Gripper device with pressing function and mechanical arm thereof

Abstract

The utility model belongs to the field of full-automatic in-vitro diagnostic instruments, and discloses a gripper device with a pressing function and a mechanical arm of the gripper device, the gripper device comprises a Y-axis mechanism, a gripper mechanism and a pressing mechanism, the Y-axis mechanism comprises a moving platform and a Y-axis driving assembly arranged on the moving platform, the gripper mechanism is used for gripping a reaction plate, and the pressing mechanism is used for pressing the reaction plate. The gripper mechanism is slidably mounted on the moving platform in the Y-axis direction and connected with the Y-axis driving assembly, and the Y-axis driving assembly drives the gripper mechanism to move in the Y-axis direction; and the pressing mechanism is fixedly mounted on the moving platform, is positioned at the upper end of the Y-axis direction moving path of the gripper mechanism, and is used for pressing the reaction plate which is gripped by the gripper mechanism and passes through the lower end of the pressing mechanism. In the process of grabbing the reaction plate by the gripper mechanism, the reaction plate is pressed by the pressing mechanism, so that the problem that the upper cover of the reaction plate falls off or collides with the mechanism in the moving process can be avoided.

Description

Technical Field

[0001] The utility model relates to the field of full-automatic in vitro diagnostic instruments, in particular to a gripping device with a pressing function and a mechanical arm thereof. Background Art

[0002] Currently, reaction plates are used in fully automatic in vitro diagnostic instruments. Reaction plates are used to load samples, reagents, etc. throughout the entire testing process. The reaction plates need to be moved between different functional positions inside the instrument (such as the sample loading position, incubation position, etc.), and the movement is generally completed by a robotic arm. The gripping and release of the reaction plates are achieved by opening and closing the gripper's jaws. The arm group moves the gripper forward and opens / closes the jaws to pick up and place the reaction plate. During this process, if the upper cover of the reaction plate is not placed in place or is warped, it is very easy for the upper cover of the reaction plate to fall off or collide with the mechanism during movement. Utility Model Content

[0003] The purpose of the present utility model is to provide a gripping device with a pressing function and a mechanical arm thereof, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A gripper device with a clamping function includes a Y-axis mechanism, a gripper mechanism, and a clamping mechanism. The Y-axis mechanism includes a mobile platform and a Y-axis drive assembly disposed on the mobile platform. The gripper mechanism is used to grip a reaction plate. The gripper mechanism is slidably mounted on the mobile platform along the Y-axis direction and connected to the Y-axis drive assembly. The Y-axis drive assembly drives the gripper mechanism to move along the Y-axis direction.

[0006] The clamping mechanism is fixedly mounted on the mobile platform and is located at the upper end of the Y-axis moving path of the gripping mechanism. The clamping mechanism is used to clamp the reaction plate gripped by the gripping mechanism and passing through the lower end of the clamping mechanism.

[0007] Furthermore, the pressing mechanism includes a pressing mounting frame and a roller provided on the pressing mounting frame, and the roller is used to press the reaction plate.

[0008] Furthermore, the pressing mounting frame is laterally spanned on the movable platform.

[0009] Furthermore, the pressing mechanism includes at least two left and right rollers.

[0010] Furthermore, the Y-axis driving assembly is a synchronous belt mechanism arranged along the Y-axis direction, and the synchronous belt of the synchronous belt mechanism is connected to the gripper mechanism to drive the gripper mechanism to move along the Y-axis direction.

[0011] The present invention also provides a robotic arm, comprising an X-axis mechanism, a Z-axis mechanism, and the gripping device as described above, wherein the X-axis mechanism is used to drive the gripping device to move along the X-axis direction, and the Z-axis mechanism is used to drive the gripping device to move along the Z-axis direction.

[0012] Furthermore, the Z-axis mechanism is arranged on the X-axis mechanism, the gripper device is arranged on the Z-axis mechanism, the X-axis mechanism drives the Z-axis mechanism to move along the X-axis direction, and the Z-axis mechanism drives the gripper device to move along the Z-axis direction.

[0013] Furthermore, the X-axis mechanism includes an X-axis mounting seat and an X-axis drive assembly arranged on the X-axis mounting seat, and the Z-axis mechanism includes a Z-axis mounting seat and a Z-axis drive assembly arranged on the Z-axis mounting seat, the Z-axis mounting seat is slidably mounted on the X-axis mounting seat along the X-axis direction and is connected to the X-axis drive assembly, the X-axis drive assembly drives the Z-axis mounting seat to move along the X-axis direction, the mobile platform is slidably mounted on the Z-axis mounting seat along the Z-axis direction and is connected to the Z-axis drive assembly, and the Z-axis drive assembly drives the mobile platform to move along the Z-axis direction.

[0014] Furthermore, the X-axis drive assembly is a synchronous belt mechanism.

[0015] Furthermore, the Z-axis drive assembly is an electric screw-nut mechanism.

[0016] Compared with the prior art, the beneficial effect of the present invention is that during the process of the gripping mechanism grabbing the reaction plate, the present invention presses the reaction plate through the pressing mechanism, which can avoid the problem of the upper cover of the reaction plate falling off or colliding with the mechanism during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural schematic diagram of a gripping device with a pressing function of the present utility model.

[0018] Figure 2 This is a schematic diagram of the exploded structure of a gripping device with a pressing function of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of a mechanical arm of the present utility model.

[0020] Figure 4 The figure is a schematic diagram of the exploded structure of a robotic arm of the present invention.

[0021] In the figure: X-axis mounting seat 1, X-axis drive assembly 2, Z-axis mounting seat 3, Z-axis drive assembly 4, mobile platform 5, Y-axis drive assembly 6, gripper mechanism 7, clamping mechanism 8, clamping mounting frame 800, roller 801, reaction plate 9. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figure 1 and Figure 2 A gripping device with a clamping function includes a Y-axis mechanism, a gripping mechanism 7, and a clamping mechanism 8. The Y-axis mechanism includes a mobile platform 5 and a Y-axis drive assembly 6 disposed on the mobile platform 5. The gripping mechanism 7 is used to grip a reaction plate 9. The gripping mechanism 7 is slidably mounted on the mobile platform 5 along the Y-axis direction and is connected to the Y-axis drive assembly 6. The Y-axis drive assembly 6 drives the gripping mechanism 7 to move along the Y-axis direction. The clamping mechanism 8 is fixedly mounted on the mobile platform 5. The clamping mechanism 8 is located at the upper end of the Y-axis movement path of the gripping mechanism 7. The clamping mechanism 8 is used to clamp the reaction plate 9 gripped by the gripping mechanism 7 and passing through the lower end of the clamping mechanism 8 from top to bottom.

[0024] Among them, the sliding installation of the gripping mechanism 7 and the mobile platform 5 is achieved through a linear guide rail. The structure and working principle of the gripping mechanism 7 are well-known technologies in this field and will not be described in detail.

[0025] It can be understood that in the above technical solution, during the process of the gripping mechanism 7 grabbing the reaction plate 9, the utility model presses the reaction plate 9 through the pressing mechanism 8, which can avoid the problem of the upper cover of the reaction plate falling off or colliding with the mechanism during movement.

[0026] Continue reading Figure 1 and Figure 2 In one embodiment of the present invention, the pressing mechanism 8 includes a pressing mounting frame 800 and a roller 801 mounted on the pressing mounting frame 800. The roller 801 is used to press the reaction plate 9. Specifically, the main body of the pressing mounting frame 800 is an inverted U-shaped structure, which is laterally mounted on the mobile platform 5. The pressing mounting frame 800 is provided with a roller mounting seat on each side, and the roller 801 is mounted on each roller mounting seat.

[0027] The number and positions of the rollers 801 can be adjusted as needed.

[0028] Continue reading Figure 2 In one embodiment of the present invention, the Y-axis driving assembly 6 is a synchronous belt mechanism arranged along the Y-axis direction, and the synchronous belt of the synchronous belt mechanism is connected to the gripper mechanism 7, driving the gripper mechanism 7 to move along the Y-axis direction.

[0029] In another embodiment of the present invention, the Y-axis drive assembly 6 can adopt an electric screw nut mechanism, an air cylinder, an oil cylinder, an electric cylinder, etc.

[0030] See also Figure 3 and Figure 4 A robotic arm includes an X-axis mechanism, a Z-axis mechanism, and the gripping device as described above, wherein the X-axis mechanism is used to drive the gripping device to move along the X-axis direction, and the Z-axis mechanism is used to drive the gripping device to move along the Z-axis direction.

[0031] Continue reading Figure 3 and Figure 4 In one embodiment of the present invention, the Z-axis mechanism is arranged on the X-axis mechanism, the gripping device is arranged on the Z-axis mechanism, the X-axis mechanism drives the Z-axis mechanism to move along the X-axis direction, and the Z-axis mechanism drives the gripping device to move along the Z-axis direction.

[0032] Further reading Figure 3 and Figure 4 In one embodiment of the present utility model, the X-axis mechanism includes an X-axis mounting seat 1 and an X-axis driving assembly 2 arranged on the X-axis mounting seat 1, and the Z-axis mechanism includes a Z-axis mounting seat 3 and a Z-axis driving assembly 4 arranged on the Z-axis mounting seat 3. The Z-axis mounting seat 3 is slidably mounted on the X-axis mounting seat 1 along the X-axis direction and is connected to the X-axis driving assembly 2. The X-axis driving assembly 2 drives the Z-axis mounting seat 3 to move along the X-axis direction. The mobile platform 5 is slidably mounted on the Z-axis mounting seat 3 along the Z-axis direction and is connected to the Z-axis driving assembly 4. The Z-axis driving assembly 4 drives the mobile platform 5 to move along the Z-axis direction.

[0033] Among them, the sliding installation of the Z-axis mounting seat 3 and the X-axis mounting seat 1 is achieved through a linear guide rail, and the sliding installation of the X-axis mounting seat 1 and the mobile platform 5 is achieved through a linear guide rail.

[0034] Continue reading Figure 3 and Figure 4 In one embodiment of the present invention, the X-axis drive assembly 2 is a synchronous belt mechanism.

[0035] In another embodiment of the present invention, the X-axis drive assembly 2 can adopt an electric screw nut mechanism, an air cylinder, an oil cylinder, an electric cylinder, etc.

[0036] Continue reading Figure 3 and Figure 4 In one embodiment of the present invention, the Z-axis drive assembly 4 is an electric screw nut mechanism.

[0037] In another embodiment of the present invention, the Z-axis drive assembly 4 can adopt a synchronous belt mechanism, an air cylinder, an oil cylinder, an electric cylinder, etc.

[0038] The working principle of the present invention is as follows: when the gripping mechanism 7 is in the process of clamping and releasing the reaction plate 9, the entire gripping mechanism 7 needs to move back and forth, while the pressing mechanism 8 does not move. After gripping the reaction plate 9, the gripping mechanism 7 moves backward, and the reaction plate 9 moves to the bottom of the roller 801, thereby achieving the purpose of pressing.

[0039] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripping device with a clamping function, characterized in that: The invention comprises a Y-axis mechanism, a gripping mechanism (7) and a pressing mechanism (8), wherein the Y-axis mechanism comprises a mobile platform (5) and a Y-axis driving assembly (6) arranged on the mobile platform (5), the gripping mechanism (7) is used to grab the reaction plate (9), the gripping mechanism (7) is slidably mounted on the mobile platform (5) along the Y-axis direction and is connected to the Y-axis driving assembly (6), and the Y-axis driving assembly (6) drives the gripping mechanism (7) to move along the Y-axis direction; The clamping mechanism (8) is fixedly mounted on the mobile platform (5). The clamping mechanism (8) is located at the upper end of the Y-axis moving path of the gripping mechanism (7). The clamping mechanism (8) is used to clamp the reaction plate (9) gripped by the gripping mechanism (7) and passing through the lower end of the clamping mechanism (8).

2. A gripping device with a pressing function according to claim 1, characterized in that: The pressing mechanism (8) comprises a pressing mounting frame (800) and a roller (801) arranged on the pressing mounting frame (800), wherein the roller (801) is used to press the reaction plate (9).

3. A gripping device with a pressing function according to claim 2, characterized in that: The pressing mounting frame (800) is laterally spanned on the mobile platform (5).

4. The gripping device with a pressing function according to claim 2, characterized in that: The pressing mechanism (8) comprises at least two left and right rollers (801).

5. The gripping device with a pressing function according to claim 2, characterized in that: The Y-axis driving assembly (6) is a synchronous belt mechanism arranged along the Y-axis direction, and the synchronous belt of the synchronous belt mechanism is connected to the gripping mechanism (7), driving the gripping mechanism (7) to move along the Y-axis direction.

6. A robotic arm, characterized in that: It comprises an X-axis mechanism, a Z-axis mechanism and a gripping device as described in any one of claims 1 to 5, wherein the X-axis mechanism is used to drive the gripping device to move along the X-axis direction, and the Z-axis mechanism is used to drive the gripping device to move along the Z-axis direction.

7. The robotic arm according to claim 6, characterized in that: The Z-axis mechanism is arranged on the X-axis mechanism, and the gripping device is arranged on the Z-axis mechanism. The X-axis mechanism drives the Z-axis mechanism to move along the X-axis direction, and the Z-axis mechanism drives the gripping device to move along the Z-axis direction.

8. The robotic arm according to claim 7, characterized in that: The X-axis mechanism comprises an X-axis mounting seat (1) and an X-axis driving assembly (2) arranged on the X-axis mounting seat (1); the Z-axis mechanism comprises a Z-axis mounting seat (3) and a Z-axis driving assembly (4) arranged on the Z-axis mounting seat (3); the Z-axis mounting seat (3) is slidably mounted on the X-axis mounting seat (1) along the X-axis direction and is connected to the X-axis driving assembly (2); the X-axis driving assembly (2) drives the Z-axis mounting seat (3) to move along the X-axis direction; the mobile platform (5) is slidably mounted on the Z-axis mounting seat (3) along the Z-axis direction and is connected to the Z-axis driving assembly (4); the Z-axis driving assembly (4) drives the mobile platform (5) to move along the Z-axis direction.

9. The robotic arm according to claim 8, characterized in that: The X-axis drive assembly (2) is a synchronous belt mechanism.

10. The robotic arm according to claim 8, characterized in that: The Z-axis drive assembly (4) is an electric lead screw and nut mechanism.

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