Reaction cup grabbing and transferring device and method

Abstract

The invention discloses a reaction cup grabbing and transferring method which is realized through a reaction cup grabbing and transferring device and comprises the following steps: firstly, initializing, so that even if a clamping jaw module ascends, a lower pressing block moves downwards relative to a left clamping jaw and a right clamping jaw under the action of a limiting piece, and the distance between the lower pressing block and the left clamping jaw is closest; then the cup is grabbed, namely, the clamping jaw module is moved to the position above the reaction cup and integrally moves downwards, after the first inclined faces of the left clamping jaw and the right clamping jaw are connected with the reaction cup, the clamping jaw module still moves downwards till the reaction cup makes contact with the vertical clamping face, and at the moment, the left clamping jaw and the right clamping jaw keep a stable grabbing state for the reaction cup under the action of the cup grabbing adsorption part; and finally, after the reaction cup reaches a target position, the clamping jaw module integrally moves downwards to enable the reaction cup to be connected with the bearing surface, then the clamping jaw module continuously moves downwards until the reaction cup is connected with the second inclined surfaces of the left and right clamping jaws, and at the moment, the left and right clamping jaws are separated from each other and move back to back to realize cup placement. The operation is simplified, the reaction cup can be fully prevented from being damaged, and the working efficiency of the in-vitro diagnosis equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grippers, and in particular to a reaction cup gripping and placing transfer device and method. Background Art

[0002] Most of the in vitro diagnostic equipment such as fully automatic chemiluminescence immunoassay systems, biochemical analyzers, laboratory assembly lines, nucleic acids, etc. involve grippers for taking and placing reaction cups. The existing grippers realize the opening and closing of the jaws through three methods: motor drive, electromagnet drive or pneumatic drive. Regardless of the driving method used, the jaws need to be opened first, and then the height is adjusted so that it is located on both sides of the reaction cup body, and then the clamping action is performed; when releasing the reaction cup, the height of the jaws needs to be adjusted according to the size of the reaction cup to avoid the jaws being too high and the reaction cup being damaged by free fall after being released, and also to avoid the jaws being too low so that the reaction cup directly collides with the bearing surface and causes damage. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a cuvette grabbing and placing transfer device, and also provides a cuvette grabbing and placing transfer method, which are as follows: The reaction cup grabbing and placing transfer device described in the present invention includes an XZ-direction driving mechanism, and the XZ-direction driving mechanism includes a lifting mechanism and a horizontal moving mechanism arranged thereon; the lifting mechanism includes a vertically arranged electric lead screw and vertical guide rails arranged at intervals on both sides of the electric lead screw, and the horizontal moving mechanism includes a sliding frame arranged on the vertical guide rail, and a horizontal guide rail connected to the electric lead screw is arranged between the sliding frames, and a synchronous belt mechanism connected to the sliding frame is arranged above the horizontal guide rail; a clamping claw module slidably connected to the horizontal guide rail is arranged on the synchronous belt mechanism, and the clamping claw module includes a left clamping claw and a right clamping claw connected to the linear slide rail, and the right side surface of the left clamping claw and the left side surface of the right clamping claw are symmetrically provided with first clamps connected in sequence from the bottom to the top. An inclined plane, a vertical clamping plane and a second inclined plane, the first inclined plane and the second inclined plane are gradually inclined from bottom to top and from the outside to the inside; a cup grabbing adsorption piece is arranged between the left clamping jaw and the right clamping jaw, and a cup placing adsorption piece is respectively arranged on the left side of the left clamping jaw and the right side of the right clamping jaw, and an initialization component for restoring the minimum distance between the left clamping jaw and the right clamping jaw is arranged above the left clamping jaw and the right clamping jaw; the initialization component comprises a lower pressing block arranged above the left clamping jaw and the right clamping jaw, the lower pressing block is connected to the left supporting block and the right supporting block through a guide rod, a return spring is arranged between the lower pressing block and the middle supporting block, a left pressing groove corresponding to the left clamping jaw and a right pressing groove corresponding to the right clamping jaw are provided at the bottom of the lower pressing block, and the left side of the left pressing groove and the right side of the right pressing groove are both inclined surfaces gradually offset from the outside to the inside from bottom to top.

[0004] Preferably, the linear slide rail is provided with a left support block, a middle support block and a right support block arranged at intervals, the cup grabbing adsorption member is arranged at the bottom of the middle support block, and the cup placing adsorption member is respectively arranged at the bottom of the left support block and the right support block.

[0005] Preferably, a left slider connected to the linear slide rail is provided in the middle of the left clamping jaw, and a right slider connected to the linear slide rail is provided in the middle of the right clamping jaw; the left slider is located between the left support block and the middle support block, and the right slider is located between the right support block and the middle support block.

[0006] Preferably, a roller shaft rollingly connected to the inclined surface is provided on the left side of the top of the left clamping jaw and on the right side of the top of the right clamping jaw.

[0007] Preferably, a top rod is provided at the top center of the lower pressing block, and a roller is provided at the top of the top rod.

[0008] Preferably, a first position sensor for detecting the height of the horizontal guide rail is provided on the vertical guide rail, and a second position sensor for detecting the operating position of the clamping claw module is provided on the sliding frame.

[0009] The reaction cup grab-and-place transfer method of the present invention comprises: S1, initialization: the clamping jaw module is raised as a whole by the lifting mechanism, and the limiter first contacts the lower pressing block, so that the lower pressing block moves downward relative to the left clamping jaw and the right clamping jaw. The left clamping jaw and the right clamping jaw move toward each other under the action of the left and right pressure groove inclined surfaces, and reach the initial position under the action of the cup gripping adsorbent. At this time, the distance between the left clamping jaw and the right clamping jaw is the shortest, the spacing between the lower edges of the first inclined surfaces is greater than the clamping width of the reaction cup, and the spacing between the vertical clamping surfaces is less than the clamping width of the reaction cup; S2, cup grabbing: the gripper module is moved to the top of the reaction cup by the horizontal moving mechanism, and then the lifting mechanism is started to move the gripper module downward as a whole, and the lower pressing block is restored to its original position under the action of the reset spring, and the left and right grippers are still kept in their initial positions under the action of the gripper cup adsorbent. When the first inclined surface thereof contacts the reaction cup, the gripping and releasing transfer device continues to move downward until the reaction cup contacts the vertical clamping surface. At this time, due to the action of the gripper cup adsorbent, the left and right grippers maintain a stable gripping state for the reaction cup; S3, cup placement: after the gripper module is moved to the target position of the reaction cup by the horizontal moving mechanism, the gripper module is moved downward as a whole, and the reaction cup first contacts the bearing surface, and then the gripper module continues to move downward until the reaction cup contacts the second inclined surfaces of the left and right grippers, at which point the left gripper and the right gripper are separated from each other and move in opposite directions under the action of the cup placement adsorbent, and the reaction cup is placed.

[0010] The reaction cup grabbing and placing transfer method provided by the present invention adopts a reaction cup grabbing and placing transfer device with simple structure, convenient use and high reliability. When grabbing and placing, it is only necessary to adjust the clamping claw to the initialization position, and then continue to press down to clamp the reaction cup; when reaching the target position, it is only necessary to continue to lower the clamping claw to achieve the cup placement of the reaction cup. In the present invention, the height of the reaction cup does not need to be considered in the process of grabbing and placing the cup, and only the downward pressing action is required, which not only simplifies the operation and increases the cup grabbing speed from the original 200 / hour to 1200 / hour, but also can fully avoid damage to the reaction cup, thereby improving the working efficiency of the in vitro diagnostic equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of the catch-and-release transfer device of the present invention.

[0012] Figure 2 yes Figure 1 Schematic diagram of the structure of the middle gripper module.

[0013] Figure 3 It is a schematic diagram of the initialization state of the gripper module in the present invention.

[0014] Figure 4 It is a schematic diagram of the state of the gripper module in the present invention grasping the cup.

[0015] Figure 5 It is a structural schematic diagram of the gripper module in the present invention when the reaction cup is in a stable grasping state.

[0016] Figure 6 It is a schematic diagram of the state of the gripper module placing the cup in the present invention. DETAILED DESCRIPTION

[0017] The following is a detailed description of an embodiment of the present invention in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific working process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0018] The reaction cup grabbing and placing transfer method of the present invention is realized by a reaction cup grabbing and placing transfer device.

[0019] like Figure 1-6 As shown, the above-mentioned reaction cup grasping and placing transfer device includes an XZ-axis driving mechanism and a clamping jaw module installed thereon, and the clamping jaw module includes a left clamping jaw 1 and a right clamping jaw 2 with symmetrical structures, and the right side surface of the left clamping jaw 1 and the left side surface of the right clamping jaw 2 are symmetrically provided with a first inclined surface 11, a vertical clamping surface 12 and a second inclined surface 13 connected in sequence from the bottom to the top, and the first inclined surface 11 and the second inclined surface 13 are gradually inclined from the bottom to the top and from the outside to the inside.

[0020] A left slider is installed in the middle of the left clamping jaw 1, and a right slider is installed in the same position of the right clamping jaw 2. The left and right sliders are installed on the linear slide rail 3 to achieve smooth connection between the left and right clamping jaws 1 and 2 and the linear slide rail 3. Preferably, a roller shaft 4 is also provided on the top left side of the left clamping jaw 1 and the top right side of the right clamping jaw 2.

[0021] The linear guide rail 3 is also provided with a left support block, a middle support block and a right support block which are spaced apart from each other, wherein the left clamping jaw 1 is located between the left support block and the middle support block, and the right clamping jaw 2 is located between the right support block and the middle support block. A strong magnet is installed at the bottom of the left support block and the right support block as a cup placing adsorption member 5, and a strong magnet is installed at the bottom of the middle support block as a cup grabbing adsorption member 6.

[0022] An initialization component is arranged above the left clamping jaw 1 and the right clamping jaw 2, and is used to restore the left clamping jaw 1 and the right clamping jaw 2 to the state of being closest to each other. The initialization component includes a lower pressing block 7, which is connected to the left support block and the right support block through a guide rod 8, and is connected to the middle support block through a reset spring 9. The bottom of the lower pressing block 7 is provided with a left pressing groove 71 corresponding to the left clamping jaw 1 and a right pressing groove 72 corresponding to the right clamping jaw 2. The left side of the left pressing groove 71 and the right side of the right pressing groove 72 are both inclined surfaces that gradually shift from the outside to the inside from bottom to top. Preferably, a push rod is also arranged at the top center of the lower pressing block 7, and a roller is arranged at the top of the push rod. When the push rod roller contacts the upper limit member M, the rising action of the entire lower pressing block 7 can be blocked.

[0023] The above-mentioned XZ-direction driving mechanism includes a lifting mechanism and a horizontal moving mechanism arranged thereon, wherein the lifting mechanism includes a vertically arranged electric lead screw 101 and vertical guide rails 102 arranged at intervals on both sides of the electric lead screw 101, and the horizontal moving mechanism includes a sliding frame 103 installed on the vertical guide rail 102, a horizontal guide rail 104 connected to the electric lead screw 101 is installed between the sliding frames 103, and a synchronous belt mechanism 105 whose end is connected to the sliding frame 106 is arranged above the horizontal guide rail 104. The gripper module is fixedly connected to the synchronous belt mechanism 105 and is slidably connected to the horizontal guide rail 104. Usually, a first position sensor for detecting the height of the horizontal guide rail 102 is installed on the vertical guide rail 102, and a second position sensor for detecting the operating position of the gripper module is installed on the sliding frame 103.

[0024] The limiter M is usually a horizontal beam disposed above the clamping claw module, with both ends connected to the bottom plate of the device through vertical rods, thereby forming a door-type structure as a whole.

[0025] The reaction cup grab-and-place transfer method of the present invention comprises: S1, initialization: Figure 3As shown, the clamping jaw module is lifted as a whole by the lifting mechanism, and the limiter M first contacts the lower pressing block 7, so that the lower pressing block 7 moves downward relative to the left clamping jaw 1 and the right clamping jaw 2. The left clamping jaw 1 and the right clamping jaw 2 move toward each other under the action of the left and right pressure groove inclined surfaces, and reach the initial position under the action of the cup gripping adsorbent 6. At this time, the distance between the left clamping jaw 1 and the right clamping jaw 2 is the shortest, and the spacing between the lower edges of the first inclined surfaces 11 thereof is greater than the clamping width of the reaction cup B, and the spacing between the vertical clamping surfaces 12 is less than the clamping width of the reaction cup B. S2, grab cup: Figure 4 , 5 As shown, the gripper module is moved to the top of the reaction cup B by the horizontal moving mechanism, and then the lifting mechanism is started to move the gripper module downward as a whole, and the lower pressing block 7 is restored to its original position under the action of the reset spring 9, and the left gripper 1 and the right gripper 2 are still kept in their initial positions under the action of the gripper cup adsorbing member 6. When the first inclined surface 11 thereof contacts the reaction cup B (see Figure 4 ), the gripper module continues to move downward until the reaction cup B contacts the vertical gripping surface 12 (see Figure 5 ), at this time, due to the effect of the cup gripping member 6, the left clamp 1 and the right clamp 2 maintain a stable gripping state on the reaction cup B; Thereafter, the gripper module is moved upward as a whole, and after reaching a certain height, it is moved horizontally along the horizontal guide rail 104 to bring the reaction cup B to above the target position.

[0026] S3, put the cup: Figure 6 As shown, when the reaction cup B reaches the target position, the clamping jaw module moves downward as a whole, so that the reaction cup B is connected to the carrying surface K. Thereafter, the clamping jaw module continues to move downward until the reaction cup B is connected to the second inclined surfaces 13 of the left and right clamping jaws. At this time, the left clamping jaw 1 and the right clamping jaw 2 are separated from each other and move backwards under the action of the cup placing adsorbent 5, and the reaction cup B is placed.

[0027] It should be noted that, in the description of the present invention, terms indicating orientation or positional relationships, such as "front", "rear", "left", "right", "vertical", "horizontal", "inside", "outside", etc., are based on the orientation or positional relationships shown in the drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

Claims

1. A cuvette grab and place transfer device, characterized in that: It includes an XZ-direction driving mechanism, which includes a lifting mechanism and a horizontal moving mechanism arranged thereon; the lifting mechanism includes a vertically arranged electric lead screw and vertical guide rails arranged at intervals on both sides of the electric lead screw; the horizontal moving mechanism includes a sliding frame arranged on the vertical guide rail, a horizontal guide rail connected to the electric lead screw is arranged between the sliding frames, and a synchronous belt mechanism connected to the sliding frame is arranged above the horizontal guide rail; a clamping jaw module slidably connected to the horizontal guide rail is arranged on the synchronous belt mechanism, and the clamping jaw module includes a left clamping jaw and a right clamping jaw connected to the linear slide rail, and the right side surface of the left clamping jaw and the left side surface of the right clamping jaw are symmetrically provided with a first inclined surface, a vertical clamping jaw connected in sequence from the bottom to the top, and the vertical clamping jaw connected in sequence from the bottom to the top. A surface and a second inclined surface, the first inclined surface and the second inclined surface are gradually inclined from bottom to top from the outside to the inside; a cup grabbing adsorption piece is arranged between the left clamping jaw and the right clamping jaw, and a cup placing adsorption piece is respectively arranged on the left side of the left clamping jaw and the right side of the right clamping jaw, and an initialization component for restoring the minimum distance between the left clamping jaw and the right clamping jaw is arranged above the left clamping jaw and the right clamping jaw; the initialization component comprises a lower pressing block arranged above the left clamping jaw and the right clamping jaw, the lower pressing block is connected to the left supporting block and the right supporting block through a guide rod, a return spring is arranged between the lower pressing block and the middle supporting block, and a left pressing groove corresponding to the left clamping jaw and a right pressing groove corresponding to the right clamping jaw are provided at the bottom of the lower pressing block, and the left side of the left pressing groove and the right side of the right pressing groove are both inclined surfaces gradually offset from bottom to top from the outside to the inside.

2. The cuvette grab-and-place transfer device according to claim 1, characterized in that: The linear slide rail is provided with a left support block, a middle support block and a right support block arranged at intervals, the cup grabbing adsorption member is arranged at the bottom of the middle support block, and the cup placing adsorption member is respectively arranged at the bottom of the left support block and the right support block.

3. The reaction cup grabbing and placing transfer device according to claim 2, characterized in that: A left slider connected to the linear slide rail is arranged in the middle of the left clamping jaw, and a right slider connected to the linear slide rail is arranged in the middle of the right clamping jaw; the left slider is located between the left support block and the middle support block, and the right slider is located between the right support block and the middle support block.

4. The cuvette grab-and-place transfer device according to claim 1, characterized in that: The left side of the top of the left clamping jaw and the right side of the top of the right clamping jaw are both provided with rollers which are in rolling connection with the inclined surface.

5. The cuvette grab-and-place transfer device according to claim 1, characterized in that: A push rod is arranged at the top center of the lower pressing block, and a roller is arranged at the top of the push rod.

6. The cuvette grab-and-place transfer device according to claim 1, characterized in that: The vertical guide rail is provided with a first position sensor for detecting the height of the horizontal guide rail, and the sliding frame is provided with a second position sensor for detecting the operating position of the clamping claw module.

7. A cuvette grab-and-place transfer method, implemented by the cuvette grab-and-place transfer device according to any one of claims 1 to 6, characterized in that: include S1, initialization: the clamping jaw module is raised as a whole by the lifting mechanism, and the limiter first contacts the lower pressing block, so that the lower pressing block moves downward relative to the left clamping jaw and the right clamping jaw. The left clamping jaw and the right clamping jaw move toward each other under the action of the left and right pressure groove inclined surfaces, and reach the initial position under the action of the cup gripping adsorbent. At this time, the distance between the left clamping jaw and the right clamping jaw is the shortest, the spacing between the lower edges of the first inclined surfaces is greater than the clamping width of the reaction cup, and the spacing between the vertical clamping surfaces is less than the clamping width of the reaction cup; S2, cup grabbing: the gripper module is moved to the top of the reaction cup by the horizontal moving mechanism, and then the lifting mechanism is started to move the gripper module downward as a whole, and the lower pressing block is restored to its original position under the action of the reset spring, and the left and right grippers are still kept in their initial positions under the action of the gripper cup adsorbent. When the first inclined surface thereof contacts the reaction cup, the gripping and releasing transfer device continues to move downward until the reaction cup contacts the vertical clamping surface. At this time, due to the action of the gripper cup adsorbent, the left and right grippers maintain a stable gripping state for the reaction cup; S3, cup placement: after the gripper module is moved to the target position of the reaction cup by the horizontal moving mechanism, the gripper module is moved downward as a whole, and the reaction cup first contacts the bearing surface, and then the gripper module continues to move downward until the reaction cup contacts the second inclined surfaces of the left and right grippers, at which point the left gripper and the right gripper are separated from each other and move in opposite directions under the action of the cup placement adsorbent, and the reaction cup is placed.

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