306 to move, so as to realize the pressing and releasing of the sample 104. As Figure 14As shown, when the sample fixing device 102 is in the left state, the first rope 206 is completely relaxed and the second rope 208 is completely wound. At this time, the sample fixing device 102 is in the maximum pressing state to fix the sample 104. When the sample fixing device 102 is in the right state, the first rope 206 is completely wound and the second rope 208 is completely relaxed. At this time, the sample fixing device 102 is in the maximum relaxation state, and at this time, the staff can replace and move the sample 104. Of course, the maximum pressing state and the maximum relaxation state will change according to the height of the sample 104 during the actual fixing of the sample 104, and it is not exactly as Figure 14 shown, and here Figure 14 is only for illustration.

[0088] In this embodiment, the output force control is realized by controlling the rope winding, and high-speed force control can be realized. Since the rope itself has a micro-elastic characteristic and the rope winding generates cumulative elastic deformation in the axial direction of its winding column 204, it has a high resistance to impact characteristics. At the same time, by using ropes of different strengths, overload protection of the force control mechanism can also be realized, and two-way active flexible force control can be realized, which is suitable for scenarios that require two-way linear drive and active control of the load.

[0089] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should be considered to be within the scope described in this specification.

[0090] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A sample fixing device, characterized in that, It includes a driving module, a winding column, a first rope, a second rope, and a sample loading module; The driving module is arranged on the sample loading module. A through hole is formed in the driving module and the sample loading module. The winding column is arranged in the through hole. One side of the sample loading module away from the driving module is used for fixing a sample; Both the first rope and the second rope are wound around the winding column. The first end of the first rope is connected to the driving module. The second end of the first rope is arranged at the first end of the winding column. The first end of the second rope is connected to the driving module. The second end of the second rope is arranged at the second end of the winding column; When the driving module rotates, it drives the first rope and the second rope, one to tighten and the other to loosen, so that the sample loading module moves in a direction closer to or farther from the sample.

2. The sample fixing device according to claim 1, characterized in that, The sample loading module includes a moving block, a support member, and a loading member. The two ends of the support member are respectively provided with the moving block and the loading member. The driving module is arranged on the moving block. A through hole is formed in the driving module and the moving block. The winding column is arranged in the through hole. One side of the loading member away from the moving block is used for fixing a sample.

3. The sample fixing device according to claim 2, characterized in that, The driving module includes a rotary driving member, a transmission assembly, and a slewing assembly. The rotary driving member is arranged on the loading member and is connected to the slewing assembly through the transmission assembly. The slewing assembly is arranged on the moving block. A through hole penetrating through the through hole of the moving block is formed in the slewing assembly; The first end of the first rope is connected to the upper surface of the slewing assembly, and the first end of the second rope is connected to the lower surface of the slewing assembly.

4. The sample fixing device according to claim 3, characterized in that, The transmission assembly includes a first synchronous belt, a second synchronous belt, and a transmission shaft. Both the first synchronous belt and the second synchronous belt are arranged on the transmission shaft and are driven by the transmission shaft. The first synchronous belt is connected to the rotary driving member, and the second synchronous belt is connected to the slewing assembly.

5. The sample fixing device according to claim 1, characterized in that, It further includes a force sensor, and the force sensor is arranged on one side of the sample loading module away from the driving module.

6. The sample fixing device according to claim 5, characterized in that, It further includes a protection plate. The force sensor is arranged on the protection plate. One side of the protection plate away from the force sensor is used for fixing a sample.

7. The sample fixing device according to claim 5, wherein It further includes a control module. The control module is connected to the force sensor and the driving module, and is used to control the operation of the driving module according to the detection value of the force sensor.

8. The sample fixing device according to claim 1, characterized in that, It further includes a device fixing module. The device fixing module is connected to the first end and the second end of the winding column and is used to fix the winding column.

9. The sample fixing device according to claim 8, wherein, The device fixing module includes a fixing base, a fixing column, and a fixing plate. The fixing base and the fixing plate are respectively arranged at both ends of the fixing column. The fixing base is connected to the first end of the winding column, and the fixing plate is connected to the second end of the winding column.

10. The sample fixing device according to claim 9, characterized in that, The device fixing module further includes an auxiliary movement assembly. The auxiliary movement assembly is arranged on the fixing plate and is used to limit the movement direction of the sample loading module.

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