Clamping jaw assembly capable of adapting to position deviation and automatic biological sample processing system

Abstract

The utility model discloses a clamping jaw assembly capable of adapting to position deviation and an automatic biological sample processing system.The clamping jaw assembly capable of adapting to position deviation comprises an assembling base body, and a driving mechanism, an elastic assembly and a clamping jaw mechanism are arranged on the assembling base body; the driving mechanism is connected with the clamping jaw mechanism through the elastic assembly, and when the driving mechanism drives the clamping jaw mechanism to move in the preset extension length direction of the assembling base body, the clamping jaw mechanism moves in the preset extension length direction of the assembling base body under the action of the elastic assembly. The clamping jaw assembly stably reaches a preset target position in the preset extension length direction to clamp a to-be-transferred object, and the clamping jaw assembly is further provided with a two-dimensional driving structure capable of driving the clamping jaw mechanism in a plane perpendicular to the preset extension length direction. According to the clamping jaw assembly, position adjustment of the mechanical clamping jaw in the three-dimensional direction is achieved, and it can be guaranteed that a transferred object can be stably and reliably arranged at a preset target position.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and in particular relates to a clamping claw component capable of adapting to position deviation and an automatic biological sample processing system. Background Art

[0002] With the development of diagnosis and treatment technology, fully automated diagnostic equipment is an important development direction. Compared with other application scenarios, diagnostic technology, especially in vitro diagnostic technology, uses biological tissue fluid, blood, nasopharyngeal swab fluid and other types of fluid as analysis objects. The amount of testing required for these samples in diagnosis is generally small, and some items may have contamination risks. This requires that automated equipment operate with very high precision and reliability in performing related tests. In relatively mature commercial automated equipment, the use of mechanical grippers to transfer consumables such as sample tubes, test kits, and reaction cups is a common type of operation. However, the position accuracy of various types of mechanical grippers in existing equipment is low, and position deviations during the transfer process may cause problems such as consumables being thrown or violently pressed.

[0003] In the disclosed technical solution part, which does not limit the specific application scenarios of the clamp, the improvements are mainly focused on improving the stability of the clamp drive and the adaptability of the clamp chuck structure. However, the clamps in medical equipment are mostly combined with the entire equipment to form a protective structure, and there are few improvements to the adaptability of the clamp itself in this scenario. Chinese utility model patent CN216098929U discloses an open-type belt transmission structure, in which the open end is fixedly connected, and the other end opposite thereto is driven by a drive wheel and connected to a drive motor. The two driven wheels are assembled at the opposite ends of a guide arranged in the vertical direction, and relying on four tensioning wheels arranged at the sharp corners of the rectangle, the drive motor can apply an upward or downward driving force without a radial component to the driven wheel when it rotates. Although this solution can improve the stability of the clamp during the lifting movement, a more complex configuration is required to change the horizontal position. This solution can only smoothly lift and lower the clamp in a fixed position. Chinese utility model patent CN218285533U discloses a solution for improving the operational freedom of the gripper. The electric gripper is mounted on a rotating ring, allowing it to rotate with the ring for fine-tuning. A third reduction motor within the rotating stage meshes with a second worm gear through a second worm, transmitting interlaced motion and driving the rotating disc to rotate, giving the robotic arm rotational freedom. The rotation of the rotating disc in turn drives the bracket, the first reduction motor on the bracket, and the movable arm on the transmission nut. This solution allows for smooth adjustment of the position of the clamped object within a set height plane. Chinese invention CN113878601B discloses a clamping assembly with multiple interconnected grippers capable of simultaneously gripping and transferring multiple processing units, improving transfer efficiency to a certain extent. However, this solution is difficult to apply to biological sample transfer, primarily because the material of the biological sample consumables cannot withstand high gripping forces. Furthermore, the simultaneous transfer of multiple consumables requires multiple gripping units with higher processing precision and manufacturing consistency. Chinese invention CN115128291B discloses a device suitable for coagulation testing, which includes a connecting plate with an arc-shaped corner guide groove. The gripper arm can move vertically along the guide groove. When the gripper arm moves to the arc-shaped corner, the gripper arm performs a flipping movement. In this way, the coagulation test sampling needle can be adapted to shake the blood collection tube before sampling, thereby improving the basic requirement of accuracy and reliability of the test results of the coagulation test device.

[0004] By analyzing the above existing technologies, it can be seen that the gripper needs to meet different functional requirements in different scenarios. Although the existing technology provides solutions such as smooth operation, efficient transfer and a combination of oscillation functions in a specific field, the current gripper still has the problem of high sensitivity to position deviation. The clamped objects in the biological sample processing system are mostly non-metallic consumables, which are easily deformed when the external force is large, or the deformation recovery may cause the risk of spilling reagent samples, etc. Therefore, designing a gripper assembly and drive mechanism with higher position deviation tolerance is a technical problem that needs to be solved urgently. Utility Model Content

[0005] In order to solve the above problems existing in the prior art, the present invention is implemented through the following technical solutions:

[0006] In the first aspect of the present utility model, a clamping assembly capable of adapting to position deviation is provided, comprising an assembly base, on which a driving mechanism, an elastic component and a clamping mechanism are arranged, and the driving mechanism and the clamping mechanism are connected via the elastic component. When the driving mechanism drives the clamping mechanism to move along the preset extension length direction of the assembly base, the clamping mechanism, under the action of the elastic component, can adapt to the deviation between the position reached by the clamping mechanism and the preset target position, and impose a clamping constraint on the object to be transferred, thereby realizing the transfer of the object to be transferred.

[0007] In one embodiment of the present utility model, the driving mechanism includes a clamping jaw driving motor and an assembly base transmission mechanism, the output end of the clamping jaw driving motor is connected to the assembly base transmission mechanism, the clamping jaw mechanism includes a mechanical clamping jaw and a clamp fixing part fixedly connected to the mechanical clamping jaw, and the assembly base transmission mechanism is connected to the clamp fixing part through the elastic component.

[0008] In one embodiment of the present invention, the elastic component includes an elastic element, and the elastic element is a spring or a spring.

[0009] In one embodiment of the present invention, the elastic component also includes a guide column, which is movably connected between the assembly base transmission mechanism and the clamp fixing part, the elastic element is passed through the guide column, and the elastic element is clamped between the transmission block and the clamp fixing part.

[0010] In one embodiment of the present invention, the assembly base transmission mechanism includes a transmission screw and a transmission block threadedly connected thereto, the clamping jaw drive motor is connected to the transmission screw, and the transmission block is also engagedly connected to a clamping jaw slide rail fixedly connected to the assembly base.

[0011] In one embodiment of the present invention, a position sensing unit is disposed on the assembly base, and a sensing sheet that can match the position sensing unit is disposed on the transmission block.

[0012] In one embodiment of the present invention, the clamping jaw fixing portion is further engaged and connected with a clamping jaw slide rail disposed on the assembly base.

[0013] In one embodiment of the present invention, the mechanical gripper is configured with a first gripper and a second gripper that can be driven to move closer to or away from each other, and the first gripper and the second gripper are arranged opposite to each other.

[0014] In one embodiment of the present invention, it also includes a two-dimensional drive structure capable of driving the clamping mechanism in a plane perpendicular to the preset extension length direction, the two-dimensional drive structure includes a longitudinal span beam and a transverse span beam, the longitudinal span beam is equipped with a clamping longitudinal drive motor and a clamping longitudinal transmission mechanism, the clamping longitudinal drive motor cooperates with the clamping longitudinal transmission mechanism to drive the clamping mechanism to move along the extension direction of the longitudinal span beam, the transverse span beam includes a transverse slide rail arranged along the transverse extension and a transverse guide rod arranged at intervals therefrom, the longitudinal span beam is equipped with a longitudinal beam drive motor, the output end of the longitudinal beam drive motor is connected to a transverse transmission belt arranged to extend laterally, the longitudinal span beam is also fixedly connected to a transverse connecting block and is interlockingly connected to the transverse slide rail, and one end of the longitudinal span beam is also rollingly connected to the transverse guide rod through a roller.

[0015] In a second aspect of the present invention, a biological sample automated processing system is provided, comprising the clamping jaw assembly capable of adapting to position deviation.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The clamping jaw assembly provided by the present invention is connected to the transmission screw through the output end of the driving motor, the transmission screw is threadedly connected to the transmission block, the clamping jaw fixing part is fixedly connected to the mechanical clamping jaw, and the transmission block and the clamping jaw fixing part are elastically connected. With this design, the mechanical clamping jaw can be indirectly driven to move up and down. Due to the elastic connection between the transmission block and the clamping jaw fixing part, the mechanical clamping jaw can adapt to the vertical position deviation under the action of buffering energy, ensuring that the transferred object can be stably and reliably configured at the preset target position, and the elastic component between the transmission block and the clamping jaw fixing part can include a guide column and a through-interpreted elastic element, which can enable the elastic element to be compressed without deflection, and the compression stroke can be made more consistent through the cooperation of the guide column, the through hole and the elastic element. The specific elastic coefficient selection of the elastic element enables the mechanical clamping jaw to be more adaptable to the appropriate pre-tightening force required to compensate for the position deviation of the transfer of biological sample consumables. In addition, by configuring a position sensing unit on the assembly base and configuring an induction plate that can match the position sensing unit on the transmission block, timely perception of the extreme position can be achieved and it can also serve as the basis for position calibration of the mechanical gripper. By configuring a follow-up visual sensor on the assembly base, the mechanical gripper can have functions such as timely identification of the object to be transferred and planning the transfer path. The opposing grippers and the gripper structure design that matches the shape of the consumables to be transferred make the transfer efficiency higher and realize a gripper assembly that can adapt to position deviations.

[0018] 2. The clamping jaw assembly provided by the present invention is also provided with a two-dimensional driving structure capable of driving the clamping jaw mechanism in a plane perpendicular to the preset extension length direction, which includes driving structures and transmission mechanisms in both the transverse and longitudinal directions. In conjunction with the drive for movement in the vertical direction of the assembly base, it can efficiently and low-resistance drive the mechanical clamping jaw to any position within a specific space, thereby realizing the position adjustment of the mechanical clamping jaw in the three-dimensional direction and further improving the accuracy and flexibility of the adjustment of the preset target position.

[0019] 3. The biological sample automated processing system provided by the present invention includes a clamping claw assembly that can adapt to position deviations. The biological sample automated processing system can efficiently and reliably transfer biological consumables or reaction containers at any position within a specific space with high efficiency and higher fault tolerance.

[0020] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the exploded structure of the front of a clamping jaw assembly that can adapt to position deviations provided by an embodiment of the utility model;

[0022] Figure 2 yes Figure 1 A schematic diagram of the exploded structure of the front view of the gripper assembly capable of adapting to position deviation;

[0023] Figure 3 yes Figure 1 A schematic diagram of a process of transferring biological consumables using a gripper assembly;

[0024] Figure 4 yes Figure 1 A schematic diagram of a process of transferring biological consumables using a gripper assembly;

[0025] Figure 5 yes Figure 1 A schematic side view of the longitudinal cross-beam drive in the two-dimensional drive structure of the gripper assembly capable of adapting to position deviation;

[0026] Figure 6 yes Figure 1 A schematic diagram of a side plan view of a two-dimensional drive structure in a gripper assembly capable of adapting to position deviation;

[0027] Description of reference numerals:

[0028] 10-assembly base; 101-slide rail configuration slot; 102-position sensing unit; 11-grip slide rail;

[0029] 21-gripper drive motor; 22-transmission screw;

[0030] 30- transmission block; 31- induction plate; 32- guide column; 33- elastic element; 34- transmission slider; 300- clamping jaw fixing portion; 3001- through hole; 3002- base slider;

[0031] 40-mechanical gripper; 401-first gripper; 402-second gripper;

[0032] 500-biological consumables;

[0033] 600-Vision Sensor;

[0034] 70-longitudinal span beam; 701-grip longitudinal drive motor; 702-longitudinal transmission belt; 710-longitudinal slide rail;

[0035] 80- transverse span beam; 801- longitudinal beam drive motor; 802- transverse transmission belt; 803- transverse connecting block; 804- roller; 810- transverse slide rail; 820- transverse guide rod. DETAILED DESCRIPTION

[0036] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the scheme according to the present invention is described in detail below with reference to the accompanying drawings and specific implementation methods.

[0037] The aforementioned and other technical contents, features, and effects of the present invention are clearly presented in the following detailed description of the specific embodiments in conjunction with the accompanying drawings. Through the description of the specific embodiments, a more in-depth and specific understanding of the technical means and effects adopted by the present invention to achieve the intended purpose can be obtained. However, the accompanying drawings are for reference and illustration purposes only and are not intended to limit the technical solutions of the present invention.

[0038] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations are intended to cover non-exclusive inclusion, such that an article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or device comprising the element.

[0039] Example 1

[0040] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the exploded structure of the front of a clamping jaw assembly that can adapt to position deviations provided by an embodiment of the utility model. Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the main view of the clamping assembly that can adapt to position deviation. The clamping assembly that can adapt to position deviation includes an assembly base 10, on which a driving mechanism, an elastic component and a clamping mechanism are configured. The driving mechanism and the clamping mechanism are connected by the elastic component. When the driving mechanism drives the clamping mechanism to move along the preset extension length direction of the assembly base 10, the clamping mechanism, under the action of the elastic component, can adapt to the deviation between the position reached by the clamping mechanism and the preset target position, and apply a clamping constraint to the object to be transferred, thereby achieving the transfer of the object to be transferred. Furthermore, under the action of the elastic component, the clamping mechanism can adapt to the deviation between the position reached by the clamping assembly and the preset target position and gradually apply a clamping constraint to the object to be transferred.

[0041] Furthermore, the driving mechanism includes a clamp driving motor 21 and an assembly base transmission mechanism. The output end of the clamp driving motor 21 is connected to the assembly base transmission mechanism. The clamp mechanism includes a mechanical clamp 40 and a clamp fixing part 300 fixedly connected to the mechanical clamp 40. The clamp fixing part 300 is used to fix the mechanical clamp 40. The assembly base transmission mechanism is connected to the clamp fixing part 300 through an elastic component.

[0042] Specifically, in order to ensure that the clamping mechanism has sufficient space for movement, the clamping assembly that can adapt to position deviation is provided with an assembly base 10 with a preset extension length. The extension direction of the assembly base 10 can be a vertical direction. The assembly base 10 can be made of a metal material with a certain strength, such as steel. The assembly base 10 is also provided with a clamping slide 11, which is arranged along the extension direction of the assembly base 10. In order to ensure that the clamping slide 11 can receive the interlocking connection object almost unaffected, the clamping slide is optimally configured in the slide configuration groove 101 on the assembly base 10, so that a motion constraint in a specific direction can be formed on the interlocking connection part, making the assembly connection more compact and reliable. The clamping drive motor 21 is fixedly connected to the assembly base 10. The clamping drive motor 21 is driven by DC or AC, and the specific type is not limited. The assembly base transmission mechanism is a transmission rod and a transmission block that cooperate to transmit the power.

[0043] Furthermore, the assembly base transmission mechanism includes a transmission screw 22 and a transmission block 30 threadedly connected thereto, the clamping jaw drive motor 21 is connected to the transmission screw 22 , and the transmission block is also engagedly connected to the clamping jaw slide rail 11 fixedly connected to the assembly base 10 .

[0044] Furthermore, the clamp fixing portion 300 is also engaged and connected with the clamp slide rail 11 configured on the assembly base 10 .

[0045] Specifically, the output end of the clamping jaw driving motor 21 is connected to the transmission screw 22. The transmission connection method of the transmission screw 22 can achieve a more accurate and reliable transmission effect than the pulley or sprocket transmission, and can enable the driven clamping jaw mechanism to reach the specific placement position of the sample to be transferred more smoothly and accurately, that is, the preset target position. The transmission screw 22 is threadedly connected to the transmission block 30. The transmission block 30 is engaged and slidably connected to the clamping jaw slide 11, and the clamping jaw fixing part 300 is also engaged and connected to the clamping jaw slide 11, so that the transmission block 30 and the clamping jaw fixing part 300 are both engaged and connected to the same clamping jaw slide 11, so that the sliding motion constraints between the two are consistent, and the two can be driven with low resistance and high efficiency. Since the clamping jaw fixing part 300 is fixedly connected to the mechanical clamping jaw 40, the mechanical clamping jaw 40 can be driven to slide along the clamping jaw slide 11, thereby achieving precise adjustment of the position of the mechanical clamping jaw 40 along the extension direction of the assembly base 10.

[0046] In actual applications, due to processing errors of instruments and equipment, height differences of the preset target positions of the transferred objects, or differences in the shape and processing of the transferred objects, there will be position deviations when the gripper assembly transfers biological consumables. In biological sample processing systems, biological-related consumables are generally made of non-metallic materials such as plastic, glass, etc., which have weak pressure-bearing capacity. In order to ensure that the consumables are not damaged or deformed by the compression effect of the gripper during placement during the transfer process, many manufacturers have designed solutions for dropping consumables at preset target positions. However, there is a risk of splashing the reagents or samples in the consumables during the dropping process, and there is also a risk that the placement of the consumables is inaccurate, affecting the subsequent pipetting accuracy or causing changes in other reaction conditions. In the present application, the output end of the clamping jaw drive motor 21 directly drives the transmission block 30 to perform high-precision sliding motion, and an elastic component is configured between the transmission block 30 and the clamping jaw fixing portion 300. The transmission block 30 and the clamping jaw fixing portion 300 are elastically connected by the elastic component, thereby making the clamping jaw drive motor 21 and the mechanical clamping jaw 40 indirectly driven. The elastic connection between the transmission block 30 and the clamping jaw fixing portion 300 has a buffering effect. Even if there is a position deviation between the arrival position of the mechanical clamping jaw 40 and the preset target position of the biological consumable 500 to be clamped, the mechanical clamping jaw 40 will not directly apply a sudden clamping force to the biological consumable 500, resulting in excessive clamping. The elastic connection enables the mechanical clamping jaw 40 to gradually apply the clamping force to the biological consumable 500, so that the mechanical clamping jaw 40 has a certain buffer time to cooperate with the screw drive to make the clamping jaw assembly transfer process more accurate and have a certain position deviation fault tolerance. In this embodiment, the elastic component includes a spring. In another embodiment, the elastic component includes a spring.

[0047] Furthermore, the elastic component includes an elastic element 33, which is a spring or a spring. Of course, the elastic element 33 can also be a buffer pad with deformation recovery capability, etc.

[0048] Furthermore, the elastic assembly also includes a guide post 32, which is movably connected between the assembly base transmission mechanism and the clamping jaw fixing portion 300. The elastic element 33 is provided on the guide post 32, and the elastic element 33 is clamped between the transmission block 30 and the clamping jaw fixing portion 300. Specifically, the elastic assembly includes one or more guide posts 32 and one or more elastic elements 33. The number of guide posts 32 and elastic elements 33 can be different or the same. Specifically, when there is one guide post 32, the number of elastic elements 33 is also one. When there are multiple guide posts 32, the number of elastic elements 33 is one or more. Each guide post 32 is movably connected between the assembly base transmission mechanism and the clamping jaw fixing portion 300. The elastic element 33 is provided on at least one guide post 32, and the elastic element 33 is clamped between the transmission block 30 and the clamping jaw fixing portion 300. Preferably, the number of elastic elements 33 and guide posts 32 is the same, that is, each elastic element 33 corresponds to one guide post 32, each guide post 32 is movably connected between the assembly base transmission mechanism and the clamp fixing portion 300, each elastic element 33 is provided on the corresponding guide post 32, and the elastic element 33 is clamped between the transmission block 30 and the clamp fixing portion 300. Specifically, the transmission block 30 is fixedly connected to a plurality of guide posts 32, and the elastic elements 33 are provided on the guide posts 32. More specifically, the transmission block 30 is fixedly connected to a plurality of guide posts 32, and the clamp fixing portion 300 is provided with through holes 3001 through which the guide posts 32 pass. Here, the number of through holes 3001 corresponds to the number of guide posts 32, and the elastic elements 33 are provided on the guide posts 32, and the elastic elements 33 are clamped between the transmission block 30 and the clamp fixing portion 300, so that a reliable elastic connection can be achieved between the transmission block 30 and the clamp fixing portion 300. In this embodiment, one end of the guide post 32 is fixedly connected to the transmission block 30, and the other end can be movably inserted into the through hole 3001. A blocking piece is configured at the plug-in end to clamp the guide post 32. When there is relative movement between the transmission block 30 and the clamp fixing portion 300, one end of the guide post inserted in the through hole 3001 undergoes relative movement and applies a compressive force to the elastic element 33, so that the guide post 32 can also more reliably and low-resistance constrain the relative movement between the transmission block 30 and the clamp fixing portion 300, allowing the mechanical clamp 40 to adapt to the position deviation of the transfer object. In other embodiments, the guide post in the elastic component can be a cylindrical pin, or other connecting element that can realize the insertion of the elastic element in this embodiment.

[0049] Preferably, there is one guide column fixedly connected to the transmission block 30, and the elastic element 33 is a spring with an elastic coefficient of 1.50-2.40N / mm. The optimal elastic coefficient is 1.96N / mm, so that the mechanical clamp 40 can apply sufficient but not excessive clamping force, and the clamp assembly can have sufficient buffering time. In this embodiment, the natural length of the spring is selected to be 45mm, the spring wire diameter is 13mm, and the allowable displacement of the spring is (27%-40%)*L, where L is the natural length of the spring when unconstrained, thereby ensuring that the buffering distance of the clamp assembly is sufficient and reasonable. Compared with multiple guide columns 32, a single guide column 32 and the matching elastic element 33 make the structure of the assembly simpler, and the elastic assembly has fewer connection constraints, which also achieves low-resistance and more sensitive buffering.

[0050] Furthermore, a position sensing unit 102 is also configured on the assembly base 10, and a sensing piece 31 that can match the position sensing unit 102 is configured on the transmission block 30. In this embodiment, the position sensing unit 102 is a photoelectric switch or a photoelectric sensor, and the sensing piece 31 is configured on the side of the transmission block 30. When the transmission block is driven to move, the sensing piece 31 can be inserted between the transmitting and receiving ends of the position sensing unit 102 at a specific position, thereby limiting the movement limit of the transmission block 30 or achieving position correction. The back of the clamp fixing portion 300 is configured with a base slider 3002, and the back of the transmission block 30 is configured with a transmission slider 34. The base slider 3002 and the transmission slider 34 can be embedded in the clamp slide rail 11 with low resistance and high efficiency. Preferably, the base slider 3002 and the transmission slider 34 are configured as a detachable structure to achieve detachable and independent processing, which can make the processing accuracy of the two sliders higher.

[0051] Preferably, a visual sensor 600 is also connected to the assembly base 10. Specifically, the visual sensor 600 is fixedly connected to the assembly base 10. The visual sensor 600 can timely obtain image information of the gripper assembly during operation through an optimization algorithm, so that the mechanical gripper 40 has the functions of timely identifying the transferred object and planning the transfer path, thereby ensuring that the transfer process is more reliable and intelligent.

[0052] Please refer to Figure 3 and Figure 4 , Figure 3 yes Figure 1 Schematic diagram of one process of transferring biological consumables using a gripper assembly. Figure 4 yes Figure 1Schematic diagram of a process of transferring biological consumables by a gripper assembly. In this embodiment, the mechanical gripper 40 can be driven down to the consumable storage position. The mechanical gripper 40 is configured with a first gripper 401 and a second gripper 402 that can be driven to move closer to or away from each other. The first gripper 401 and the second gripper 402 are arranged opposite to each other. After clamping the biological consumable 500, the gripper 40 rises and transfers to a preset target position. The mechanical gripper 40 can be driven down. After contacting the preset target position, the mechanical gripper 40 begins to apply a clamping force to the biological consumable 500. Under the action of the elastic element 33, the guide column 32 is further inserted into the through hole 3001, and the elastic element 33 is elastic. As the spring is gradually compressed, the biological consumable 500 is subjected to a gradually increasing clamping force. The clamping jaw assembly has sufficient buffer space and feedback time, thereby improving the control capability of fault tolerance and being more adaptable to position deviations. In order to ensure that the biological consumable 500 is reliably clamped, the two opposing first grippers 401 and second grippers 402 have a preset width and are configured as a Z-shaped or Z-like structure. The gripper connection part for connecting to the gripper body and the gripper clamping part acting on the biological consumable 500 are arranged alternately, so that the gripper has a larger operating space.

[0053] Please refer to Figure 5 and Figure 6 , Figure 5 yes Figure 1 A schematic side view of the longitudinal cross-beam drive in the two-dimensional drive structure of the gripper assembly that can adapt to position deviation. Figure 6 yes Figure 1A schematic diagram of the structure of the two-dimensional drive structure in a clamping assembly that can adapt to position deviations is shown from a side view. The clamping assembly that can adapt to position deviations also includes a two-dimensional drive structure capable of driving the clamping mechanism in a plane perpendicular to the preset extension length direction. The two-dimensional drive structure includes a longitudinal span beam 70 and a transverse span beam 80 that are oriented perpendicular to each other. The longitudinal span beam 70 is equipped with a clamping longitudinal drive motor 701 and a clamping longitudinal transmission mechanism. The clamping longitudinal drive motor 701 and the clamping longitudinal transmission mechanism cooperate to drive the clamping mechanism to move along the extension direction of the longitudinal span beam. The transverse span beam 80 includes a transverse slide rail 810 extending along the transverse direction (the transverse slide rail 810 is fixedly connected to the side of the transverse span beam 80) and a transverse guide rod 820 arranged at intervals therefrom. A longitudinal beam drive motor 801 is arranged on the longitudinal span beam 70. The output end of the longitudinal beam drive motor 801 is connected to a transverse transmission belt 802 extending laterally. The longitudinal span beam 70 is also fixedly connected to a transverse connecting block 803, and the longitudinal span beam 70 is connected to the transverse slide rail 810 in an interlocking manner through the transverse connecting block 803. One end of the longitudinal span beam 70 is also rollingly connected to the transverse guide rod 820 through a roller 804. Specifically, the longitudinal span beam 70 is equipped with a clamp longitudinal drive motor 701 and a clamp longitudinal transmission mechanism. Preferably, the clamp longitudinal transmission mechanism is a pulley transmission mechanism, which can make the transmission speed faster. The output end of the clamp longitudinal drive motor 701 is connected to a longitudinal drive wheel. Along the extension direction of the longitudinal span beam 70, a longitudinal driven wheel is arranged at a preset interval from the longitudinal drive wheel. A longitudinal transmission belt 702 is arranged between the longitudinal drive wheel and the longitudinal driven wheel. The longitudinal span beam 70 also includes a longitudinal slide rail 710 arranged along the extension direction of the longitudinal span beam 70. The longitudinal connecting block is connected at a preset position of the longitudinal transmission belt 702. The clamp longitudinal transmission mechanism is connected to the assembly base 10 of the mechanical clamp 40 through the longitudinal connecting block. The transverse span beam 80 is perpendicular to the direction of the longitudinal span beam 70. The transverse span beam 80 includes a transverse slide rail 810 extending in the transverse direction and a transverse guide rod 820 spaced apart from the transverse slide rail 810. Figure 6It can be seen that the longitudinal beam 70 is provided with a longitudinal beam drive motor 801, and the longitudinal beam drive motor 801 is connected to the longitudinal beam 70, and the longitudinal beam 70 can move. The longitudinal beam drive motor 801 is arranged in the middle position of the longitudinal beam 70 rather than in the end connection area of ​​the longitudinal beam 70, so that the longitudinal beam drive movement has less interference, and the output end of the longitudinal beam drive motor 801 is connected to the transverse transmission belt 802 that extends laterally, that is, the transverse transmission belt 802 is consistent with the main body direction of the transverse slide rail 810, and the two ends of the transverse transmission belt 802 are fixed here so that the transverse transmission belt 802 is fixedly configured. As the longitudinal beam drive motor outputs clockwise or counterclockwise rotational motion, the fixed transverse transmission belt needs to generate relative motion with the longitudinal beam drive motor 801, and the longitudinal beam drive motor 801 and the longitudinal beam drive motor 801 are connected to each other. 1 is driven to move along the transverse slide rail 810. In order to ensure the reliability of the transmission, the number of transverse transmission belts 802 can be 2 or more. The output end of the longitudinal beam drive motor 801 is respectively connected to the 2 or more transverse transmission belts 802. The longitudinal span beam 70 is also fixedly connected to a transverse connecting block 803, which is engaged with the transverse slide rail 810. One end of the longitudinal span beam 70 is also rollingly connected to the transverse guide rod 820 through a roller 804. When the longitudinal span beam 70 is driven to move along the transverse transmission belt 802, the roller 804 connected to the longitudinal span beam 70 rolls along the transverse guide rod 820, so that the longitudinal span beam 70 can be driven to move transversely more reliably, with low resistance and high efficiency, so that the mechanical gripper can move to any position within a specific space.

[0054] The clamping jaw assembly provided in this embodiment is connected to the transmission screw through the output end of the driving motor, the transmission screw is threadedly connected to the transmission block, the clamping jaw fixing part is fixedly connected to the mechanical clamping jaw, and the transmission block and the clamping jaw fixing part are elastically connected. With such a design, the mechanical clamping jaw can be indirectly driven to move up and down. Due to the elastic connection between the transmission block and the clamping jaw fixing part, the mechanical clamping jaw can adapt to the vertical position deviation under the action of buffering energy, ensuring that the transferred object can be stably and reliably configured at the preset target position. In addition, an elastic component is arranged between the transmission block and the clamping jaw fixing part, such as a guide column and a through-installed elastic element, which can make the elastic element compressed without deviation. The compression stroke can also be made more consistent through the cooperation of the guide column, the through hole and the elastic element. The specific elastic coefficient of the elastic element is selected to enable the mechanical clamping jaw to be more adaptable to the appropriate pre-tightening force required to compensate for the position deviation of the transfer of biological sample consumables. In addition, by configuring a position sensing unit on the assembly base and configuring an induction plate that can match the position sensing unit on the transmission block, timely perception of the extreme position can be achieved and it can also serve as the basis for position calibration of the mechanical gripper. By configuring a follow-up visual sensor on the assembly base, the mechanical gripper can have functions such as timely identification of the object to be transferred and planning the transfer path. The opposing grippers and the gripper structure design that matches the shape of the consumables to be transferred make the transfer efficiency higher and realize a gripper assembly that can adapt to position deviations.

[0055] The clamping assembly provided in this embodiment is also provided with a two-dimensional driving structure capable of driving the clamping mechanism in a plane perpendicular to the preset extension length direction, which includes driving structures and transmission mechanisms in both the transverse and longitudinal directions. Combined with the drive for movement in the vertical direction along the assembly base, it can efficiently and low-resistance drive the mechanical clamp to any position within a specific space, thereby realizing the position adjustment of the mechanical clamp in the three-dimensional direction and further improving the accuracy of the adjustment of the preset target position.

[0056] Example 2

[0057] A biological sample automated processing system, in particular an ELISA enzyme-linked immunosorbent assay (ELISA) automated detection system, comprising an automated processing unit capable of transferring biological consumables. The automated processing unit comprises any one of the gripper assemblies provided in Example 1 that can adapt to position deviations and can transfer biological consumables within multiple processing positions at different locations. In order to ensure that the gripper assembly can be driven efficiently, with low resistance and reliably, preferably, the two-dimensional drive mechanism of the gripper assembly disclosed in Example 1 is used to drive the mechanical gripper, thereby achieving the transfer of biological consumables or reaction containers at any position within a specific space.

[0058] The biological sample automated processing system provided in this embodiment includes the clamping claw assembly capable of adapting to position deviation of embodiment 1, which can efficiently and reliably transfer biological consumables or reaction containers at any position within a specific space with higher efficiency and fault tolerance.

[0059] The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention cannot be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A clamping jaw assembly capable of adapting to position deviation, characterized in that: The invention comprises an assembly base (10), wherein a driving mechanism, an elastic component and a clamping mechanism are arranged on the assembly base (10), and the driving mechanism and the clamping mechanism are connected via the elastic component. When the driving mechanism drives the clamping mechanism to move along the preset extension length direction of the assembly base (10), the clamping mechanism, under the action of the elastic component, can adapt to the deviation between the position reached by the clamping mechanism and the preset target position, and exert a pressing constraint on the object to be transferred, thereby realizing the transfer of the object to be transferred.

2. The clamping jaw assembly capable of adapting to position deviation according to claim 1, characterized in that: The driving mechanism comprises a clamping jaw driving motor (21) and an assembly base transmission mechanism, wherein the output end of the clamping jaw driving motor (21) is connected to the assembly base transmission mechanism, the clamping jaw mechanism comprises a mechanical clamping jaw (40) and a clamping jaw fixing portion (300) fixedly connected to the mechanical clamping jaw (40), and the assembly base transmission mechanism is connected to the clamping jaw fixing portion (300) via the elastic component.

3. The clamping jaw assembly capable of adapting to position deviation according to claim 2, characterized in that: The elastic component comprises an elastic element (33), and the elastic element (33) is a spring or a spring.

4. The clamping jaw assembly capable of adapting to position deviation according to claim 3, characterized in that: The elastic component further comprises a guide column (32), which is movably connected between the assembly base transmission mechanism and the clamp fixing portion (300), and an elastic element (33) is provided on the guide column (32), and the elastic element (33) is clamped between the transmission block (30) and the clamp fixing portion (300).

5. The clamping jaw assembly capable of adapting to position deviation according to claim 2, characterized in that: The assembly base transmission mechanism comprises a transmission screw (22) and a transmission block (30) threadedly connected thereto, the clamping jaw driving motor (21) is connected to the transmission screw (22), and the transmission block is also engagedly connected to a clamping jaw slide rail (11) fixedly connected to the assembly base (10).

6. The clamping jaw assembly capable of adapting to position deviation according to claim 4, characterized in that: A position sensing unit (102) is arranged on the assembly base (10), and a sensing sheet (31) that can match the position sensing unit (102) is arranged on the transmission block (30).

7. The clamping jaw assembly capable of adapting to position deviation according to claim 2, characterized in that: The clamp fixing portion (300) is also engaged and connected with a clamp slide rail (11) arranged on the assembly base (10).

8. The clamping jaw assembly capable of adapting to position deviation according to claim 1, characterized in that: The mechanical gripper (40) is provided with a first gripper (401) and a second gripper (402) which can be driven to move closer to or farther from each other, and the first gripper (401) and the second gripper (402) are arranged opposite to each other.

9. The clamping jaw assembly capable of adapting to position deviation according to claim 1, characterized in that: The invention also includes a two-dimensional driving structure capable of driving a clamping mechanism in a plane perpendicular to a preset extension length direction, wherein the two-dimensional driving structure includes a longitudinal span beam (70) and a transverse span beam (80), wherein the longitudinal span beam (70) is provided with a clamping longitudinal driving motor (701) and a clamping longitudinal transmission mechanism, wherein the clamping longitudinal driving motor (701) cooperates with the clamping longitudinal transmission mechanism to drive the clamping mechanism to move along the longitudinal span beam extension direction, and wherein the transverse span beam (80) includes a transverse slide rail (810) arranged along the transverse extension direction. ) and a transverse guide rod (820) spaced apart therefrom, the longitudinal span beam (70) is provided with a longitudinal beam drive motor (801), the output end of the longitudinal beam drive motor (801) is connected to a transverse transmission belt (802) extending transversely, the longitudinal span beam (70) is also fixedly connected to a transverse connecting block (803) and is connected to the transverse slide rail (810) in an engaging manner, and one end of the longitudinal span beam (70) is also rollingly connected to the transverse guide rod (820) via a roller (804).

10. A biological sample automated processing system, characterized in that: The invention comprises a clamping jaw assembly capable of adapting to position deviation according to any one of claims 1 to 9.

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