Clamping device

Abstract

The invention provides a clamping device which is characterized in that a clamping module is movably assembled relative to a device base, the clamping module is configured to be capable of performing fixed-axis rotation relative to the device base along a motion reference axis, and the clamping module is configured to be capable of performing linear reciprocating motion relative to the device base along the motion reference axis; the clamping module is used for being in an empty clamping state when moving to the return stroke extreme movement position, the clamping module is used for being in a clamping state when moving to the return stroke preset movement position, and the clamping module is used for being in a releasing state when moving to the process extreme movement position. The return stroke and the initial state of the clamping device are limited to be the clamping state and even the empty clamping state with the tighter clamping capacity, so that when the sample tube is further clamped on the clamping device, the clamping device is always kept in the clamping state or the empty clamping state even if the clamping device is just started and the initial state is adjusted, and the sample tube can be stably clamped on the clamping device. The sample tube clamped on the clamping device is prevented from accidentally falling off, and the safety in the transfer process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a clamping device. Background Art

[0002] In an automated laboratory, the clamping device of the sample tube is the core of the automated laboratory equipment. During the transportation of the sample tube, the clamping device has the basic requirement of ensuring the safety of the sample tube to the maximum extent. At present, the clamping device of the automated laboratory uses the elastic clamping force of the spring to clamp the sample tube. Although the elastic clamping force of the spring can realize the clamping action, the elastic clamping force of the spring cannot be adjusted during the clamping process of the sample tube. When the sample tube needs to be removed, the elastic clamping force of the spring needs to be overcome. It only has a single clamping ability. Therefore, it is impossible to ensure a high transportation safety during the transportation of the sample tube. For example, it is impossible to realize the empty clamping detection of the sample tube, or it is impossible to determine whether the sample tube has fallen, etc., resulting in the disadvantages of its clamping device during use, which cannot meet the existing use requirements. Those skilled in the art are in urgent need of providing a clamping device that can ensure the transportation safety of the sample tube. Summary of the invention

[0003] Based on this, it is necessary to provide a clamping device to address the above-mentioned technical problems.

[0004] The present application provides a clamping device, the clamping device comprising:

[0005] a device base defining a virtual reference axis of motion relative to the device base;

[0006] A clamping module, the clamping module is movably assembled relative to the device base, wherein the clamping module is configured to be able to rotate relative to the device base along the movement reference axis, and the clamping module is configured to be able to reciprocate linearly relative to the device base along the movement reference axis;

[0007] The clamping module has an empty state, a clamping state and a release state. The empty state of the clamping module is a state in which the clamping of the target object fails. The clamping state of the clamping module is used to clamp the target object. The release state of the clamping module is used to release the target object.

[0008] The clamping module is limited to have a return limit motion position, a return predetermined motion position and a progress limit motion position during the linear reciprocating motion along the motion reference axis, and the return predetermined motion position is located between the return limit motion position and the progress limit motion position;

[0009] The clamping module is used to be in a clamping state when moving to the return limit movement position, the clamping module is used to be in a clamping state when moving to the return predetermined movement position, and the clamping module is used to be in a releasing state when moving to the process limit movement position.

[0010] In one embodiment, the clamping device comprises:

[0011] A first identification module, the first identification module is connected to the device base, and the first identification module is used to obtain the motion position information of the clamping module along the motion reference axis when the clamping module reciprocates in a straight line. The motion position information includes the information that the clamping module moves along the motion reference axis to the return limit motion position, the return predetermined motion position or the process limit motion position.

[0012] In one embodiment, the clamping device comprises:

[0013] A hollow shaft body, wherein a hollow shaft cavity is provided inside the hollow shaft body and is axially penetrated at both ends, and the hollow shaft body is connected to the device base; the clamping module comprises a clamping frame and a clamping assembly, the clamping assembly is assembled on the clamping frame, the clamping assembly has the clamping empty state, the clamping state and the release state, and the clamping frame is assembled along the central axis of the hollow shaft body and is fixedly rotated relative to the hollow shaft body;

[0014] A first driving assembly, the first driving assembly includes a first driving device and a first transmission component, the first driving device is drivingly connected to the first transmission component, the first driving device is assembled on the device base, the first transmission component passes through the hollow shaft cavity of the hollow shaft body, the first transmission component is drivingly connected to the clamping assembly, and the clamping assembly is assembled along the central axis of the hollow shaft body for fixed axis rotation relative to the first driving assembly.

[0015] In one embodiment, the clamping assembly comprises:

[0016] At least two clamping arms, each of which is rotatably mounted on the clamping frame, and the clamping ends of the clamping arms can be relatively close or relatively separated synchronously by rotating relative to the clamping frame;

[0017] A clamping push block, wherein the first driving device is drivingly connected to the clamping push block through the first transmission component, and is used to drive the clamping push block to reciprocate linearly along the motion reference axis, and the clamping push block is drivingly connected to a plurality of the clamping support arms, and is used to drive a plurality of the clamping support arms to rotate relative to the clamping frame;

[0018] A rotating bearing, through which the clamping assembly is assembled to rotate relative to the first driving assembly.

[0019] In one embodiment, the first drive device is a motor having an output shaft, the first transmission component is a lead screw, the output shaft of the first drive device is connected to the first transmission component, the output shaft of the first drive device passes through the hollow shaft cavity of the hollow shaft body, and the clamping assembly is assembled relative to the output shaft of the first drive device through the rotating bearing.

[0020] In one embodiment, the clamping push block is provided with a threaded hole, the first transmission component is driven and assembled in the threaded hole of the clamping push block, the first driving device is used to drive the first transmission component to rotate, and the first transmission component is used to drive the clamping push block to reciprocate linearly along the motion reference axis; wherein, each of the clamping support arms is provided with a rolling portion, a plurality of driving slot holes are provided on the clamping push block, each of the rolling portions is rollingly assembled in a corresponding driving slot hole, and the clamping push block drives a plurality of the clamping support arms to rotate on a fixed axis through the movable assembly of a plurality of the driving slot holes and a plurality of the rolling portions.

[0021] In one embodiment, the first recognition module includes:

[0022] A first shielding element, the first shielding element is connected to the clamping assembly, and the first shielding element is used to reciprocate linearly along the movement reference axis along with the clamping assembly;

[0023] A first detection device is connected to the device base, and is used for obtaining the motion position information of the clamping assembly reciprocating along the motion reference axis through the first shielding element.

[0024] In one embodiment, the first recognition module includes:

[0025] A first encoding device, wherein the first driving device is a motor, the first encoding device is connected to the first driving device, and the first encoding device is used to obtain first rotation data of the first driving device, and determine the motion position information of the clamping assembly in a linear reciprocating motion along the motion reference axis according to the first rotation data.

[0026] In one embodiment, the clamping device comprises:

[0027] The second driving assembly is mounted on the device base, and the second driving assembly is drivingly connected to the clamping frame, and is used to drive the clamping frame to rotate relative to the hollow shaft body along the central axis of the hollow shaft body.

[0028] In one embodiment, the clamping device includes a second identification module, and the second identification module includes:

[0029] A second shielding element, the second shielding element is connected to the clamping assembly, and the second shielding element is used to rotate along the movement reference axis along with the clamping assembly;

[0030] A second detection device is connected to the device base, and the second detection device is used to obtain the rotation position information of the fixed-axis rotation of the clamping assembly through the second shielding element.

[0031] In the above-mentioned clamping device, the clamping state of the clamping device is defined as the process of the return stroke, rather than defining the state of the clamping device as the released state in the return stroke or initial state. Therefore, if the clamping device still holds a sample tube, it can avoid the problem that the clamping device is accidentally converted to the released state when it is just turned on and the initial state is adjusted, and the sample tube clamped by the clamping device itself is accidentally dropped. In view of this unexpected situation, the return stroke and the initial state of the present application are defined as the clamping state, or even the clamping empty state with a tighter clamping ability. Therefore, when the clamping device still holds a sample tube, the clamping device always remains in the clamping state or the clamping empty state even when it is just turned on and the initial state is adjusted, avoiding the sample tube clamped by the clamping device itself from accidentally dropping, thereby improving the safety of the sample tube during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A three-dimensional diagram of a clamping device provided in accordance with an embodiment of the present application.

[0033] Figure 2 For Figure 1 A three-dimensional half-section view of the clamping device shown.

[0034] Figure 3 For Figure 1 A plan cross-sectional view of the clamping device shown.

[0035] Figure 4 A schematic structural diagram of a clamping device in an empty clamping state provided in one embodiment of the present application.

[0036] Figure 5 A schematic structural diagram of a clamping device in a clamping state provided in one embodiment of the present application.

[0037] Figure 6A schematic structural diagram of a clamping device in a released state provided in one embodiment of the present application.

[0038] Figure Number:

[0039] 100. Sample tube;

[0040] 1000, device base; 2000, clamping module; 3000, first identification module; 4000, first driving component; 5000, second driving component; 6000, second identification module;

[0041] 1001, motion reference axis; 1100, hollow shaft body;

[0042] 2100, clamping frame; 2200, clamping assembly;

[0043] 2210, clamping arm; 2220, clamping push block; 2230, rotating bearing;

[0044] 2211, rolling part; 2221, driving slot;

[0045] 3100, a first shielding element; 3200, a first detection device; 3300, a first encoding device;

[0046] 4100, a first driving device; 4200, a first transmission component. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0048] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does 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 application.

[0049] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0050] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0051] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0052] It should be noted that if an element is referred to as being "fixed to" or "mounted on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If present, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0053] See also Figures 1 to 6 As shown, the present application provides a clamping device, which includes a device base 1000 and a clamping module 2000. The device base 1000 is connected to other motion mechanisms to cooperate with the movement in the X, Y, Z or Rx, Ry, Rz directions to achieve the movement of the entire clamping device in the horizontal or space. Figure 1As shown, a virtual motion reference axis 1001 relative to the device base 1000 may be defined. The virtual motion reference axis 1001 is not an actual axis, but the motion reference axis 1001 determines the motion state of the clamping module 2000 relative to the device base 1000 .

[0054] like Figure 1 and Figure 2 As shown, the clamping module 2000 is movably assembled relative to the device base 1000, wherein, based on the limitation of the above-mentioned motion reference axis 1001, the clamping module 2000 can be configured to be able to rotate along the motion reference axis 1001 relative to the device base 1000, and the clamping module 2000 is configured to be able to reciprocate linearly along the motion reference axis 1001 relative to the device base 1000, that is, the clamping module 2000, based on its specific design structure, can complete two non-interfering motion states relative to the device base 1000, namely the above-mentioned fixed-axis rotation and reciprocating motion (i.e. movement) motion states.

[0055] Continue reading Figures 4 to 6 As shown, the clamping module 2000 can have a clamping empty state, a clamping state and a releasing state during use. Figure 4 As shown, the clamping empty state of the clamping module 2000 indicates that the clamping module 2000 does not clamp the target object during the process of clamping the target object. The clamping empty state can be the initial state of the clamping module 2000, or it can be a clamping failure state in which the target object is not clamped. Figure 5 As shown, the clamping state of the clamping module 2000 represents the state of clamping the target object, which is used to clamp the target object, and the releasing state of the clamping module 2000 represents the state of releasing the target object, which is used to release the target object.

[0056] The clamping module 2000 can adopt a variety of structural designs and principles to achieve the clamping function. For example, the clamping module 2000 can be limited to have certain specific motion positions when performing linear reciprocating motion along the motion reference axis 1001, that is, the clamping module 2000 is limited to have a return limit motion position, a return predetermined motion position, and a process limit motion position during the linear reciprocating motion along the motion reference axis 1001, and the return predetermined motion position is located between the return limit motion position and the process limit motion position. At this time, the clamping module 2000 is used to present a clamping empty state when moving to the return limit motion position, the clamping module 2000 is used to present a clamping state when moving to the return predetermined motion position, and the clamping module 2000 is used to present a release state when moving to the process limit motion position.

[0057] It should be noted that the clamping module 2000 performs linear reciprocating motion along the motion reference axis 1001, which can be understood as the clamping module 2000 as a whole performing linear reciprocating motion along the motion reference axis 1001, or it can also be understood as some components or parts in the clamping module 2000 performing linear reciprocating motion along the motion reference axis 1001, rather than the entire clamping module 2000 performing linear reciprocating motion along the motion reference axis 1001. As for how to move, it depends on the specific design structure and design principle of the clamping module 2000. Technical personnel in this field can design it according to actual needs and no limitation is made here.

[0058] Based on the above design, it can be known that the clamping state, clamping state and release state of the clamping module 2000 are realized based on the linear reciprocating motion of the clamping module 2000 along the motion reference axis 1001. The return stroke is defined as the movement of the clamping module 2000 along the motion reference axis 1001 toward the device base 1000. Correspondingly, the progress stroke means that the clamping module 2000 moves away from the device base 1000 along the motion reference axis 1001. Figures 4 to 6 As shown, when the clamping module 2000 is in the Figure 4 When the clamping module 2000 is in the initial position shown in FIG. 1 , that is, the return limit movement position, the clamping module 2000 is in the above-mentioned clamping empty state. Figure 5 When the clamping module 2000 is in the predetermined return motion position shown in FIG. Figure 6 When the process limit movement position is shown, the clamping module 2000 is in the above-mentioned release state.

[0059] contrast Figures 4 to 5 As shown in FIG. 1 , during the process of the clamping module 2000 moving from the forward limit position, passing the return predetermined position, and reaching the return limit position, the clamping module 2000 will gradually improve its clamping ability, that is, gradually loosen the sample tube 100, just clamp the sample tube 100, and then clamp the sample tube 100 to a tighter clamping ability. Figure 4 and Figure 5 As shown, although Figure 4 What is shown is a clamped empty state, but the clamped empty state at this time has a tighter clamping ability than the clamped state.

[0060] As can be seen from the above, the clamping state of the clamping device is defined as the process of the return stroke, rather than defining the state of the clamping device as the release state in the return stroke or initial state. Therefore, if the clamping device still holds a sample tube 100, it can avoid the problem that the clamping device is accidentally converted to the release state when it is just turned on and the initial state is adjusted, and the sample tube 100 clamped by the clamping device itself is accidentally dropped. In view of this unexpected situation, the return stroke and the initial state of the present application are defined as the clamping state, or even the clamping empty state with a tighter clamping ability. Therefore, when the clamping device still holds a sample tube 100, the clamping device always remains in the clamping state or the clamping empty state even when it is just turned on and the initial state is adjusted, avoiding the sample tube 100 clamped by the clamping device itself from accidentally dropping, thereby improving the safety of the sample tube 100 during transportation.

[0061] In one embodiment, the clamping device includes a first identification module 3000, which is connected to the device base 1000, and the first identification module 3000 is used to obtain the motion position information of the clamping module 2000 along the motion reference axis 1001. The motion position information includes the information that the clamping module 2000 moves to the return limit motion position, the return predetermined motion position or the process limit motion position along the motion reference axis 1001. Therefore, based on the recognition function of the first identification module 3000, the motion position information of the current clamping module 2000 can be obtained, such as judging that the current clamping module 2000 is in a certain motion position among the return limit motion position, the return predetermined motion position or the process limit motion position, and then based on the determination of the above return limit motion position, the return predetermined motion position or the process limit motion position, the current state of the clamping module 2000 can be determined, that is, in a certain state among the clamping empty state, the clamping state or the released state.

[0062] Based on the recognition capability of the first recognition module 3000 , the clamping device can have the functions of detecting the empty clamp and the pipe drop.

[0063] The detection process of the empty clamp detection function is as follows: when the clamping module 2000 is clamping the sample tube 100 at the target position, the first identification module 3000 is used to identify the movement position information of the clamping module 2000 moving back and forth in a straight line along the movement reference axis 1001. When the clamping module 2000 moves to the return limit position, it means that it is in an empty clamp state at this time, which proves that the clamping action of the sample tube 100 at the target position has not been successfully completed, thereby forming an empty clamp detection.

[0064] The detection process of the tube drop detection function is as follows: when the clamping module 2000 is clamping and transporting the sample tube 100 at the target position, the first recognition module 3000 is used to identify the motion position information of the clamping module 2000 moving back and forth along the motion reference axis 1001 twice within a predetermined time. For example, in the first recognition, the motion position information recognized by the first recognition module 3000 indicates that the clamping module 2000 moves to the predetermined return position, which means that it is in the clamping state at this time, proving that the clamping action of the sample tube 100 at the target position is achieved. In the second recognition, if the motion position information recognized by the first recognition module 3000 indicates that the clamping module 2000 moves to the return limit position, it means that it is in the clamping empty state at this time. Therefore, since the first recognition has proved that the clamping action of the sample tube 100 at the target position is achieved, and the second recognition at this time proves that it is in the clamping empty state, it can be judged that the clamped sample tube 100 has fallen, thereby completing the tube drop detection.

[0065] The empty clamping detection function is used to determine whether the sample tube 100 is successfully clamped, so as to determine whether the sample tube 100 at the grasping position has been successfully grasped when grasping and releasing the sample tube 100, thereby avoiding damage to the sample. At the same time, the above-mentioned tube drop detection function can be used to identify whether the sample tube 100 has fallen during the transportation process, and faults can be discovered in time to avoid loss or damage of the sample tube 100.

[0066] The clamping module 2000 is configured to be able to rotate relative to the device base 1000 along the motion reference axis 1001, and the clamping module 2000 is configured to be able to reciprocate linearly relative to the device base 1000 along the motion reference axis 1001, which can be achieved through a variety of structural designs. For example, in one embodiment, the clamping device includes a hollow shaft body 1100 and a first drive assembly 4000. The hollow shaft body 1100 is provided with a hollow shaft cavity with two axial ends passing through, and the hollow shaft body 1100 is connected to the device base 1000. The clamping module 2000 includes a clamping frame 2100 and a clamping assembly 2200. The clamping assembly 2200 is assembled on the clamping frame 2100. The clamping assembly 2200 has a clamping state, a clamping state and a released state, that is, the clamping state, the clamping state and the released state of the clamping module 2000 are actually completed by the clamping assembly 2200. Therefore, the clamping module 2000 performs a linear reciprocating motion along the motion reference axis 1001, which can be understood as the clamping assembly 2200 or some components or parts in the clamping assembly 2200 performing a linear reciprocating motion along the motion reference axis 1001.

[0067] See also Figures 1 to 3As shown, the clamping frame 2100 is assembled with respect to the hollow shaft body 1100 in a fixed-axis rotation manner along the central axis of the hollow shaft body 1100 . For example, the clamping frame 2100 is assembled with the exterior of the hollow shaft body 1100 in a fixed-axis rotation manner via a rotating structure such as a bearing. At the same time, the first drive component 4000 includes a first drive device 4100 and a first transmission component 4200, and the first drive device 4100 is driven and connected to the first transmission component 4200. The first drive device 4100 is assembled on the device base 1000, wherein the first drive device 4100 and the clamping component 2200 are arranged at both ends of the hollow shaft body 1100. At this time, the first transmission component 4200 passes through the hollow shaft cavity of the hollow shaft body 1100, and the structure is compact, making full use of the space. The first transmission component 4200 is driven and connected to the clamping component 2200, so that the first drive device 4100 can drive and control the clamping component 2200 at the other end through the first transmission component 4200 passing through the hollow shaft cavity, and control the clamping component 2200 to switch between the clamping state, the clamping state and the release state.

[0068] At the same time, the clamping assembly 2200 is assembled with respect to the first drive assembly 4000 along the central axis of the hollow shaft body 1100, for example, the clamping assembly 2200 forms an assembly with respect to the first drive assembly 4000 through a rotating structure such as a bearing. It can be seen that the clamping frame 2100 is assembled with respect to the hollow shaft body 1100 along the central axis of the hollow shaft body 1100, and the clamping assembly 2200 is assembled with respect to the first drive assembly 4000 along the central axis of the hollow shaft body 1100, so the clamping module 2000 can be simultaneously rotated with respect to the hollow shaft body 1100 and the first drive assembly 4000. Moreover, the first drive assembly 4000 drives and controls the clamping assembly 2200 at the other end through the first transmission component 4200 passing through the hollow shaft cavity, and controls the clamping assembly 2200 to switch between the clamping empty state, the clamping state and the release state.

[0069] Therefore, the above design can realize the fixed-axis rotation of the clamping module 2000 along the motion reference axis 1001 relative to the device base 1000, and the linear reciprocating motion of the clamping module 2000 along the motion reference axis 1001 relative to the device base 1000, so that the clamping module 2000, based on the above structural design, completes two non-interfering motion states relative to the device base 1000, namely the above-mentioned fixed-axis rotation and reciprocating motion (i.e. movement) motion states.

[0070] The clamping assembly 2200 can achieve the clamping capability of the sample tube 100 in various ways. For example, in one embodiment, the clamping assembly 2200 includes at least two clamping arms 2210 and a clamping push block 2220. Each clamping arm 2210 is rotatably mounted on the clamping frame 2100. For example, the middle position of the clamping arm 2210 is rotatably mounted on the clamping frame 2100 through a rotating structure such as a rotating shaft or a bearing, and a plurality of clamping arms 2210 are arranged around the above-mentioned motion reference axis 1001. Therefore, if Figures 4 to 6 As shown, the clamping ends of the plurality of clamping arms 2210 can be relatively close to each other or relatively separated synchronously by rotating about a fixed axis relative to the clamping frame 2100 .

[0071] Regarding the driving of the plurality of clamping arms 2210, the first driving device 4100 can be connected to the clamping push block 2220 through the first transmission component 4200, and is used to drive the clamping push block 2220 to reciprocate linearly along the motion reference axis 1001. Therefore, the clamping module 2000 reciprocates linearly along the motion reference axis 1001, which can be understood as the clamping push block 2220 reciprocating linearly along the motion reference axis 1001. At this time, the clamping push block 2220 is connected to the clamping arms 2210 by driving, for example, connected to the principle clamping ends of the clamping arms 2210 by driving the clamping arms 2210 to rotate relative to the clamping frame 2100, so as to achieve synchronous relative approach or synchronous relative separation of the clamping ends of the clamping arms 2210, wherein when the clamping ends of the clamping arms 2210 are synchronously relatively close, the clamping state or clamping state can be achieved, and when the clamping ends of the clamping arms 2210 are synchronously relatively separated, the release state can be achieved. In this process, the clamping assembly 2200 can be assembled relative to the first driving assembly 4000 by rotating the bearing 2230 relative to the fixed axis.

[0072] In one embodiment, the first drive device 4100 is a motor having an output shaft, the first transmission component 4200 is a lead screw, the output shaft of the first drive device 4100 is connected to the first transmission component 4200, and the output shaft of the first drive device 4100 passes through the hollow shaft cavity of the hollow shaft body 1100, and the clamping assembly 2200 can be assembled with respect to the output shaft of the first drive device 4100 by rotating the bearing 2230. Since the first transmission component 4200 is a lead screw, when the first drive device 4100 controls the first transmission component 4200 (lead screw) to rotate, the lead screw can be used to convert the rotational motion into a linear motion, that is, the clamping push block 2220 in the clamping assembly 2200 can perform a linear reciprocating motion along the motion reference axis 1001 through the rotation of the lead screw.

[0073] In one embodiment, the clamping push block 2220 is provided with a threaded hole, the first transmission component 4200 is driven and assembled in the threaded hole of the clamping push block 2220, the first driving device 4100 is used to drive the first transmission component 4200 to rotate, and the first transmission component 4200 is used to drive the clamping push block 2220 to reciprocate along the motion reference axis 1001. In addition, each clamping support arm 2210 is provided with a rolling portion 2211, for example, the rolling portion 2211 is a rolling wheel, a rolling shaft, etc., a plurality of driving slots 2221 are provided on the clamping push block 2220, and each rolling portion 2211 is rollingly assembled in a corresponding driving slot 2221. The clamping push block 2220 drives a plurality of clamping support arms 2210 to rotate along a fixed axis through the movable assembly of a plurality of driving slots 2221 and a plurality of rolling portions 2211.

[0074] The plurality of driving slots 2221 are as follows Figures 4 to 6 As shown, the driving slot 2221 is tilted relative to the motion reference axis 1001, for example, the driving slot 2221 gradually approaches each other along the direction close to the device base 1000 (close to the central virtual motion reference axis 1001), so that the clamping push block 2220 controls the clamping ends of the plurality of clamping arms 2210 to be relatively close to each other during the return stroke, and vice versa. Those skilled in the art can adjust and change the tilt angle of the driving slot 2221, thereby achieving changes in the clamping force and the clamping stroke, and obtaining application scenarios suitable for multiple occasions.

[0075] Therefore, the clamping action of the clamping device is realized by driving the lead screw. When the clamping device stops moving due to power failure, the sample tube 100 will not fall due to the holding effect of the lead screw. Compared with the elastic force clamping of the spring, when taking out the sample tube 100, it is not necessary to overcome the force of the clamping spring to take out the sample tube 100, which saves effort and is convenient to use. The use of consumable parts such as springs is avoided, the life of the clamping jaws is greatly improved, and failures and failures caused by the life of consumable parts are avoided.

[0076] The surface of the clamping end of the clamping arm 2210 can be sandblasted, grooved or made of soft material to increase the friction with the sample tube 100. The connection between the soft material and the clamping end of the clamping arm 2210 can be made by interference fit, bonding and screw fastening. A push block linear bearing can also be installed inside the clamping push block 2220, and a push block guide shaft can also be installed on the clamping frame 2100. The push block guide shaft is parallel to the motion reference axis 1001. The push block linear bearing can move up and down along the push block guide shaft to ensure the stability of the movement of the clamping push block 2220. When rotating, the push block guide shaft also has a rotation-stopping effect. A magnet can also be set at the center of the clamping frame 2100. When the position is debugged, the clamp can be sucked on the magnet to facilitate the installation and placement of the clamp.

[0077] In one embodiment, the first identification module 3000 may include a first shielding element 3100 and a first detection device 3200, for example, the first shielding element 3100 uses a zero-position optical coupling shield, and the second detection device uses a zero-position optical coupling. The first detection device 3200 can complete the detection of information based on whether the first shielding element 3100 generates shielding for the first detection device 3200. The first shielding element 3100 is connected to the clamping assembly 2200, and the first shielding element 3100 is used to reciprocate along the motion reference axis 1001 along the clamping assembly 2200. The first detection device 3200 is connected to the device base 1000, and the first detection device 3200 is used to obtain the motion position information of the clamping assembly 2200 reciprocating along the motion reference axis 1001 through the first shielding element 3100.

[0078] Therefore, when the first detection device 3200 performs the empty clamp detection function, the first detection device 3200 can be used to identify whether the first blocking element 3100 blocks the first detection device 3200. For example, if it blocks, it means that the clamping assembly 2200 moves to the return limit movement position at this time, otherwise it does not move to the return limit movement position, thereby judging whether the clamping assembly 2200 is in an empty clamp state at this time. If it is in the empty clamp state, an empty clamp alarm is triggered.

[0079] At the same time, when the tube drop detection function is performed based on the first detection device 3200, the first detection device 3200 can be used to identify whether the first blocking element 3100 blocks the first detection device 3200. For example, if it blocks, it means that the clamping assembly 2200 moves to the return limit movement position at this time, otherwise it does not move to the return limit movement position, thereby judging whether the clamping assembly 2200 is in a clamping empty state at this time. At this time, the movement position information can be judged twice within a predetermined time.

[0080] For example, in the first identification, the identified motion position information indicates that the clamping module 2000 moves to the predetermined return position, which means that it is in the clamping state at this time, proving that the clamping action of the sample tube 100 at the target position is achieved. In the second identification, if the identified motion position information indicates that the clamping module 2000 moves to the return limit position, it means that it is in the clamping empty state at this time. Therefore, since the first identification has proved that the clamping action of the sample tube 100 at the target position is achieved, and the second identification at this time proves that it is in the clamping empty state, it can be judged that the clamped sample tube 100 has fallen, thereby completing the tube drop detection and performing the clamping empty alarm.

[0081] Alternatively, in one embodiment, the first identification module 3000 may use a first encoding device 3300, the first drive device 4100 is a motor, the first encoding device 3300 is connected to the first drive device 4100, and the first encoding device 3300 can be used to provide position feedback for the motor. For example, the first encoding device 3300 is used to obtain the first rotation data of the first drive device 4100, and determine the motion position information of the clamping assembly 2200 reciprocating along the motion reference axis 1001 according to the first rotation data.

[0082] Therefore, when the first encoder device 3300 performs the empty clamp detection function, the first rotation data of the motor rotation, that is, the number of rotations, can be read through the first encoder device 3300, and the motion position information of the clamping component 2200 along the motion reference axis 1001 can be calculated through the comparison relationship between the number of motor rotations and the linear motion distance of the clamping component 2200, so as to determine whether the clamping component 2200 is in an empty clamp state, a clamping state, or a released state. When in an empty clamp state, an empty clamp alarm is triggered.

[0083] At the same time, when the pipe drop detection function is performed based on the first encoding device 3300, the first rotation data of the motor, that is, the number of rotations, can be read through the first encoding device 3300. The movement position information of the clamping component 2200 along the movement reference axis 1001 can be calculated through the comparison relationship between the number of motor rotations and the linear motion distance of the clamping component 2200, and it can be determined whether the clamping component 2200 is in a clamped state, a clamped state or a released state at this time.

[0084] At this time, the first rotation data can be obtained twice within a predetermined time, and the motion position information can be judged twice. For example, in the first identification, the identified motion position information indicates that the clamping module 2000 moves to the predetermined return position, which means that it is in the clamping state at this time, proving that the clamping action of the sample tube 100 at the target position is achieved. In the second identification, if the identified motion position information indicates that the clamping module 2000 moves to the return limit position, it means that it is in the clamping empty state at this time. Therefore, since the first identification has proved that the clamping action of the sample tube 100 at the target position is achieved, and the second identification at this time proves that it is in the clamping empty state, it can be judged that the clamped sample tube 100 has fallen, thereby completing the tube drop detection and performing the clamping empty alarm.

[0085] Since the clamping function of the clamping device is directly acted upon by the motor, the clamping force of the clamping assembly can be adjusted through closed-loop control. When clamping, in order to increase the speed of the clamping jaws, a larger current is used for movement. After clamping the sample tube 100, the current is actively reduced to release the larger energy generated between the clamping assembly 2200 and the sample tube 100, thereby protecting the barcode of the sample tube 100 and itself.

[0086] In one embodiment, the clamping device may further include a second drive assembly 5000, which is mounted on the device base 1000, and is connected to the clamping frame 2100 for driving the clamping frame 2100 to rotate relative to the hollow shaft 1100 along the central axis of the hollow shaft 1100. The second drive assembly 5000 may be driven by a plurality of transmission methods such as belt drive, gear drive, and chain drive. For example, the outer sleeve of the hollow shaft 1100 is provided with a bearing, and the rotating outer ring is provided with a bearing seat, and the bearing seat is processed with pulley teeth. The second drive assembly 5000 uses a motor, and a synchronous pulley is fixed on the motor, and the synchronous belt is meshed with the synchronous pulley and the bearing seat, thereby realizing power transmission by belt drive.

[0087] In one embodiment, the clamping device includes a second identification module 6000, and the second identification module 6000 includes a second shielding element and a second detection device. For example, the second shielding element adopts a rotating optical coupling baffle, and the second detection device adopts a rotating zero-position optical coupling. The second detection device can complete the detection of information based on whether the second shielding element generates shielding for the second detection device. The second shielding element is connected to the clamping assembly 2200, and the second shielding element is used to rotate along the motion reference axis 1001 with the clamping assembly 2200. The second detection device is connected to the device base 1000, and the second detection device is used to obtain the rotational position information of the fixed-axis rotation of the clamping assembly 2200 through the second shielding element. For example, the above-mentioned second shielding element is fixed above the bearing seat, and the second shielding element and the second detection device can realize the positioning function in the rotation direction.

[0088] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A clamping device, characterized in that: The clamping device comprises: a device base defining a virtual reference axis of motion relative to the device base; A clamping module, the clamping module is movably assembled relative to the device base, wherein the clamping module is configured to be able to rotate relative to the device base along the movement reference axis, and the clamping module is configured to be able to reciprocate linearly relative to the device base along the movement reference axis; The clamping module has an empty state, a clamping state and a release state. The empty state of the clamping module is a state in which the clamping of the target object fails. The clamping state of the clamping module is used to clamp the target object. The release state of the clamping module is used to release the target object. The clamping module is limited to have a return limit motion position, a return predetermined motion position and a progress limit motion position during the linear reciprocating motion along the motion reference axis, and the return predetermined motion position is located between the return limit motion position and the progress limit motion position; The clamping module is used to be in a clamping state when moving to the return limit movement position, the clamping module is used to be in a clamping state when moving to the return predetermined movement position, and the clamping module is used to be in a releasing state when moving to the process limit movement position.

2. The clamping device according to claim 1, characterized in that: The clamping device comprises: A first identification module, the first identification module is connected to the device base, and the first identification module is used to obtain the motion position information of the clamping module along the motion reference axis when the clamping module reciprocates in a straight line. The motion position information includes the information that the clamping module moves along the motion reference axis to the return limit motion position, the return predetermined motion position or the process limit motion position.

3. The clamping device according to claim 2, characterized in that: The clamping device comprises: A hollow shaft body, wherein a hollow shaft cavity is provided inside the hollow shaft body and is axially penetrated at both ends, and the hollow shaft body is connected to the device base; the clamping module comprises a clamping frame and a clamping assembly, the clamping assembly is assembled on the clamping frame, the clamping assembly has the clamping empty state, the clamping state and the release state, and the clamping frame is assembled along the central axis of the hollow shaft body and is fixedly rotated relative to the hollow shaft body; A first driving assembly, the first driving assembly includes a first driving device and a first transmission component, the first driving device is drivingly connected to the first transmission component, the first driving device is assembled on the device base, the first transmission component passes through the hollow shaft cavity of the hollow shaft body, the first transmission component is drivingly connected to the clamping assembly, and the clamping assembly is assembled along the central axis of the hollow shaft body for fixed axis rotation relative to the first driving assembly.

4. The clamping device according to claim 3, characterized in that: The clamping assembly comprises: At least two clamping arms, each of which is rotatably mounted on the clamping frame, and the clamping ends of the clamping arms can be relatively close or relatively separated synchronously by rotating relative to the clamping frame; A clamping push block, wherein the first driving device is drivingly connected to the clamping push block through the first transmission component, and is used to drive the clamping push block to reciprocate linearly along the motion reference axis, and the clamping push block is drivingly connected to a plurality of the clamping support arms, and is used to drive a plurality of the clamping support arms to rotate relative to the clamping frame; A rotating bearing, through which the clamping assembly is assembled to rotate relative to the first driving assembly.

5. The clamping device according to claim 4, characterized in that: The first drive device is a motor having an output shaft, the first transmission component is a lead screw, the output shaft of the first drive device is connected to the first transmission component, the output shaft of the first drive device passes through the hollow shaft cavity of the hollow shaft body, and the clamping assembly is assembled relative to the output shaft of the first drive device through the rotating bearing.

6. The clamping device according to claim 5, characterized in that: The clamping push block is provided with a threaded hole, and the first transmission component is driven and assembled in the threaded hole of the clamping push block. The first driving device is used to drive the first transmission component to rotate, and the first transmission component is used to drive the clamping push block to reciprocate linearly along the motion reference axis; wherein, each of the clamping support arms is provided with a rolling portion, and the clamping push block is provided with a plurality of driving slot holes, and each of the rolling portions is rollingly assembled in a corresponding driving slot hole, and the clamping push block drives a plurality of the clamping support arms to rotate on a fixed axis through the movable assembly of a plurality of the driving slot holes and a plurality of the rolling portions.

7. The clamping device according to claim 3, characterized in that: The first recognition module includes: A first shielding element, the first shielding element is connected to the clamping assembly, and the first shielding element is used to reciprocate linearly along the movement reference axis along with the clamping assembly; A first detection device is connected to the device base, and is used for obtaining the motion position information of the clamping assembly reciprocating along the motion reference axis through the first shielding element.

8. The clamping device according to claim 3, characterized in that: The first recognition module includes: A first encoding device, wherein the first driving device is a motor, the first encoding device is connected to the first driving device, and the first encoding device is used to obtain first rotation data of the first driving device, and determine the motion position information of the clamping assembly in a linear reciprocating motion along the motion reference axis according to the first rotation data.

9. The clamping device according to claim 3, characterized in that: The clamping device comprises: The second driving assembly is mounted on the device base, and the second driving assembly is drivingly connected to the clamping frame, and is used to drive the clamping frame to rotate relative to the hollow shaft body along the central axis of the hollow shaft body.

10. The clamping device according to claim 3, characterized in that: The clamping device includes a second identification module, and the second identification module includes: A second shielding element, the second shielding element is connected to the clamping assembly, and the second shielding element is used to rotate along the movement reference axis along with the clamping assembly; A second detection device is connected to the device base, and the second detection device is used to obtain the rotation position information of the fixed-axis rotation of the clamping assembly through the second shielding element.

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