Uncapping and capping mechanical gripper device and sample analyzer

Abstract

The utility model relates to an uncapping and capping mechanical gripper device and a sample analyzer, a clamping structure comprises a first motor and a separation mechanism, the output end of the first motor is connected with the separation mechanism, and the first motor drives the separation mechanism to move along a first movement direction; the rotating structure comprises a hollow shaft motor and a clamping assembly. The clamping assembly penetrates through a hollow shaft cavity of the hollow shaft motor and is connected with the inner wall of a motor shaft of the hollow shaft motor. One end of the clamping assembly is rotationally arranged in the separation mechanism, and the other end of the clamping assembly clamps or loosens a cap of a target bottle tube in the state of moving in the first movement direction. An integrated mechanical claw scheme is achieved, the problem that a clamping structure cannot rotate due to up-down movement is effectively solved, and the actions of cover grabbing, cover rotating, cover pulling, cover adding and the like can be achieved; and an expanding and clamping structure and a rotating structure are integrated together, an additional rotating driving assembly is not needed to drive the mechanical claw to rotate, the overall structure is compact and exquisite, the space layout is reasonable and compact, and therefore the space occupation cost is effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automatic lid opening, and in particular to a lid opening and capping mechanical claw device and a sample analyzer. Background Art

[0002] With the development of technology, some instruments and equipment need to realize pre-processing of test tubes, that is, automatically open the lids of a large number of test tubes.

[0003] However, conventional instruments and equipment capable of performing pre-capping processing on test tubes require that the test tubes be of uniform type, that is, the test tubes placed on the test tube rack must be of the same type, otherwise the caps cannot be opened.

[0004] In actual use, such as in hospitals and other places, different types of test tubes are mixed on the same test tube rack, and this situation is difficult to avoid. At this time, the instrument cannot open the cover automatically, making it impossible to perform operations such as automatic analysis. In serious cases, it may even easily lead to instrument failure or even damage.

[0005] On the other hand, the mechanical claws of traditional instruments and equipment usually have three parts, including: a push-pull structure, a clamping structure, and a rotary drive structure. The clamping structure is used to open and clamp the mechanical claws, the rotary structure is used to unscrew the test tube cap, and the push-pull structure is used to pull and cover the tube cap.

[0006] The Chinese patent with the authorization announcement number CN213795143U discloses a cap-opening clamp mechanism, which includes an elastic clamping head unit; the elastic clamping head unit includes a push-pull assembly, an elastic tensioning assembly and a clamping head assembly; the elastic tensioning assembly is installed between the push-pull assembly and the clamping head assembly, and the elastic tensioning assembly and the clamping head assembly are rotatably installed, and the push-pull assembly elastically drives the clamping head assembly through the elastic tensioning assembly; the clamping head assembly is used to clamp the test tube cap under elastic drive. The clamping head assembly includes a clamping seat, a clamping jaw core shaft and at least two strip-shaped clamping jaws; each strip-shaped clamping jaw is slidably installed on the lower end surface of the clamping seat, and is used to clamp the test tube cap after relative sliding; the clamping jaw core shaft is movably inserted on the clamping seat, and the upper end of the clamping jaw core shaft is rotatably installed on the elastic tensioning assembly; a push-pull head for pushing and pulling each strip-shaped clamping jaw to slide relative to each other is provided at the lower end of the clamping jaw core shaft. The elastic clamping head unit also includes a rotation drive assembly; the rotation drive assembly is used to drive the clamping head assembly to rotate. The rotation drive assembly includes a rotation drive motor and an annular pulley; the annular pulley is fixedly mounted on the clamping head assembly; the rotation drive motor drives the annular pulley to rotate through the pulley assembly.

[0007] Such a structural design requires an additional rotary drive component to drive the mechanical claw to rotate, and because the rotary drive component as a rotating structure often conflicts with the position of the clamping head component as a clamping structure, a conductive slip ring or a synchronous belt has to be used in combination with a synchronous wheel to drive the rotary structure of the mechanical claw, resulting in structural redundancy, high cost, cumbersome complexity, and prone to failure. Utility Model Content

[0008] Based on this, it is necessary to provide a cover opening and closing mechanical claw device and a sample analyzer.

[0009] In one embodiment, a capping and uncapping mechanical claw device includes a clamping structure and a rotating structure;

[0010] The clamping structure includes a first motor and a separation mechanism, wherein a first output end of the first motor is connected to the separation mechanism, and the first motor is used to drive the separation mechanism to move along a first movement direction;

[0011] The rotating structure comprises a hollow shaft motor and a clamping assembly, wherein the clamping assembly passes through the hollow shaft cavity of the hollow shaft motor and is connected to the inner wall of the motor shaft of the hollow shaft motor;

[0012] One end of the clamping assembly is rotatably disposed in the separation mechanism, and the other end clamps or releases the cap of the target bottle tube in a state of moving along the first movement direction.

[0013] The above-mentioned cover opening and capping mechanical claw device, through the design of the clamping structure and the rotating structure, adopts a separation mechanism in conjunction with a hollow shaft motor to realize an integrated mechanical claw solution, effectively solving the problem that the clamping structure cannot rotate due to up and down movement, and can realize the actions of grabbing the cover, turning the cover, pulling out the cover, and adding the cover; and the clamping structure and the rotating structure are integrated together, without the need for an additional rotating drive component to drive the mechanical claw to rotate, making the overall structure compact and exquisite, and the spatial layout reasonable and compact, thereby effectively reducing the space occupation cost.

[0014] In one embodiment, the clamping assembly includes a driving rod, a slide block, at least two guide blocks and at least two claw pieces;

[0015] Each guide block is arranged in one-to-one correspondence with each claw piece, each claw piece is connected to a corresponding guide block, and a cover opening and covering clamping position is formed between each claw piece, and each claw piece is used to cooperate in clamping or loosening the cap of the target bottle tube;

[0016] The driving rod passes through the hollow shaft cavity and is connected to the inner wall of the motor shaft, and the mounting end of the driving rod is rotatably disposed in the partition mechanism;

[0017] The slide block is connected to the outer wall of the motor shaft of the hollow shaft motor, and the guide block is limitedly set on the slide block and slides in contact with the wedge-shaped end of the drive rod, and is used to move along the first movement direction under the action of the wedge-shaped end, so that the claw piece is in an outwardly expanded state to loosen the cap or in an inwardly retracted state to cooperate in clamping the cap.

[0018] In one embodiment, the guide blocks are symmetrically arranged, and the claws are also symmetrically arranged; or,

[0019] The first motor is a screw motor; or,

[0020] The guide block is provided with an inclined surface at the position where it contacts the wedge-shaped end; or,

[0021] The claw piece is provided with a clamping surface at the position where the claw piece clamps the cap.

[0022] In one embodiment, the partition mechanism includes an upper partition, a lower partition, a guide pin, a step screw and a bearing;

[0023] The first output end of the first motor is connected to the upper partition, the upper partition is threadedly connected to the lower partition by the step screw, the bearing is arranged on the lower partition, and the guide pin is arranged under the first motor and limited in the groove of the upper partition, so as to guide the upper partition to move along the first movement direction;

[0024] One end of the clamping assembly is fixed in the bearing and is rotatably connected to the lower partition plate through the bearing.

[0025] In one embodiment, the partition mechanism further includes a sleeve, which is sleeved outside the step screw and located between the upper partition plate and the lower partition plate.

[0026] In one of the embodiments, the cover opening and covering mechanical claw device further includes a push-pull structure, and the push-pull structure is connected to the first motor and is used to drive the first motor to move along the second movement direction.

[0027] In one embodiment, the push-pull structure includes a second motor, a second slider, a linear guide rail and a fixed plate;

[0028] The fixing plate is used to be fixed on the outside, the second motor and the linear guide are respectively fixed on the fixing plate, the second slider is slidably disposed on the linear guide and connected to the second output end of the second motor, and the second motor is used to drive the second slider to slide along the second movement direction defined by the linear guide;

[0029] The clamping structure further includes a first slider, the first motor is arranged on the first slider, and the first slider is arranged on the second slider;

[0030] Wherein, the second motor is a linear motor; or,

[0031] The second moving direction is parallel to the first moving direction.

[0032] Furthermore, in one of the embodiments, the push-pull structure further includes a frame, and the fixing plate is fixed on the frame and fixed to the outside such as a mounting frame or an operating table through the frame.

[0033] In one embodiment, the cover opening and capping mechanical claw device further comprises a push-pull structure, and the push-pull structure comprises a second motor, a second slider, a linear guide rail and a fixed plate;

[0034] The fixing plate is used to be fixed on the outside, the second motor and the linear guide are respectively fixed on the fixing plate, the second slider is slidably disposed on the linear guide and connected to the second output end of the second motor, and the second motor is used to drive the second slider to slide along the second movement direction defined by the linear guide; wherein the second motor is a linear motor;

[0035] The clamping structure further includes a first slider, the first motor is disposed on the first slider, and the first slider is disposed on the second slider to slide along the second movement direction driven by the second motor; wherein the first motor is a screw motor;

[0036] The clamping assembly includes a driving rod, a slide block, at least two guide blocks and at least two claw pieces;

[0037] Each guide block is arranged in one-to-one correspondence with each claw piece, each claw piece is connected to a corresponding guide block, each guide block is symmetrically arranged, each claw piece is also symmetrically arranged, and a cover opening and covering clamping position is formed between each claw piece, and each claw piece is used to cooperate in clamping or loosening the cap of the target bottle tube; wherein, the claw piece is provided with a clamping surface at the position where it clamps the cap;

[0038] The driving rod passes through the hollow shaft cavity and is connected to the inner wall of the motor shaft, the slide block is connected to the outer wall of the motor shaft of the hollow shaft motor, the guide block is limitedly arranged on the slide block and slidably contacts the wedge-shaped end of the driving rod, the guide block is provided with an inclined surface at the position where it contacts the wedge-shaped end, and the guide block is used to move along the first movement direction under the cooperation of the wedge-shaped end and the inclined surface, so that the claw piece is in an outward expansion state to loosen the cap or in an inward contraction state to cooperate with clamping the cap;

[0039] The partition mechanism includes an upper partition, a lower partition, a guide pin, a step screw, a sleeve and a bearing;

[0040] The first output end of the first motor is connected to the upper partition plate, the upper partition plate is threadedly connected to the lower partition plate by the step screw, and the sleeve is placed outside the step screw and is located between the upper partition plate and the lower partition plate;

[0041] The bearing is arranged on the lower partition plate, and the mounting end of the driving rod is fixed in the bearing and is rotatably connected with the lower partition plate through the bearing;

[0042] The guide pin is arranged under the first motor and limited in the groove of the upper partition plate, and is used to guide the upper partition plate to move along the first movement direction;

[0043] Wherein, the second movement direction is parallel to the first movement direction, and the target bottle tube is a test tube.

[0044] In one embodiment, a sample analyzer includes a target bottle tube conveying mechanism, a sample analysis mechanism, and a capping and uncapping mechanical claw device as described in any embodiment;

[0045] The target bottle tube conveying mechanism has a first position adjacent to the capping and uncapping clamping position of the capping and uncapping mechanical claw device, and a second position adjacent to the sample analyzing mechanism.

[0046] In one embodiment, the sample analysis mechanism is a luminescence detection and analysis device. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 It is a structural schematic diagram of an embodiment of the cover opening and covering mechanical claw device described in this application.

[0049] Figure 2 for Figure 1 Schematic diagram of the application of the illustrated embodiment.

[0050] Figure 3 for Figure 1 Another identification schematic diagram of the illustrated embodiment.

[0051] Figure 4 for Figure 3 An enlarged schematic diagram of point A of the illustrated embodiment.

[0052] Figure 5 for Figure 3 An enlarged schematic diagram of point B of the illustrated embodiment.

[0053] Figure 6 for Figure 1 A schematic cross-sectional view of one direction of the embodiment shown.

[0054] Figure 7 for Figure 6 An enlarged schematic diagram of point C of the illustrated embodiment.

[0055] Figure 8 for Figure 6 An enlarged schematic diagram of point D of the illustrated embodiment.

[0056] Fig. 9 for Figure 6 A partial structural schematic diagram of the illustrated embodiment.

[0057] Reference numerals:

[0058] Push-pull structure 100, clamping structure 200, rotating structure 300, first moving direction 400, second moving direction 500, capping and uncapping clamping position 600, capping and uncapping mechanical claw device 800, target bottle tube 900, cap 910;

[0059] A second motor 110, a second slider 120, a linear guide rail 130, a fixing plate 140, a frame 150, and a second output end 111;

[0060] A first motor 210, a partition mechanism 220, and a first slider 230;

[0061] The first output end 211, the screw rod 212, the upper partition 221, the lower partition 222, the guide pin 223, the step screw 224, the sleeve 225, the bearing 226, and the groove 227;

[0062] Hollow shaft motor 310 , drive rod 320 , slide block 330 , guide block 340 , claw piece 350 , clamping assembly 360 , hollow shaft cavity 311 , motor shaft outer wall 312 , motor shaft inner wall 313 , mounting end 321 , wedge end 322 , inclined surface 341 , clamping surface 351 . DETAILED DESCRIPTION

[0063] 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.

[0064] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0065] In addition, the terms "second" 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. Thus, a feature defined as "second" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0066] In the present application, unless otherwise clearly specified and limited, a second feature being “above” or “below” the second feature may mean that the second feature is directly in contact with the second feature, or the second feature is in contact with the second feature indirectly through an intermediate medium. Moreover, a second feature being “above”, “above” or “above” the second feature may mean that the second feature is directly above or obliquely above the second feature, or simply means that the second feature is higher in level than the second feature. A second feature being “below”, “below” or “below” the second feature may mean that the second feature is directly below or obliquely below the second feature, or simply means that the second feature is lower in level than the second feature.

[0067] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0068] The present application discloses a mechanical claw device for opening and capping a lid and a sample analyzer, which include some or all of the technical features of the following embodiments; that is, the mechanical claw device for opening and capping a lid and the sample analyzer include some or all of the following structures. In one embodiment of the present application, a mechanical claw device for opening and capping a lid includes a clamping structure and a rotating structure; the clamping structure includes a first motor and a separation mechanism, the first output end of the first motor is connected to the separation mechanism, and the first motor is used to drive the separation mechanism to move along a first movement direction; the rotating structure includes a hollow shaft motor and a clamping assembly, the clamping assembly passes through the hollow shaft cavity of the hollow shaft motor and is connected to the inner wall of the motor shaft of the hollow shaft motor; one end of the clamping assembly is rotatably disposed in the separation mechanism, and the other end clamps or releases the cap of the target bottle tube while moving along the first movement direction. The above-mentioned mechanical claw device for opening and capping, through the design of the clamping structure and the rotating structure, adopts a separation mechanism in conjunction with a hollow shaft motor to realize an integrated mechanical claw solution, effectively solving the problem that the clamping structure cannot rotate due to up and down movement, and can realize the actions of grabbing the cover, turning the cover, pulling the cover, and adding the cover; and the clamping structure and the rotating structure are integrated together, without the need for an additional rotating drive component to drive the mechanical claw to rotate, making the overall structure compact and exquisite, and the space layout reasonable and compact, thereby effectively reducing the space occupation cost. Figures 1 to 9 , the lid opening and lid adding mechanical claw device and the sample analyzer are described in detail.

[0069] The function of the capping and uncapping mechanical claw device is to uncap and uncap, and the capping is to cover the target bottle tube with a cap. Figure 1 As shown, it includes a clamping structure 200 and a rotating structure 300; the clamping structure 200 drives the rotating structure 300 to achieve clamping, combined with Figure 2 The clamping structure 200 drives the rotating structure 300 to clamp or release the cap 910 of the target bottle tube 900. In this embodiment, the target bottle tube 900 includes but is not limited to a test tube.

[0070] The rotating structure 300 is used to rotate while clamping the cap 910, so as to cooperate with the clamping structure 200 to pull out the cap 910 from the target bottle tube 900, or to install the cap 910 on the target bottle tube 900. With such a structural design, the clamping structure 200 and the rotating structure 300 are integrated together, so that the structure is compact and exquisite, and the cost is reduced, that is, it has the advantages of compact and exquisite structure and reasonable and compact space layout, and can produce a relatively small size of the capping and opening mechanical claw device 800, thereby effectively reducing the space occupation cost.

[0071] like Figure 3As shown in each embodiment, the clamping structure 200 includes a first motor 210 and a separation mechanism 220, combined with Figure 5 , the first output end 211 of the first motor 210 is connected to the separation mechanism 220, and the first motor 210 is used to drive the separation mechanism 220 to move along the first movement direction 400. In one embodiment, Figure 7 As shown, the first motor 210 is a screw motor, and a screw 212 is used as its output shaft, that is, the first output end 211 is a screw 212. In other embodiments, the first motor 210 can also be other motors such as a stepping motor, which is used to convert the rotational motion of the motor into the linear reciprocating motion of the push rod. It can be understood that the first in the first output end 211 in this embodiment is only used to distinguish from the output ends of other motors, and does not mean that the first motor 210 has multiple output ends. The first output end 211 is the output end of the first motor 210; the second output end 111 to be described below is also the same, which does not mean that the second motor 110 has multiple output ends, and the second output end 111 is the output end of the second motor 110.

[0072] like Figure 1 and Figure 6 As shown in each embodiment, the rotating structure 300 includes a hollow shaft motor 310 and a clamping assembly 360, combined with Fig. 9 , the clamping assembly 360 passes through the hollow shaft cavity 311 of the hollow shaft motor 310 and is connected to the motor shaft inner wall 313 of the hollow shaft motor 310; one end of the clamping assembly 360 is rotatably disposed in the separation mechanism 220, and the other end clamps or releases the cap 910 of the target bottle tube 900 while moving along the first movement direction 400. Such a structural design makes full use of the characteristics of the hollow shaft motor 310, and cleverly cooperates with the separation mechanism 220 to realize an integrated mechanical claw solution, effectively solving the problem that the clamping mechanism cannot rotate due to up and down movement.

[0073] In one embodiment, if Figure 6As shown, the clamping assembly 360 includes a driving rod 320, a slide block 330, at least two guide blocks 340 and at least two claws 350; the claws 350 can also be called clamps, mechanical claws or clamping members. In this embodiment, the number of the guide blocks 340 and the claws 350 is the same, and each guide block 340 is arranged in a one-to-one correspondence with each claw 350, each claw 350 corresponds to a guide block 340, and each guide block 340 corresponds to a claw 350. In one embodiment, each guide block 340 is symmetrically arranged, and each claw 350 is also symmetrically arranged; further, in one embodiment, each guide block 340 is rotationally symmetrical with respect to the axial direction of the first output end 211 of the first motor 210, which can also be understood as central axis symmetry; each claw 350 is also rotationally symmetrical with respect to the axial direction of the first output end 211 of the first motor 210. Such a structural design can realize rotation in cooperation with the hollow shaft motor 310 and can realize axial movement in cooperation with the first motor 210, thereby simply clamping or loosening the cap 910 of the target bottle tube 900.

[0074] Combination Figure 8 and Fig. 9 Each claw piece 350 is connected to a corresponding guide block 340, and a cover opening and covering clamping position 600 is formed between the claw pieces 350. Each claw piece 350 is used to cooperate in clamping or loosening the cap 910 of the target bottle tube 900; in one embodiment, the claw piece 350 is provided with a clamping surface 351 at the position where the claw piece 350 clamps the cap 910. Exemplarily, the clamping surface 351 is a rubber layer, which is used to enhance friction and ensure that the cap 910 of the target bottle tube 900 is clamped. Specifically, the mounting end 321 of the driving rod 320 is rotatably disposed in the separating mechanism 220, and the driving rod 320 passes through the hollow shaft cavity 311 and is connected to the inner wall 313 of the motor shaft. When the motor shaft of the hollow shaft motor 310 rotates, the driving rod 320 is driven to rotate. Since the mounting end 321 is rotatably connected to the separating mechanism 220, such as the bearing 226 therein, other components of the separating mechanism 220 can remain in a non-rotating state.

[0075] Furthermore, the slide block 330 is connected to the outer wall 312 of the motor shaft of the hollow shaft motor 310, and the guide block 340 is limitedly set on the slide block 330 and slides in contact with the wedge-shaped end 322 of the driving rod 320. Further, in one embodiment, each guide block 340 is respectively connected to the end of the driving rod 320, such as the wedge-shaped end 322, or each guide block 340 is connected by a tension spring, or the guide block 340 is set in the slide block 330 and abuts against the wall of the slide block 330 through an elastic member, so that the guide block 340 applies pressure to the wedge-shaped end 322 under the action of the elastic member, that is, applies axial pressure toward the motor shaft of the hollow shaft motor 310. Such a design is conducive to clamping or loosening the cap 910 of the target bottle tube 900 while cooperating with the first motor 210 to achieve axial movement, and after loosening the cap 910 of the target bottle tube 900, the guide block 340 can automatically reset.

[0076] like Figure 6 and Figure 8 As shown, in this embodiment, the guide block 340 is used to move along the first movement direction 400 under the action of the wedge-shaped end 322, so that the claw piece 350 is in an outward expansion state to loosen the cap 910 or in an inward contraction state to cooperate with clamping the cap 910. In one embodiment, the guide block 340 is provided with an inclined surface 341 at the position where it contacts the wedge-shaped end 322, that is, the inclined surface 341 matches the wedge-shaped end 322 to achieve force direction conversion. It can be understood that the guide block 340 can move obliquely along the wedge-shaped end 322, but the whole body drives the claw piece 350 to move along the first movement direction 400 to approach or move away from the cap 910.

[0077] In a specific implementation, the first motor 210 drives the separation mechanism 220 to move along the first movement direction 400. When the separation mechanism 220 or its bearing 226 moves in a direction away from the target bottle tube 900, the wedge-shaped end 322 also moves in the first movement direction 400 in a direction away from the target bottle tube 900. In this state, each guide block 340 approaches the axial direction of the motor shaft of the hollow shaft motor 310, driving each claw piece 350 to also approach the axial direction of the motor shaft of the hollow shaft motor 310 and be in an inwardly retracted state to cooperate in clamping the cap 910; at this time, the hollow shaft motor 310 rotates its motor shaft to rotate the cap 910, so that the cap 910 is taken out of the target bottle tube 900.

[0078] When it is necessary to cover the cap 910, the hollow shaft motor 310 rotates its motor shaft to rotate the cap 910, and cooperates with the separation mechanism 220 or its bearing 226 to move in the direction close to the target bottle tube 900, so that the cap 910 can be put back on the target bottle tube 900; then when the separation mechanism 220 or its bearing 226 continues to move in the direction close to the target bottle tube 900, the wedge-shaped end 322 also moves along the first movement direction 400 in the direction close to the target bottle tube 900. In this state, each of the guide blocks 340 is stretched open, driving each of the claw pieces 350 to also move away from the axial direction of the motor shaft of the hollow shaft motor 310 and expand outward to loosen the cap 910, and the target bottle tube 900 can be removed at this time.

[0079] In one embodiment, if Figure 6 and Figure 7 As shown, the separation mechanism 220 includes an upper partition 221, a lower partition 222, a guide pin 223, a step screw 224 and a bearing 226; the first output end 211 of the first motor 210 is connected to the upper partition 221, the upper partition 221 and the lower partition 222 are threadedly connected by the step screw 224, and the upper partition 221 and the lower partition 222 are spaced and fixed by the step screw 224. In one embodiment, the separation mechanism 220 also includes a sleeve 225, which is sleeved outside the step screw 224 and located between the upper partition 221 and the lower partition 222. Such a structural design is conducive to accurate direction control on the one hand, and is conducive to axial lifting and lowering on the other hand, without the need to use a conductive slip ring or a synchronous belt in combination with a synchronous wheel, that is, an additional rotary drive component to drive the mechanical claw to rotate.

[0080] In this embodiment, the guide pin 223 is arranged under the first motor 210 and limited in the groove 227 of the upper partition 221, which is used to guide the upper partition 221 to move along the first movement direction 400; such structural design is conducive to ensuring the moving direction of the upper partition 221 relative to the first motor 210.

[0081] In this embodiment, the bearing 226 is arranged on the lower partition 222, and one end of the clamping assembly 360 is fixed in the bearing 226 and is rotatably connected to the lower partition 222 through the bearing 226; such a structural design is conducive to ensuring that the clamping assembly 360 or its driving rod 320 rotates relative to the lower partition 222 without affecting the structural stability of the lower partition 222, so that the rotation of the clamping assembly 360 is not affected when the clamping structure 200 moves up and down.

[0082] In one embodiment, if Figure 1As shown, the cover opening and capping mechanical claw device 800 also includes a push-pull structure 100, combined with Figure 3 , the push-pull structure 100 is connected to the first motor 210, and is used to drive the first motor 210 to move along the second movement direction 500, that is, to drive the clamping structure 200 to move along the second movement direction 500. In this embodiment, the second movement direction 500 is parallel to the first movement direction 400. In other embodiments, the second movement direction 500 may also have a certain angle with the first movement direction 400, but usually, in order to maintain the balance of the target bottle tube 900 such as a test tube, the first movement direction 400 is selected as the direction of the vertical line of the ground, that is, the clamping assembly 360 is driven up and down by the separation mechanism 220; the second movement direction 500 can be parallel or perpendicular to the first movement direction 400 or at other angles according to design requirements. The embodiments of the present application do not impose additional restrictions on this, and only need to meet the requirements of opening the cover of the target bottle tube 900.

[0083] In one embodiment, if Figure 3 and Figure 4 As shown, the push-pull structure 100 includes a second motor 110, a second slider 120, a linear guide rail 130 and a fixed plate 140; the fixed plate 140 is used to be fixed on the outside to fix the push-pull structure 100 and the cover opening and covering mechanical claw device 800; further, in one embodiment, the push-pull structure 100 also includes a frame 150, and the fixed plate 140 is fixed on the frame 150 and fixed to the outside such as a mounting frame or an operating table through the frame 150.

[0084] In this embodiment, the second motor 110 and the linear guide 130 are respectively fixed on the fixed plate 140, the second slider 120 is slidably disposed on the linear guide 130 and connected to the second output end 111 of the second motor 110, and the second motor 110 is used to drive the second slider 120 to slide along the second movement direction 500 defined by the linear guide 130; it can be understood that the second movement direction 500 is also the direction defined by the second motor 110, and the track extension direction of the linear guide 130 is the direction defined by the second motor 110. In one embodiment, the second motor 110 is a linear motor, i.e., a linear motor, which has the advantages of simple structure and high positioning accuracy, so as to ensure the accurate positioning of the clamping assembly 360 or its claw piece 350 for the cap 910 of the target bottle tube 900.

[0085] In this embodiment, the clamping structure 200 further includes a first slider 230, the first motor 210 is disposed on the first slider 230, and the first slider 230 is disposed on the second slider 120; the second slider 120 slides along the second movement direction 500 under the drive of the second motor 110, thereby driving the first slider 230 to move along the second movement direction 500. Exemplarily, the second motor 110 drives the first slider 230 to rise and fall through the second slider 120, so that the clamping structure 200 and its separation mechanism 220 rise and fall, thereby approaching or moving away from the cap 910 of the target bottle tube 900 to a certain position, and then the separation mechanism 220 and the clamping assembly 360 are driven by the first motor 210 to move to an accurate position along the first movement direction 400, so as to clamp or release the cap 910.

[0086] In one embodiment, the cover opening and covering mechanical claw device 800 also includes a push-pull structure 100, and the push-pull structure 100 includes a second motor 110, a second slider 120, a linear guide 130 and a fixed plate 140; the fixed plate 140 is used to be fixed on the outside, the second motor 110 and the linear guide 130 are respectively fixed on the fixed plate 140, the second slider 120 is slidably set on the linear guide 130 and connected to the second output end 111 of the second motor 110, and the second motor 110 is used to drive the second slider 120 to slide along the second movement direction 500 defined by the linear guide 130; wherein, the second motor 110 is a linear motor.

[0087] The clamping structure 200 further includes a first slider 230 , on which the first motor 210 is disposed, and which is disposed on the second slider 120 to slide along the second movement direction 500 driven by the second motor 110 ; wherein the first motor 210 is a screw motor.

[0088] The clamping assembly 360 includes a driving rod 320, a slide block 330, at least two guide blocks 340 and at least two claw pieces 350; each guide block 340 is arranged in a one-to-one correspondence with each claw piece 350, each claw piece 350 is connected to a corresponding guide block 340, each guide block 340 is symmetrically arranged, each claw piece 350 is also symmetrically arranged, and a cover opening and covering clamping position 600 is formed between each claw piece 350, and each claw piece 350 is used to cooperate in clamping or loosening the cap 910 of the target bottle tube 900; wherein, the claw piece 350 is provided with a clamping surface 351 at the position where it clamps the cap 910.

[0089] The driving rod 320 passes through the hollow shaft cavity 311 and is connected to the inner wall 313 of the motor shaft, the slide block 330 is connected to the outer wall 312 of the motor shaft of the hollow shaft motor 310, the guide block 340 is limitedly set on the slide block 330 and slides in contact with the wedge-shaped end 322 of the driving rod 320, and the guide block 340 is provided with a slope 341 at the position where it contacts the wedge-shaped end 322. The guide block 340 is used to move along the first movement direction 400 under the cooperation of the wedge-shaped end 322 and the slope 341, so that the claw piece 350 is in an outward expansion state to loosen the cap 910 or in an inward contraction state to cooperate in clamping the cap 910.

[0090] The partition mechanism 220 includes an upper partition 221, a lower partition 222, a guide pin 223, a step screw 224, a sleeve 225 and a bearing 226; the first output end 211 of the first motor 210 is connected to the upper partition 221, the upper partition 221 and the lower partition 222 are threadedly connected by the step screw 224, and the sleeve 225 is sleeved outside the step screw 224 and is located between the upper partition 221 and the lower partition 222.

[0091] The bearing 226 is disposed on the lower partition 222, and the mounting end 321 of the driving rod 320 is fixed in the bearing 226 and is rotatably connected to the lower partition 222 through the bearing 226; the guide pin 223 is disposed under the first motor 210 and is limited in the groove 227 of the upper partition 221, and is used to guide the upper partition 221 to move along the first movement direction 400; wherein the second movement direction 500 is parallel to the first movement direction 400, and the target bottle tube 900 is a test tube. The rest of the embodiments are similar and will not be described in detail.

[0092] Combination Figures 1 to 9 , a specific example of the cover opening and closing mechanical claw device 800 is given below.

[0093] The cover opening and capping mechanical claw device 800 includes a push-pull structure 100 , a clamping structure 200 and a rotating structure 300 .

[0094] The push-pull structure 100 includes a second motor 110, a linear guide rail 130, a second slider 120 driven by the motor + guide rail, and a fixing plate 140. The fixing plate 140 is used to be fixed to the outside, such as a frame 150, the second motor 110 and the linear guide rail 130 are fixed on the fixing plate 140, and the second slider 120 is fixed on the linear guide rail 130. Driven by the second motor 110, the second slider 120 can move in a vertical direction, that is, the second movement direction 500 is a vertical direction.

[0095] The clamping structure 200 includes a first motor 210, a separation mechanism 220, and a first slider 230. The first slider 230 is connected to the second slider 120, the first motor 210 is fixed on the first slider 230, the separation mechanism 220 is threadedly connected to the first motor 210, and the first motor 210 is fixed on the first slider 230. Through the action of the first motor 210, the separation mechanism can move up and down with the first motor 210, that is, the first movement direction 400 is also a vertical direction.

[0096] The partition mechanism 220 includes an upper partition plate 221, a lower partition plate 222, a guide pin 223, a step screw 224, a sleeve 225 and a bearing 226. The upper partition plate 221 and the lower partition plate 222 are threadedly connected from top to bottom by the step screw 224 and the sleeve 225. The bearing 226 is fixed in the middle of the lower partition plate 222. Two symmetrically arranged guide pins 223 guide the entire partition mechanism 220 through the grooves 227 on both sides of the upper partition plate 221, so that it can only move up and down with the first motor 210.

[0097] The rotating structure 300 includes a hollow shaft motor 310, a driving rod 320, a chute block 330, a guide block 340 and a claw piece 350. As shown in the figure, the three guide blocks 340 are symmetrically inserted into the chute block 330, and the driving rod 320 and the inclined groove surface 341 of the three guide blocks 340 form a match. When the driving rod 320 moves upward, the guide block 340 is retracted, and when the driving rod 320 moves downward, the guide block 340 extends outward. The claw piece 350 is fixed on the guide block 340. The chute block 330, together with the driving rod 320, the guide block 340 and the claw piece 350, are inserted into the hollow shaft motor 310 and fixed. Among them, the chute block 330 is connected to the outer wall 312 of the motor shaft, and the driving rod 320 is in contact with the inner wall 313 of the motor shaft. The upper end of the driving rod 320 is fixed in the bearing 226, that is, the upper end of the driving rod 320 is fixed in the inner ring of the bearing 226. At this time, the first motor 210 moves up and down, the claw piece 350 will clamp, the hollow shaft motor 310 rotates, the drive rod 320 will rotate on the inner ring of the bearing 226, the claw piece 350 will rotate with the guide block 340, and can also move up and down and rotate in conjunction.

[0098] The following example illustrates the working process of the cover opening and capping mechanical claw device 800:

[0099] When the target bottle tube 900 reaches the capping and uncapping clamping position 600 , the push-pull structure 100 moves downward with the rotating structure 300 to approach the cap 910 of the target bottle tube 900 .

[0100] The clamping structure 200 cooperates with the rotating structure 300 to clamp the cap 910 .

[0101] Through the linkage of rotation and push-pull, the uncapping and capping mechanical claw device 800 simulates the cap-twisting action to pull out the cap 910 by rotation, thereby completing the uncapping of the target bottle tube 900.

[0102] After the sample is sucked, the push-pull structure 100 cooperates with the clamping structure 200 to cover the cap 910 back onto the target bottle tube 900, thereby completing the capping of the target bottle tube 900; then the claw piece 350 opens to transfer the target bottle tube 900.

[0103] This makes it possible to achieve actions such as grabbing the cap, twisting the cap, pulling the cap, and adding the cap in a smaller volume design, and the structure is more streamlined and compact, so the cost is lower than traditional technical solutions, and solves the current problem of requiring additional rotation drive components to drive the mechanical claw to rotate.

[0104] In one embodiment, a sample analyzer includes a target bottle tube conveying mechanism, a sample analysis mechanism, and a cover opening and capping mechanical claw device 800 described in any embodiment; the target bottle tube conveying mechanism has a first position adjacent to the cover opening and capping clamping position 600 of the cover opening and capping mechanical claw device 800, and a second position adjacent to the sample analysis mechanism. The sample analyzer also has the advantages of the cover opening and capping mechanical claw device 800. Through the design of the clamping structure 200 and the rotating structure 300, the separation mechanism 220 is used in conjunction with the hollow shaft motor 310 to realize an integrated mechanical claw solution, effectively solving the problem that the clamping structure 200 cannot rotate due to up and down movement, and can realize the actions of grabbing the cover, rotating the cover, pulling the cover, and adding the cover; and the clamping structure 200 and the rotating structure 300 are integrated together, without the need for an additional rotary drive component to drive the mechanical claw to rotate, so that the overall structure is compact and exquisite, and the spatial layout is reasonable and compact, thereby effectively reducing the space occupation cost.

[0105] Illustratively, in one embodiment, the sample analyzer includes a target bottle tube conveying mechanism, a sample analysis mechanism and a cover opening and capping mechanical claw device 800, the cover opening and capping mechanical claw device 800 includes a clamping structure 200 and a rotating structure 300; the clamping structure 200 includes a first motor 210 and a separation mechanism 220, the first output end 211 of the first motor 210 is connected to the separation mechanism 220, and the first motor 210 is used to drive the separation mechanism 220 to move along the first movement direction 400; the rotating structure 300 includes a hollow shaft motor 310 and a clamping assembly 360, the clamping assembly 360 passes through the hollow shaft cavity 311 of the hollow shaft motor 310 and is connected to the inner wall 313 of the motor shaft of the hollow shaft motor 310; one end of the clamping assembly 360 is rotatably arranged in the separation mechanism 220, and the other end clamps or releases the cap 910 of the target bottle tube 900 when moving along the first movement direction 400. The remaining embodiments are similar and will not be described in detail.

[0106] The target bottle tube conveying mechanism is used to carry the target bottle tube 900 with the cap 910 and convey it to the first position; after the target bottle tube 900 is uncapped by the uncapping and capping mechanical claw device 800, the target bottle tube conveying mechanism conveys the target bottle tube 900 to the second position, and the sample analysis mechanism performs analysis, including but not limited to sampling analysis. In one embodiment, the sample analysis mechanism is a luminescence detection and analysis device, and illustratively, the sample analysis mechanism is a chemiluminescence analyzer.

[0107] It should be noted that other embodiments of the present application also include a cover opening and closing mechanical claw device and a sample analyzer that can be implemented by combining the technical features in the above embodiments.

[0108] 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.

[0109] 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 understood 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 scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A mechanical claw device (800) for opening and closing a cover, characterized in that: It comprises a clamping structure (200) and a rotating structure (300); The clamping structure (200) comprises a first motor (210) and a separation mechanism (220), wherein a first output end (211) of the first motor (210) is connected to the separation mechanism (220), and the first motor (210) is used to drive the separation mechanism (220) to move along a first movement direction (400); The rotating structure (300) comprises a hollow shaft motor (310) and a clamping assembly (360), wherein the clamping assembly (360) passes through a hollow shaft cavity (311) of the hollow shaft motor (310) and is connected to an inner wall (313) of a motor shaft of the hollow shaft motor (310); One end of the clamping assembly (360) is rotatably disposed in the separation mechanism (220), and the other end clamps or releases the cap (910) of the target bottle tube (900) while moving along the first movement direction (400).

2. The cover opening and capping mechanical claw device (800) according to claim 1, characterized in that: The clamping assembly (360) includes a driving rod (320), a slide block (330), at least two guide blocks (340) and at least two claw pieces (350); Each of the guide blocks (340) and each of the claw pieces (350) is arranged in one-to-one correspondence, each of the claw pieces (350) is connected to a corresponding guide block (340), and a cover opening and covering clamping position (600) is formed between each of the claw pieces (350), and each of the claw pieces (350) is used to cooperate with clamping or loosening the cap (910) of the target bottle tube (900); The driving rod (320) passes through the hollow shaft cavity (311) and is connected to the inner wall (313) of the motor shaft, and the mounting end (321) of the driving rod (320) is rotatably disposed in the partition mechanism (220); The slide block (330) is connected to the outer wall (312) of the motor shaft of the hollow shaft motor (310), and the guide block (340) is limitedly set on the slide block (330) and slides in contact with the wedge-shaped end (322) of the driving rod (320), and is used to move along the first movement direction (400) under the action of the wedge-shaped end (322), so that the claw piece (350) is in an outward expansion state to loosen the cap (910) or in an inward contraction state to cooperate with clamping the cap (910).

3. The cover opening and capping mechanical claw device (800) according to claim 2 is characterized in that: The guide blocks (340) are symmetrically arranged, and the claw pieces (350) are also symmetrically arranged; or, The first motor (210) is a screw motor; or, The guide block (340) is provided with an inclined surface (341) at the position where the guide block (340) contacts the wedge-shaped end (322); or, The claw piece (350) is provided with a clamping surface (351) at the position where it clamps the cover cap (910).

4. The cover opening and capping mechanical claw device (800) according to claim 1, characterized in that: The partition mechanism (220) comprises an upper partition plate (221), a lower partition plate (222), a guide pin (223), a step screw (224) and a bearing (226); The first output end (211) of the first motor (210) is connected to the upper partition (221), the upper partition (221) and the lower partition (222) are threadedly connected via the step screw (224), the bearing (226) is arranged on the lower partition (222), and the guide pin (223) is arranged under the first motor (210) and limited in the groove (227) of the upper partition (221), so as to guide the upper partition (221) to move along the first movement direction (400); One end of the clamping assembly (360) is fixed in the bearing (226) and is rotatably connected to the lower partition plate (222) via the bearing (226).

5. The cover opening and capping mechanical claw device (800) according to claim 4, characterized in that: The partition mechanism (220) further comprises a sleeve (225), wherein the sleeve (225) is sleeved outside the step screw (224) and is located between the upper partition plate (221) and the lower partition plate (222).

6. The cover opening and capping mechanical claw device (800) according to claim 1, characterized in that: It also includes a push-pull structure (100), wherein the push-pull structure (100) includes a second motor (110), a second slider (120), a linear guide rail (130) and a fixing plate (140); The fixing plate (140) is used to be fixed on the outside, the second motor (110) and the linear guide rail (130) are respectively fixed on the fixing plate (140), the second slider (120) is slidably disposed on the linear guide rail (130) and connected to the second output end (111) of the second motor (110), and the second motor (110) is used to drive the second slider (120) to slide along a second movement direction (500) defined by the linear guide rail (130); wherein the second motor (110) is a linear motor; The clamping structure (200) further comprises a first slider (230), the first motor (210) being arranged on the first slider (230), and the first slider (230) being arranged on the second slider (120) so as to slide along the second movement direction (500) under the drive of the second motor (110); wherein the first motor (210) is a screw motor; The clamping assembly (360) includes a driving rod (320), a slide block (330), at least two guide blocks (340) and at least two claw pieces (350); Each guide block (340) and each claw piece (350) are arranged in one-to-one correspondence, each claw piece (350) is connected to a corresponding guide block (340), each guide block (340) is symmetrically arranged, each claw piece (350) is also symmetrically arranged, and a cover opening and covering clamping position (600) is formed between each claw piece (350), and each claw piece (350) is used to cooperate in clamping or loosening the cap (910) of the target bottle tube (900); wherein, the claw piece (350) is provided with a clamping surface (351) at the position where it clamps the cap (910); The driving rod (320) passes through the hollow shaft cavity (311) and is connected to the inner wall (313) of the motor shaft; the sliding groove block (330) is connected to the outer wall (312) of the motor shaft of the hollow shaft motor (310); the guide block (340) is limitedly arranged on the sliding groove block (330) and slides in contact with the wedge-shaped end (322) of the driving rod (320); the guide block (340) is provided with an inclined surface (341) at the position where it contacts the wedge-shaped end (322); the guide block (340) is used to move along the first movement direction (400) under the cooperation of the wedge-shaped end (322) and the inclined surface (341), so that the claw piece (350) is in an outward expansion state to release the cover cap (910) or in an inward contraction state to cooperate with clamping the cover cap (910); The partition mechanism (220) comprises an upper partition plate (221), a lower partition plate (222), a guide pin (223), a step screw (224), a sleeve (225) and a bearing (226); The first output end (211) of the first motor (210) is connected to the upper partition plate (221), the upper partition plate (221) and the lower partition plate (222) are threadedly connected via the step screw (224), and the sleeve (225) is sleeved outside the step screw (224) and is located between the upper partition plate (221) and the lower partition plate (222); The bearing (226) is disposed on the lower partition (222), and the mounting end (321) of the driving rod (320) is fixed in the bearing (226) and is rotatably connected to the lower partition (222) through the bearing (226); The guide pin (223) is arranged under the first motor (210) and is limited in a groove (227) of the upper partition plate (221), and is used to guide the upper partition plate (221) to move along a first movement direction (400); The second movement direction (500) is parallel to the first movement direction (400), and the target bottle tube (900) is a test tube.

7. The cover opening and capping mechanical claw device (800) according to any one of claims 1 to 5, characterized in that: It also includes a push-pull structure (100), wherein the push-pull structure (100) is connected to the first motor (210) and is used to drive the first motor (210) to move along a second movement direction (500).

8. The cover opening and capping mechanical claw device (800) according to claim 7, characterized in that: The push-pull structure (100) comprises a second motor (110), a second slider (120), a linear guide rail (130) and a fixing plate (140); The fixing plate (140) is used to be fixed on the outside, the second motor (110) and the linear guide rail (130) are respectively fixed on the fixing plate (140), the second slider (120) is slidably disposed on the linear guide rail (130) and connected to the second output end (111) of the second motor (110), and the second motor (110) is used to drive the second slider (120) to slide along a second movement direction (500) defined by the linear guide rail (130); The clamping structure (200) further comprises a first slider (230), the first motor (210) is arranged on the first slider (230), and the first slider (230) is arranged on the second slider (120); Wherein, the second motor (110) is a linear motor; or, The second movement direction (500) is parallel to the first movement direction (400).

9. A sample analyzer, characterized in that: It comprises a target bottle tube conveying mechanism, a sample analysis mechanism and a cover opening and capping mechanical claw device (800) as claimed in any one of claims 1 to 8; The target bottle tube conveying mechanism has a first position adjacent to the capping and uncapping clamping position (600) of the capping and uncapping mechanical claw device (800), and a second position adjacent to the sample analysis mechanism.

10. The sample analyzer according to claim 9, characterized in that: The sample analysis mechanism is a luminescence detection and analysis device.

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