Electric clamping jaw mechanism

Abstract

The invention relates to an electric clamping jaw mechanism, and belongs to the field of full-automatic magnetic particle chemiluminescence immunoassay, the electric clamping jaw mechanism comprises a left clamping jaw, a right clamping jaw and a driving mechanism for controlling the opening and closing of the two clamping jaws, the driving mechanism comprises a stepping motor, the lower part of the stepping motor is in transmission connection with a cam follower fixing block; a left cam follower and a right cam follower are connected to the lower portions of the two sides of the cam follower fixing block respectively, a linear guide rail is arranged below the stepping motor, a left sliding block and a right sliding block are slidably connected to the linear guide rail respectively, a left sliding groove is fixedly connected to the upper portion of the left sliding block, the left cam follower is arranged in the left sliding groove, and the right cam follower is arranged in the right sliding groove. The low-cost stepping motor is adopted, the reaction cup is clamped through spring force, the stepping motor is only responsible for rotation and does not provide clamping force, the situation that a mechanism shakes or the motor is heated due to overload of the stepping motor is avoided, and the consistency of the clamping force is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of fully automatic magnetic particle chemiluminescence immunoassay, and in particular to an electric clamping mechanism. Background Art

[0002] In fully automatic magnetic particle chemiluminescence immunoassay equipment, electric grippers are often used to grab and place reaction cups at required positions.

[0003] Most existing electric grippers use servo motors, which can provide good signal feedback and will not cause motor overload when grasping objects, but the cost of use is relatively high; some electric grippers use stepper motors, which have no load detection function, causing the grippers to clamp objects too tightly, resulting in motor overload and vibration; some electric grippers use encoder DC motors, which reduce the vibration caused by overload, but the problem of motor heating will occur. Therefore, the existing electric gripper mechanism has the problems of high motor cost, mechanism vibration or motor heating, and cannot meet actual needs. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned traditional technology and provide an electric clamping mechanism that adopts a low-cost stepping motor to clamp the reaction cup through spring force. The stepping motor is only responsible for rotation but does not provide clamping force. It will not cause the stepping motor to be overloaded and cause mechanism shaking or motor heating, and it also ensures the consistency of the clamping force.

[0005] The objective of the present invention is achieved through the following technical measures: an electric clamping jaw mechanism, comprising a left clamping jaw, a right clamping jaw and a driving mechanism for controlling the opening and closing of the two clamping jaws, the driving mechanism comprising a stepping motor, a cam follower fixing block is transmission-connected below the stepping motor, a left cam follower and a right cam follower are respectively connected to the lower sides of the cam follower fixing block, a linear guide is provided below the stepping motor, a left slider and a right slider are respectively slidably connected to the linear guide, a left slide groove is fixedly connected above the left slider, a left cam follower is arranged in the left slide groove, a right slide groove is fixedly connected above the right slider, and the right cam follower is arranged in the right slide groove.

[0006] As a further improvement of the above technical solution: The lower part of the left sliding block is fixedly connected to the left clamping jaw, and the lower part of the right sliding block is fixedly connected to the right clamping jaw.

[0007] A motor fixing plate is arranged below the stepper motor, a back plate is connected to the rear end of the motor fixing plate, the back plate and the motor fixing plate are arranged vertically, and a linear guide rail is arranged on the back plate, and the linear guide rail is arranged horizontally.

[0008] The left slider and the right slider have the same structure, and the left slide groove and the right slide groove have the same structure.

[0009] The width of the left slide groove or the right slide groove is 1.5 mm-2.5 mm larger than the diameter of the cam follower arranged therein.

[0010] The width of the left-side slide groove or the right-side slide groove is 2.15 mm greater than the diameter of the cam follower arranged therein.

[0011] The two sides of the lower part of the back plate are respectively fixedly connected with spring limit plates, the spring limit plates are vertically arranged with the back plate, and compression springs are respectively arranged between the spring limit plates on both sides and the left slider and the right slider.

[0012] The left sliding block and the right sliding block are respectively provided with grooves for accommodating the compression spring, the spring limiting plate is provided with a column pin, and the compression spring is sleeved on the outside of the column pin.

[0013] The front end of the motor fixing plate is connected with a photoelectric mounting plate, which is in a "˩" shape. A reset photoelectric mechanism is provided on the left side below the photoelectric mounting plate, and a detection photoelectric mechanism is provided on the right side below the photoelectric mounting plate.

[0014] The reset photoelectric mechanism is provided with a reset photoelectric baffle which is fixedly connected to the left slider, and the detection photoelectric mechanism is provided with a detection photoelectric baffle which is fixedly connected to the right slider.

[0015] Due to the adoption of the above technical scheme, compared with the prior art, the advantages of the present invention are as follows: the present invention adopts a low-cost stepper motor to clamp the reaction cup by spring force, and the stepper motor is only responsible for rotation but does not provide clamping force, which will not cause the stepper motor to be overloaded and cause mechanism shaking or motor heating, and the consistency of the clamping force is ensured; at the same time, the setting of the detection photoelectric mechanism and the detection photoelectric baffle of the present invention can accurately identify whether the reaction cup is clamped.

[0016] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the three-dimensional structure of an electric clamping claw mechanism in an embodiment of the present invention; Figure 2 yes Figure 1 A front view of Figure 3 yes Figure 2 Left view of Figure 4 1 is a schematic diagram of the structure of an electric gripper mechanism in a motor reset state according to an embodiment of the present invention (in order to clearly see the internal structure, the photoelectric mounting board is removed in this figure); Figure 5 is a schematic diagram of the structure of an electric gripper mechanism in an embodiment of the present invention when the reaction cup is not grasped (in order to clearly see the internal structure, the photoelectric mounting board is removed in this figure); Figure 6 It is a schematic structural diagram of an electric gripper mechanism in an embodiment of the present invention when it grabs a reaction cup (in order to clearly see the internal structure, the optoelectronic mounting board is removed in this figure).

[0018] In the figure, 1-left clamping jaw, 2-right clamping jaw, 3-stepping motor, 4-cam follower fixing block, 5-left cam follower, 6-right cam follower, 7-motor fixing plate, 8-back plate, 9-linear guide rail, 10-left slider, 11-right slider, 12-left slide groove, 13-right slide groove, 14-spring limit plate, 15-compression spring, 16-pin, 17-photoelectric mounting plate, 18-reset photoelectric mechanism, 19-detection photoelectric mechanism, 20-reset photoelectric baffle, 21-detection photoelectric baffle, 22-reaction cup. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, 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.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined. Example

[0022] like Figure 1-3As shown, an electric clamping jaw mechanism includes a left clamping jaw 1, a right clamping jaw 2 and a driving mechanism for controlling the opening and closing of the two clamping jaws, the driving mechanism includes a stepping motor 3, a cam follower fixing block 4 is transmission-connected below the stepping motor 3, and a left cam follower 5 and a right cam follower 6 are respectively connected to the lower sides of the cam follower fixing block 4.

[0023] A motor fixing plate 7 is provided below the stepper motor 3, and the stepper motor 3 is placed on the motor fixing plate 7. A back plate 8 is connected to the rear end of the motor fixing plate 7, and the back plate 8 is vertically arranged with the motor fixing plate 7. A linear guide rail 9 is provided on the back plate 8, and the linear guide rail 9 is horizontally arranged. A left slider 10 and a right slider 11 are slidably connected to the linear guide rail 9 respectively. The left slider 10 and the right slider 11 have the same structure. A left slide groove 12 is fixedly connected to the top of the left slider 10, and the left cam follower 5 is arranged in the left slide groove 12. The bottom of the left slider 10 is fixedly connected to the left clamping jaw 1; a right slide groove 13 is fixedly connected to the top of the right slider 11, and the right cam follower 6 is arranged in the right slide groove 13. The bottom of the right slider 11 is fixedly connected to the right clamping jaw 2. The left slide groove 12 has the same structure as the right slide groove 13. The width of the left slide groove 12 or the right slide groove 13 is 1.5mm-2.5mm larger than the diameter of the cam follower arranged therein, and the optimal value is 2.15mm.

[0024] Spring limit plates 14 are fixedly connected to the two sides of the lower part of the back plate 8, and the spring limit plates 14 are vertically arranged with the back plate 8. Compression springs 15 are respectively arranged between the spring limit plates 14 on both sides and the left slider 10 and the right slider 11. The left slider 10 and the right slider 11 are respectively provided with grooves for accommodating the compression springs 15. A pin 16 is provided on the spring limit plate 14, and the compression spring 15 is sleeved on the outside of the pin 16, and the pin 16 provides guidance for the compression spring 15.

[0025] The front end of the motor fixing plate 7 is connected to a photoelectric mounting plate 17, which is in a "˩" shape. A reset photoelectric mechanism 18 is provided on the left side below the photoelectric mounting plate 17, and a detection photoelectric mechanism 19 is provided on the right side below the photoelectric mounting plate 17. A reset photoelectric baffle 20 is provided at the reset photoelectric mechanism 18, and the reset photoelectric baffle 20 is fixedly connected to the left slider 10. A detection photoelectric baffle 21 is provided at the detection photoelectric mechanism 19, and the detection photoelectric baffle 21 is fixedly connected to the right slider 11. The detection photoelectric mechanism 19 and the detection photoelectric baffle 21 are used to detect whether the reaction cup 22 is grasped.

[0026] like Figure 4The position shown is the state of motor reset. The reset photoelectric baffle 20 fixed on the left slider 10 will block the reset photoelectric mechanism 18. At this time, the motor resets and finds the origin; the detection photoelectric baffle 21 fixed on the right slider 11 will not block the detection photoelectric mechanism 19 at this time. The left slider 10 will be subjected to the elastic force of the compression spring 15 to press the left side of the left slide groove 12 tightly against the left cam follower 5. The right slider 11 will be subjected to the elastic force of the compression spring 15 to press the right side of the right slide groove 13 tightly against the right cam follower 6. At this time, the distance between the left clamp 1 and the right clamp 2 is opened to the maximum.

[0027] like Figure 5 The position shown is a state where the reaction cup 22 is not clamped. The motor rotates 45° clockwise, and the cam follower fixed block 4 also rotates 45° clockwise. The left slider 10 is subjected to the elastic force of the compression spring 15, which will tightly press the left side of the left chute 12 against the left cam follower 5. The right slider 11 is subjected to the elastic force of the compression spring 15, which will tightly press the right side of the right chute 13 against the right cam follower 6. At this time, the distance between the left clamp 1 and the right clamp 2 is minimized. The detection photoelectric baffle 21 fixed on the right slider 11 will block the detection photoelectric mechanism 19 at this time. Thus, the following conclusion can be drawn: when the motor rotates 45° clockwise from the reset origin, if the detection photoelectric mechanism 19 is blocked by the detection photoelectric baffle 21, it means that the reaction cup 22 is not clamped. Because the motor stops rotating after rotating 45°, the motor will not be overloaded.

[0028] like Figure 6 The position shown is the state of clamping the reaction cup 22. When the stepper motor 3 rotates 30° clockwise from the reset origin, the left clamp 1 and the right clamp 2 clamp the reaction cup 22. Because the left slider 10 and the right slider 11 are subjected to the elastic force of the compression spring 15, the reaction cup 22 will be clamped and will not fall off; but the stepper motor 3 will continue to rotate clockwise to 45° and then stop rotating. The left cam follower 5 will approach the right side of the left chute 12, and the right cam follower 6 will approach the left side of the right chute 13. The gap between the cam follower and the chute is about 0.1mm, which ensures that the cam follower will not squeeze the chute and cause overload. At this time, the reaction cup 22 is tightly clamped by the left clamp 1 and the right clamp 2, and will not slide left and right on the linear guide 9 under the action of the compression spring 15, so that the position of the reaction cup 22 on the clamp is determined. The detection photoelectric baffle 21 fixed on the right slider 11 will still not block the detection photoelectric mechanism 19. Thus, the following conclusion can be drawn: after the motor rotates 45° clockwise from the reset origin, if the detection photoelectric mechanism 19 is not blocked by the detection photoelectric blocking sheet 21 , it means that the reaction cup 22 is clamped.

[0029] The motor only needs to rotate 45° counterclockwise to the origin position to release the reaction cup 22 .

[0030] In summary, the clamping of the reaction cup 22 is achieved by the elastic force of the compression spring 15, and there is no need for the motor to continuously rotate to apply pressure. The motor stops rotating after rotating 45°, so that the motor will not be overloaded. In addition, by detecting the photoelectric mechanism 19 and the photoelectric baffle 21, it is possible to accurately identify whether the reaction cup 22 is clamped.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric gripper mechanism, characterized in that: The invention comprises a left clamping jaw (1), a right clamping jaw (2) and a driving mechanism for controlling the opening and closing of the two clamping jaws, wherein the driving mechanism comprises a stepping motor (3), a cam follower fixing block (4) is drivingly connected to the lower part of the stepping motor (3), a left cam follower (5) and a right cam follower (6) are respectively connected to the lower part of the two sides of the cam follower fixing block (4), a linear guide rail (9) is provided below the stepping motor (3), a left slider (10) and a right slider (11) are respectively slidably connected to the linear guide rail (9), a left slide groove (12) is fixedly connected to the upper part of the left slider (10), the left cam follower (5) is arranged in the left slide groove (12), a right slide groove (13) is fixedly connected to the upper part of the right slider (11), and the right cam follower (6) is arranged in the right slide groove (13).

2. An electric gripper mechanism according to claim 1, characterized in that: The lower part of the left sliding block (10) is fixedly connected to the left clamping jaw (1), and the lower part of the right sliding block (11) is fixedly connected to the right clamping jaw (2).

3. The electric gripper mechanism according to claim 1, characterized in that: A motor fixing plate (7) is provided below the stepper motor (3); a rear end of the motor fixing plate (7) is connected to a back plate (8); the back plate (8) and the motor fixing plate (7) are arranged vertically; a linear guide rail (9) is arranged on the back plate (8); and the linear guide rail (9) is arranged horizontally.

4. The electric gripper mechanism according to claim 1, characterized in that: The left slider (10) and the right slider (11) have the same structure, and the left slide groove (12) and the right slide groove (13) have the same structure.

5. The electric gripper mechanism according to claim 4, characterized in that: The width of the left sliding groove (12) or the right sliding groove (13) is 1.5 mm to 2.5 mm greater than the diameter of the cam follower arranged therein.

6. An electric gripper mechanism according to claim 5, characterized in that: The width of the left sliding groove (12) or the right sliding groove (13) is 2.15 mm greater than the diameter of the cam follower arranged therein.

7. The electric gripper mechanism according to claim 3, characterized in that: Spring limit plates (14) are fixedly connected to both sides of the lower part of the back plate (8), the spring limit plates (14) are arranged vertically with the back plate (8), and compression springs (15) are arranged between the spring limit plates (14) on both sides and the left slider (10) and the right slider (11).

8. An electric gripper mechanism according to claim 7, characterized in that: The left slider (10) and the right slider (11) are respectively provided with grooves capable of accommodating a compression spring (15); a column pin (16) is provided on the spring stop plate (14); and the compression spring (15) is sleeved on the outside of the column pin (16).

9. The electric gripper mechanism according to claim 3, characterized in that: The front end of the motor fixing plate (7) is connected to a photoelectric mounting plate (17), the photoelectric mounting plate (17) is in a "˩" shape, a reset photoelectric mechanism (18) is provided on the left side below the photoelectric mounting plate (17), and a detection photoelectric mechanism (19) is provided on the right side below the photoelectric mounting plate (17).

10. An electric gripper mechanism according to claim 9, characterized in that: The reset photoelectric mechanism (18) is provided with a reset photoelectric baffle (20), which is fixedly connected to the left slider (10), and the detection photoelectric mechanism (19) is provided with a detection photoelectric baffle (21), which is fixedly connected to the right slider (11).

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