Reaction cup grabbing and placing device and method

Abstract

The invention discloses a reaction cup grabbing and releasing method which is realized through a reaction cup grabbing and releasing device and comprises the following steps: firstly, initializing, even if the grabbing and releasing device 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, so that the distance between the grabbing and releasing device and the left clamping jaw is closest; then the cup is grabbed, namely, the grabbing and releasing device 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 grabbing and releasing device 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 a cup grabbing adsorption part; finally, after the reaction cup reaches the target position, the whole grabbing and releasing device moves downwards, the reaction cup is connected with the bearing face, then the grabbing and releasing device continues to move downwards till the reaction cup is connected with the second inclined faces of the left clamping jaw and the right clamping jaw, at the moment, the left clamping jaw and the right clamping jaw are separated from each other and move back to back, and cup releasing is achieved. 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 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 reaction cup grasping and placing device, and also provides a reaction cup grasping and placing method, which are as follows: The reaction cup grabbing and placing device of the present invention comprises a left clamping jaw and a right clamping jaw arranged on a linear slide rail, and a first inclined surface, a vertical clamping surface and a second inclined surface are symmetrically arranged on the right side surface of the left clamping jaw and the left side surface of the right clamping jaw, which are connected in sequence from the bottom to the top, and the first inclined surface and the second inclined surface are gradually inclined from the bottom to the 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 shortest distance between the two 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, and the lower pressing block is connected to the left support block and the right support block through a guide rod, and a return spring is arranged between the lower pressing block and the middle support block, and a left pressing groove corresponding to the left clamping jaw and a right pressing groove corresponding to the right clamping jaw are opened 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 bottom to the top and from the outside to the inside.

[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] The reaction cup grabbing and placing method of the present invention comprises: S1, initialization: the gripping and releasing device rises as a whole, the limiting member 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 gripping cup 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, grab cup: move the grab and place device to the top of the reaction cup and move it downward as a whole. The lower pressing block returns to its original position under the action of the reset spring. The left and right clamps remain in their initial positions under the action of the grab cup adsorbent. After the first inclined surface contacts the reaction cup, the grab and place device continues to move downward until the reaction cup contacts the vertical clamping surface. At this time, due to the action of the grab cup adsorbent, the left and right clamps maintain a stable gripping state on the reaction cup. S3, cup placement: When the reaction cup reaches the target position, the grasping and placing device moves downward as a whole, so that the reaction cup is connected to the carrying surface. Thereafter, the grasping and placing device continues to move downward until the reaction cup is connected to the second inclined surfaces of the left and right clamps. At this time, the left clamp and the right clamp are separated from each other and move backwards under the action of the cup placement adsorbent, and the reaction cup is placed.

[0009] The reaction cup grabbing and placing method provided by the present invention adopts a reaction cup grabbing and placing 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. In the above-mentioned process of grabbing and placing the cup, it is not necessary to consider the height of the reaction cup, and it is only necessary to press down, 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

[0010] Figure 1 It is a structural schematic diagram of the catch and release device of the present invention.

[0011] Figure 2 yes Figure 1 Schematic diagram of the initialization state of the pick and place device.

[0012] Figure 3 yes Figure 1Schematic diagram of the state of the middle grab and release device grabbing the cup.

[0013] Figure 4 yes Figure 1 Schematic diagram of the structure of the grab and place device when the reaction cup is in a stable grabbing state.

[0014] Figure 5 yes Figure 1 Schematic diagram of the state of the middle grab and place device placing the cup. DETAILED DESCRIPTION

[0015] 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.

[0016] The reaction cup grasping and placing method of the present invention is realized by a reaction cup grasping and placing device.

[0017] like Figure 1 As shown, the above-mentioned reaction cup grasping and placing device includes a left clamping jaw 1 and a right clamping jaw 2 with symmetrical structures. 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 outside to the inside from the bottom to the top.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] The reaction cup grabbing and placing method of the present invention comprises: S1, initialization: Figure 2 As shown, the gripping and releasing device rises as a whole, and the limiter M first touches 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 gripping cup adsorbing member 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 3 , 4 As shown, the gripping and placing device is moved above the reaction cup B and moved downward as a whole. The lower pressing block 7 is restored to its original position under the action of the return spring 9. The left clamping jaw 1 and the right clamping jaw 2 are still kept in their initial positions under the action of the gripping cup adsorbing member 6. When the first inclined surface 11 thereof contacts the reaction cup B (see Figure 3 ), the gripping and placing device continues to move downward until the reaction cup B contacts the vertical clamping surface 12 (see Figure 4 ), 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 entire grasping and placing device is moved upward and horizontally at a suitable position to bring the reaction cup B to above the target position.

[0022] S3, put the cup: Figure 5 As shown, when the reaction cup B reaches the target position, the grasping and placing device moves downward as a whole, so that the reaction cup B is connected to the carrying surface K. Thereafter, the grasping and placing device continues to move downward until the reaction cup B is connected to the second inclined surfaces 13 of the left and right clamps. At this time, the left clamp 1 and the right clamp 2 are separated from each other and move back to back under the action of the cup placement adsorbent 5, and the reaction cup B is placed.

[0023] 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 reaction cup grabbing and placing device, characterized in that: It comprises a left clamping jaw and a right clamping jaw arranged on a linear slide rail, 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 surface and a second inclined surface which are connected in sequence from the bottom to the top, the first inclined surface and the second inclined surface are gradually inclined from the bottom to the top and from the outside to the inside; a cup grabbing adsorption component is arranged between the left clamping jaw and the right clamping jaw, the left side of the left clamping jaw and the right side of the right clamping jaw are respectively provided with cup placing adsorption components, and an initialization component for restoring the minimum distance between the two 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 support block and the right support block through a guide rod, a return spring is arranged between the lower pressing block and the middle support block, a left pressing groove corresponding to the left clamping jaw and a right pressing groove corresponding to the right clamping jaw are opened at the bottom of the lower pressing block, the left side of the left pressing groove and the right side of the right pressing groove are both inclined surfaces which gradually deviate from the bottom to the top and from the outside to the inside.

2. The reaction cup grabbing and placing 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 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 reaction cup grabbing and placing 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 reaction cup grabbing and placing 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. A method for grasping and placing a reaction cup, implemented by the reaction cup grasping and placing device according to any one of claims 1 to 5, characterized in that: include S1, initialization: the gripping and releasing device rises as a whole, the limiting member 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 gripping cup 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, grab cup: move the grab and place device to the top of the reaction cup and move it downward as a whole. The lower pressing block returns to its original position under the action of the reset spring. The left and right clamps remain in their initial positions under the action of the grab cup adsorbent. After the first inclined surface contacts the reaction cup, the grab and place device continues to move downward until the reaction cup contacts the vertical clamping surface. At this time, due to the action of the grab cup adsorbent, the left and right clamps maintain a stable gripping state on the reaction cup. S3, cup placement: When the reaction cup reaches the target position, the grasping and placing device moves downward as a whole, so that the reaction cup contacts the carrying surface. Thereafter, the grasping and placing device continues to move downward until the reaction cup contacts the second inclined surfaces of the left and right clamps. At this time, the left clamp and the right clamp separate from each other and move backwards under the action of the cup placement adsorbent, and the reaction cup is placed.

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