A gripper unit, integrated transfer module, transfer system and transfer method

Abstract

The application discloses a clamping jaw unit, an integrated transfer module, a transfer system and a transfer method, relates to the technical field of automatic medical equipment, and provides the clamping jaw unit, the integrated transfer module, the transfer system and the transfer method, which realize the structural strength adaptation of different consumables through the elastic force self-adaptive change of an elastic unit; corresponding to amplification consumables, the elastic unit applies a small elastic force, so that the thin-walled and easily-damaged amplification consumables are prevented from being damaged by pressure; corresponding to extraction consumables, the degree of opening of the claw hand is larger, the elastic unit stores more potential energy due to stretching, and enough clamping force is provided after the clamping reset to guarantee the stability of high-strength extraction consumables, so that a complex control program or a high-precision motor is not needed, and the damage risk is reduced; the clamping jaw driving motor adopts a staged current control strategy, the claw hand is maintained to be closed at low driving current when clamping consumables, and is clamped by relying on the elastic force; when the adsorbing film is clamped, the claw hand is opened by overcoming the elastic force at high driving current to avoid, and the energy consumption and reliability are balanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated medical equipment, in particular to a clamping jaw unit, an integrated transfer module, a transfer system and a transfer method. BACKGROUND

[0002] In the specific operation, the in vitro diagnosis technology usually uses in vitro detection reagents, kits, calibrators and quality controls to detect and verify samples, so as to carry out the processes of disease prevention, diagnosis, treatment detection, late observation, health evaluation and genetic disease prediction. At present, humans can quantitatively or qualitatively analyze specific target substances through ex vivo biological sample analysis. With the development of various types of in vitro diagnosis technologies such as molecular diagnosis, immunodiagnosis and biochemical diagnosis, more and more types of biological samples rely on in vitro diagnosis equipment for processing. Efficient and accurate processing of increasing sample quantities relies on the optimized design of integrated and intelligent equipment. Domestic and foreign manufacturers have gradually focused on the development of integrated large-scale equipment. The operation steps involved in such equipment are very complicated, and the specifications of various types of consumables differ greatly. Therefore, more integrated and compatible functional module development is needed.

[0003] The most typical design in large equipment integration is the design of the container type detection system. The scheme disclosed in European patent application EP4159176A1 configures the entire detection system in a movable container, and divides different isolated areas in the container to perform molecular diagnosis or other types of sample pretreatment, reaction system preparation, and detection analysis related to in vitro diagnosis. However, the overall cost of such a system is relatively high, and the design idea is to simply integrate and combine existing equipment modules. In the premise of the increasingly streamlined development of biological detection technology, US patent application US20210011039A1 designs a multi-module splicing sample processing system, which integrates sample pretreatment, reaction system preparation, and detection analysis into modules. Only the client needs to install and combine it on site. This modular integrated design also makes the overall system more reliable. Of course, the integration of the whole machine or large modules is very important for automatic detection systems. The ordinary multifunctional unit collection design is the premise of whole machine integration. The scheme disclosed in Chinese patent CN111027409B integrates a vision sensor unit on a pipetting robot arm and configures a corresponding recognition algorithm to accurately and quickly obtain the real-time state of the pipette connected to the pipetting consumables, making the pipetting process more reliable. It can also sense the consumption of consumables and optimize the pipetting path to make the system more intelligent. In order to meet the requirements of accurately detecting the state of the sample tube and the precise identification of the liquid level position in the tube, European patent EP2776845B1 integrates an optical sensor and a vision sensor with separate transceiver ends in the module. Through the coordination of the control algorithm, the target can be positioned more accurately. In addition, in high-throughput sample processing systems, especially in molecular diagnostic equipment, various types of consumables are often involved. For example, extraction consumables are needed in the sample extraction step, and amplification consumables are needed in the amplification step. At the same time, it is also necessary to consider the sealing and recycling of used consumables to ensure the low-pollution continuous operation of the entire system. The overall system is similar to the system and corresponding consumables disclosed in US patent US20230258676A1. It is particularly important to note that the reaction system volume of the amplification step and the extraction step is quite different, and the structural strength of different consumables also differs greatly. Using the same gripper for transfer has long-term reliability problems. In addition, the film sealing scheme disclosed in Japanese patent JP2024086657A is widely used in many systems. This scheme has the advantages of high sealing reliability and simple operation. In addition, the sealing film as a consumable does not have the problem of repeated use, making the entire system less likely to be contaminated. For molecular diagnostic systems, the most effective and least polluting sealing and recycling method is still the film type sealing scheme. The reliable and accurate transfer of the film as a consumable is also considered in the automatic system. In this way, a higher degree of automation can be achieved in the processing system.

[0004] Based on the requirements of low pollution risk and integration of the automatic detection equipment, it is necessary to design a reliable, efficient and convenient control multifunctional transfer module for the transfer of various types of consumables and film, which plays a crucial role in the intelligent operation of the system. SUMMARY

[0005] The present application aims at the above-mentioned problems, and provides a gripper unit, an integrated transfer module, a transfer system and a transfer method, which dynamically adjusts the clamping force through the elastic unit, autonomously adapts to the different structural strength requirements of the extraction consumables and amplification consumables, and avoids damage or clamping failure; the gripper and the suction cup are partitioned and laid out in the module, and automatically switch modes according to the target type, compatible with the precise transfer of rigid consumables and film; the present application overcomes the problems of single function, poor compatibility and high energy consumption in the prior art, and significantly improves the precision and reliability of the automatic detection system.

[0006] The technical scheme adopted by the present application is as follows:

[0007] A gripper unit, comprising opposed gripper hands, a gripper drive motor and an elastic unit, the gripper drive motor drives the opposed gripper hands to move away from or close to each other through a gripper transmission structure, at least one of the opposed gripper hands is connected to the elastic unit, the elastic unit can exert an elastic force on the gripper hands to make the opposed gripper hands close to each other, and the elastic force exerted by the elastic unit on the gripper hands when they move close to each other is smaller than the elastic force exerted on the gripper hands when they move away from each other.

[0008] Due to the adoption of the above technical scheme, the gripper unit can adapt to the structural strength differences of different consumables in the in-vitro diagnostic system through the setting of the elastic unit during clamping: for example, in molecular diagnostics, there is a significant difference in volume and wall thickness between extraction consumables and amplification consumables: when clamping the amplification consumables with thin walls and easy to damage, the elastic unit exerts a smaller elastic force when closing to avoid damage caused by excessive clamping; when clamping the extraction consumables with higher tensile strength, the elastic force can maintain sufficient clamping stability.

[0009] Further, a clamping sensor for monitoring whether the opposed gripper hands are closed or not in real time is further included, the clamping sensor and the gripper drive motor are both signal connected with a control unit, the gripper drive motor can be controlled by the control unit to output a second drive current to balance the elastic force of the elastic unit so that the opposed gripper hands maintain a state of being away from each other by a preset interval during at least part of the time period when the gripper unit does not perform object clamping.

[0010] Due to the adoption of the above technical scheme, the clamping sensor can detect the gripper closing state in real time, ensure the reliability of the clamping action through continuous monitoring, and trigger the control unit to issue an alarm or adjust the driving parameters in time when the clamping fails. Especially in high-throughput sample processing scenarios, it ensures that the consumables are reliably clamped and will not cause sample leakage or pollution spread due to slipping or falling, significantly improving the safety and accuracy of the clamping operation. The control unit controls the gripper driving motor to drive the opposing grippers away from each other during at least part of the time period when the gripper unit does not perform object clamping. During this time period, the opposing grippers are kept in a state of being separated by a predetermined interval, and the second driving current is used to maintain this state. This ensures that the gripper unit is in a controllable state that is easier to monitor during its idle time period. For example, the operator can directly observe the separation state of the gripper unit to quickly identify whether the device is operating normally. This design also provides a reliability prerequisite for the combination of the gripper unit with other functional units.

[0011] Further, the gripper driving motor is mounted on a mounting base, and the gripper transmission structure includes a driving gear and a transmission rack corresponding to each gripper. The two transmission racks on the opposing grippers are respectively engaged on opposite sides of the gear. The gripper driving motor can act on the driving gear to rotate the driving gear. When the driving gear rotates, the transmission racks can drive the opposing grippers to move closer or further away from each other.

[0012] Due to the adoption of the above technical scheme, the gear transmission structure achieves precise synchronous driving of the opposing grippers along the linear path in reverse motion through the engagement of the driving gear and the transmission racks on both sides. This significantly improves the response speed and accuracy of the clamping action, and the structure design of the engagement transmission reduces energy loss.

[0013] Further, the two ends of the elastic unit are respectively connected to the two opposing grippers; or one end of the elastic unit is connected to any gripper, and the other end is connected to the mounting base.

[0014] Due to the adoption of the above technical scheme, the double-gripper connection mode of the elastic unit can directly apply the mutual elastic force, ensuring the symmetry of the two grippers during clamping. The connection mode of the gripper and the mounting base uses the mounting base as a fulcrum to expand the action path of the elastic force. The two configuration forms can be flexibly selected according to the stress requirements of the actual clamping object, enhancing the versatility of the gripper unit.

[0015] Further, the gripper includes a gripper body extending a predetermined length, one end of the gripper body is connected to the gripper transmission structure, and the other end is provided with a tip structure. The tip structure has at least two spaced apart contact ribs, and the plurality of contact ribs are spaced apart along the extension direction of the gripper body. The contact ribs extend from the gripper body to the side corresponding to the clamped object.

[0016] By adopting the technical scheme, the contact rib design of the pointed end structure is replaced by multi-point interval contact instead of traditional single surface contact, so that deformation of the clamped object caused by single-point force concentration can be avoided, unit area stress can be reduced to prevent clamping damage, and the rib structure can improve the anti-slippage capability during clamping.

[0017] An integrated transfer module includes at least two sub-function units, an assembly base, and a control unit. One of the sub-function units is the gripper unit described above, and the other is a suction cup unit that can negatively adsorb a target to be transferred. The suction cup unit is arranged on the side of the gripper unit. The sub-function units are signal-connected to the control unit. The control unit can send control instructions to the corresponding sub-function units according to the type of the target to be transferred, control the corresponding sub-function units to transfer the target to be transferred, and control the gripper drive motor to output a second drive current to balance the elastic force of the elastic unit and keep the gripper hands apart from each other by a preset interval during the time period when the suction cup unit performs the transfer of the target to be transferred.

[0018] By adopting the technical scheme, the integrated transfer module cooperatively arranges the gripper unit and the suction cup unit by sharing the assembly base and the control unit, can select clamping or adsorption according to the type of the target to be transferred, avoids the low efficiency of frequent switching of equipment in the traditional scheme, and significantly improves the system integration and operation efficiency in the multi-target transfer task. When the suction cup unit works, the gripper hands keep apart from each other by a preset interval to avoid each other.

[0019] Further, the suction cup unit includes at least two negative pressure suction cups arranged on both sides of the gripper unit in the width direction. The negative pressure suction cups are in fluid communication with a negative pressure generator. At least one of the negative pressure suction cups is further connected with a suction cup monitoring device that can be used to detect whether the suction cup unit is normally adsorbed.

[0020] By adopting the technical scheme, the negative pressure suction cups arranged on both sides can match the adsorption of flexible targets such as film sheets, effectively balance the adsorption force distribution, and prevent the film sheet from wrinkling or displacing during lifting or moving. The suction cup monitoring device can monitor the adsorption state in real time, realize linkage with the control unit, and immediately stop work and start an abnormal processing program when the adsorption fails due to factors such as film sheet damage or air pressure leakage, thereby greatly enhancing the operation reliability in complex environments.

[0021] Further, an integrated drive device is further included. The integrated drive device can act on the assembly base. The assembly base can perform vertical lifting movement, horizontal transverse movement, and horizontal longitudinal movement under the action of the integrated drive device.

[0022] By adopting the above technical solutions, the integrated driving device realizes three-dimensional motion control, so that the assembly base can freely adjust the position in the three-dimensional space, and the double functions of the clamping jaw unit and the suction cup unit can complete the accurate grabbing and three-dimensional transportation of the target to be transferred at any coordinate position in the space.

[0023] A transfer system includes an upper region and a lower region, the upper region is located above the lower region in the vertical direction, an integrated transfer module is arranged in the upper region, and an operation area including a plurality of sub-function areas is arranged in the lower region; the integrated transfer module can shuttle in the upper region under the action of an integrated driving device to adapt to the suction or clamping transfer work of different objects in the plurality of sub-function areas of the lower region.

[0024] By adopting the above technical solutions, the transfer system can adapt to the different sub-function areas in the operation area through the functional partition design of the upper region and the lower region, and complete the suction or clamping transfer work.

[0025] A transfer method of a transfer system, applied to the above-mentioned transfer system, includes the following steps:

[0026] The target to be transferred is confirmed by the control unit.

[0027] If the target to be transferred is an extracted consumable or an amplified consumable, the clamping jaw unit is selected; if the target to be transferred is a film, the suction cup unit is selected.

[0028] When the target to be transferred is an extracted consumable or an amplified consumable, the opposing jaws are driven away by the clamping jaw driving motor, so that the extracted consumable or the amplified consumable enters between the opposing jaws, and then the opposing jaws are driven to approach each other to clamp the extracted consumable or the amplified consumable, the elastic force of the elastic unit is applied to the extracted consumable or the amplified consumable through the jaws, and during the clamping and transferring of the consumable, the clamping jaw driving motor operates at a first driving current; when the target to be transferred is a film, the opposing jaws are driven away by the clamping jaw driving motor at a preset interval, the elastic force generated by the elastic unit is balanced by the driving force generated by the clamping jaw driving motor operating at a second driving current, and the suction cup unit adsorbs the film by negative pressure; wherein the first driving current is less than the second driving current.

[0029] The transfer operation step: the control unit controls the integrated driving device, the integrated driving device acts on the assembly base, so that the assembly base moves to a specified position, the sub-function unit releases the target to be transferred, and the transfer operation of the target to be transferred is completed.

[0030] The safety judgment step: in the process of the sub-function unit grabbing the target to be transferred for the transfer operation, it is judged in real time whether the grabbing is abnormal, if abnormal, the grabbing is tried again, otherwise, the transfer operation is performed, if the re-grabbing attempt succeeds in the set number of times, the transfer operation is performed, otherwise, the control unit outputs an abnormal instruction; if the sub-function unit is a gripper unit, the clamping of the gripper unit is detected by a clamping sensor, if the sub-function unit is a suction cup unit, the suction of the suction cup unit is detected by a suction cup monitoring device.

[0031] Due to the adoption of the above technical solutions, the transfer method of the transfer system realizes the accurate classification of the target to be transferred and the calling of the special device through the intelligent judgment and hierarchical control strategy of the control unit; when the gripper unit is selected, the gripper driving motor can run in an energy-saving mode under the action of the first driving current, which is a low driving current and can be close to 0A, at this time, the gripper unit realizes effective adaptive clamping of rigid consumables such as extraction consumables and amplification consumables through the elastic unit, so that the running mode of the gripper driving motor is unified when different consumables are transferred, the frequent switching of the gripper driving motor is saved, and the reliability problem caused by the long-term operation of the motor due to the size difference of the transfer object is effectively avoided; when the suction cup unit is selected, the driving force generated by the gripper driving motor running at the second driving current is balanced with the elastic force generated by the elastic unit, so that the opposed gripper hands are away from each other, realizing the avoidance of the suction cup unit, the second driving current is a high driving current, which ensures the stability of the avoidance of the gripper unit, in this way, the running mode of the gripper driving motor is stable, and the system running efficiency and reliability in the multi-target and multi-process scene are significantly improved.

[0032] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present application are:

[0033] 1、The gripper unit of the present application realizes the structural strength adaptation to different consumables through the self-adaptive change of the elastic force of the elastic unit; corresponding to the amplification consumables, the elastic unit applies a small elastic force to avoid the pressure loss of the thin-walled and easily damaged amplification consumables; corresponding to the extraction consumables, the degree of opening of the gripper hands is larger, the elastic unit stores more potential energy due to stretching, and provides sufficient clamping force after returning to ensure the stability of high-strength extraction consumables, without complex control program or high-precision motor, reducing the risk of damage.

[0034] 2、The clamping sensor of the application monitors the closed state of the gripper in real time, and feeds back to the control unit to trigger an alarm or adjust the driving parameters when an abnormality occurs, ensuring the reliability of clamping in high-throughput sample processing, preventing sample leakage or contamination spread due to slipping or falling, and improving operation safety and accuracy. The control unit controls the gripper drive motor to drive the opposing grippers away from each other during at least part of the time when the gripper unit does not perform object clamping. During this period, the opposing grippers are kept at a preset interval away from each other, and the state is maintained by the second driving current. This ensures that the gripper unit is in a controllable state that is easier to monitor during its idle period. For example, the operator can directly observe the separation state of the gripper unit to quickly identify whether the device is operating normally. This design also provides a reliability prerequisite for the combination of the gripper unit with other functional units, such as when the suction cup unit is working, the grippers maintain a state of mutual separation at a preset interval to avoid each other.

[0035] 3、The gripper unit of the application uses a gear and rack transmission structure to synchronously control the linear displacement of the opposing grippers, reducing the risk of motor stall and improving synchronization accuracy.

[0036] 4、The gripper drive motor of the application uses a staged current control strategy. When clamping consumables, a low driving current (close to 0A) is used to maintain the closure of the grippers, relying on elastic force for clamping. When adsorbing a film, a high driving current is used to overcome the elastic force to open the grippers to avoid each other, balancing energy consumption and reliability.

[0037] 5、The gripper tips of the gripper unit of the application use a spaced contact rib design, with multiple points of dispersed clamping force to reduce unit area pressure and prevent deformation or damage to consumables. At the same time, the clamping sensor detects abnormal states, such as when the consumables fall, triggering the gripper to close and an alarm, enhancing the reliability of the operation.

[0038] 6、The integrated transfer module of the application integrates the gripper unit and the suction cup unit in the same assembly base. The control unit intelligently selects the functional mode according to the target type: when clamping consumables, the gripper unit is activated to achieve adaptive clamping for different sizes of consumables using the elastic unit; when adsorbing a film, the opposing grippers are opened to a preset interval, and the suction cup unit is started simultaneously to avoid frequent switching of the device and improve multi-target transfer efficiency.

[0039] 7、The suction cup unit of the application is equipped with two negative pressure suction cups to balance the film adsorption force distribution and prevent wrinkles or displacement. The suction cup sensor and the negative pressure sensor cooperate to monitor the adsorption state in real time, and immediately stop the operation and perform abnormal processing when the air pressure leaks or is damaged, improving the stability of flexible target transfer.

[0040] 8、The integrated drive device of the application realizes three-dimensional space motion control of the assembly base, and cooperates with the gripper unit and the suction cup unit to accurately complete the grabbing and three-dimensional transportation of any coordinate target in space, expanding the application scenarios of the system. Attached Figure Description

[0041] Figure 1 This is an exploded view of the integrated transfer module of the present invention;

[0042] Figure 2 This is a schematic diagram of the assembled integrated transfer module of the present invention;

[0043] Figure 3 This is a schematic diagram of the gripper unit of the present invention when the grippers are closed;

[0044] Figure 4 This is a schematic diagram of the gripper unit of the present invention when the gripper is open;

[0045] Figure 5 This is a schematic diagram showing the state of the consumables during the transfer and extraction process according to the present invention;

[0046] Figure 6 This is a schematic diagram showing the state of the amplification consumables during the transfer process of this invention;

[0047] Figure 7a This is a schematic diagram of the state during membrane transfer;

[0048] Figure 7b This is a schematic diagram of the state from another perspective during membrane transfer;

[0049] Figure 8 This is a schematic diagram of an integrated transfer module with the assembly base mounted on a lifting drive mechanism.

[0050] Figure 9 This is a schematic diagram of the integrated transfer module configured on the two-dimensional drive mechanism and the lifting drive mechanism;

[0051] Figure 10 This is a schematic diagram of the transfer system layout;

[0052] Figure 11 This is a flowchart of the transfer method of the transfer system of the present invention;

[0053] Figure 12 A schematic diagram of the control unit controlling the gripper drive motor.

[0054] Marked in the figure: 10-Claw driving motor, 11-Assembly base, 12-Elastic unit, 13-Drive gear, 131-First transmission rack, 132-Second transmission rack, 133-First transmission slide rail, 134-Second transmission slide rail, 141-First claw hand, 142-Second claw hand, 15-Clamping sensor, 201-First negative pressure suction cup, 202-Second negative pressure suction cup, 21-Suction cup sensor, 30-Lifting base, 31-Lifting driving motor, 32-Lifting transmission screw, 33-Lifting transmission block, 40-Negative pressure generator, 50-Longitudinal cross beam, 51-Longitudinal driving motor, 60-Lateral cross beam, 61-Longitudinal beam driving motor, 62-Lateral connecting block, 71-Transmission buffer area, 72-Extraction consumable recycling area, 73-Amplification consumable recycling area, 74-Film storage area, 100-Extraction consumable, 200-Amplification consumable, 300-Film. DETAILED DESCRIPTION

[0055] The present application will be described in detail below with reference to the drawings.

[0056] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0057] Example 1

[0058] A claw unit, as shown in Figures 1-6 , includes opposed claw hands, a claw driving motor 10 and an elastic unit 12, the claw driving motor 10 drives the opposed claw hands to move away from or close to each other through a claw transmission structure, here the number of pairs of opposed claw hands is not limited, and any number of pairs can be set as needed, most preferably, in order to accurately transfer, the claw unit contains a pair of claw hands, that is, the claw unit contains two opposed claw hands, respectively marked as first claw hand 141 and second claw hand 142, here the first claw hand 141 and the second claw hand 142 have the same structure to ensure better replaceability of the claw hands, at least one of the opposed claw hands is connected to the elastic unit 12, the elastic unit 12 can exert an elastic force on the claw hands to make the opposed claw hands close to each other, the elastic force exerted by the elastic unit 12 on the claw hands when the claw hands move close to each other is smaller than the elastic force exerted by the elastic unit 12 on the claw hands when the claw hands move away from each other.

[0059] Specifically, the clamping jaw unit can adapt to the structural strength difference of different consumables in the in-vitro diagnostic system during clamping by the arrangement of the elastic unit 12. For example, in molecular diagnostics, there is a significant difference in volume and wall thickness between the extraction consumable 100 and the amplification consumable 200. When clamping the amplification consumable 200 with thin walls and easy to damage, the elastic unit 12 applies a smaller elastic force when close to avoid excessive clamping and damage. When clamping the extraction consumable 100 with higher tensile strength, the elastic force can maintain sufficient clamping stability, and the clamping force is greater when the opposing jaws are farther away.

[0060] It also includes a clamping sensor 15 that can monitor whether the opposing jaws are closed in real time. The clamping sensor 15 and the clamping jaw drive motor 10 are both signal connected with the control unit.

[0061] Specifically, the clamping sensor 15 can detect the closed state of the jaws in real time, ensure the reliability of the clamping action through continuous monitoring, and can trigger the control unit to issue an alarm or adjust the drive parameters in time when clamping fails. In particular, in high-throughput sample processing scenarios, it ensures that the consumables are reliably clamped and will not cause sample leakage or contamination spread due to slipping or falling off, significantly improving the safety and accuracy of the clamping operation. The control unit can control the clamping jaw drive motor 10 to drive the opposing jaws to move away from each other during at least part of the time period when the clamping jaw unit does not perform object clamping. During this time period, the opposing jaws are kept at a preset interval away from each other. The clamping jaw drive motor 10 outputs a second drive current to balance the elastic force generated by the elastic unit 12 due to the movement of the jaws away from each other. This can ensure that the clamping jaw unit is in a controllable state that is easier to monitor during its idle time period, and also provides a reliability prerequisite for the combination application of the clamping jaw unit with other functional units. The jaws at a preset interval away from each other provide sufficient space for different functional unit combinations. In this state, on the one hand, it can be determined whether the clamping jaw unit is operating normally through the monitoring of the clamping jaw drive current, and on the other hand, it can also be determined whether the jaws are closed through the monitoring of the clamping sensor 15. In addition, in special scenarios of maintenance or failure, the operator can directly observe the separation state of the clamping jaw unit to quickly identify whether the clamping jaw unit is normal. This makes the normality of the clamping jaw unit have multiple safeguards for high-reliability operation.

[0062] The clamping jaw drive motor 10 is assembled on the assembly base 11. The clamping jaw transmission structure includes a drive gear 13 and a transmission rack corresponding to each jaw. The two transmission racks on the opposing jaws are respectively engaged on opposite sides of the gear. The clamping jaw drive motor 10 can act on the drive gear 13 to rotate the drive gear 13. When the drive gear 13 rotates, the opposing jaws can be driven to move closer or farther away from each other through the transmission rack.

[0063] Specifically, the gear transmission structure realizes the precise synchronous driving of the opposite claw hands moving in the reverse direction along the straight path through the meshing of the driving gear 13 and the two side transmission racks, and the response speed and precision of the clamping action are significantly improved, and the energy loss is reduced by the meshing transmission structure design.

[0064] The claw driving motor 10 is optimally configured as a low-cost stepping motor, and of course can be configured as a direct current driving motor to improve the precision. The exposed part of the output shaft of the claw driving motor 10 is fixedly connected with the driving gear 13. The number-mold ratio of the driving gear 13 is not particularly limited. The first claw hand 141 and the second claw hand 142 opposite to each other are respectively fixedly connected with the first transmission rack 131 and the second transmission rack 132. The driving gear 13 connected with the output shaft of the claw driving motor 10 is respectively meshingly connected with the first transmission rack 131 and the second transmission rack 132. Thus, when the claw driving motor 10 rotates clockwise or counterclockwise, the first transmission rack 131 and the second transmission rack 132 can be driven to move, so that the two first claw hands 141 and the second claw hands 142 opposite to each other are driven to move close to or away from each other. The first transmission slide rail 133 and the second transmission slide rail 134 are respectively fixedly connected on the opposite sides of the assembly base 11. The two first claw hands 141 and the second claw hands 142 opposite to each other can be respectively movably embedded in the first transmission slide rail 133 and the second transmission slide rail 134, so that the resistance of the claw driving motor 10 driving the opposite claw hands to move is smaller.

[0065] The two ends of the elastic unit 12 are respectively connected with two opposite claw hands.

[0066] Specifically, the double-claw hand connection mode of the elastic unit 12 can directly exert the mutual interaction of the elastic force, and ensure the symmetry of the two claw hands when clamping. The connection mode of the claw hand and the assembly base 11 uses the assembly base 11 as a fulcrum to expand the action path of the elastic force. The two configuration forms can be flexibly selected according to the stress demand of the actual clamping object, and the versatility of the claw unit is enhanced.

[0067] The claw hand comprises a claw hand body extending a preset length, one end of the claw hand body is connected to a clamping claw transmission structure, and the other end is provided with a tip structure. In order to ensure the structural strength of the claw hand, the claw hand body has a rectangular cross-section structure and is configured as a solid type. The tip structure has at least two spaced apart contact ribs, the plurality of contact ribs are arranged at intervals along the extension direction of the claw hand body, and the contact ribs extend from the claw hand body to the side corresponding to the clamped object. The extension end of the contact rib is provided with a wave-shaped recess structure, so that the tip structure can more reliably clamp the clamped object, and the risk of the clamped object falling is also reduced. In the object clamping operation of the clamping claw unit in the embodiment, the control unit outputs a first driving current to drive the driving force of the opposed claw hand and the elastic force of the elastic unit to obtain a composite force acting on the clamped object, thereby realizing a higher self-adaptability of the object clamping and transferring operation with lower energy consumption and higher reliability.

[0068] Specifically, the contact rib design of the tip structure replaces the traditional single-sided contact with multi-point interval contact, which can avoid the deformation of the clamped object caused by single-point force concentration, reduce the unit area stress, prevent clamping damage, and improve the anti-slip ability during clamping.

[0069] Embodiment 2

[0070] Please refer to Figure 1 , Figure 1It is an integrated transfer module structure explosion schematic diagram provided by example 1, the integrated transfer module includes two sub-function units, namely the jaw unit and the suction cup unit, the integrated transfer module also includes the assembly base 11, the top of the assembly base 11 is configured through hole, the assembly base 11 is fixedly connected with the jaw driving motor 10, the exposed part of the output shaft of the jaw driving motor 10 through the through hole is fixedly connected with the driving gear 13, two separated negative pressure suction cups are also fixedly connected on the opposite side of the width direction of the first transmission slide rail 133 and the second transmission slide rail 134, which are marked as the first negative pressure suction cup 201 and the second negative pressure suction cup 202, so that the space can be fully utilized, and the structural size of the assembly base 11 does not need to be enlarged, the number of negative pressure suction cups is optimally configured to two or more, reliable adsorption of the diaphragm 300 can be realized, and the risk of damage such as bending and deformation of the diaphragm 300 during transfer is reduced, one end of the elastic unit 12 is also fixedly connected to the bottom of the assembly base 11, the other end of the elastic unit 12 is connected with one of the opposite jaws, of course, in other cases, the two ends of the elastic unit 12 are respectively connected with the two opposite jaws, the elastic unit 12 is a threaded spring here, and has an elastic coefficient of 0.35-0.45 N / mm, too large elastic coefficient will exert too large clamping force on the clamped object, which may damage the clamped object and the operation resistance of the jaw driving motor 10 is also too large, and too small elastic coefficient will make the opposite jaws have a large risk of falling off the clamped object during transfer, which affects the reliability of the jaws, the type of the elastic unit 12 is not limited to the threaded spring, and other types such as leaf spring, torsion spring or disc spring can also be configured.When the clamped object is the consumable to be transferred, the clamping jaw driving motor 10 can drive the opposing jaws to approach each other to clamp the consumable, and the elastic force of the elastic unit 12 can be applied to the consumable through the jaws to form at least part of the clamping force of the consumable. In this configuration, when the clamped object is a large-size extraction consumable, the opposing jaws are separated by a larger distance, so the clamping force applied to the consumable is larger. When the clamped object is a small-size amplification consumable, the opposing jaws are separated by a smaller distance, so the clamping force applied to the consumable is smaller. In this way, the clamping force can be adaptively adjusted without the need for complex control methods. When the clamping jaw unit is transferring different types of consumables, the clamping jaw driving motor 10 can drive the opposing jaws to approach each other to clamp the consumable, and the elastic force of the elastic unit 12 can be applied to the consumable through the jaws. The clamping jaw driving motor 10 is operated at a first driving current. When the consumable to be transferred is the film 300, the clamping unit is driven to separate by a preset distance, and the elastic force of the elastic unit is balanced by the driving force generated by the operation of the clamping jaw driving motor 10 at a second driving current. More preferably, the elastic unit 12 is configured such that the force applied to the consumable by the elastic unit 12 through the jaws when performing consumable transfer is less than the force balanced by the driving force when performing film 300 transfer. Here, the first driving current is a constant value and is less than the second driving current, so that the operation mode of the clamping jaw driving motor 10 after clamping the consumable by the opposing jaws when transferring different consumables is unified. For example, when the first driving current is configured to be 0A, the elastic force of the elastic unit 12 becomes the main clamping force, which ensures energy-saving operation and makes the maximum current and operation mode of the clamping jaw driving motor 10 more fixed, and does not cause reliability problems in long-term operation due to the difference in the size of the transferred object. The control unit can control the clamping jaw driving motor 10 to drive the opposing jaws to move away from each other during the period when the suction cup unit performs the transfer of the target to be transferred. During this period, the opposing jaws are kept at a preset interval away from each other, and the clamping jaw driving motor 10 outputs a second driving current to balance the elastic force of the elastic unit 12 due to the movement of the jaws away from each other. The jaws moving away provide sufficient space for the operation of the suction cup unit. In this state, on the one hand, the normal operation of the clamping jaw unit can be determined by monitoring the clamping jaw driving current, and on the other hand, the normal operation of the clamping jaw unit can be determined by monitoring the clamping sensor 15 to determine the closing state of the jaws. In this way, the normal operation of the clamping jaw unit has multiple safeguards for high-reliability operation, and the operator can quickly identify whether the clamping jaw unit is normal in the special scenario of maintenance or failure.

[0071] In combination Figure 2The structure schematic diagram of the provided integrated transfer module after assembly, the first negative pressure suction cup 201 is also connected with a suction cup sensor 21, here the suction cup sensor 21 is configured as a photoelectric type sensor, which has a transmitting end capable of transmitting light waves of a specific wavelength and a receiving end capable of receiving returned light waves, here the film sheet 300 has the characteristic of reflecting light waves to realize reliable detection, in one case the suction cup sensor 21 can detect the distance between the suctioned film sheet 300 and the end of the suction cup sensor 21, and the control unit can monitor whether the film sheet 300 is normally suctioned and transferred through the change of the distance, the suction cup unit is also in fluid communication with a negative pressure sensor, which can detect the negative pressure change at a specific position of the suction cup unit and transmit it to the control unit, in an optimized embodiment, the control unit can comprehensively judge whether the suctioned film sheet 300 is normally transferred according to the sensing state of the negative pressure sensor and the suction cup sensor, so that the suction cup monitoring device is composed of the suction cup sensor 21 and the negative pressure sensor, and various types of sensors can be used to detect the transfer process of the film sheet 300 more accurately and timely, here the bottom end of the claw hand of the gripper unit is configured to be lower than the negative pressure suction surface at the bottom of the suction cup unit, in actual transfer operation, the gripper unit for clamping the consumables will not be disturbed by the suction cup unit, ensuring the efficiency and accuracy of the transfer operation.

[0072] Figure 3 is a state schematic diagram when the claw hands of the gripper unit are closed, the elastic unit 12 in this embodiment is selected as a spiral type tension spring, one end of the tension spring is hung and fixed at the bottom of the assembly base 11, the other end is hung and fixed with one of the claw hands, here it is shown as being hung and fixed with the second claw hand 142, when clamping and extracting consumables such as consumable types of amplification consumables, since the sizes of different types of consumables also differ greatly, the two opposite claw hands can be separated by different distances through the precise gear and rack transmission structure of the gripper driving motor 10, thereby enabling the elastic unit 12 to be stretched by different lengths, which also enables the elastic unit 12 to generate different clamping forces suitable for the sizes of the clamped consumables, reducing the risk of damaging the transferred consumables. Figure 4 is a state schematic diagram when the claw hands of the gripper unit are opened, the two opposite claw hands are driven to the maximum separation state, which can correspond to the state of the claw hands when the film sheet 300 is transferred by the suction cup unit, so that more reliable and efficient avoidance can be formed to enable the suction cup unit to operate without interference, and the operation mode of the gripper driving motor 10 is also fixed, the control method is simple and the selection is also determined to be reliable, so that the problem of needing to use more complex and high-precision motors to match the control requirements of the multi-modal gripper driving motor 10 due to different transfer objects does not occur.

[0073] Figure 5It is a schematic diagram of the state when the transfer extraction consumables 100; the extraction process is a crucial process of automated molecular diagnostic equipment, and the current more common basic solution is the magnetic bead extraction solution. It is necessary to design an extraction consumable that can complete all extraction operations. The extraction consumable 100 is provided with a magnetic rod sleeve accommodating position to accommodate the magnetic rod sleeve consumable required for extraction. The lysis reaction hole with a set capacity contains lysis solution. In order to achieve sufficient lysis and improve the yield of products, the lysis reaction hole is provided with a larger aspect ratio size feature, wherein the width is configured to be slightly larger than the outer diameter size of the magnetic rod sleeve, and the aspect ratio is configured to be between 2.5-5. On the one hand, it can add a larger sample volume to increase the probability of obtaining target nucleic acid sequences. On the other hand, it enables more complex stirring and mixing operations in the lysis hole. The extraction consumable 100 is also provided with two or more washing hole positions to ensure sufficient washing to eliminate interference impurities and possible inhibitors, etc. Finally, the magnetic beads can be separated from the combined nucleic acid sequences in the elution hole position to obtain the final lysis solution suitable for amplification. The size and structural strength of the extraction consumable 100 is generally high, so a larger clamping force can more reliably clamp the extraction consumable 100, and the larger opposing claw hands can generate a larger elastic force from the elastic unit, which is just suitable for this demand. The contact rib at the bottom of the claw hand is clamped on the extraction consumable 100 at least in part. The top surface of the extraction consumable 100 has a predetermined distance from the bottom of the suction cup unit, so that the extraction consumable 100 will not be disturbed by the suction cup unit during transfer, and there is no risk of damage to the suction cup unit by the edges of the extraction consumable 100. The opposite side of the assembly base 11 to the clamping jaw sliding rail is connected to the clamping sensor 15. One of the claw hands is also connected to the sensing block cooperating with the clamping sensor 15. When the extraction consumable 100 clamped by the clamping jaw unit falls abnormally, the tension generated by the elastic unit 12 can drive the opposing claw hands to further approach until they are in contact as shown in Figure 3 the state, at which time the sensing block can be sensed by the clamping sensor 15, and the abnormal transfer state is detected in time and the information is transmitted to the control unit to realize the function of determining whether the consumable clamping and transfer are abnormal under the elastic force of the elastic unit 12.

[0074] Figure 6Figure 17 is a schematic view of the state of the transfer of the amplification consumables 200; here the amplification consumables 200 are configured in the form of multiple amplification reaction wells in parallel, for example, can contain eight reaction well positions in parallel, can perform multi-target detection on a single sample, or can perform detection of multiple samples for a specific small number of targets, here in order to ensure the accuracy of the amplification results and the detection of low pollution risk characteristics, the amplification consumables 200 are configured in the form of an amplification consumable body and an amplification consumable cover, the amplification consumable body and the amplification consumable cover can be reliably connected by mechanical connection such as buckling, and a connecting edge is arranged between the multiple reaction well positions of the amplification consumables 200, on the one hand, the strength of the amplification consumable body is enhanced, and on the other hand, it can be used as a contact part for transfer and other operations to avoid the risk of damage to the amplification consumables 200 during transfer, similarly, the amplification consumable cover also contains a cover connecting edge connecting different reaction well covers, most of the operations are similar to the transfer state of the extraction consumables 100, the difference is that the distance between the two opposing claw hands is smaller, and the clamping force of the elastic unit applied to the amplification consumables 200 through the claw hands is also smaller, so that the risk of deformation or even damage of the amplification consumables 200 with weak structural strength is reduced.

[0075] wherein, Figure 7a Figure 18 is a schematic view of the state of the transfer of the transfer film 300, Figure 7b Figure 19 is a schematic view of another perspective view of the state of the transfer of the transfer film 300; in the automatic processing system, the amplification consumables 200 are configured with a corresponding consumable cover, and at the same time, due to the small volume of the amplification reaction system liquid, the liquid can be constrained and limited by capillary force, and the working state is basically closed, the risk and probability of pollution during transfer and processing are small, while the extraction consumables 100 need to cooperate with the extraction magnet sleeve or the pipette tip, and need to be in an open state for a long time, but there are problems such as splashing during centralized recovery and processing, therefore, in order to ensure the reliable and low-pollution operation of the automatic processing system, it is necessary to seal the used extraction consumables 100, and the currently more reliable sealing scheme is the film sealing scheme, for example, using a film 300 made of aluminum foil or other metal materials, and using heat sealing technology to seal the extraction consumables 100, of course, in actual use, the material of the film 300 is not limited, and the sealing requirement also makes the automatic processing system have a transfer requirement for the film 300 consumables, and the suction cup unit can be connected to the negative pressure generator 40 to make the negative pressure suction cup have adsorption function, and during this process, the opposing claw hands can be driven to separate by a predetermined distance to avoid the suction cup unit transferring the film 300, so that the film 300 transfer process is more reliable and efficient.

[0076] Figure 8Figure 1 is a schematic diagram of a transfer module with an assembly base arranged on a lifting driving mechanism; when performing various different consumable transfers, the vertical position of the assembly base 11 needs to be adjusted according to different sub-function units to adapt to the operating height differences of the equipment. The assembly base 11 is adjustably connected to the lifting base 30 through the lifting transmission block 33. Thus, the height of the assembly base 11 can be adjusted by adjusting the vertical height of the lifting transmission block 33. The lifting base 30 is in threaded cooperation with the lifting transmission block 33 through the lifting transmission screw rod 32. When the lifting driving motor 31 rotates clockwise or counterclockwise, the lifting base 30 drives the assembly base 11 to move upward or downward along the length direction of the lifting transmission screw rod 32. In order to ensure the reliable and efficient operation of the assembly base 11, the lifting driving motor 31 for driving the lifting base 30 is fixedly connected with the negative pressure generator 40 in the same lifting base 30. Here, the negative pressure generator 40 can be a vacuum pump.

[0077] Figure 9Fig. 1 is a structural schematic diagram of an integrated transfer module arranged on a two-dimensional driving mechanism and a lifting driving mechanism; in order to drive different sub-functional units on the assembly base 11 to move to different positions in a set space, a two-dimensional driving structure for driving the assembly base 11 to move horizontally is also included, which comprises a longitudinal cross beam 50 and a transverse cross beam 60. The longitudinal cross beam 50 is arranged with a longitudinal driving motor 51 and a longitudinal transmission mechanism. The longitudinal driving motor 51 can drive the assembly base 11 to move along the extension direction of the longitudinal cross beam 50 in cooperation with the longitudinal transmission mechanism. Here, the longitudinal driving motor 51 is fixedly connected to the top of the longitudinal cross beam 50. The output shaft of the longitudinal driving motor 51 is connected to a longitudinal driving wheel. A longitudinal driven wheel is arranged at a preset interval in the extension direction of the longitudinal cross beam 50. A longitudinal transmission belt is annularly sleeved between the driving wheel and the driven wheel, so as to form a longitudinal transmission mechanism to generate longitudinal movement driving transmission. The transverse cross beam 60 comprises a transverse sliding rail arranged in the transverse direction and a transverse guide rod arranged at an interval therefrom. The transverse sliding rail and the transverse guide rod are arranged at both ends of the longitudinal cross beam 50 in the length direction and are arranged in parallel. The transverse cross beam 60 is arranged with a longitudinal beam driving motor 61. The output end of the longitudinal beam driving motor 61 is connected to a transverse transmission belt arranged in the extension direction of the transverse cross beam. The longitudinal cross beam 50 is also fixedly connected to a transverse connecting block 62. The transverse connecting block 62 is embeddedly connected to the transverse sliding rail. One end of the longitudinal cross beam 50 is also connected to the transverse guide rod through a roller in a rolling manner. In this way, the longitudinal cross beam 50 can be driven to slide in the extension direction of the transverse guide rail at low resistance and high efficiency. The different sub-functional units can be driven to move to any position in the set space. Similarly, the longitudinal beam driving motor is fixedly connected to one end of the transverse cross beam 60. The output shaft of the longitudinal beam driving motor is connected to a longitudinal beam driving wheel. A longitudinal beam driven wheel is arranged at a preset interval in the extension direction of the transverse cross beam 60. A longitudinal beam transmission belt is annularly sleeved between the two wheels. One side of the longitudinal beam transmission belt is fixedly connected to the transverse connecting block 62. The two-dimensional driving mechanism and the lifting driving mechanism cooperate to form an integrated driving device to meet the two-dimensional driving in the horizontal direction and the lifting driving in the height direction of the sub-functional units.

[0078] Example 3

[0079] Figure 10is a layout schematic diagram of the transfer system of the present application; an integrated transfer module provided in embodiment 2 is arranged in the upper region of the transfer system, and an operation area containing multiple sub-function areas is arranged in the opposite lower region; the integrated transfer module can shuttle in the upper region under the action of the integrated driving device to adapt to the transfer operation of extracting consumables 100, amplifying consumables 200 or film sheets 300 in the lower region; here, the operation area in the lower region contains a transfer buffer area 71 that can temporarily store different types of consumables such as the extracted consumables 100 or the amplifying consumables 200 that need to be processed, an extracted consumable recovery area 72 that is provided with an extracted consumable recovery basket and a recovery drawer that can carry the extracted consumable recovery basket to move, an amplifying consumable recovery area 73 that is provided with an amplifying consumable recovery basket, in order to simplify the driving of two different recovery baskets, the same recovery drawer is arranged, and a film sheet storage area 74 and a film sheet sealing area that cooperates with the extracted consumable 100 sealing are also arranged; when the amplifying consumables 200 are received in the system transfer buffer area 71, the integrated transfer module can use the gripper unit to clamp them and transfer them to the centrifugal area to perform the centrifugal operation, and then transfer them to the amplifying detection area to complete the amplifying detection; after use, the amplifying consumables 200 can be clamped and transferred by the integrated transfer module to the amplifying consumable recovery area 73 to complete the centralized recovery; when the extracted consumables 100 are received in the transfer buffer area 71, the extracted consumables 100 at this time are in an open state, the gripper unit can transfer them to the film sheet sealing area, then the suction cup unit can suction the film sheet 300 in the film sheet storage area 74 and cover it on the extracted consumables 100 in the film sheet sealing area; the film sheet sealing area can be provided with a sealing unit such as a heat sealing unit to reliably connect the film sheet 300 to the upper opening of the extracted consumables 100; after sealing, the extracted consumables 100 are transferred to the extracted consumable recovery area 72 to complete the centralized recovery.

[0080] Embodiment 4

[0081] A transfer method of a transfer system, applied to the transfer system in embodiment 3, as shown in Figure 11 、 Figure 12 , comprising the following steps:

[0082] A to-be-transferred target confirmation step: the control unit confirms the type of the to-be-transferred target;

[0083] A sub-function unit selection step: if the to-be-transferred target is the extracted consumables 100 or the amplifying consumables 200, the gripper unit is selected; if the to-be-transferred target is the film sheet 300, the suction cup unit is selected;

[0084] The sub-function unit control step: when the target to be transferred is the extraction consumable 100 or the amplification consumable 200, the gripper driving motor 10 drives the opposed gripper hands to move away, so that the extraction consumable 100 or the amplification consumable 200 enters between the opposed gripper hands, and then drives the opposed gripper hands to move close to each other to clamp the extraction consumable 100 or the amplification consumable 200, the elastic force of the elastic unit 12 is applied to the extraction consumable 100 or the amplification consumable 200 through the gripper hands, and the gripper driving motor runs at a first driving current during the clamping of the consumable transfer process; when the target to be transferred is the film 300, the gripper driving motor 10 drives the opposed gripper hands to move away by a preset distance, and the elastic force generated by the elastic unit 12 is balanced by the driving force generated by the gripper driving motor 10 running at a second driving current, and the suction cup unit adsorbs the film 300 by relying on negative pressure; wherein the first driving current is less than the second driving current;

[0085] The transfer operation step: the control unit controls the integrated driving device, the integrated driving device acts on the assembly base 11, so that the assembly base 11 moves to a specified position, the sub-function unit releases the target to be transferred, and the transfer operation of the target to be transferred is completed;

[0086] The safety judgment step: during the process of the sub-function unit grabbing the target to be transferred for the transfer operation, it is judged in real time whether the grabbing is abnormal, if it is abnormal, the grabbing is tried again, otherwise, the transfer operation is performed, if the re-grabbing attempt succeeds in grabbing within a set number of times, the transfer operation is performed, otherwise the control unit outputs an abnormal instruction; if the sub-function unit is a gripper unit, the clamping of the gripper unit is detected by the clamping sensor 15, and if the sub-function unit is a suction cup unit, the adsorption of the suction cup unit is detected by the suction cup monitoring device.

[0087] Due to the adoption of the above technical scheme, the transfer method of the transfer system realizes the accurate classification and special device calling of the target to be transferred through the intelligent judgment and hierarchical control strategy of the control unit; when the gripper unit is selected, the gripper driving motor 10 runs at a first driving current, the first driving current is a low driving current, which can be close to 0A, at this time the gripper unit realizes effective adaptive clamping of rigid consumables such as the extraction consumable 100 and the amplification consumable 200 through the elastic unit 12, so that the running mode of the gripper driving motor 10 is unified when transferring different consumables, the frequent switching of the gripper driving motor 10 is saved, and the reliability problem caused by the long-term operation of the motor due to the large difference in the running parameters caused by the size difference of the transfer object is effectively avoided; when the suction cup unit is selected, the driving force generated by the gripper driving motor 10 running at a second driving current is balanced with the elastic force generated by the elastic unit 12, so that the opposed gripper hands move away to realize the avoidance of the suction cup unit, the second driving current is a high driving current, which ensures the stability of the avoidance of the gripper unit, in this way, the running mode of the gripper driving motor 10 is stable, and the system running efficiency and reliability in the multi-target and multi-process scene are significantly improved.

[0088] In the clamping of the consumables during the transfer process, the clamping sensor 15 is also in the running state, when the clamping of the consumables by the clamping jaw unit has abnormal phenomena such as falling, at this time the elastic unit 12 can drive the opposing jaws to further approach until they are in contact, the sensing block can be sensed by the clamping sensor 15, and the abnormal transfer state is detected in time and the information is transmitted to the control unit, so as to realize the function of determining whether the clamping and transfer of the consumables are abnormal under the elastic force of the elastic unit 12, in this state, the clamping unit can re-clamp the consumables, the number of attempts can be set to 2, 3, 4, etc., and if the clamping is still unsuccessful after the set number of attempts, the control unit outputs an abnormal instruction, and the correctly clamped consumables can continue to run the consumable transfer instruction to transfer the consumables to the target position; if the transfer object is the film 300, the suction cup unit is driven to run, at this time the opposing jaws of the clamping jaw unit are driven to separate by a set distance, which can be the maximum distance to ensure that the clamping jaw driving motor 10 is simple to select and reliable to run, at this time the elastic force of the elastic unit 12 is balanced by the driving force generated by the second driving current output by the clamping jaw driving motor 10, in the process of film 300 suction and transfer, the negative pressure sensor and the suction cup unit detect whether the suction and transfer is abnormal, if abnormal, similar to the clamping jaw unit processing scheme, the suction attempt can be re-executed, and if the multiple attempts still fail, an abnormal instruction is output, and the normal suction state can continue to run the film suction and transfer instruction to transfer the film 300 to the target position, for example, to cover the top opening of the extracted consumables 100, in the process of transferring different objects, the control unit can adaptively output different control instructions for the operation of the clamping jaw driving motor 10, the clamping jaw driving motor 10 outputs different running currents in different stages of different operation modes, the overall control is simpler and more efficient, and it is not necessary to configure a complex control function, at the same time, the working state of the integrated transfer module is more for the transfer of the consumables, this design is also more energy-saving, and the reliability of the clamping jaw driving motor 10 is also higher.

[0089] The principles and implementation manners of the present application are described by using specific embodiments in the present application, and the above embodiment description is only applicable to help understand the method and core idea of the present application. It should be pointed out that, for ordinary skilled persons in the technical field, without departing from the principles of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present application.

[0090] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the application is used, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0091] In the description of the application, it should also be noted that, unless otherwise expressly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

Claims

1. A gripper unit, characterized in that, The device includes opposing grippers, a gripper drive motor, and an elastic unit. The gripper drive motor drives the opposing grippers to move away from or towards each other via a gripper transmission structure. At least one of the opposing grippers is connected to an elastic unit, which can apply an elastic force to the grippers to bring them closer together. The elastic force exerted by the elastic unit on the grippers when they are close together is less than the elastic force exerted when they are far apart. The gripper drive motor is signal-connected to a control unit and can be controlled by the control unit. During at least a portion of the time when the gripper unit is not performing object gripping, a second drive current is output to balance the elastic force of the elastic unit, keeping the opposing grippers at a preset distance apart. When the gripper unit performs object gripping, the gripper drive motor operates with a first drive current to keep the grippers closed, relying on the elastic force for gripping. When gripping large objects, the gripper drive motor operates with the first drive current, and the distance between the opposing grippers is larger, thus converting the gripping force applied to the object to be gripped to be greater, and the elastic force can maintain sufficient gripping stability. When gripping small objects, the gripper drive motor operates with the first drive current. The gap between the opposing grippers is small, resulting in a smaller gripping force applied to the object. The elastic unit applies a small elastic force when close to the object to avoid over-gripping and damage. The elastic unit is used to achieve adaptive gripping for objects of different sizes, so that the operating mode of the gripper drive motor is consistent when transferring different objects. The first drive current is less than the second drive current.

2. The gripper unit as described in claim 1, characterized in that, It also includes a gripping sensor that can monitor in real time whether the opposing grippers are engaged, and the gripping sensor is signal-connected to the control unit.

3. The gripper unit as described in claim 1, characterized in that, The gripper drive motor is mounted on the assembly base. The gripper transmission structure includes a drive gear and a transmission rack corresponding to each gripper hand. The two transmission racks on the opposing grippers hand are respectively meshed on opposite sides of the drive gear. The gripper drive motor can act on the drive gear to make the drive gear rotate. When the drive gear rotates, it can drive the opposing grippers hand to move closer or further apart through the transmission racks.

4. The gripper unit as described in claim 3, characterized in that, The two ends of the elastic unit are respectively connected to two opposing claws; or one end of the elastic unit is connected to any claw and the other end is connected to the assembly base.

5. The gripper unit as described in claim 1, characterized in that, The gripper includes a gripper body extending a preset length. One end of the gripper body is connected to a gripper transmission structure, and the other end is provided with a tip structure. The tip structure has at least two spaced-apart contact ribs. Multiple contact ribs are spaced apart along the extension direction of the gripper body. The contact ribs extend from the gripper body to the side corresponding to the object being gripped.

6. An integrated transfer module, characterized in that, The device includes at least two sub-functional units, an assembly base, and a control unit. The sub-functional units are assembled on the assembly base. One sub-functional unit is a gripper unit as described in any one of claims 2-5, and the other sub-functional unit is a suction cup unit capable of negatively adsorbing the target to be transferred. The suction cup units are spaced apart on the side of the gripper unit. The sub-functional units are signal-connected to the control unit. The control unit can send control commands to the corresponding sub-functional units according to the type of target to be transferred, and control the corresponding sub-functional units to transfer the target to be transferred. The gripper drive motor can be controlled by the control unit. During the time period when the suction cup unit performs the transfer of the target to be transferred, it outputs a second drive current to balance the elastic force of the elastic unit, so that the opposing grippers remain far apart from each other by a preset distance.

7. The integrated transfer module as described in claim 6, characterized in that, The suction cup unit includes at least two negative pressure suction cups spaced apart on both sides of the gripper unit in the width direction. The negative pressure suction cups are fluidly connected to a negative pressure generator. At least one of the negative pressure suction cups is also connected to a suction cup monitoring device that can be used to detect whether the suction cup unit is adsorbing normally.

8. The integrated transfer module as described in claim 7, characterized in that, It also includes an integrated drive device, which can act on the assembly base, and the assembly base can perform vertical lifting, horizontal lateral movement and horizontal longitudinal movement under the action of the integrated drive device.

9. A transfer system, characterized in that, It includes an upper region and a lower region. The upper region is located above the lower region in the vertical direction. The upper region is equipped with the integrated transfer module as described in claim 8, and the lower region is equipped with an operation area containing multiple sub-functional areas. The integrated transfer module can move back and forth in the upper region under the action of an integrated drive device to adapt to and perform the suction or clamping transfer operations of different objects in the multiple sub-functional areas of the lower region.

10. A transfer method for a transfer system, applied to the transfer system as described in claim 9, characterized in that, Includes the following steps: Target to be transferred confirmation step: The control unit confirms the type of target to be transferred; Sub-functional unit selection steps: If the target to be transferred is an extraction consumable or an amplification consumable, select the gripper unit; if the target to be transferred is a membrane, select the suction cup unit. Sub-functional unit control steps: The control unit controls the sub-functional unit to grasp the target to be transferred. When the target to be transferred is an extraction consumable or an amplification consumable, the gripper drive motor drives the opposing grippers to move away from each other, so that the extraction consumable or amplification consumable enters between the opposing grippers. Then, the opposing grippers are driven to move closer to each other to clamp the extraction consumable or amplification consumable. The elastic force of the elastic unit is applied to the extraction consumable or amplification consumable through the grippers. During the transfer of the consumable, the gripper drive motor operates with the first drive current. When the target to be transferred is a membrane, the gripper drive motor drives the opposing grippers to move away from the preset distance. The elastic force generated by the elastic unit is balanced by the driving force generated by the gripper drive motor operating with the second drive current. The suction cup unit relies on negative pressure to adsorb the membrane. The first driving current is less than the second driving current; Transfer operation steps: The control unit controls the integrated drive device, which acts on the assembly base to move the assembly base to the designated position. The sub-functional unit releases the target to be transferred, thus completing the transfer operation of the target to be transferred. Safety judgment steps: During the transfer operation of the sub-functional unit grasping the target to be transferred, the grasping is judged in real time to see if any abnormality occurs. If an abnormality occurs, the grasping is retried; otherwise, the transfer operation is executed. If the retried grasping is successful within a set number of attempts, the transfer operation is executed; otherwise, the control unit outputs an abnormal command. If the sub-functional unit is a gripper unit, the gripping of the gripper unit is detected by a gripping sensor to see if any abnormality occurs. If the sub-functional unit is a suction cup unit, the suction cup unit's adsorption is detected by a suction cup monitoring device to see if any abnormality occurs.

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