Grabbing and transferring device and grabbing and transferring system
By designing a curved surface fit between the gripping claw and the clamping block driven by a power component, the problems of large size and high precision requirements of existing wafer gripping and transfer equipment are solved, realizing simple, low-cost and reliable wafer gripping and transfer.
Patent Information
- Application Number
- CN202520141586.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-21
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2035-01-21
AI Technical Summary
Existing methods for grabbing and transferring sequencing slides suffer from problems such as large equipment size, high precision requirements, or the slides easily getting stuck, resulting in a high failure rate.
Design a gripping and transferring device, including a power component and a gripping claw. The gripping claw is equipped with a clamping block, which gradually thickens from the middle and has a curved side surface. The relative movement of the gripping claw enables the gripping and release of the item, and the curved surface of the clamping block cooperates with the groove of the carrier to achieve multi-directional correction.
It achieves a simple, low-cost, and highly reliable carrier gripping and transfer mechanism, and can firmly hold the carrier even when the position is inaccurate, thus improving the reliability of operation.
Smart Images
Figure CN223722083U_ABST
Abstract
Description
Technical Field
[0001] This application relates to a gripping and transferring device and a gripping and transferring system including the gripping and transferring device. Background Technology
[0002] Current technologies commonly employ gene sequencers to perform gene sequencing in flow cells, also known as sequencing slides. Sequencing slides require reagent loading on multiple biochemical reaction platforms and fluorescence imaging on an optical platform, necessitating multiple handling and transfer operations. Existing methods for handling and transferring sequencing slides include negative pressure aspiration, which requires a large external vacuum assembly; wedge-shaped fingers, which demand high precision from the slide frame; and four-corner interlocking fingers, which are prone to snagging the slide, leading to a high placement failure rate. Utility Model Content
[0003] This application provides a gripping and transferring device, comprising:
[0004] Power components;
[0005] Two gripping claws are arranged at a distance from each other and connected to the power assembly so that they can move closer or further apart under the drive of the power assembly.
[0006] At least one clamping block is protruding from one end of each of the clamping claws. The clamping block includes a first end face and a second end face opposite to each other, and a side surface connecting the first end face and the second end face. The first end face is connected to the clamping claw. The clamping block gradually thickens from its middle toward the first end face and the second end face respectively. The side surface is curved.
[0007] The gripping and transferring device of this application has a simple structure, low cost, and high reliability. By having two gripping claws move closer and further apart under the drive of a power component, it can easily grip or release the gripping of an item. In addition, by designing a specially shaped gripping block with a shape that gradually thickens from the middle to both ends and has curved side surfaces, the side surfaces of the gripping block can correct deviations from multiple directions such as up and down and front and back when gripping the side wall of the carrier. Thus, even if the gripping claws do not move to the carrier position precisely, it will not affect the firm gripping of the carrier by the gripping block.
[0008] In at least one embodiment, the holding block includes a first part and a second part connected to the first part, the first end face being the end face of the first part facing away from the second part, and the second end face being the end face of the second part facing away from the first part; both the first part and the second part are in the shape of a frustum, a hemisphere, or a semi-ellipsoid.
[0009] In at least one embodiment, each of the clamping claws is provided with two clamping blocks arranged at intervals.
[0010] In at least one embodiment, one end of the power assembly is provided with a fixed block, two sliding blocks are slidably arranged on the fixed block, and the power assembly is connected with the sliding blocks through the fixed block. The two sliding blocks are connected with the two clamping claws one by one.
[0011] In at least one embodiment, the fixed block is further provided with a sliding rail corresponding to each of the sliding blocks, and the sliding blocks are slidably arranged on the sliding rails.
[0012] In at least one embodiment, the sliding blocks are designed in a shape such that when the two sliding blocks slide relatively to drive the two clamping claws to approach each other, the two sliding blocks will abut against each other, so that the two sliding blocks stop sliding.
[0013] In at least one embodiment, the grabbing and transferring device further comprises a connecting piece connected between the sliding blocks and the clamping claws.
[0014] In at least one embodiment, the connecting piece comprises a first connecting part and a second connecting part connected with the first connecting part, the second connecting part is connected with the first connecting part away from one end of the sliding block, the first connecting part is fixedly connected with the sliding block, and the second connecting part is fixedly connected with the clamping claw.
[0015] The application also provides a grabbing and transferring system comprising an article and the above-mentioned grabbing and transferring device for grabbing the article.
[0016] In at least one embodiment, the article is provided with a clamping groove matched with the clamping block, and a groove wall of the clamping groove is curved. BRIEF DESCRIPTION OF DRAWINGS
[0017] Figure 1 It is a perspective view of the grabbing and transferring system of the embodiment of the application.
[0018] Figure 2 It is an exploded view of the grabbing and transferring device of the embodiment of the application. Figure 1
[0019] It is a partial view of the grabbing and transferring device of the embodiment of the application. Figure 3 Figure 1 It is a top view of the slide of the embodiment of the application.
[0020] Figure 4 Figure 1 It is a perspective view of the clamping claw and the slide of the embodiment of the application.
[0021] Figure 5 It is a perspective view of the clamping claw and the slide of the embodiment of the application. Figure 1
[0022] Figure 6 A perspective view of a clamping claw and a slide of another embodiment of the present application.
[0023] Explanation of main element symbols
[0024] The grabbing and transferring device 100, the power assembly 10, the clamping claw 20, the clamping block 30,
[0025] The first end surface 31, the second end surface 32, the side surface 33, the first part 34, the second part 35,
[0026] The slide 120, the clamping groove 121, the fixing block 40, the sliding block 50, the abutting part 51,
[0027] The sliding rail 41, the connecting piece 60, the first connecting part 61, the second connecting part 62,
[0028] The box body 130. DETAILED DESCRIPTION
[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the application belong. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of embodiments of the application. Unless specifically noted, the practice of embodiments of the application involves conventional techniques or modifications thereof that are well known in the art.
[0030] It should be noted that all directional indications, such as up, down, left, right, front, back, etc., are only used for the purpose of explanation and are not intended to limit the application of the embodiments of the present application. If the specific posture changes, the directionality will also change accordingly.
[0031] The embodiments of the present application provide a grabbing and transferring device for grabbing articles such as slides for sequencing, which has simple structure, low cost and high reliability. The grabbing and transferring device of the embodiments of the present application can be applied to a gene sequencer in the medical instrument industry for grabbing and transferring a gene sequencing slide, but is not limited to the medical instrument industry and is also not limited to the gene sequencing slide and other small and light objects that need to be grabbed and transferred.
[0032] Please refer to Figure 1 and Figure 2 The grabbing and transferring device 100 of the embodiments of the present application includes a power assembly 10, two clamping claws 20 connected to the power assembly 10, and at least one clamping block 30 arranged on each clamping claw 20.
[0033] The two clamping jaws 20 are oppositely spaced. The clamping jaws 20 are connected to the power assembly 10. The two clamping jaws 20 are relatively moved under the driving of the power assembly 10, so that the two clamping jaws 20 are relatively close to each other or relatively far away from each other. The clamping block 30 is used to clamp the article to be grabbed by the grabbing and transferring device 100. The two clamping jaws 20 are relatively close to each other, so that the clamping block 30 clamps the article to be grabbed. The two clamping jaws 20 are relatively far away from each other, so that the clamping block 30 releases the grabbed article.
[0034] The clamping block 30 is protruded at one end of each clamping jaw 20. The clamping block 30 has opposite first and second end faces 31 and 32, and a side surface 33 connected between the first and second end faces 31 and 32. The first end face 31 is connected to the clamping jaw 20. The clamping block 30 is gradually thickened in the direction of the first end face 31 and the direction of the second end face 32, respectively. The side surface 33 is a curved surface. The clamping block 30 abuts against the article through the side surface 33, so as to clamp the article.
[0035] The clamping block 30 includes a first part 34 and a second part 35 connected to the first part 34. The first part 34 is connected to the clamping jaw 20, and the second part 35 is connected to one end of the first part 34 away from the clamping jaw 20. The first part 34 is connected between the clamping jaw 20 and the second part 35. The first end face 31 is an end face of the first part 34 away from the second part 35, and the second end face 32 is an end face of the second part 35 away from the first part 34. The first part 34 is gradually thickened in the direction away from the second part 35, and the second part 35 is gradually thickened in the direction away from the first part 34. In the embodiment, the first part 34 and the second part 35 are substantially in the shape of a circular truncated cone. The first part 34 and the second part 35 are symmetrically connected, so that the clamping block 30 has a shape gradually thickened from the middle to the two ends. That is, the corresponding side surfaces 33 of the first part 34 and the second part 35 are both conical surfaces. It can be understood that the shapes of the first part 34 and the second part 35 are not limited to the shape of a circular truncated cone, but can also be hemispherical, semi-elliptical, etc., and also can make the clamping block 30 have a shape gradually thickened from the middle to the two ends. In the embodiment, the side surface 33 includes two conical surfaces connected to each other.
[0036] In the embodiment, the end of each clamping jaw 20 is provided with two clamping blocks 30 spaced apart. In this way, four clamping blocks 30 are provided on the two clamping jaws 20 for clamping the slide 120, so that the grabbing and transferring device 100 clamps the slide 120 more firmly, and the reliability of transferring the slide 120 is improved.
[0037] The grabbing and transferring device 100 of the embodiment is used to grab the slide 120, but is not limited thereto, and can also be used to grab other articles. The embodiment takes the grabbing and transferring of the slide 120 as an example for description.
[0038] AsFigure 4 As shown, the slide 120 of the embodiment of the present application is substantially rectangular, and includes two opposite side walls. The two clamping jaws 20 are relatively close to the two side walls of the slide 120, and the clamping blocks 30 on the two clamping jaws 20 are clamped on the two side walls of the slide 120, or the two clamping jaws 20 are relatively far away from the two side walls of the slide 120, and the clamping blocks 30 on the two clamping jaws 20 are released from the two side walls of the slide 120.
[0039] As shown, in order to cooperate with the clamping blocks 30, the slide 120 is provided with clamping grooves 121 for cooperating with the clamping blocks 30, and the clamping blocks 30 are finally clamped in the clamping grooves 121. The surface of the groove wall defining the clamping grooves 121 is curved to cooperate with the curved side surface 33 of the clamping blocks 30. In addition, the groove wall of the clamping grooves 121 includes two curved surfaces connected to each other to one-to-one correspondingly cooperate with the side surface 33 of the first part 34 and the side surface 33 of the second part 35. Figure 1 Figure 4 As shown, in order to cooperate with the clamping blocks 30, the slide 120 is provided with clamping grooves 121 for cooperating with the clamping blocks 30, and the clamping blocks 30 are finally clamped in the clamping grooves 121. The surface of the groove wall defining the clamping grooves 121 is curved to cooperate with the curved side surface 33 of the clamping blocks 30. In addition, the groove wall of the clamping grooves 121 includes two curved surfaces connected to each other to one-to-one correspondingly cooperate with the side surface 33 of the first part 34 and the side surface 33 of the second part 35.
[0040] In the embodiment of the present application, the clamping grooves 121 are located on each of the two opposite side walls of the slide 120 and are recessed towards the center of the slide 120. Since each clamping jaw 20 is provided with two clamping blocks 30, each side wall is correspondingly provided with two clamping grooves 121. In the embodiment of the present application, the slide 120 further includes two end sides connected between the two side walls, and the clamping grooves 121 are arranged close to one end side of the slide 120.
[0041] As shown, when the clamping jaw 20 moves to a position that is not in place in the height direction relative to the slide 120, since the side surface 33 of the clamping block 30 is an arc-shaped curved surface, the slide 120 can be slightly displaced in the height direction along the side surface 33 of the clamping block 30, so that the position of the slide 120 is moved to be in place, and thus the slide 120 can still be firmly clamped by the clamping block 30. Figure 3 As shown, when the clamping jaw 20 moves to a position that is not in place in the front-back direction relative to the slide 120, since the side surface 33 of the clamping block 30 is an arc-shaped curved surface, the side surface 33 of the clamping block 30 interacts with the side wall of the slide 120 to make the slide 120 slightly displace in the front-back direction, so that the position of the slide 120 is moved to be in place, and thus the slide 120 can still be firmly clamped by the clamping block 30.
[0042] Figure 4 As shown, when the clamping jaw 20 moves to a position that is not in place relative to the slide 120, the U, V, and W directions shown in the figure are offset, and the slide 120 can be finally moved to be in place through the cooperation of the side surface 33 of the clamping block 30 and the side wall of the slide 120, so that the slide 120 can still be firmly clamped by the clamping block 30.
[0043] As shown, when the clamping jaw 20 moves to a position that is not in place relative to the slide 120, the U, V, and W directions shown in the figure are offset, and the slide 120 can be finally moved to be in place through the cooperation of the side surface 33 of the clamping block 30 and the side wall of the slide 120, so that the slide 120 can still be firmly clamped by the clamping block 30. Figure 5 As shown, when the clamping jaw 20 moves to a position that is not in place relative to the slide 120, the U, V, and W directions shown in the figure are offset, and the slide 120 can be finally moved to be in place through the cooperation of the side surface 33 of the clamping block 30 and the side wall of the slide 120, so that the slide 120 can still be firmly clamped by the clamping block 30.
[0044] It can be seen that the card holding block 30 of the embodiment of the application is designed in a shape, which can effectively correct the article, such as the slide, in each direction when the article is clamped, thereby firmly clamping the slide.
[0045] As shown in Figure 2 One end of the power assembly 10 is provided with a fixed block 40, and two sliding blocks 50 are slidably arranged on the fixed block 40. The power assembly 10 is connected with the sliding blocks 50 through the fixed block 40, so that the power assembly 10 drives the sliding blocks 50 to move on the fixed block 40. The two sliding blocks 50 are connected with the two clamping claws 20 one by one, and the sliding blocks 50 slide on the fixed block 40, thereby driving the two clamping claws 20 to move relatively. In order to control the sliding path of the sliding blocks 50, the fixed block 40 is also provided with a sliding rail 41 corresponding to each sliding block 50, and the sliding blocks 50 can slide along the sliding rail 41. In the embodiment of the application, the two sliding rails 41 are arranged in parallel and at intervals.
[0046] In some embodiments, the power assembly 10 can be an electric cylinder or a gas cylinder, etc. For example, an electric cylinder can drive two sliding blocks 50 to slide, or two electric cylinders can drive one sliding block 50 to slide one by one.
[0047] As shown in Figure 1 and Figure 2 The grabbing and transferring device 100 of the embodiment of the application further comprises a connecting piece 60. The connecting piece 60 is connected between the sliding block 50 and the clamping claw 20, that is, the connecting piece 60 is fixedly connected with the sliding block 50, and the connecting piece 60 is fixedly connected with the clamping claw 20. In this way, the indirect connection between the clamping claw 20 and the sliding block 50 is achieved.
[0048] In the embodiment of the application, the connecting piece 60 and the clamping claw 20 are located on the side of the fixed block 40 away from the power assembly 10.
[0049] In the embodiment of the application, the shape of each sliding block 50 is designed such that when the two sliding blocks 50 slide relatively close along the sliding rail 41, after sliding a certain distance, the two sliding blocks 50 will abut against each other, so that the two sliding blocks 50 can no longer slide. The two sliding blocks 50 are arranged adjacent to each other. The side wall of each sliding block 50 is provided with an abutting portion 51, and the two abutting portions 51 are located on the two side walls adjacent to each other of the two sliding blocks 50. When the two sliding blocks 50 slide relatively close along the sliding rail 41, when the two abutting portions 51 abut, the two sliding blocks 50 can no longer slide relatively close.
[0050] In the embodiment of the present application, the connecting piece 60 comprises a first connecting part 61 and a second connecting part 62 connecting the first connecting part 61. The first connecting part 61 is fixedly connected with the sliding block 50, and the second connecting part 62 is fixedly connected with the clamping jaw 20. The first connecting part 61 overlaps a part of the sliding block 50, and the second connecting part 62 is vertically connected with one end of the first connecting part 61. The clamping jaw 20 overlaps the second connecting part 62. The clamping block 30 protrudes from the bottom end of the clamping jaw 20 away from the power assembly 10.
[0051] The embodiment of the present application also provides a grabbing and transferring system, which comprises the grabbing and transferring device 100 and an article grabbed by the grabbing and transferring device 100. It can be understood that the grabbing and transferring device 100 is suitable for grabbing and transferring any article, including but not limited to a reagent box, a wafer, a PCB board and the like.
[0052] As shown in FIG. 1, Figure 6 The article grabbed by the grabbing and transferring device 100 is a box 130. Similarly, only a clamping groove 121 matched with the clamping block 30 needs to be provided on the box 130. The clamping groove 121 is located on the opposite sides of the box 130 and is recessed towards the center of the box 130. The groove wall defining the clamping groove 121 is curved to match the clamping block 30. Figure 6 The clamping jaw 20 in FIG. 1 is in the shape of a letter T, which is different from the shape of the clamping jaw 20 in FIG. 2. Figure 1 The shape of the clamping jaw 20 is not limited in the present application.
[0053] When the grabbing and transferring device 100 works, i.e., when the slide 120 needs to be grabbed and transferred, the grabbing and transferring device 100 moves close to the slide 120, so that the two clamping jaws 20 move to the positions of the two side walls of the slide 120, each clamping block 30 is roughly aligned with the corresponding clamping groove 121, and then the power assembly 10 drives the two clamping jaws 20 to relatively close, so that the clamping block 30 abuts against the groove wall of the clamping groove 121, thereby realizing the grabbing of the slide 120. When the grabbing and transferring device 100 moves the slide 120 to the required platform, the power assembly 10 drives the two clamping jaws 20 to relatively far away, so that the clamping block 30 leaves the slide 120, thereby realizing the release of the slide 120.
[0054] The grabbing and transferring device 100 of the present application can easily realize the clamping of the two opposite sides of the slide 120 or the release of the clamping of the slide 120 by relatively approaching and relatively moving away of the two clamping claws 20 under the driving of the power assembly 10. In addition, by designing the special shape of the clamping block 30, the clamping block 30 has the shape of gradually thickening from the middle to the two ends, and the side surface 33 of the clamping block 30 is curved. In this way, when the side surface 33 of the clamping block 30 clamps the side wall of the slide 120, it can be corrected from multiple directions such as up and down, front and back, and so on. Therefore, even if the clamping claws 20 move to the position of the slide 120 is not so accurate, it will not affect the firm clamping of the clamping block 30 to the slide 120. The grabbing and transferring device 100 has simple structure, low cost and high reliability.
[0055] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation to the present application. Any appropriate changes and variations made to the above embodiments within the spirit and principle of the present application fall within the scope of the present application.
Claims
1. A pick-and-place device, characterized in that, The grabbing and transferring device comprises: a power assembly; two clamping jaws, the two clamping jaws being oppositely spaced, and the two clamping jaws being connected to the power assembly to move towards or away from each other under the drive of the power assembly; at least one clamping block protruding from one end of each clamping jaw, the clamping block comprising opposite first and second end faces and a side surface connected between the first and second end faces, the first end face being connected to the clamping jaw, and the clamping block gradually thickening from the middle towards the first and second end faces, respectively, and the side surface being curved.
2. The pick-and-place apparatus of claim 1, wherein, The clamping block comprises a first part and a second part connected to the first part, the first end face being the end face of the first part facing away from the second part, and the second end face being the end face of the second part facing away from the first part; the first part and the second part being in the shape of a circular truncated cone, a hemisphere or a semi-ellipsoid.
3. The pick-and-place apparatus of claim 1, wherein, Each clamping jaw is provided with two clamping blocks spaced apart.
4. The pick-and-place apparatus of claim 1, wherein, One end of the power assembly is provided with a fixing block, and two sliding blocks are slidably arranged on the fixing block, the power assembly being connected to the sliding blocks through the fixing block, and the two sliding blocks being connected to the two clamping jaws one by one.
5. The pick-and-place apparatus of claim 4, wherein, The fixing block is further provided with a sliding rail corresponding to each sliding block, and the sliding block is slidably arranged on the sliding rail.
6. The pick-and-place apparatus of claim 4, wherein, The sliding blocks are designed in such a shape that when the two sliding blocks slide relatively to drive the two clamping jaws to move towards each other by a certain distance, the two sliding blocks will abut against each other, so that the sliding of the two sliding blocks is stopped.
7. The pick-and-place apparatus of claim 4, wherein, The grabbing and transferring device further comprises a connecting piece connected between the sliding blocks and the clamping jaws.
8. The pick-and-place apparatus of claim 7, wherein, The connecting piece comprises a first connecting part and a second connecting part connected to the first connecting part, the second connecting part being connected to one end of the first connecting part away from the sliding block, the first connecting part being fixedly connected to the sliding block, and the second connecting part being fixedly connected to the clamping jaw.
9. A pick-and-place system comprising an article and a pick-and-place device for picking the article, characterized in that, The grabbing and transferring device is any one of the grabbing and transferring devices according to claims 1 to 8.
10. The pick-and-place system of claim 9, wherein, The article is provided with a clamping groove matched with the clamping block, and the groove wall of the clamping groove is curved.