Grabbing mechanism, transfer device and sample analyzer

Abstract

The utility model relates to a grabbing mechanism, a transfer device and a sample analyzer. The grabbing mechanism comprises a base; the grabbing assembly comprises a first driving unit, a second driving unit and a grabbing hand, the second driving unit is in transmission connection between the first driving unit and the grabbing hand, the first driving unit is used for driving the second driving unit to drive the grabbing hand to slide in the first direction, and the second driving unit is used for driving the grabbing hand to slide in the second direction intersecting with the first direction; the number of the grabbing assemblies is multiple, and the second driving units in all the grabbing assemblies are arranged side by side in the first direction. According to the grabbing mechanism, the transfer device and the sample analyzer, the occupied space can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a grasping mechanism, a transfer device and a sample analyzer. Background Art

[0002] Taking the immunoassay analyzer in the sample analyzer as an example, the immunoassay analyzer is a highly sensitive and specific analytical instrument that has developed rapidly worldwide in recent years. It is used in clinical laboratories to detect various immune indicators of samples such as blood, urine or other body fluids. The principle is to combine the two technologies of antibody-antigen reaction and chemiluminescence to achieve high specificity and high sensitivity.

[0003] In an immunoassay analyzer, a transfer device is required to transfer consumables (such as reaction containers, disposable pipette tips, etc.) used in the detection process. The transfer device used in the related art occupies a large space, resulting in a large volume of the sample analyzer. Utility Model Content

[0004] Based on this, it is necessary to provide a grasping mechanism, a transfer device and a sample analyzer that can reduce the occupied space in order to address the above problems.

[0005] A gripping mechanism, comprising:

[0006] Pedestal;

[0007] A gripping assembly, comprising a first driving unit, a second driving unit and a gripper, wherein the second driving unit is transmission-connected between the first driving unit and the gripper, the first driving unit is used to drive the second driving unit to drive the gripper to slide along a first direction, and the second driving unit is used to drive the gripper to slide along a second direction intersecting the first direction;

[0008] Wherein, the grabbing assemblies are in multiple groups, and the second driving units in all the grabbing assemblies are arranged side by side along the first direction.

[0009] In some of the embodiments, a guide slide extending along the first direction is formed on the base, and the second driving units in all the grabbing assemblies slide under the guidance of the guide slide.

[0010] In some embodiments, the base includes a base plate and a track component, wherein the track component is disposed on the base plate and is configured to form the guide slideway;

[0011] The second driving units are each provided with a guide slider, and the guide slider on the second driving unit is slidably arranged on the track component.

[0012] In some embodiments, the first driving unit includes a first motor, a first driving wheel, a first driven wheel and a first synchronous belt, and the first driving wheel and the first driven wheel are arranged along the first direction;

[0013] The first motor is drivingly connected to the first driving wheel, the first synchronous belt is sleeved outside the first driving wheel and the first driven wheel, and the second driving unit is fixedly connected to the first synchronous belt;

[0014] The first synchronous belts of all the first driving units are arranged at intervals along the second direction or the third direction; wherein the third direction intersects with both the first direction and the second direction.

[0015] In some embodiments, the first driving unit further includes a mounting seat, a mounting shaft and a stop ring, the mounting seat is disposed on the base, the mounting shaft is installed on the base, the first driven wheel is rotatably mounted on the mounting shaft, and the stop rings are provided on both sides of the first driven wheel that are relatively disposed.

[0016] In some embodiments, the first driving unit further includes a bearing, the bearing is rotatably sleeved outside the mounting shaft, and the first driven wheel is rotatably sleeved outside the bearing.

[0017] In some embodiments, the first driving unit includes a first motor, a first driving wheel, a first driven wheel, a second driven wheel and a first synchronous belt;

[0018] The first motor is drivingly connected to the first driving wheel, the first driven wheel and the second driven wheel are arranged along the first direction, the first synchronous belt is sleeved outside the first driving wheel, the first driven wheel and the second driven wheel, and the second driving unit is fixedly connected to a section of the first synchronous belt between the first driven wheel and the second driven wheel;

[0019] The first synchronous belts of all the first driving units are arranged along a third direction intersecting both the first direction and the second direction.

[0020] In some embodiments, the first driving unit further includes a first direction-changing wheel and a second direction-changing wheel, and the first direction-changing wheel and the second direction-changing wheel are arranged on the base along the first direction;

[0021] The first direction-changing wheel and the second direction-changing wheel are located outside the first synchronous belt, and the first direction-changing wheel abuts against a section of the first synchronous belt located between the first driving wheel and the first driven wheel, and the second direction-changing wheel abuts against a section of the first synchronous belt located between the first driving wheel and the second driven wheel.

[0022] In some embodiments, the second driving unit includes a first assembly seat, a second assembly seat, a second motor, a second driving wheel, a third driven wheel, a fourth driven wheel and a second synchronous belt;

[0023] The first assembly seat is fixedly connected to the first driving unit, the second assembly seat is slidably disposed on the first assembly seat along the second direction, the third driven wheel and the fourth driven wheel are both rotatably disposed on the second assembly seat and arranged along the second direction, and the gripper is fixedly connected to the second assembly seat;

[0024] The second motor is arranged on the base and is drivingly connected to the second driving wheel. The second synchronous belt is wound around the second driving wheel, the third driven wheel and the fourth driven wheel. The unclosed ends of the second synchronous belt are arranged away from the second driving wheel in the first direction and are both fixedly connected to the base.

[0025] A transfer device comprises the grasping mechanism as described in any one of the above embodiments.

[0026] A sample analyzer comprises the transfer device as described in the above embodiment.

[0027] The above-mentioned grasping mechanism, transfer device and sample analyzer, multiple grasping components work independently of each other, which can improve the transfer efficiency of the transfer device, thereby ultimately improving the detection efficiency of the sample analyzer. The second drive units in all grasping components are arranged side by side along the first direction. When the movement paths of the second drive units in the first direction mostly overlap, compared with the second drive units of all grasping components being independently arranged along the third direction, the grasping mechanism is simpler and more compact, and occupies less space in the first and third directions, which is conducive to miniaturization of the grasping mechanism, transfer device and sample analyzer, and can meet the working conditions with limited space in the first and / or third directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a front view of the grabbing mechanism in the first embodiment of the present application.

[0029] Figure 2 for Figure 1 Rear view of the gripping mechanism shown.

[0030] Figure 3 for Figure 1 A top view of the gripping mechanism is shown.

[0031] Figure 4 for Figure 1 The schematic diagram of the structure of the first driven wheel, mounting seat, mounting shaft, stop ring and bearing cooperation in the grabbing mechanism shown.

[0032] Figure 5 for Figure 1 Exploded view of the gripping mechanism shown.

[0033] Figure 6 for Figure 5 A schematic structural diagram of the second driving unit in the gripping mechanism is shown.

[0034] Figure 7 for Figure 1 Right side view of the gripping mechanism shown.

[0035] Figure 8 for Figure 1 A schematic structural diagram of a support base, a first pressing plate and a second pressing plate of a second driving unit in the grabbing mechanism is shown.

[0036] Fig. 9 for Figure 8 A bottom view of the second drive unit is shown.

[0037] Fig.10 This is a front view of the grabbing mechanism in the second embodiment of the present application.

[0038] Fig.11 for Fig.10 Rear view of the gripping mechanism shown.

[0039] Fig.12 for Fig.11 Right side view of the gripping mechanism shown.

[0040] Fig.13 This is a front view of the grabbing mechanism in the third embodiment of the present application.

[0041] Fig.14 for Fig.13 The structure diagram of the grabbing mechanism shown is a schematic diagram after removing a second driving unit and a gripper.

[0042] Fig.15 for Fig.14 Left side view of the gripping mechanism shown.

[0043] Figure Number:

[0044] 1. Grasping mechanism;

[0045] 10. Grasping assembly; 20. Base;

[0046] 11. First driving unit; 12. Second driving unit; 13. Gripper;

[0047] 11a, first motor; 11b, first driving wheel; 11c, first driven wheel; 11d, second driven wheel; 11e, first synchronous belt; 11f, mounting seat; 11f1, first plate; 11f2, second plate; 11f3, third plate; 11g, mounting shaft; 11h, stop ring; 11k, bearing; 11m, first direction-changing wheel; 11n, second direction-changing wheel; 11p, first clip; 11r, second clip; 11s, detachable part;

[0048] 12a, first assembly seat; 12b, second assembly seat; 12b1, track portion; 12b2, assembly portion; 12c, second motor; 12d, second driving wheel; 12e, third driven wheel; 12f, fourth driven wheel; 12g, second synchronous belt; 12h, guide slider; 12i, first reversing wheel; 12j, second reversing wheel; 12k, third reversing wheel; 12m, fourth reversing wheel; 12n, connecting seat; 12p, supporting seat; 12p1, first surface; 12p2, second surface; 12p3, first rack; 12p4, second rack; 12q, first pressing block; 12q1, first limiting groove; 12r, second pressing block; 12r1, second limiting groove; 12s, first transmission wheel; 12t, second transmission wheel; 12u, transmission synchronous belt;

[0049] 21. Base plate; 21a. Avoidance hole; 22. Guide slideway;

[0050] X, first direction; Z, second direction; Y, third direction. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0052] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "base", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "periphery" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0057] The present application provides a sample analyzer, which is used to detect samples and provide a basis for clinical treatment. The sample analyzer can be an immunoassay analyzer, a coagulation analyzer, a blood cell analyzer, a urine analyzer, etc., and the specific type is not limited here. For the convenience of explanation, the following embodiments are all described by taking the sample analyzer as an immunoassay analyzer as an example.

[0058] The sample analyzer includes a storage device, a transfer device, a filling device, a mixing device, a reaction device, a cleaning device and a measuring device. The storage device is used to store samples and reagents that react with the samples. The transfer device is used to transfer consumables required for detection, such as reaction containers, disposable pipette tips, etc. For the convenience of explanation, the following embodiments are all described as an example of a transfer device used to transfer a reaction container. The transfer device is used to drive the reaction container to transfer between the filling device, the reaction device, the cleaning device and the measuring device. The filling device is used to transfer the sample and the reagent to the reaction container in sequence, the mixing device is used to mix the sample and the reagent, the reaction device is used to carry and transmit the reaction container, and can incubate the mixed sample and the reagent so that the sample can fully combine and react with the reagent to ensure the accuracy of the sample detection. The cleaning device is used to clean and remove impurities in the reaction container after incubation, so that the object to be detected is left in the reaction container. The measuring device is used to detect the object to be detected to obtain the detection parameters of the sample to meet the detection requirements.

[0059] For ease of understanding, the names of the samples and reagents at each stage are described in detail here: the sample and reagent in the reaction container are mixed and called a mixture, and the reaction device can incubate the mixture in the reaction container so that the sample and the reagent react fully. After the reaction, the substances in the reaction container are the test substance and impurities. In other words, the mixture after the reaction is presented in the form of the test substance and impurities. Impurities can be substances that are not fully reacted, side reaction products produced by side reactions, and other substances that affect the detection of the measuring device, etc. The reaction container can be a reaction cup, a reaction tube, etc., and the specific form of the reaction container can be selected as needed.

[0060] See also Figure 1 The transfer device includes a gripping mechanism 1, which is used to grip and transfer the consumables. To improve the transfer efficiency, multiple gripping mechanisms 1 can be set in the transfer device, and different gripping mechanisms 1 can be used to transfer different consumables, or different gripping mechanisms 1 can be used to transfer the same consumable along different transfer paths, which can be set according to needs.

[0061] Taking the example of two groups of grasping mechanisms 1 being arranged in the transfer device, and different grasping mechanisms 1 being used to transfer the reaction containers according to different transfer paths, one group of grasping mechanisms 1 is used to grasp the reaction containers and transfer them between the reaction device and the filling device, and the other group of grasping mechanisms 1 is used to grasp the reaction containers and transfer them between the reaction device and the cleaning device.

[0062] Of course, the number of gripping mechanisms 1 in the transfer device is not limited to the above-mentioned one. In some other embodiments, the transfer mechanism may also be provided with only one gripping mechanism 1, or more than three gripping mechanisms 1, and the transfer object and transfer path of the gripping mechanism 1 may be set as needed.

[0063] Please refer again Figure 1 , and also see Figure 2 and Figure 3 In the first embodiment of the present application, the gripping mechanism 1 includes a base 20 and a plurality of gripping assemblies 10, the gripping assemblies 10 include a first driving unit 11, a second driving unit 12 and a gripper 13, the second driving unit 12 is transmission-connected between the first driving unit 11 and the gripper 13, the first driving unit 11 is used to drive the second driving unit 12 to drive the gripper 13 to slide along a first direction X, and the second driving unit 12 is used to drive the gripper 13 to slide along a second direction Z intersecting the first direction X. Among them, the second driving units 12 in all the gripping assemblies 10 are arranged side by side along the first direction X.

[0064] Different grabbing assemblies 10 can be used to grab different consumables for transfer, or different grabbing assemblies 10 can also be used to grab the same consumable and transfer it along different transfer paths.

[0065] Taking the example that the grasping components 10 in the grasping mechanism 1 are arranged in two groups, and both groups of grasping components 10 are used to grasp the reaction container and transfer it between the reaction device and the cleaning device, one of the grasping components 10 is used to transfer the reaction container after one incubation in the reaction device to the cleaning device for one cleaning, and the other grasping component 10 is used to transfer the reaction container after one cleaning back to the reaction device for a second filling.

[0066] The first driving unit 11 drives the second driving unit 12 to drive the gripper 13 to slide along the first direction X to achieve a position change of the gripper 13 in the first direction X, and the second driving unit 12 drives the gripper 13 to slide along the second direction Z to achieve a position change of the gripper 13 in the second direction Z.

[0067] The first direction X and the second direction Z are intersected, and the angle between them can be 30°, 60°, 90°, etc., which can be set as needed. Preferably, the angle between the first direction X and the second direction Z is 90°. Figure 1 Taking the state of the grabbing mechanism 1 in the middle as an example, the first direction X is the left-right direction, and the second direction Z is the up-down direction.

[0068] In the present application, by setting up multiple groups of gripping components 10, the multiple gripping components 10 work independently of each other, which can improve the transfer efficiency of the transfer device, thereby ultimately achieving the improvement of the detection efficiency of the sample analyzer. The second drive units 12 in all the gripping components 10 are arranged side by side along the first direction X. When the motion paths of the second drive units 12 in the first direction X mostly overlap, compared with the second drive units 12 of all the gripping components 10 being independently arranged along the third direction Y, the gripping mechanism 1 is simpler and more compact, and occupies less space in the first direction X and the third direction Y, which is conducive to the miniaturization of the gripping mechanism 1, the transfer device and the sample analyzer, and can meet the working conditions where the space in the first direction X and / or the third direction Y is limited.

[0069] The third direction Y intersects with the first direction X and the second direction Z, and the angles between the third direction Y and the first direction X, and between the third direction Y and the second direction Z can be 30°, 60°, 90°, etc., which can be set as needed. Preferably, the angles between the third direction Y and the first direction X, and between the third direction Y and the second direction Z are all 90°. Figure 1 Taking the state of the grabbing mechanism 1 in the middle as an example, the third direction Y is the front-to-back direction.

[0070] Further, in the first embodiment of the present application, a guide slide 22 extending along the first direction X is formed on the base 20 , and the second drive units 12 in all the grabbing assemblies 10 slide under the guidance of the guide slide 22 .

[0071] The base 20 includes a base plate 21. As an example, the guide slide 22 can be formed by a track component separately mounted on the base plate 21, or can be formed by a groove structure formed by a depression of the base plate 21. The second drive unit 12 of all the gripping assemblies 10 is clamped in the groove structure and slides under the guidance of the groove structure.

[0072] By providing the guide slide 22 , the guide slide 22 guides the second driving unit 12 to slide, thereby improving the sliding stability of the second driving unit 12 and the gripper 13 .

[0073] Please also read Figure 5 Furthermore, in the first embodiment of the present application, the base 20 includes a substrate 21 and a track component, the track component is arranged on the substrate 21 and is constructed to form a guide slide 22; the second drive unit 12 has a guide slider 12h, and the guide slider 12h on the second drive unit 12 can be slidably arranged on the track component.

[0074] The length direction of the substrate 21 coincides with the first direction X, the thickness direction of the substrate 21 coincides with the second direction Z, the width direction of the substrate 21 coincides with the third direction Y, and the track component is arranged on the top side of the substrate 21 .

[0075] Compared with the groove structure formed on the base plate 21 , the rail component cooperates with the guide slider 12 h , which can guide the second driving unit 12 to slide without reducing the mechanical strength of the base 20 , thereby extending the service life of the grasping mechanism 1 .

[0076] Please refer again Figure 3 In the first embodiment of the present application, the first drive unit 11 includes a first motor 11a, a first driving wheel 11b, a first driven wheel 11c and a first synchronous belt 11e, and the first driving wheel 11b and the first driven wheel 11c are arranged along the first direction X; the first motor 11a is transmission-connected with the first driving wheel 11b, the first synchronous belt 11e is sleeved outside the first driving wheel 11b and the first driven wheel 11c, and the toothed surface of the first synchronous belt 11e is meshed with the first driving wheel 11b and the second driven wheel 11d, and the second drive unit 12 is fixedly connected to the first synchronous belt 11e; the first synchronous belts 11e of all the first drive units 11 are arranged at intervals along the third direction Y.

[0077] Among them, the first motor 11a, the first driving wheel 11b, the first driven wheel 11c and the first synchronous belt 11e are all located on the top side of the substrate 21, and the first driving wheel 11b and the first driven wheel 11c are arranged at opposite ends of the substrate 21 along the first direction X, and the first motor 11a and the first driving wheel 11b are located at the same end of the substrate 21. A plurality of avoidance holes 21a are arranged through the substrate 21 along the second direction Z, and the avoidance holes 21a are strip-shaped and extend along the first direction X. All the avoidance holes 21a correspond to all the grab assemblies 10 one by one, and the second driving unit 12 of the grab assemblies 10 is penetrated in the corresponding avoidance holes 21a.

[0078] During actual operation, the power of the first motor 11 a is transmitted to the second driving unit 12 through the first driving wheel 11 b and the first synchronous belt 11 e , so as to drive the second driving unit 12 to drive the gripper 13 to slide along the first direction X.

[0079] The first motor 11a, the first driving wheel 11b, the first driven wheel 11c and the first synchronous belt 11e are provided to improve the sliding stability of the second driving unit 12 and the gripper 13 in the first direction X.

[0080] The first motors 11a of all the first drive units 11, the first synchronous belts 11e of all the first drive units 11, and the first driven wheels 11c of all the first drive units 11 are arranged at intervals along the third direction Y. Therefore, during the sliding process, the degree of mutual interference between the grabbing components 10 is relatively small.

[0081] See also Figure 4 Furthermore, in the first embodiment of the present application, the first driving unit 11 also includes a mounting seat 11f, a mounting shaft 11g and a stop ring 11h, the mounting seat 11f is arranged on the base 20, the mounting shaft 11g is installed on the base 20, the first driven wheel 11c is rotatably mounted on the mounting shaft 11g, and stop rings 11h are provided on both sides of the first driven wheel 11c that are relatively arranged.

[0082] The mounting seat 11f is arranged on the top side of the substrate 21, and the mounting seat 11f includes a first plate 11f1 and a second plate 11f2 arranged relatively along a third direction Y, and a third plate 11f3 connected to the bottom ends of the first plate 11f1 and the second plate 11f2, and the mounting shaft 11g is installed between the first plate 11f1 and the second plate 11f2.

[0083] The first driven wheels 11 c and all the stop rings of all the grabbing assemblies 10 are sleeved on the mounting shaft 11 g, and the first driven wheels 11 c of all the grabbing assemblies 10 are rotatable relative to the mounting shaft 11 g.

[0084] The design of the mounting shaft 11g and the mounting seat 11f enables the first driven wheels 11c of all the grabbing assemblies 10 to be integrated on the same mounting shaft 11g, which is simple and compact in structure. The setting of the stop ring 11h can limit the first driven wheel 11c, which is beneficial to reducing the risk of the first driven wheel 11c sliding along the axial direction of the mounting shaft 11g, so as to avoid contact and mutual interference between adjacent first driven wheels 11c, thereby ensuring the reliability of the grabbing mechanism 1.

[0085] Furthermore, in the first embodiment of the present application, the first driving unit 11 further includes a bearing 11k, the bearing 11k is rotatably sleeved outside the mounting shaft 11g, and the first driven wheel 11c is rotatably sleeved outside the bearing 11k.

[0086] There may be one or more bearings 11k in the same first drive unit 11. Taking the case where there are multiple bearings 11k in the same first drive unit 11 as an example, all bearings 11k in the same first drive unit 11 are arranged along the third direction Y.

[0087] By providing the bearing 11k, the rotation stability of the first driven wheel 11c is improved, and thus the working reliability of the gripping mechanism 1 is also improved.

[0088] In the first embodiment of the present application, the first driving unit 11 also includes a first clip 11p, a second clip 11r and a detachable part 11s. The first clip 11p and the second clip 11r are arranged at intervals along the third direction Y. The first clip 11p and the second clip 11r are respectively arranged on the side of the first plate 11f1 and the second plate 11f2 that are away from each other, and the first clip 11p is detachably connected to the installation shaft 11g and the first plate 11f1 through the detachable part 11s, and the second clip 11r is detachably connected to the installation shaft 11g and the second plate 11f2 through the detachable part 11s to fix the installation shaft 11g.

[0089] The detachable part 11s may be a screw, a pin or other components.

[0090] Please refer again Figure 5 , and also see Figure 6 and Figure 7 In the first embodiment of the present application, the second driving unit 12 includes a first assembly seat 12a, a second assembly seat 12b, a second motor 12c, a second driving wheel 12d, a third driven wheel 12e, a fourth driven wheel 12f and a second synchronous belt 12g. The first assembly seat 12a is fixedly connected to the first driving unit 11, the guide slider 12h is fixedly connected to the first assembly seat 12a, the second assembly seat 12b is slidably arranged on the first assembly seat 12a along the second direction Z, the third driven wheel 12e and the fourth driven wheel 12f are both rotatably arranged on the second assembly seat 12b and arranged along the second direction Z, and the gripper 13 is fixedly connected to the second assembly seat 12b. The second motor 12c is disposed on the base 20 and is in transmission connection with the second driving wheel 12d. The second synchronous belt 12g is wound around the second driving wheel 12d, the third driven wheel 12e and the fourth driven wheel 12f, and the toothed surface of the second synchronous belt 12g is meshed with the second driving wheel 12d, the third driven wheel 12e and the fourth driven wheel 12f. The unclosed ends of the second synchronous belt 12g are disposed away from the second driving wheel 12d in the first direction X and are both fixedly connected to the base 20.

[0091] Specifically, the third driven wheel 12e is located on the top side of the base plate 21, the second motor 12c, the second driving wheel 12d, the fourth driven wheel 12f and the gripper 13 are all located on the bottom side of the base plate 21, and the first assembly seat 12a and the second assembly seat 12b are simultaneously penetrated in the same avoidance hole 21a.

[0092] The second assembly seat 12b includes a rail portion 12b1 and an assembly portion 12b2. A slide groove extending along the second direction Z is opened on the first assembly seat 12a. The rail portion 12b1 is slidably set in the slide groove and extends along the second direction Z. The third driven wheel 12e and the fourth driven wheel 12f are installed at opposite ends of the rail portion 12b1 along the second direction Z. The assembly portion 12b2 is connected to one end of the rail portion 12b1 away from the third driven wheel 12e, and is connected to the assembly portion 12b2.

[0093] Please also see Figure 8 9, specifically, the second drive unit 12 also includes a support seat 12p, a first pressure block 12q and a second pressure block 12r, the support seat 12p is protruded along the second direction Z on the bottom side of the substrate 21, the support seat 12p has a first surface 12p1 and a second surface 12p2 that are opposite and parallel to each other along the second direction Z, the second synchronous belt 12g has a first end and a second end that are opposite and parallel to each other, the first end is pressed on the first surface 12p1 by the first pressure block 12q, and the second end is pressed on the second surface 12p2 by the second pressure block 12r.

[0094] The support bases 12 p of all the second driving units 12 are arranged along the third direction Y at intervals.

[0095] Furthermore, in order to improve the reliability of the installation of the second synchronous belt 12g, the first surface 12p1 and the second surface 12p2 are respectively formed with a first rack 12p3 and a second rack 12p4, and the toothed surface of the first end of the second synchronous belt 12g is meshed with the first rack 12p3, and the toothed surface of the second end of the second synchronous belt 12g is meshed with the second rack 12p4. A first limiting groove 12q1 is formed on the first pressing block 12q, and a second limiting groove 12r1 is formed on the second pressing block 12r. When the first pressing block 12q is pressed on the first end of the second synchronous belt 12g, the first end of the second synchronous belt 12g is limited in the first limiting groove 12q1, and when the second pressing block 12r is pressed on the second end of the second synchronous belt 12g, the second end of the second synchronous belt 12g is limited in the second limiting groove 12r1.

[0096] by Figure 1 Taking the state of the grabbing mechanism 1 in the middle as an example, in actual operation, the second motor 12c drives the second driving wheel 12d in a clockwise direction (such as Figure 1 The second driving wheel 12d acts on the second synchronous belt 12g to drive the first driven wheel 11c, the second driven wheel 11d, the second assembly seat 12b and the gripper 13 to lift; the second motor 12c drives the second driving wheel 12d in the counterclockwise direction (such as Figure 1The second driving wheel 12d acts on the second synchronous belt 12g to drive the first driven wheel 11c, the second driven wheel 11d, the second assembly seat 12b and the gripper 13 to descend. During the lifting and lowering process, the track portion 12b1 slides under the guidance of the slide groove.

[0097] The second motor 12c is arranged on the base 20. In this way, compared with the conventional method of completely arranging the second drive unit 12 on the first drive unit 11, the lightweight design of the second drive unit 12 is realized to a certain extent, and the load applied by the second drive unit 12 to the first drive unit 11 is reduced, so it is beneficial to reduce the burden on the first drive unit 11, so that the first drive unit 11 can drive the second drive unit 12 and the gripper 13 to run at high speed in the first direction X, and finally realize the improvement of the detection speed.

[0098] In addition, the second driving wheel 12d, the third driven wheel 12e, the fourth driven wheel 12f and the second synchronous belt 12g cooperate to improve the sliding stability of the gripper 13 in the second direction Z.

[0099] Please refer again Figure 6 In the first embodiment of the present application, the second driving unit 12 also includes a first reversing wheel 12i, a second reversing wheel 12j, a third reversing wheel 12k and a fourth reversing wheel 12m. The first reversing wheel 12i, the second reversing wheel 12j, the third reversing wheel 12k and the fourth reversing wheel 12m are all rotatably arranged on the second assembly seat 12b, and the first reversing wheel 12i, the second reversing wheel 12j, the third reversing wheel 12k and the fourth reversing wheel 12m are located outside the second synchronous belt 12g and abut against the non-toothed surface of the second synchronous belt 12g facing away from the toothed surface.

[0100] The first reversing wheel 12i and the second reversing wheel 12j are arranged at intervals along the first direction X, the third reversing wheel 12k and the fourth reversing wheel 12m are also arranged at intervals along the first direction X, and the first reversing wheel 12i is aligned with the third reversing wheel 12k in the second direction Z, and the second reversing wheel 12j is aligned with the fourth reversing wheel 12m in the second direction Z. The first reversing wheel 12i is pressed against a section of the second synchronous belt 12g between the third driven wheel 12e and the second driving wheel 12d, the second reversing wheel 12j is pressed against a section of the second synchronous belt 12g between its first end and the third driven wheel 12e, the third reversing wheel 12k is pressed against a section of the second synchronous belt 12g between the fourth driven wheel 12f and the second driving wheel 12d, and the fourth reversing wheel 12m is pressed against a section of the second synchronous belt 12g between its second section and the fourth driven wheel 12f.

[0101] The first reversing wheel 12i, the second reversing wheel 12j, the third reversing wheel 12k and the fourth reversing wheel 12m can tension the second synchronous belt 12g, so that the second synchronous belt 12g runs more smoothly. At the same time, the first reversing wheel 12i, the second reversing wheel 12j, the third reversing wheel 12k and the fourth reversing wheel 12m can realize the reversing installation of the second synchronous belt 12g, so that the space occupied by the second synchronous belt 12g is reduced, and the layout of the grabbing mechanism 1 is more compact.

[0102] Please also read Figures 10 to 12 , the present application also provides a second embodiment. Compared with the first embodiment, the second embodiment has the following differences.

[0103] Difference 1: The first driving unit 11 is laterally mounted on the substrate 21 .

[0104] Specifically, in the second embodiment, the width direction of the substrate 21 coincides with the second direction Z, the thickness direction of the substrate 21 coincides with the third direction Y, and the substrate 21 has a first side and a second side arranged oppositely along the third direction Y, the first drive unit 11 is installed on the first side of the substrate 21, the first synchronous belts 11e of all the first drive units 11 are arranged at intervals along the second direction Z, and the track component and the second drive unit 12 are both installed on the second side. Only one avoidance hole 21a is provided on the substrate 21, and the second drive unit 12 also includes a connecting seat 12n, and the connecting seats 12n of all the second drive units 12 are penetrated through the same avoidance hole 21a and connected to the first synchronous belt 11e of the corresponding first drive unit 11.

[0105] Difference 2: The second synchronous belts 12g of all the second drive units 12 are fixed to the same support base 12p.

[0106] Specifically, the support seat 12p protrudes from the second side of the substrate 21 along the third direction Y, the second synchronous belts 12g of all the second drive units 12 are arranged side by side along the third direction Y, and the first ends of the second synchronous belts 12g of all the second drive units 12 are installed side by side on the first surface 12p1 of the support seat 12p along the third direction Y, the second ends of the second synchronous belts 12g of all the second drive units 12 are installed side by side on the second surface 12p2 of the support seat 12p along the third direction Y, and the first end and the second end of the same second synchronous belt 12g are aligned in the second direction Z.

[0107] The layout of the second embodiment can save the space occupied by the grasping mechanism 1 in the third direction Y, and has a compact layout, which can meet the working condition requirements of limited space in the third direction Y.

[0108] Among them, the working principle of the first driving unit 11 in the second embodiment is the same as the working principle of the first driving unit 11 in the first embodiment, and the working principle of the second driving unit 12 in the second embodiment is the same as the working principle of the second driving unit 12 in the first embodiment, so it is not repeated here.

[0109] Please also read Figures 13 to 15 The present application also provides a third embodiment. Compared with the first embodiment, the third embodiment has the following differences.

[0110] Difference 1: The structure of the first driving unit 11 is different.

[0111] In the third embodiment, the first driving unit 11 includes a first motor 11a, a first driving wheel 11b, a first driven wheel 11c, a second driven wheel 11d and a first synchronous belt 11e; the first motor 11a is transmission-connected to the first driving wheel 11b, the first driven wheel 11c and the second driven wheel 11d are arranged along the first direction X, the first synchronous belt 11e is sleeved on the first driving wheel 11b, the first driven wheel 11c and the second driven wheel 11d, and the second driving unit 12 is fixedly connected to a section of the first synchronous belt 11e between the first driven wheel 11c and the second driven wheel 11d.

[0112] By designing this transmission mode, the first motor 11a and the first driving wheel 11b of all the first driving units 11 can be set to the middle position of the substrate 21 in the first direction X, which is beneficial to reduce the space occupied by the grasping mechanism 1 in the first direction X and can meet the working conditions where the space in the first direction X is limited.

[0113] Furthermore, in the third embodiment, the first driving unit 11 also includes a first changing wheel 11m and a second changing wheel 11n, and the first changing wheel 11m and the first changing wheel 11m are arranged on the base 20 along the first direction X; the first changing wheel 11m and the second changing wheel 11n are located outside the first synchronous belt 11e, and the first changing wheel 11m abuts against a section of the first synchronous belt 11e located between the first driving wheel 11b and the first driven wheel 11c, and the second changing wheel 11n abuts against a section of the first synchronous belt 11e located between the first driving wheel 11b and the second driven wheel 11d.

[0114] The first direction-changing wheel 11m and the second direction-changing wheel 11n are arranged at intervals along the first direction X, and both the first direction-changing wheel 11m and the second direction-changing wheel 11n are in contact with the non-toothed surface of the first synchronous belt 11e that is opposite to the toothed surface.

[0115] The setting of the first changing wheel 11m and the second changing wheel 11n can change the direction of the first synchronous belt 11e. On the premise of conveniently setting the first drive motor at the middle position of the base 20 along the first direction X, the space occupied by the first synchronous belt 11e can be reduced, making the grasping mechanism 1 more compact.

[0116] Difference 2: There is an intermediate level of transmission between the second motor 12c in the second driving unit 12 and the second driving wheel 12d.

[0117] In the third embodiment, the second driving unit 12 further includes a first transmission wheel 12s, a second transmission wheel 12t and a transmission synchronous belt 12u, the first transmission wheel 12s, the second transmission wheel 12t and the transmission synchronous belt 12u are all located on the bottom side of the base plate 21, and the first transmission wheel 12s and the second transmission wheel 12t are arranged at intervals along the first direction X. The first motor 11a is transmission-connected to the first transmission wheel 12s, the transmission synchronous belt 12u is sleeved on the first transmission wheel 12s and the second transmission wheel 12t, and the second transmission wheel 12t is coaxially connected to the second driving wheel 12d.

[0118] During actual operation, the power of the second motor 12c is transmitted to the second synchronous belt 12g through the first transmission wheel 12s, the transmission synchronous belt 12u, the second transmission wheel 12t, and the first driving wheel 11b in sequence, so as to drive the first driven wheel 11c, the second driven wheel 11d and the gripper 13 to achieve lifting.

[0119] By setting the first transmission wheel 12s, the second transmission wheel 12t and the transmission synchronous belt 12u, an intermediate-stage transmission is added, and the second motor 12c of all the second drive units 12 can be set to a position slightly in the middle of the substrate 21 in the first direction X, thereby helping to reduce the space occupied by the grasping mechanism 1 in the first direction X, and can meet the working conditions where the space in the first direction X is limited.

[0120] The above-mentioned grasping mechanism 1, transfer device and sample analyzer, and the multiple grasping components 10 work independently of each other, which can improve the transfer efficiency of the transfer device, thereby ultimately improving the detection efficiency of the sample analyzer. The second drive units 12 in all the grasping components 10 are arranged side by side along the first direction X. When the movement paths of the second drive units 12 in the first direction X mostly overlap, compared with the second drive units 12 of all the grasping components 10 being independently arranged along the third direction Y, the grasping mechanism 1 is simpler and more compact, and occupies less space in the first direction X and the third direction Y, which is conducive to the miniaturization of the grasping mechanism 1, the transfer device and the sample analyzer, and can meet the working conditions where the space in the first direction X and / or the third direction Y is limited.

[0121] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A gripping mechanism, characterized in that: The grabbing mechanism comprises: Base (20); A gripping assembly (10), comprising a first driving unit (11), a second driving unit (12) and a gripper (13), wherein the second driving unit (12) is transmission-connected between the first driving unit (11) and the gripper (13), the first driving unit (11) is used to drive the second driving unit (12) to drive the gripper (13) to slide along a first direction (X), and the second driving unit (12) is used to drive the gripper (13) to slide along a second direction (Z) intersecting the first direction (X); Wherein, the grabbing assemblies (10) are in multiple groups, and the second driving units (12) in all the grabbing assemblies (10) are arranged side by side along the first direction (X).

2. The gripping mechanism according to claim 1, characterized in that: A guide slideway (22) extending along the first direction (X) is formed on the base (20), and the second drive units (12) in all the gripping assemblies (10) slide under the guidance of the guide slideway (22).

3. The gripping mechanism according to claim 2, characterized in that: The base (20) comprises a base plate (21) and a track component, wherein the track component is arranged on the base plate (21) and is configured to form the guide slideway (22); The second driving unit (12) is provided with a guide slider (12h), and the guide slider (12h) on the second driving unit (12) is slidably arranged on the track component.

4. The gripping mechanism according to claim 1, characterized in that: The first driving unit (11) comprises a first motor (11a), a first driving wheel (11b), a first driven wheel (11c) and a first synchronous belt (11e), wherein the first driving wheel (11b) and the first driven wheel (11c) are arranged along the first direction (X); The first motor (11a) is drivingly connected to the first driving wheel (11b), the first synchronous belt (11e) is sleeved outside the first driving wheel (11b) and the first driven wheel (11c), and the second driving unit (12) is fixedly connected to the first synchronous belt (11e); The first synchronous belts (11e) of all the first drive units (11) are arranged at intervals along the second direction (Z) or the third direction (Y); wherein the third direction (Y) intersects with both the first direction (X) and the second direction (Z).

5. The gripping mechanism according to claim 4, characterized in that: The first driving unit (11) further comprises a mounting seat (11f), a mounting shaft (11g) and a stop ring (11h); the mounting seat (11f) is arranged on the base (20); the mounting shaft (11g) is installed on the base (20); the first driven wheel (11c) is rotatably sleeved on the mounting shaft (11g); and the stop ring (11h) is provided on two opposite sides of the first driven wheel (11c).

6. The gripping mechanism according to claim 5, characterized in that: The first driving unit (11) further comprises a bearing (11k), wherein the bearing (11k) is rotatably sleeved outside the mounting shaft (11g), and the first driven wheel (11c) is rotatably sleeved outside the bearing (11k).

7. The gripping mechanism according to claim 1, characterized in that: The first driving unit (11) comprises a first motor (11a), a first driving wheel (11b), a first driven wheel (11c), a second driven wheel (11d) and a first synchronous belt (11e); The first motor (11a) is transmission-connected to the first driving wheel (11b); the first driven wheel (11c) and the second driven wheel (11d) are arranged along the first direction (X); the first synchronous belt (11e) is sleeved on the first driving wheel (11b), the first driven wheel (11c) and the second driven wheel (11d); and the second driving unit (12) is fixedly connected to a section of the first synchronous belt (11e) between the first driven wheel (11c) and the second driven wheel (11d); The first synchronous belts (11e) of all the first drive units (11) are arranged along a third direction (Y) intersecting both the first direction (X) and the second direction (Z).

8. The gripping mechanism according to claim 7, characterized in that: The first driving unit (11) further comprises a first direction-changing wheel (11m) and a second direction-changing wheel (11n), wherein the first direction-changing wheel (11m) and the second direction-changing wheel (11n) are arranged on the base (20) along the first direction (X); The first direction-changing wheel (11m) and the second direction-changing wheel (11n) are located outside the first synchronous belt (11e), and the first direction-changing wheel (11m) abuts against a section of the first synchronous belt (11e) located between the first driving wheel (11b) and the first driven wheel (11c), and the second direction-changing wheel (11n) abuts against a section of the first synchronous belt (11e) located between the first driving wheel (11b) and the second driven wheel (11d).

9. The gripping mechanism according to any one of claims 1 to 8, characterized in that: The second driving unit (12) comprises a first assembly seat (12a), a second assembly seat (12b), a second motor (12c), a second driving wheel (12d), a third driven wheel (12e), a fourth driven wheel (12f) and a second synchronous belt (12g); The first assembly seat (12a) is fixedly connected to the first driving unit (11); the second assembly seat (12b) is slidably arranged on the first assembly seat (12a) along the second direction (Z); the third driven wheel (12e) and the fourth driven wheel (12f) are both rotatably arranged on the second assembly seat (12b) and arranged along the second direction (Z); and the gripper (13) is fixedly connected to the second assembly seat (12b); The second motor (12c) is arranged on the base (20) and is transmission-connected to the second driving wheel (12d); the second synchronous belt (12g) is wound around the second driving wheel (12d), the third driven wheel (12e) and the fourth driven wheel (12f); and the unclosed two ends of the second synchronous belt (12g) are arranged away from the second driving wheel (12d) in the first direction (X) and are both fixedly connected to the base (20).

10. A transfer device, characterized in that: It comprises a gripping mechanism as described in any one of claims 1 to 9 above.

11. A sample analyzer, characterized in that: Comprising the transfer device as claimed in claim 10 above.

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