gripping device

Abstract

The application provides a clamping device, a clamping module is movably assembled relative to a device base, the clamping module is configured to be able to rotate relative to the device base along a motion reference axis, and the clamping module is configured to be able to linearly reciprocate relative to the device base along the motion reference axis; the clamping module is used to present a clamping empty state when moving to a return limit motion position, the clamping module is used to present a clamping state when moving to a return predetermined motion position, and the clamping module is used to present a release state when moving to a forward limit motion position. The return and initial state of the application are limited to the clamping state, even the clamping empty state with a tighter clamping capacity, so that the clamping device always remains in the clamping state or the clamping empty state when the clamping device is still clamping a sample tube even when it is just started and initial state adjustment is performed, thereby avoiding accidental falling of the sample tube clamped on the clamping device itself, and improving safety in the transfer process.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to clamping devices. Background Technology

[0002] In automated laboratories, the sample tube clamping device is the core of the equipment. Ensuring the safety of the sample tubes during transport is a fundamental requirement. Currently, automated laboratory clamping devices use the elastic clamping force of springs. While this force is sufficient for clamping, it cannot be adjusted during the clamping process. Removing the sample tube requires overcoming the spring's force, limiting its capabilities to a single clamping function. Therefore, it cannot guarantee high transport safety, such as detecting empty tubes or determining if a tube has fallen. This results in drawbacks in the device's use and fails to meet current requirements. There is an urgent need for a clamping device that guarantees the safety of sample tube transport. Summary of the Invention

[0003] Therefore, it is necessary to provide a clamping device to address the aforementioned technical problems.

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

[0005] The device base defines a virtual motion reference axis relative to the device base;

[0006] A clamping module is movably assembled relative to the device base, wherein the clamping module is configured to rotate relative to a fixed axis of the device base along the motion reference axis, and the clamping module is configured to reciprocate linearly relative to the device base along the motion reference axis.

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

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

[0009] The clamping module is configured to be in a clamping state when it moves to the return limit position, the clamping module is configured to be in a clamping state when it moves to the return predetermined position, and the clamping module is configured to be in a releasing state when it moves to the process limit position.

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

[0011] A first identification module is connected to the device base. The first identification module is used to acquire the motion position information of the clamping module reciprocating along the motion reference axis. The motion position information includes information about the clamping module moving along the motion reference axis to the return limit position, the return predetermined position, or the process limit position.

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

[0013] A hollow shaft body, wherein the hollow shaft body has a hollow shaft cavity that extends through both ends axially, and the hollow shaft body is connected to the device base; the clamping module includes a clamping frame and a clamping assembly, the clamping assembly is assembled on the clamping frame, and the clamping assembly has a clamping state, a clamping state, and a released state; the clamping frame is rotatably assembled relative to the hollow shaft body along the central axis of the hollow shaft body.

[0014] The first drive assembly includes a first drive device and a first transmission component. The first drive device is driven connected to the first transmission component. The first drive device is mounted on the device base. The first transmission component passes through the hollow shaft cavity of the hollow shaft body. The first transmission component is driven connected to the clamping assembly. The clamping assembly is mounted to rotate relative to the first drive assembly along the central axis of the hollow shaft body.

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

[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 synchronously brought closer or synchronously separated by rotating relative to the fixed axis of the clamping frame.

[0017] The clamping push block is driven by the first driving device through the first transmission component and is used to drive the clamping push block to reciprocate linearly along the motion reference axis. The clamping push block is driven to be connected to a plurality of clamping arms and is used to drive the plurality of clamping arms to rotate relative to the clamping frame at a fixed axis.

[0018] A rotating bearing is provided, and the clamping assembly is rotatably assembled relative to the first drive assembly via the rotating bearing.

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

[0020] In one embodiment, the clamping push block has a threaded hole, the first transmission component is driven and assembled in the threaded hole of the clamping push block, the first driving component 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 clamping arm is provided with a rolling part, the clamping push block has a plurality of driving slots, each rolling part is rolled and assembled in a corresponding driving slot, and the clamping push block drives the plurality of clamping arms to rotate on a fixed axis through the movable assembly of the plurality of driving slots and the plurality of rolling parts.

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

[0022] A first blocking element is connected to the clamping assembly and is used to reciprocate linearly along the motion reference axis with the clamping assembly.

[0023] A first detection device is connected to the device base. The first detection device is used to obtain the motion position information of the clamping assembly reciprocating linearly along the motion reference axis through the first blocking element.

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

[0025] The first encoding device is connected to the first driving device, and the first encoding device is used to acquire the first rotation data of the first driving device and determine the motion position information of the clamping assembly reciprocating linearly along the motion reference axis based on the first rotation data.

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

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

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

[0029] A second blocking element is connected to the clamping assembly and is used to rotate along the motion reference axis with the clamping assembly.

[0030] The second detection device is connected to the base of the device and is used to obtain the rotational position information of the clamping assembly's fixed-axis rotation through the second blocking element.

[0031] In the aforementioned clamping device, the clamping state is limited to the return stroke, rather than being limited to a released state during the return stroke or initial state. Therefore, if a sample tube is still clamped on the clamping device, it avoids the problem of the clamping device accidentally switching to a released state during initial state adjustment and dropping the sample tube. To address this unexpected situation, the return stroke and initial state of this application are limited to a clamping state, or even a clamp-free state with a tighter clamping capability. Therefore, even when a sample tube is still clamped on the clamping device during initial state adjustment and initial state adjustment, the clamping device remains in a clamping or clamp-free state, preventing the sample tube from accidentally falling off and thus improving the safety of the sample tube during transport. Attached Figure Description

[0032] Figure 1 This is a perspective view of a clamping device provided in one embodiment of this application.

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

[0034] Figure 3 For example Figure 1 A planar sectional view of the clamping device shown.

[0035] Figure 4 This is a schematic diagram of the clamping device provided in one embodiment of the present application in a clamped-out state.

[0036] Figure 5 This is a schematic diagram of the clamping device in a clamping state according to an embodiment of this application.

[0037] Figure 6This is a schematic diagram of the clamping device in the released state according to an embodiment of this application.

[0038] Icon labels:

[0039] 100. Sample tubes;

[0040] 1000, Device base; 2000, Clamping module; 3000, First identification module; 4000, First drive assembly; 5000, Second drive assembly; 6000, Second identification module;

[0041] 1001, Motion reference axis; 1100, Hollow shaft;

[0042] 2100. Clamping frame; 2200. Clamping assembly;

[0043] 2210 Clamping arm; 2220 Clamping push block; 2230 Rotating bearing;

[0044] 2211, Rolling part; 2221, Drive slot;

[0045] 3100, First blocking element; 3200, First detection device; 3300, First encoding device;

[0046] 4100, First driving device; 4200, First transmission component. Detailed Implementation

[0047] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0048] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0049] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] It should be noted that if an element is referred to as being "fixed to" or "assembled to" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0053] See Figures 1 to 6 As shown, this 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, cooperating with movements in the X, Y, Z or Rx, Ry, Rz directions to realize the movement of the entire clamping device horizontally or in space. Figure 1As shown, a virtual motion reference axis 1001 relative to the device base 1000 can be defined. This virtual motion reference axis 1001 is not an actual existing axis, but it 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. Based on the limitation of the aforementioned motion reference axis 1001, the clamping module 2000 can be configured to rotate along the motion reference axis 1001 relative to the device base 1000 at a fixed axis, and the clamping module 2000 can be configured to reciprocate linearly along the motion reference axis 1001 relative to the device base 1000. That is, based on its specific design structure, the clamping module 2000 can complete two non-interfering motion states relative to the device base 1000, namely the aforementioned fixed-axis rotation and reciprocating motion (i.e., movement).

[0055] Continue reading Figures 4 to 6 As shown, the clamping module 2000 can have three states during use: clamping empty, clamping, and releasing. Figure 4 As shown, the clamping empty state of the clamping module 2000 represents the state in which the clamping module 2000 fails to clamp the target object during the clamping process. This 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 indicates the state of clamping the target object, and is used to clamp the target object. The release state of the clamping module 2000 indicates the state of releasing the target object, and is used to release the target object.

[0056] The clamping module 2000 can employ various structural designs and principles to achieve clamping functions. For example, it can be limited to certain specific movement positions when the clamping module 2000 performs linear reciprocating motion along the motion reference axis 1001. That is, the clamping module 2000 can be limited to a return limit movement position, a predetermined return movement position, and a forward limit movement position during its linear reciprocating motion along the motion reference axis 1001. The predetermined return movement position is located between the return limit movement position and the forward limit movement position. In this case, the clamping module 2000 is used to be in a clamping state when it reaches the return limit movement position, in a clamping state when it reaches the predetermined return movement position, and in a released state when it reaches the forward limit movement position.

[0057] It should be noted that the clamping module 2000 performs linear reciprocating motion along the motion reference axis 1001. This can be understood as the entire clamping module 2000 performing linear reciprocating motion along the motion reference axis 1001, or it can be understood as a portion of the components or parts within 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 it moves, it depends on the specific design structure and design principle of the clamping module 2000. Those skilled in the art can design it according to actual needs, and no limitation is made here.

[0058] Based on the above design scheme, it can be understood that the clamping module 2000's clamping state, holding state, and releasing state are achieved by the clamping module 2000's linear reciprocating motion along the motion reference axis 1001. The return stroke is defined as the clamping module 2000 moving towards the device base 1000 along the motion reference axis 1001; correspondingly, the forward stroke indicates that the clamping module 2000 moves away from the device base 1000 along the motion reference axis 1001. (See reference...) Figures 4 to 6 As shown, when the clamping module 2000 is in the position as Figure 4 When the initial position shown is the return limit position, the clamping module 2000 is in the aforementioned clamping-free state. When the clamping module 2000 is in the following position... Figure 5 When the return stroke is at the predetermined position shown, the clamping module 2000 is in the clamping state mentioned above. When the clamping module 2000 is in the position shown... Figure 6 When the process reaches its extreme movement position as shown, the clamping module 2000 is in the aforementioned released state.

[0059] contrast Figures 4 to 5 As shown, during the process of the clamping module 2000 moving from the initial extreme position, passing through the predetermined return position, and reaching the return extreme position, the clamping module 2000 gradually increases its clamping capacity, that is, gradually releasing the sample tube 100, just clamping the sample tube 100, and finally clamping the sample tube 100 empty, exhibiting a state with even tighter clamping capacity. It should be noted that, compared to... Figure 4 and Figure 5 As shown, although Figure 4 The image shows the clamped state, but this clamped state has a tighter clamping ability compared to the clamped state.

[0060] As can be seen from the above, the clamping state of the aforementioned clamping device is limited to the return stroke, rather than being limited to a released state during the return stroke or the initial state. Therefore, if the clamping device still holds the sample tube 100, it can prevent the clamping device from accidentally switching to a released state when the device is first turned on and the initial state adjustment is performed, thus avoiding the problem of the sample tube 100 being accidentally dropped. To address this unexpected situation, the return stroke and the initial state of this application are limited to a clamping state, or even a clamping-free state with a tighter clamping capability. Therefore, when the clamping device still holds the sample tube 100, it remains in a clamping state or a clamping-free state even when the device is first turned on and the initial state adjustment is performed, preventing the sample tube 100 from being accidentally dropped, thereby improving the safety of the sample tube 100 during the transport process.

[0061] In one embodiment, the clamping device includes a first identification module 3000 connected to the device base 1000. The first identification module 3000 is used to acquire the motion position information of the clamping module 2000 reciprocating linearly along the motion reference axis 1001. The motion position information includes information about the clamping module 2000 moving to the return limit position, the return predetermined position, or the progress limit position along the motion reference axis 1001. Therefore, based on the identification function of the first identification module 3000, the current motion position information of the clamping module 2000 can be obtained, such as determining that the current clamping module 2000 is at a certain motion position among the return limit position, the return predetermined position, or the progress limit position. Then, based on the determination of the above-mentioned return limit position, return predetermined position, or progress limit position, the current state of the clamping module 2000 can be determined, that is, a certain state among the clamped state, the clamped 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 empty clamping detection and pipe drop detection.

[0063] The detection process of the clamping detection function is as follows: When the clamping module 2000 clamps the sample tube 100 at the target position, the first recognition module 3000 uses the motion position information of the clamping module 2000 reciprocating along the motion reference axis 1001 to indicate that when the clamping module 2000 moves to the return limit position, it indicates that it is in a clamping state, which proves that the clamping action of the sample tube 100 at the target position has not been successfully completed, thus forming the clamping detection.

[0064] The detection process for the sample tube drop detection function is as follows: When the clamping module 2000 clamps and transports the sample tube 100 at the target position, the first identification module 3000 identifies the motion position information of the clamping module 2000 reciprocating along the motion reference axis 1001 twice within a predetermined time. For example, in the first identification, if the motion position information identified by the first identification module 3000 indicates that the clamping module 2000 has moved to the predetermined return position, it means that it is in a clamping state, proving that the clamping action of the sample tube 100 at the target position has been achieved. In the second identification, if the motion position information identified by the first identification module 3000 indicates that the clamping module 2000 has moved to the return limit position, it means that it is in an empty clamping state. Therefore, since the first identification has proven that the clamping action of the sample tube 100 at the target position has been achieved, and the second identification proves that it is in an empty clamping state, it can be determined that the clamped sample tube 100 has fallen, thus completing the sample tube drop detection.

[0065] The clamping detection function is used to determine whether the sample tube 100 has been successfully clamped, thus confirming that the sample tube 100 at the gripping position has been successfully grasped during the gripping and releasing process, preventing damage to the sample. At the same time, the aforementioned tube drop detection function can identify whether the sample tube 100 has fallen during the transportation process, promptly detecting the fault and preventing the loss or damage of the sample tube 100.

[0066] The clamping module 2000 is configured to rotate about a fixed axis relative to the device base 1000 along the motion reference axis 1001, and is also configured to reciprocate linearly relative to the device base 1000 along the motion reference axis 1001. This can be achieved through various structural designs. For example, in one embodiment, the clamping device includes a hollow shaft 1100 and a first drive assembly 4000. The hollow shaft 1100 has a hollow shaft cavity extending through both axial ends, and 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, clamping state, and released state of the clamping module 2000 are actually completed by the clamping assembly 2200. Therefore, the clamping module 2000 performs linear reciprocating motion along the motion reference axis 1001. This can be understood as the clamping assembly 2200 or some components or parts in the clamping assembly 2200 performing linear reciprocating motion along the motion reference axis 1001.

[0067] See Figures 1 to 3As shown, the clamping frame 2100 is rotatably assembled relative to the hollow shaft 1100 along the central axis of the hollow shaft 1100. For example, the clamping frame 2100 is rotatably assembled with the outside of the hollow shaft 1100 through a rotating structure such as a bearing. Meanwhile, the first drive assembly 4000 includes a first drive device 4100 and a first transmission component 4200. The first drive device 4100 is drivenly connected to the first transmission component 4200. The first drive device 4100 is mounted on the device base 1000. The first drive device 4100 and the clamping assembly 2200 are arranged at both ends of the hollow shaft 1100. At this time, the first transmission component 4200 passes through the hollow shaft cavity of the hollow shaft 1100, which is compact and makes full use of space. The first transmission component 4200 is drivenly connected to the clamping assembly 2200, so that the first drive device 4100 can drive and control the clamping assembly 2200 at the other end through the first transmission component 4200 passing through the hollow shaft cavity, and control the clamping assembly 2200 to switch between states such as clamping, clamping and releasing.

[0068] Meanwhile, the clamping assembly 2200 is rotatably assembled relative to the first drive assembly 4000 along the central axis of the hollow shaft 1100. For example, the clamping assembly 2200 is rotatably assembled with the first drive assembly 4000 along a fixed axis via a rotating structure such as a bearing. Therefore, the clamping frame 2100 is rotatably assembled relative to the hollow shaft 1100 along the central axis of the hollow shaft 1100, and the clamping assembly 2200 is rotatably assembled relative to the first drive assembly 4000 along the central axis of the hollow shaft 1100. Thus, the clamping module 2000 can simultaneously rotate relative to both the hollow shaft 1100 and the first drive assembly 4000. Furthermore, the first drive assembly 4000 drives and controls the clamping assembly 2200 at the other end via a first transmission component 4200 passing through the hollow shaft cavity, controlling the clamping assembly 2200 to switch between states such as clamped, held, and released.

[0069] Therefore, the above design can enable the clamping module 2000 to rotate along the motion reference axis 1001 relative to the device base 1000 at a fixed axis, and the clamping module 2000 to reciprocate linearly along the motion reference axis 1001 relative to the device base 1000. Based on the above structural design, the clamping module 2000 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).

[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 around a fixed axis. For example, the middle position of the clamping arm 2210 is rotatably mounted on the clamping frame 2100 via a rotating structure such as a shaft or bearing, and several clamping arms 2210 are arranged around the aforementioned motion reference axis 1001. Therefore, as... Figures 4 to 6 As shown, the clamping ends of several clamping arms 2210 can move closer or separate synchronously by rotating relative to a fixed axis of the clamping frame 2100.

[0071] Regarding the driving of the clamping arms 2210, the aforementioned first driving device 4100 can be driven to connect with the clamping push block 2220 via the first transmission component 4200, thereby driving the clamping push block 2220 to reciprocate linearly along the motion reference axis 1001. Therefore, the linear reciprocating motion of the clamping module 2000 along the motion reference axis 1001 can be understood as the linear reciprocating motion of the clamping push block 2220 along the motion reference axis 1001. At this time, the clamping push block 2220 is driven to connect with several clamping arms 2210, for example, to the clamping ends of several clamping arms 2210. By driving the several clamping arms 2210 to rotate relative to the clamping frame 2100 on a fixed axis, the clamping ends of the several clamping arms 2210 are simultaneously brought closer or separated. When the clamping ends of the several clamping arms 2210 are simultaneously brought closer, a clamping or empty state is achieved, while when the clamping ends of the several clamping arms 2210 are simultaneously separated, a release state is achieved. During this process, the clamping assembly 2200 can be rotated relative to the first drive assembly 4000 via the rotating bearing 2230.

[0072] In one embodiment, the first driving device 4100 is a motor with an output shaft, and the first transmission component 4200 is a lead screw. The output shaft of the first driving device 4100 is connected to the first transmission component 4200, and the output shaft of the first driving device 4100 passes through the hollow shaft cavity of the hollow shaft body 1100. At this time, the clamping assembly 2200 can be rotatably assembled relative to the output shaft of the first driving device 4100 via the rotating bearing 2230. Since the first transmission component 4200 is a lead screw, when the first driving device 4100 controls the rotation of the first transmission component 4200 (lead screw), the rotational action can be converted into linear motion using the lead screw. That is, the clamping push block 2220 in the clamping assembly 2200 can perform 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 has a threaded hole, and the first transmission component 4200 is driven to be assembled in the threaded hole of the clamping push block 2220. The first driving component 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 linearly along the motion reference axis 1001. Moreover, each clamping arm 2210 is provided with a rolling part 2211, such as a rolling wheel or rolling shaft. The clamping push block 2220 has several driving slots 2221, and each rolling part 2211 is rolledly assembled in a corresponding driving slot 2221. The clamping push block 2220 drives the several clamping arms 2210 to rotate on a fixed axis through the movable assembly of the several driving slots 2221 and the several rolling parts 2211.

[0074] Several drive slots 2221 are as follows Figures 4 to 6 As shown, the drive slots 2221 are inclined relative to the motion reference axis 1001. For example, the drive slots 2221 gradually approach 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 several clamping arms 2210 to synchronously approach each other during the return stroke, and conversely, to synchronously separate each other. Those skilled in the art can adjust and change the inclination angle of the drive slots 2221, thereby realizing the variation of clamping force and clamping stroke, and obtaining application scenarios applicable to multiple occasions.

[0075] Therefore, the clamping action of the clamping device is achieved through the drive of the lead screw. When the clamping device stops operating due to power failure, the sample tube 100 will not fall off due to the retaining effect of the lead screw. Compared to clamping with the elastic force of a spring, the sample tube 100 can be removed without overcoming the force of the clamping spring, saving effort and making it convenient to use. This avoids the use of easily damaged parts such as springs, greatly extending the lifespan of the grippers and preventing malfunctions and failures caused by the limited lifespan of easily damaged parts.

[0076] The surface of the clamping end of the clamping arm 2210 can be sandblasted, machined with grooves, or made of soft material to increase friction with the sample tube 100. The connection between the soft material and the clamping end of the clamping arm 2210 can be achieved through interference fit, bonding, or screw fastening. A linear bearing can also be installed inside the clamping push block 2220, and a push block guide shaft can be installed on the clamping frame 2100. The push block guide shaft is parallel to the motion reference axis 1001, and the linear bearing can move up and down along the push block guide shaft to ensure the smooth movement of the clamping push block 2220. During rotation, the push block guide shaft also has an anti-rotation function. A magnet can also be placed at the center of the clamping frame 2100, allowing the clamp to be attracted to the magnet during position adjustment, facilitating clamp installation and removal.

[0077] In one embodiment, the first identification module 3000 may include a first blocking element 3100 and a first detection device 3200. For example, the first blocking element 3100 may be a zero-position optocoupler baffle, and the second detection device may be a zero-position optocoupler. The first detection device 3200 may detect information based on whether the first blocking element 3100 blocks the first detection device 3200. The first blocking element 3100 is connected to the clamping assembly 2200 and is used to reciprocate linearly along the motion reference axis 1001 with the clamping assembly 2200. The first detection device 3200 is connected to the device base 1000 and is used to obtain the motion position information of the clamping assembly 2200 reciprocating linearly along the motion reference axis 1001 through the first blocking element 3100.

[0078] Therefore, when performing the clamping detection function based on the first detection device 3200, the first detection device 3200 can identify whether the first blocking element 3100 obstructs the first detection device 3200. For example, if it is obstructed, it means that the clamping assembly 2200 has moved to the return limit position; otherwise, it has not moved to the return limit position. This allows the determination of whether the clamping assembly 2200 is in a clamping state. When it is in a clamping state, a clamping alarm is triggered.

[0079] Simultaneously, when performing the tube drop detection function based on the first detection device 3200, the first detection device 3200 can 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 has moved to the return limit position; otherwise, it has not moved to the return limit position. This allows the determination of whether the clamping assembly 2200 is in a clamping state. At this time, the movement position information can be determined twice within a predetermined time.

[0080] For example, during the first identification, if the identified motion position information indicates that the clamping module 2000 has moved to the predetermined return position, it means that it is in a clamping state, proving that the clamping action on the sample tube 100 at the target position has been achieved. During the second identification, if the identified motion position information indicates that the clamping module 2000 has moved to the return limit position, it means that it is in a clamping-free state. Therefore, since the first identification has proven that the clamping action on the sample tube 100 at the target position has been achieved, and the second identification proves that it is in a clamping-free state, it can be determined that the clamped sample tube 100 has fallen, thus completing the tube drop detection and triggering a clamping-free alarm.

[0081] Alternatively, in one embodiment, the first identification module 3000 may employ a first encoding device 3300, and the first driving device 4100 may be a motor. The first encoding device 3300 is connected to the first driving device 4100 and can be used to provide position feedback to the motor. For example, the first encoding device 3300 is used to acquire first rotation data of the first driving device 4100 and determine the motion position information of the clamping assembly 2200 reciprocating linearly along the motion reference axis 1001 based on the first rotation data.

[0082] Therefore, when performing the clamping detection function based on the first encoding device 3300, the first rotation data of the motor rotation, i.e., the number of rotations, can be read through the first encoding device 3300. By comparing the number of motor rotations with the linear movement distance of the clamping component 2200, the movement position information of the clamping component 2200 along the motion reference axis 1001 can be calculated, determining whether the clamping component 2200 is in a clamping, holding, or released state. If it is in a clamping state, a clamping alarm will be triggered.

[0083] Meanwhile, when performing the tube drop detection function based on the first encoding device 3300, the first rotation data of the motor rotation, i.e. the number of rotations, can be read through the first encoding device 3300. Thus, by comparing the number of motor rotations with the linear movement distance of the clamping component 2200, the movement position information of the clamping component 2200 along the motion reference axis 1001 can be calculated, and it can be determined whether the clamping component 2200 is in a clamping state, a clamping state, or a released state.

[0084] At this point, two sets of first rotation data can be acquired within a predetermined time period to determine the motion position information twice. For example, during the first identification, if the identified motion position information indicates that the clamping module 2000 has moved to the predetermined return position, it means that it is in a clamping state, proving that the clamping action on the sample tube 100 at the target position has been achieved. During the second identification, if the identified motion position information indicates that the clamping module 2000 has moved to the return limit position, it means that it is in a clamping empty state. Therefore, since the first identification has proven that the clamping action on the sample tube 100 at the target position has been achieved, and the second identification proves that it is in a clamping empty state, it can be determined that the clamped sample tube 100 has fallen, thus completing the tube drop detection and triggering a clamping empty alarm.

[0085] Since the clamping function of the clamping device is directly driven by the motor, the clamping force of the gripper assembly can be adjusted through closed-loop control. When the clamping motion is performed, a larger current is used to increase the speed of the gripper. After clamping the sample tube 100, the current is actively reduced to release the large energy generated between the clamping assembly 2200 and the sample tube 100, thus protecting the barcode of the sample tube 100 and the sample tube 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 motive-connected to the clamping frame 2100. The second drive assembly 5000 drives the clamping frame 2100 to rotate relative to the hollow shaft 1100 along its central axis. The second drive assembly 5000 can be driven by various methods such as belt drive, gear drive, and chain drive. For example, the hollow shaft 1100 is fitted with a bearing, and a bearing housing is fitted on the rotating outer ring. The bearing housing is machined with pulley teeth. The second drive assembly 5000 uses a motor, and a synchronous pulley is fixed on the motor. The synchronous belt meshes with the synchronous pulley and the bearing housing, thereby achieving power transmission through belt drive.

[0087] In one embodiment, the clamping device includes a second identification module 6000, which includes a second blocking element and a second detection device. For example, the second blocking element is a rotary optocoupler baffle, and the second detection device is a rotary zero-position optocoupler. The second detection device can detect information based on whether the second blocking element blocks the second detection device. The second blocking element is connected to the clamping assembly 2200 and 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 is used to obtain the rotational position information of the clamping assembly 2200 rotating along the fixed axis through the second blocking element. For example, the above-mentioned second blocking element is fixed above the bearing seat, and the second blocking element and the second detection device can realize the positioning function in the rotation direction.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A clamping device, characterized in that The clamping device comprises: a device base, which defines a virtual movement reference axis relative to the device base; a clamping module, which is movably assembled relative to the device base, wherein the clamping module is configured to be able to rotate along the movement reference axis relative to the device base, and the clamping module is configured to be able to linearly reciprocate along the movement reference axis relative to the device base; the clamping module has an empty state, a clamping state and a release state, the empty state of the clamping module is a state of failure to clamp a target object, the clamping state of the clamping module is used to clamp the target object, and the release state of the clamping module is used to release the target object; the clamping module is limited to have a return limit movement position, a return predetermined movement position and a progress limit movement position during linear reciprocation along the movement reference axis, and the return predetermined movement position is located between the return limit movement position and the progress limit movement position; the clamping module is used to present the empty state when moving to the return limit movement position, the clamping module is used to present the clamping state when moving to the return predetermined movement position, and the clamping module is used to present the release state when moving to the progress limit movement position; the clamping device comprises a hollow shaft body and a first driving assembly, and the clamping module comprises a clamping assembly; an output shaft of the first driving device penetrates through the hollow shaft body, and the clamping assembly is assembled to rotate along the output shaft of the first driving device.

2. The clamping device of claim 1, wherein The clamping device comprises: a first identification module, which is connected with the device base and is used to acquire movement position information of the clamping module during linear reciprocation along the movement reference axis, and the movement position information comprises information that the clamping module moves to the return limit movement position, the return predetermined movement position or the progress limit movement position along the movement reference axis.

3. The clamping device according to claim 2, wherein an internal hollow shaft cavity penetrating through both axial ends is arranged in the hollow shaft body, and the hollow shaft body is connected with the device base; the clamping module further comprises a clamping frame, the clamping assembly is assembled in the clamping frame, the clamping assembly has the empty state, the clamping state and the release state, and the clamping frame is assembled to rotate along the central axis of the hollow shaft body relative to the hollow shaft body; the first driving assembly comprises a first driving device and a first transmission component, the first driving device is drivingly connected with the first transmission component, the first driving device is assembled in the device base, the first transmission component penetrates through the hollow shaft cavity of the hollow shaft body, the first transmission component is drivingly connected with the clamping assembly, and the clamping assembly is assembled to rotate along the central axis of the hollow shaft body relative to the first driving assembly.

4. The clamping device of claim 3, wherein The clamping assembly comprises: At least two clamping arms, each of the clamping arms is pivotally arranged on the clamping frame, the clamping ends of the clamping arms are synchronously close to or synchronously separate from each other by the pivotal movement relative to the clamping frame; A clamping push block, the first driving device is connected with the clamping push block through the first transmission component, for driving the clamping push block to linearly reciprocate along the movement reference axis, the clamping push block is connected with the clamping arms, for driving the clamping arms to pivotally rotate relative to the clamping frame; A rotating bearing, the clamping assembly is pivotally arranged on the first driving assembly through the rotating bearing.

5. The clamping device of claim 4, wherein The first driving device is a motor, the motor has an output shaft, the first transmission component is a lead screw, the output shaft of the first driving device is connected with the first transmission component, the output shaft of the first driving device passes through the hollow shaft cavity of the hollow shaft body, and the clamping assembly is pivotally arranged on the output shaft of the first driving device through the rotating bearing.

6. The clamping device of claim 5, wherein The clamping push block is provided with a threaded hole, the first transmission component is arranged in the threaded hole of the clamping push block, the first driving device is used for driving the first transmission component to rotate, and the first transmission component is used for driving the clamping push block to linearly reciprocate along the movement reference axis; wherein each of the clamping arms is provided with a rolling part, a plurality of driving grooves are formed in the clamping push block, each of the rolling parts is rollingly arranged in a corresponding driving groove, and the clamping push block drives the clamping arms to pivotally rotate through the movable arrangement of the driving grooves and the rolling parts.

7. The clamping device of claim 3, wherein The first identification module comprises: A first shielding element, the first shielding element is connected with the clamping assembly, and the first shielding element is used for linear reciprocating with the clamping assembly along the movement reference axis; A first detection device, the first detection device is connected with the device base, and the first detection device is used for acquiring the movement position information of the clamping assembly linear reciprocating along the movement reference axis through the first shielding element.

8. The clamping device of claim 3, wherein The first identification module comprises: A first encoding device, the first driving device is a motor, the first encoding device is connected with the first driving device, the first encoding device is used for acquiring first rotation data of the first driving device, and the movement position information of the clamping assembly linear reciprocating along the movement reference axis is determined according to the first rotation data.

9. The clamping device of claim 3, wherein The clamping device comprises: A second driving assembly, the second driving assembly is arranged on the device base, the second driving assembly is connected with the clamping frame, and the second driving assembly is used for driving the clamping frame to pivotally rotate along the central axis of the hollow shaft body relative to the hollow shaft body.

10. The clamping device of claim 3, wherein The clamping device comprises a second identification module, the second identification module comprises: A second shielding element, the second shielding element is connected with the clamping assembly, and the second shielding element is used for pivotally rotating with the clamping assembly along the movement reference axis; A second detection device is connected with the device base, and is used to acquire the rotation position information of the clamping assembly through the second shielding element.

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