Gripper module, gripper mechanism and analyzer

Abstract

The utility model provides a gripper module, gripper mechanism and analyser, gripper module includes gripper drive device, support seat, first gripper subassembly and second gripper subassembly, the support seat is provided with gripper guide rail, first gripper subassembly and second gripper subassembly both slide connection on the same gripper guide rail, gripper drive device is provided with gripper guide rail, gripper drive device is provided with gripper drive device. The gripper driving device drives the first gripper assembly and the second gripper assembly to move in the opposite directions. The first gripper assembly comprises a first gripper claw, the second gripper assembly comprises a second gripper claw, the first gripper claw and the second gripper claw are oppositely arranged and form a clamping area, in the opening or closing process of the clamping area, the motion trail of the first gripper claw and the motion trail of the second gripper claw both fall on a preset straight line, and the preset straight line is parallel to the extending direction of the gripper guide rail; the gripper mechanism comprises a position adjusting assembly and a gripper module. The analyzer comprises a gripper mechanism; the two grippers provided by the utility model can be prevented from being influenced by assembly errors, are always kept right opposite to each other, and can effectively clamp a reaction cup.

Description

Technical Field

[0001] The utility model relates to the field of immunoassay equipment, in particular to a gripper module, a gripper mechanism and an analyzer. Background Art

[0002] The test process of the fully automatic immunoassay analyzer includes steps such as reaction cup loading, reagent filling, sample filling, incubation, washing, and interpretation. During this process, the reaction cup, i.e., the container for loading the reaction solution, needs to circulate within different modules or different positions of the same module. In order to achieve the goal of reaction cup transportation, a gripper module for grabbing and placing the reaction cup is required to transport the reaction cup from one position to another.

[0003] The prior art uses a gear rack and two sections of guide rails to drive two clamps to move relatively close or far away, and uses the two clamps to clamp the reaction cup. Although the two sections of the guide rails are respectively arranged parallel to the length direction of the rack during design, in actual production, due to the influence of assembly errors, the two sections of the guide rails are not necessarily exactly in a parallel state. The two clamps are not exactly facing each other when moving close, and there will be a certain position deviation, which causes the clamped reaction cup to tilt or the reaction cup cannot be clamped directly, which is prone to splashing. In addition, the overall structure of the gripper mechanism in the prior art is large and requires a large space. When transporting reaction cups in the same module, the use of this gripper mechanism is not only inconvenient in operation, but also greatly reduces the operating efficiency of the entire machine. Utility Model Content

[0004] The first purpose of the utility model is to provide a gripper module which can effectively clamp a reaction cup.

[0005] The second object of the utility model is to provide a gripper mechanism including the gripper module.

[0006] The third object of the utility model is to provide an analyzer comprising the above-mentioned gripper module.

[0007] In order to achieve the above-mentioned first purpose, the utility model provides a gripper module, including a gripper drive device, a support seat, a first gripper assembly and a second gripper assembly, a gripper guide rail is arranged on the support seat, the first gripper assembly and the second gripper assembly are both slidably connected to the same gripper guide rail, the gripper drive device drives the first gripper assembly and the second gripper assembly to move along the gripper guide rail respectively, and the respective moving directions of the first gripper assembly and the second gripper assembly are opposite; the first gripper assembly includes a first gripper claw, the second gripper assembly includes a second gripper claw, the first gripper claw and the second gripper claw are arranged opposite to each other and form a clamping area, and during the opening and closing process of the clamping area, the movement trajectories of the first gripper claw and the second gripper claw both fall on a preset straight line, and the preset straight line is parallel to the extension direction of the gripper guide rail.

[0008] It can be seen from the above scheme that by setting the two gripper assemblies to be slidingly connected on the same gripper guide rail, the two gripper claws always move in opposite directions along the same path during the clamping and releasing process, ensuring that the two gripper claws can be exactly opposite when clamping and will not be affected by assembly errors. This can effectively avoid misalignment between the two and ensure that the clamping area stably clamps the reaction cup.

[0009] A further solution is that the first gripper claw and the second gripper claw are both configured as arc structures, and the first gripper claw and the second gripper claw enclose a columnar clamping area, and the projection of the clamping area on a preset plane forms a clamping opening, the preset plane is perpendicular to the plane formed by the axis of the first gripper claw and the axis of the second gripper claw, and the center of the clamping opening falls on the projection of the preset straight line on the preset plane.

[0010] A further solution is that a gear is provided on the driving shaft of the gripper drive device; the first gripper assembly also includes a first rack and a first gripper claw bracket, and the first rack and the first gripper claw are both arranged on the first gripper claw bracket; the second gripper assembly also includes a second rack and a second gripper claw bracket, and the second rack and the second gripper claw are both arranged on the second gripper claw bracket; the first rack and the second rack are respectively arranged on both sides of the gear, and the first rack and the second rack are both meshed with the gear, and the gripper drive device drives the first rack and the second rack to move in opposite directions at the same time through the gear, thereby driving the first gripper claw and the second gripper claw to move relatively close or away.

[0011] A further solution is that the gripper module further includes an elastic ring, and the elastic ring is sleeved on the outer sides of the first gripper claw and the second gripper claw.

[0012] It can be seen from the above scheme that by providing an elastic ring, it is ensured that the two gripping claws are always kept in a clamping state without the action of external force, which is conducive to improving the clamping reliability.

[0013] A further solution is that an interlocking structure is provided between the first gripper assembly and the second gripper assembly.

[0014] A further solution is that the first gripper bracket is provided with a first slider mounting platform and a first gripper mounting portion; the second gripper bracket is provided with a second slider mounting platform and a second gripper mounting portion, and the second gripper mounting portion is provided with a limiting portion on the side facing the second slider mounting platform; the first slider mounting platform is arranged between the second slider mounting platform and the limiting portion, and the second slider mounting platform and the limiting portion can limit the first gripper bracket from detaching from the gripper guide rail, and the second gripper mounting portion is arranged between the first slider mounting platform and the first gripper mounting portion, and the first slider mounting platform and the first gripper mounting portion can limit the second gripper bracket from detaching from the gripper guide rail.

[0015] It can be seen from the above scheme that the first gripper claw bracket is restricted from detaching from the gripper guide rail by setting the second slider mounting platform and the limiting part, and the second gripper claw bracket is restricted from detaching from the gripper guide rail by setting the first slider mounting platform and the first gripper claw mounting part. The utility model does not need to set up an additional limiting mechanism.

[0016] A further solution is that the gripper module also includes an in-place detection component.

[0017] A further solution is that the in-place detection component includes a gripper sensor, a detection rod, a reset elastic member, a sleeve and a limit member. The gripper sensor is fixedly connected to one side of the support seat; the sleeve is connected to the support seat and is arranged below the gripper sensor, the detection rod passes through the sleeve and extends into the clamping area, and a trigger part and a sliding hole are arranged on the upper part of the detection rod. The trigger part is arranged corresponding to the gripper sensor, the limit member passes through the sleeve and is inserted into the sliding hole, and a cup pressing platform and an annular flange are arranged on the lower part of the detection rod. The reset elastic member elastically abuts between the sleeve and the annular flange, and the detection rod can move back and forth along the axial direction of the sleeve to trigger the gripper sensor.

[0018] It can be seen from the above scheme that by setting up a cup pressing platform for abutting against the reaction cup in the clamping area, the detection rod can move upward relatively during the process of moving down to clamp the reaction cup, so that the trigger part can trigger the gripper sensor, and thereafter, the clamping area can be closed; by setting up a reset elastic part, it is helpful to ensure that the detection rod is always in a low position before the clamping area is clamped, and when the reaction cup enters the clamping area, the detection rod is in a high position.

[0019] In order to achieve the above-mentioned second purpose, the utility model provides a gripper mechanism, including a position adjustment component and the above-mentioned gripper module, the position adjustment component can drive the gripper module to move along the X-axis, Y-axis and Z-axis; the position adjustment component is a robotic arm, or the position adjustment component includes an X-axis moving component, a Y-axis moving component and a Z-axis moving component, and the X-axis moving component, the Y-axis moving component and the Z-axis moving component are vertically arranged in pairs.

[0020] In order to achieve the third objective mentioned above, the utility model provides an analyzer including the above-mentioned gripping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of an embodiment of the gripper module of the utility model.

[0022] Figure 2 It is an exploded view of an embodiment of the gripper module of the utility model.

[0023] Figure 3 It is a structural diagram of the first gripper component in the gripper module embodiment of the utility model.

[0024] Figure 4It is a structural diagram of the second gripper assembly in the gripper module embodiment of the utility model.

[0025] Figure 5 It is a structural diagram of the first gripper claw bracket from a first perspective in an embodiment of the gripper module of the utility model.

[0026] Figure 6 It is a structural diagram of the first gripper claw bracket from a second viewing angle in an embodiment of the gripper module of the utility model.

[0027] Figure 7 It is a structural diagram of the second gripper claw bracket from a first perspective in an embodiment of the gripper module of the utility model.

[0028] Figure 8 It is a structural diagram of the second gripper claw bracket from a second viewing angle in the gripper module embodiment of the utility model.

[0029] Fig. 9 It is a top view of the clamping area of ​​the gripper module embodiment of the utility model when clamping.

[0030] Fig.10 It is a top view of the gripper module embodiment of the utility model when the clamping area is opened.

[0031] Fig.11 It is a structural diagram of the first gripper claw in the gripper module embodiment of the utility model.

[0032] Fig.12 It is a cross-sectional view of the gripper module embodiment of the utility model when the clamping area is clamped.

[0033] Fig.13 It is a cross-sectional view of the gripper module embodiment of the utility model when the clamping area is opened.

[0034] Fig.14 It is a structural diagram of the detection rod in the embodiment of the gripper module of the utility model.

[0035] Fig.15 It is a structural diagram of an embodiment of the gripper mechanism of the utility model.

[0036] Fig.16 It is a structural diagram of the X-axis moving component in the embodiment of the gripper mechanism of the utility model.

[0037] Fig.17 It is a structural diagram of the Y-axis moving component in the embodiment of the gripper mechanism of the utility model.

[0038] Fig.18 It is a structural diagram of the Z-axis moving component in the embodiment of the gripper mechanism of the utility model.

[0039] Description of reference numerals:

[0040] 100-gripper module, 200-position adjustment assembly, 300-reaction cup;

[0041] 1-gripper driving device, 11-gear;

[0042] 2-support seat, 21-support plate, 22-support arm, 23-grip guide rail, 24-vertical plate;

[0043] 3-first gripper assembly, 31-first gripper claw, 311-limiting platform, 312-groove, 32-first rack, 33-first gripper claw bracket, 331-first slider mounting platform, 332-first mounting portion, 333-first mounting groove;

[0044] 4-second gripper assembly, 41-second gripper claw, 42-second rack, 43-second gripper claw bracket, 431-second slider mounting platform, 432-second mounting portion, 433-limiting portion, 434-second mounting groove;

[0045] 5-Clamping area;

[0046] 6-Elastic ring;

[0047] 7-grab in place detection assembly, 71-gripper sensor, 72-detection rod, 721-trigger part, 722-slide hole, 723-cup pressing platform, 724-annular flange, 73-reset elastic member, 74-sleeve, 75-limiting member, 76-reset sensor, 77-trigger bracket;

[0048] 8-X-axis moving assembly, 81-X-axis base plate, 82-X-axis slide rail, 83-X-axis motor, 84-X-axis driving wheel, 85-X-axis driven wheel, 86-X-axis belt, 87-X-axis slider seat;

[0049] 9-Y-axis moving assembly, 91-Y-axis base, 92-Y-axis screw, 93-Y-axis motor, 94-Y-axis belt, 95-Y-axis slide rail, 96-Y-axis screw connecting block, 97-Y-axis moving seat;

[0050] 10-Z-axis moving assembly, 101-Z-axis motor seat, 102-Z-axis motor, 103-Z-axis slider seat, 104-Z-axis belt, 105-Z-axis lead screw, 106-Z-axis lead screw connecting block, 107-Z-axis slide rail.

[0051] The present invention will be further described below with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0052] Gripper module embodiment:

[0053] See also Figures 1 to 4The present embodiment provides a gripper module 100, comprising a gripper driving device 1, a support seat 2, a first gripper assembly 3 and a second gripper assembly 4.

[0054] The support base 2 includes a support plate 21 and two support arms 22, and the two support arms 22 are connected to the support plate 21. The gripper drive device 1 is preferably a motor, and the gripper drive device 1 is arranged on the two support arms 22. The drive shaft of the gripper drive device 1 extends toward the support plate 21, and the drive shaft is connected to the gear 11. The bottom wall of the support plate 21 is provided with a gripper guide rail 23, and the gripper guide rail 23 extends along the length direction of the support plate 21.

[0055] The first gripper assembly 3 and the second gripper assembly 4 are both slidably connected to the same gripper guide rail 23, and the gripper drive device 1 drives the first gripper assembly 3 and the second gripper assembly 4 to move along the gripper guide rail 23 respectively, and the movement directions of the first gripper assembly 3 and the second gripper assembly 4 are opposite. Preferably, the gripper drive device 1 drives the first gripper assembly 3 and the second gripper assembly 4 to move at the same time. Specifically:

[0056] The first gripper assembly 3 includes a first gripper claw 31, a first rack 32 and a first gripper claw bracket 33. The first rack 32 and the first gripper claw 31 are respectively arranged at both ends of the first gripper claw bracket 33. The first rack 32 is arranged parallel to the gripper guide rail 23, the first rack 32 is higher than the top wall of the first gripper claw bracket 33, and the first gripper claw 31 protrudes downward from the bottom wall of the first gripper claw bracket 33.

[0057] The second gripper assembly 4 includes a second gripper claw 41, a second rack 42, and a second gripper claw bracket 43. The second rack 42 and the second gripper claw 41 are both arranged on the second gripper claw bracket 43, and the second gripper claw 41 is arranged at one end of the second gripper claw bracket 43, and the second rack 42 is arranged in the middle of the second gripper claw bracket 43. The second rack 42 is arranged parallel to the gripper guide rail 23, the second rack 42 is higher than the top wall of the second gripper claw bracket 43, and the second gripper claw 41 protrudes downward from the bottom wall of the second gripper claw bracket 43.

[0058] The first rack 32 and the second rack 42 are respectively arranged on both sides of the gear 11, and the first rack 32 and the second rack 42 are both meshed and connected with the gear 11. The gripper drive device 1 drives the first rack 32 and the second rack 42 to move in opposite directions at the same time through the gear 11, thereby driving the first gripper claw 31 and the second gripper claw 41 to move relatively closer or farther away.

[0059] The first gripper claw 31 and the second gripper claw 41 are both configured as arc structures. The first gripper claw 31 and the second gripper claw 41 are arranged opposite to each other and enclose a columnar clamping area 5. During the opening and closing process of the clamping area 5, the movement trajectories of the first gripper claw 31 and the second gripper claw 41 both fall on a preset straight line, which is parallel to the extension direction of the gripper guide rail 23, that is, the first gripper claw 31 and the second gripper claw 41 are always arranged opposite to each other and will not be affected by assembly errors and positional displacement. The projection of the clamping area 5 on the preset plane forms a clamping opening, which is perpendicular to the plane formed by the axis of the first gripper claw 31 and the axis of the second gripper claw 41, and the center of the clamping opening falls on the projection of the preset straight line on the preset plane.

[0060] The shape of the clamping area 5 matches the shape of the reaction cup 300, so as to firmly clamp the reaction cup 300. In order to further clamp the reaction cup 300 and prevent the reaction cup 300 from accidentally falling off, the inner sides of the first gripper claw 31 and the second gripper claw 41 are both provided with arc steps 311 / 411, and the arc steps 311 / 411 are both matched and connected with the flange outside the cup mouth of the reaction cup 300.

[0061] In this embodiment, since the first gripper claw 31 and the second gripper claw 41 move in opposite directions at the same time, the center position of the clamping area 5 remains unchanged, that is, it always falls on the same position of the preset straight line. In other embodiments, the first gripper claw 31 and the second gripper claw 41 may not move at the same time. In this case, the center of the clamping area 5 moves back and forth along the preset straight line. However, regardless of whether the first gripper claw 31 and the second gripper claw 41 move at the same time or not, when the clamping area 5 is closed, the axis of the first gripper claw 31 is coaxial with the axis of the second gripper claw 41 to ensure that the clamping area 5 can stably and securely clamp the reaction cup 300.

[0062] The gripper module 100 further includes an elastic ring 6, which is sleeved on the outside of the first gripper claw 31 and the second gripper claw 41. When the clamping area 5 is opened, the elastic ring 6 elastically expands; when the clamping area 5 is closed, the elastic ring 6 returns to its initial state. This embodiment utilizes the elastic force of the elastic ring 6 to ensure that the clamping area 5 is in a closed state under normal conditions, which is conducive to improving the clamping force of the clamping area 5 and clamping the reaction cup 300 for a long time.

[0063] See also Figures 5 to 11 , and combined with Figure 1 An interlocking structure is provided between the first gripper assembly 3 and the second gripper assembly 4. The interlocking structure is used to prevent the first gripper assembly 3 and the second gripper assembly 4 from falling off the gripper guide rail 23 due to excessive movement distance. The interlocking structure can be provided on the rack or the gripper claw bracket. In this embodiment, it is preferably provided on the gripper claw bracket. Specifically:

[0064] The first gripper bracket 33 is provided with a first slider mounting platform 331 and a first gripper mounting portion 332. The first slider mounting platform 331 and the first gripper mounting portion 332 both protrude from the same side of the first gripper bracket 33. The first slider mounting platform 331 is provided in the middle of the first gripper bracket 33, and the first gripper mounting portion 332 is provided at the end of the first gripper bracket 33. A first preset distance is provided between the first slider mounting platform 331 and the first gripper mounting portion 332. The first slider mounting platform 331 is used to connect with the first slider, and the first slider is connected with the gripper guide rail 23. The first gripper mounting portion 332 is provided with a first mounting groove 333 for mounting the first gripper 31. One end of the first gripper 31 is provided in the first mounting groove 333 and is fixedly connected with the first gripper mounting portion 332 by screws.

[0065] The second gripper bracket 43 is provided with a second slider mounting platform 431 and a second gripper mounting portion 432 at both ends thereof, the second slider mounting platform 431 and the second gripper mounting portion 432 both protrude from the same side of the second gripper bracket 43, and a second preset distance is spaced between the second slider mounting platform 431 and the second gripper mounting portion 432. The second slider mounting platform 431 is used to connect with the second slider, the second slider is connected with the gripper guide rail 23, the second gripper mounting portion 432 is provided with a second mounting groove 434 for mounting the second gripper 41, one end of the second gripper 41 is disposed in the second mounting groove 434 and is fixedly connected with the second gripper mounting portion 432 by screws.

[0066] The second gripper claw mounting portion 432 is provided with a limiting portion 433 on the side facing the second slider mounting platform 431. When the first gripper claw bracket 33 and the second gripper claw bracket 43 are both slidably connected to the gripper slide rail 23, the first slider mounting platform 331 is arranged between the second slider mounting platform 431 and the limiting portion 433, and the second gripper claw mounting portion 432 is arranged between the first slider mounting platform 331 and the first gripper claw mounting portion 332. The second slider mounting platform 431 and the limiting portion 433 can limit the first gripper claw bracket 33 from being separated from the gripper guide rail 23, while the first slider mounting platform 331 and the first gripper claw mounting portion 332 can limit the second gripper claw bracket 43 from being separated from the gripper guide rail 23, thereby realizing the interlocking anti-detachment function. In this embodiment, no additional limiting device is required.

[0067] The upper part of the first gripper 31 is provided with a limiting platform 311 and a groove 312, the limiting platform 311 matches the shape of the first mounting groove 333, and the groove 312 is provided below the limiting platform 311. The first gripper 31 is fixed to the first gripper mounting portion 332 by screws, and the elastic ring 6 is provided in the groove 312, and the groove wall of the groove 312 is used to limit the elastic ring 6 from leaving the groove 312. The structure of the second gripper 41 is similar to that of the first gripper 31, and will not be repeated here.

[0068] See also Figure 12 to Figure 14 , and combined with Figure 1 and Figure 2 The gripper module 100 also includes an in-place detection component 7 .

[0069] The in-place detection assembly 7 comprises a gripper sensor 71, a detection rod 72, a reset elastic member 73, a sleeve 74 and a stopper 75. A vertical plate 24 is connected to the support plate 21, the vertical plate 24 is perpendicular to the support plate 21, and the gripper sensor 71 is fixedly connected to the vertical plate 24.

[0070] The upper part of the sleeve 74 is connected to the support plate 21 and is arranged below the gripper sensor 71. The lower part of the sleeve 74 passes through the first gripper claw bracket 33 and the second gripper claw bracket 43 and extends into the clamping area 5. The diameter of the sleeve 74 is smaller than the outer diameter of the reaction cup 300, so that when the clamping area 5 clamps the reaction cup 300, the first gripper claw 31 and the second gripper claw 41 will not contact the outer wall of the sleeve 74, thereby preventing the sleeve 74 from obstructing the normal clamping operation of the clamping area 5. The detection rod 72 is inserted into the sleeve 74. The upper part of the detection rod 72 passes through the sleeve 74 and is provided with a trigger part 721 and a sliding hole 722. The trigger part 721 is arranged above the sliding hole 722. The trigger part 721 and the gripper sensor 71 are arranged in correspondence with each other. The lower part of the detection rod 72 passes through the sleeve 74 and is provided with a cup pressing platform 723 and an annular flange 724. The cup pressing platform 723 is arranged below the annular flange 724. The width of the cup pressing platform 723 is greater than the diameter of the mouth of the reaction cup 300, and is used to abut against the mouth of the reaction cup 300. The outer diameter of the annular flange 724 is greater than the diameter of the detection rod 72. The reset elastic member 73 is preferably a spring. The reset elastic member 73 is sleeved on the outer side of the detection rod 72 and elastically abuts between the sleeve 74 and the annular flange 724. The limit member 75 is preferably a bolt, which passes through the sleeve 74 and is inserted into the sliding hole 722. Since the sliding hole 722 is set as a long hole, the length direction of the sliding hole 722 extends along the extension direction of the detection rod 72. The limit member 75 can move relatively in the sliding hole 722, so that the detection rod 72 can move back and forth along the axial direction of the sleeve 74.

[0071] Under normal conditions, the detection rod 72 is in a low position. Fig.13 As shown, the cup pressing platform 723 is close to the entrance and exit end of the clamping area 5; when the reaction cup 300 needs to be clamped, the clamping area 5 is opened and gradually approaches the reaction cup 300, and then the cup pressing platform 723 first contacts the reaction cup 300, and as the clamping area 5 moves downward, the reaction cup 300 pushes the detection rod 72 upward until the triggering part 721 enters the detection range of the gripper sensor 71 to trigger the gripper sensor 71. Thereafter, the clamping area 5 can be closed, as shown in FIG. Fig.12 shown.

[0072] Combination Figure 1 and Figure 2 , the second gripper claw bracket 43 is connected with a trigger bracket 77, one end of which extends upward; the vertical plate 24 is also provided with a reset sensor 76 on one side of the gripper sensor 71, and the upper part of the trigger bracket 77 is provided corresponding to the reset sensor 76, which is used to detect whether the second gripper claw bracket 43 is translated into position; if the second gripper claw bracket 43 is translated into position, the clamping area 5 is opened, and the cup can be grasped downward at this time. Since the second gripper claw bracket 43 moves simultaneously with the first gripper claw bracket 33, the trigger bracket 77 can also be connected to the first gripper claw bracket 33.

[0073] Gripper mechanism embodiment:

[0074] See also Fig.15 A gripper mechanism provided in this embodiment includes a position adjustment component 200 and the gripper module 100 of the above-mentioned gripper module embodiment. The position adjustment component 200 can drive the gripper module 100 to move along the X-axis, the Y-axis and the Z-axis.

[0075] In this embodiment, the position adjustment component 200 includes an X-axis moving component 8, a Y-axis moving component 9 and a Z-axis moving component 10, and the X-axis moving component 8, the Y-axis moving component 9 and the Z-axis moving component 10 are vertically arranged in pairs. In other embodiments, the position adjustment component can be a robotic arm, and the robotic arm can be a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm or a six-axis robotic arm.

[0076] exist Fig.16 In the figure, the X-axis moving assembly 8 includes an X-axis base plate 81, an X-axis slide rail 82, an X-axis motor 83, an X-axis driving wheel 84, an X-axis driven wheel 85, an X-axis belt 86 and an X-axis slider seat 87. The X-axis slide rail 82 is arranged on the X-axis base plate 81 and extends along the X direction. The X-axis driving wheel 84 and the X-axis driven wheel 85 are arranged on the X-axis base plate 81 along the X direction. The X-axis belt 86 is wound around the outer sides of the X-axis driving wheel 84 and the X-axis driven wheel 85. The X-axis slider seat 87 is fixedly connected to the X-axis belt 86, and the X-axis slider seat 87 is slidably connected to the X-axis slide rail 82; the driving end of the X-axis motor 83 is connected to the X-axis driving wheel 84. When the X-axis motor 83 rotates forward and reversely, the X-axis slider seat 87 is driven to move back and forth along the X direction through the X-axis belt 86.

[0077] Combination Fig.16 and Fig.17, the Y-axis moving assembly 9 is arranged on the X-axis slider seat 87. The Y-axis moving assembly 9 includes a Y-axis base 91, a Y-axis screw 92, a Y-axis motor 93, a Y-axis belt 94, a Y-axis slide rail 95, a Y-axis screw connecting block 96 and a Y-axis moving seat 97. The Y-axis motor 93 and the Y-axis screw 92 are both arranged on the Y-axis base 91, and the driving shafts of the Y-axis screw 92 and the Y-axis motor 93 are both extended along the Y direction and arranged in parallel. The driving shaft of the Y-axis motor 93 is connected with a Y-axis driving wheel, and the Y-axis screw 92 is connected with a Y-axis driven wheel, the Y-axis belt 94 is wound around the Y-axis driving wheel and the Y-axis driven wheel, the Y-axis screw connecting block 96 is connected to the middle part of the Y-axis screw 92, and the Y-axis motor 93 drives the Y-axis screw 92 to rotate around its own axial direction through the Y-axis belt 94 to drive the Y-axis screw connecting block 96 to move back and forth along the Y direction. The Y-axis slide rail 95 is arranged in parallel on one side of the Y-axis screw 92, and the Y-axis moving seat 97 is slidably connected to the Y-axis slide rail 95. The Y-axis moving seat 97 is connected to the Y-axis screw connecting block 96, so that the Y-axis moving seat 97 can follow the Y-axis screw connecting block 96 and move back and forth along the Y direction at the same time.

[0078] Combination Figure 1 , Fig.17 and Fig.18 The Z-axis moving assembly 10 is arranged on the Y-axis moving seat 97. The Z-axis moving assembly 10 comprises a Z-axis motor seat 101, a Z-axis motor 102, a Z-axis slider seat 103, a Z-axis belt 104, a Z-axis lead screw 105, a Z-axis lead screw connecting block 106 and a Z-axis slide rail 107. The Z-axis motor 102 and the Z-axis lead screw 105 are both arranged on the Z-axis motor seat 101, and the Z-axis lead screw 105 extends along the Z direction. The driving shaft of the Z-axis motor 102 is connected to a Z-axis driving wheel, and the Z-axis lead screw 105 is connected to a Z-axis driven wheel. The Z-axis belt 104 is wound around the Z-axis driving wheel and the Z-axis driven wheel, and the middle part of the Z-axis lead screw 105 is connected to a Z-axis lead screw connecting block 106; the Z-axis slide rail 107 is arranged parallel to the Z-axis lead screw 105, the Z-axis slider seat 103 is slidably connected to the Z-axis slide rail 107, and the Z-axis slider seat 103 is connected to the Z-axis lead screw connecting block 106, and the Z-axis motor 102 drives the Z-axis lead screw 105 to rotate forward and reverse around its own axis through the Z-axis belt 104, thereby driving the Z-axis lead screw connecting block 106 and the Z-axis slider seat 103 to move back and forth along the Z direction. The gripper module 100 is disposed on the Z-axis slider seat 103 and can move simultaneously with it.

[0079] Analyzer Example:

[0080] This embodiment provides an analyzer, including the gripping mechanism of the above-mentioned gripping mechanism embodiment.

[0081] In summary, the utility model sets two gripper assemblies that are slidably connected to the same gripper guide rail, so that the two gripper claws always move in opposite directions along the same path during the clamping and releasing process, ensuring that the two gripper claws can be exactly opposite when clamping and will not be affected by assembly errors. The misalignment phenomenon between the two can be effectively avoided, ensuring that the clamping area stably clamps the reaction cup.

[0082] Finally, it should be emphasized that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gripper module, comprising a gripper drive device, a support seat, a first gripper assembly and a second gripper assembly, characterized in that: The support seat is provided with a gripper guide rail, the first gripper assembly and the second gripper assembly are both slidably connected to the same gripper guide rail, the gripper driving device drives the first gripper assembly and the second gripper assembly to move along the gripper guide rail respectively, and the first gripper assembly and the second gripper assembly move in opposite directions; The first gripper assembly includes a first gripper claw, and the second gripper assembly includes a second gripper claw. The first gripper claw and the second gripper claw are arranged opposite to each other and form a clamping area. During the opening and closing process of the clamping area, the movement trajectories of the first gripper claw and the second gripper claw both fall on a preset straight line, and the preset straight line is parallel to the extension direction of the gripper guide rail.

2. The gripper module according to claim 1, characterized in that: The first gripper claw and the second gripper claw are both configured as arc structures, and the first gripper claw and the second gripper claw enclose a columnar clamping area, and the projection of the clamping area on a preset plane forms a clamping opening, and the preset plane is perpendicular to the plane formed by the axis of the first gripper claw and the axis of the second gripper claw, and the center of the clamping opening falls on the projection of the preset straight line on the preset plane.

3. The gripper module according to claim 2, characterized in that: A gear is provided on the driving shaft of the gripper driving device; The first gripper assembly further comprises a first rack and a first gripper claw bracket, wherein the first rack and the first gripper claw are both arranged on the first gripper claw bracket; The second gripper assembly further comprises a second rack and a second gripper claw bracket, wherein the second rack and the second gripper claw are both arranged on the second gripper claw bracket; The first rack and the second rack are respectively arranged on both sides of the gear, and the first rack and the second rack are both meshed and connected with the gear. The gripper driving device drives the first rack and the second rack to move in opposite directions at the same time through the gear, thereby driving the first gripper claw and the second gripper claw to move relatively closer or farther away.

4. The gripper module according to claim 1, characterized in that: The gripper module further comprises an elastic ring, and the elastic ring is sleeved on the outer sides of the first gripper claw and the second gripper claw.

5. The gripper module according to claim 3, characterized in that: An interlocking structure is provided between the first gripper assembly and the second gripper assembly.

6. The gripper module according to claim 5, characterized in that: The first gripper claw bracket is provided with a first slider mounting platform and a first gripper claw mounting portion; The second gripper claw bracket is provided with a second slider mounting platform and a second gripper claw mounting portion, and the second gripper claw mounting portion is provided with a limiting portion on a side facing the second slider mounting platform; The first slider mounting platform is arranged between the second slider mounting platform and the limiting portion, and the second slider mounting platform and the limiting portion can limit the first gripper claw bracket from detaching from the gripper guide rail. The second gripper claw mounting portion is arranged between the first slider mounting platform and the first gripper claw mounting portion, and the first slider mounting platform and the first gripper claw mounting portion can limit the second gripper claw bracket from detaching from the gripper guide rail.

7. The gripper module according to claim 1, characterized in that: The gripper module also includes an in-place detection component.

8. The gripper module according to claim 7, characterized in that: The in-place detection assembly comprises a gripper sensor, a detection rod, a reset elastic member, a sleeve and a limit member, and the gripper sensor is fixedly connected to one side of the support seat; The sleeve is connected to the support seat and is arranged below the gripper sensor, the detection rod passes through the sleeve and extends into the clamping area, the upper part of the detection rod is provided with a trigger part and a sliding hole, the trigger part is arranged corresponding to the gripper sensor, the limit member passes through the sleeve and is inserted into the sliding hole, the lower part of the detection rod is provided with a cup pressing platform and an annular flange, the reset elastic member elastically abuts between the sleeve and the annular flange, and the detection rod can move along the axial direction of the sleeve to trigger the gripper sensor.

9. The gripper mechanism is characterized by: It comprises a position adjustment component and a gripper module according to any one of claims 1 to 8, wherein the position adjustment component can drive the gripper module to move along the X-axis, the Y-axis and the Z-axis; The position adjustment component is a mechanical arm, or the position adjustment component includes an X-axis moving component, a Y-axis moving component and a Z-axis moving component, and the X-axis moving component, the Y-axis moving component and the Z-axis moving component are vertically arranged in pairs.

10. An analyzer, characterized in that: It includes the gripping mechanism described in claim 9 above.

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