Replaceable and detachable gripper structure for pipettor detection

Abstract

The utility model discloses a replaceable and detachable gripper structure for pipettor detection, which comprises a mounting sheet, a side tooth-shaped moving block, a splicing sleeve and a splicing block, the mounting sheet is connected with the splicing block, the splicing block is sleeved with the matched splicing sleeve, the inner side of the splicing sleeve is connected with a splicing groove matched with the splicing block, and the splicing groove is connected with the side tooth-shaped moving block. The side surface of the assembling sleeve is connected with a gripper outer frame. According to the utility model, the replaceable profiling gripper is arranged on the robot, and the outer integral structure of the profiling gripper is assembled with the robot through the matched use of the mounting holes and the mounting sheets, so that the subsequent maintenance operation is facilitated; the clamping state of the side tooth-shaped moving blocks and the fixing grooves can be limited, assisted and regulated through the arrangement of the rotating block, the transmission rod, the gear and the two side tooth-shaped moving blocks in cooperation with the guiding sliding effect of the limiting sliding block along the limiting sliding groove, the gripper outer frame can be rapidly detached and replaced by manually rotating the rotating block, and the profiling gripper is suitable for pipettors of different brands.

Description

Technical Field

[0001] This utility model relates to the field of pipette testing technology, specifically a gripper structure for pipette testing that allows for easy replacement and disassembly. Background Technology

[0002] Currently, most pipette testing in China relies on manual measurement. This method requires manual operation of a series of tasks such as pipetting, weighing, and recording, which is not only tedious and time-consuming but also susceptible to environmental factors and prone to significant human error. Furthermore, traditional manual testing methods cannot meet the requirements of automation and digital transformation, and cannot utilize data-driven analysis, management, and sharing. Therefore, there is significant room for improvement in traditional manual testing methods, and there is an urgent need to introduce advanced technologies such as automation, intelligence, and digitalization to improve the accuracy and efficiency of metrological testing, thereby reducing human error and operating costs.

[0003] The development of automated pipette testing systems requires extensive data and computational support, as well as optimization of robot operation processes. Currently, it is impossible to truly meet the requirements of actual operation, resulting in unsatisfactory testing efficiency. The solutions include how to use robots to replace manual labor in the operations of pipette grasping, aspiration, and dispensing, and how to solve the compatibility issues of grasping and operating pipettes from multiple brands.

[0004] To address the compatibility issues of multiple brands of pipettes, it is imperative to develop adaptable grippers for various brands of pipettes, provide conformal designs for different brands of pipettes, and conduct compatibility tests during robot operation to ensure accurate positioning of the pipette tip after gripping. Utility Model Content

[0005] In view of the above problems, embodiments of this application are proposed to provide a gripper structure for replacing and disassembling pipettes that solves the above problems.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a replaceable and detachable gripper detection gripper structure, comprising a mounting plate, a side-toothed moving block, an assembly sleeve, and an assembly block. The mounting plate is connected to the assembly block, and the assembly block is fitted with a matching assembly sleeve. The inner side of the assembly sleeve is connected to an assembly groove that matches the assembly block. A gripper outer frame is connected to the side surface of the assembly sleeve, and a contour gripper is symmetrically and movably connected to the middle of the inner surface of the gripper outer frame via a hinged support.

[0007] The assembly block has an internal movable cavity. A gear is located in the middle of the movable cavity. A transmission rod passes through the gear. The front end of the transmission rod extends to the front side of the assembly block and is connected to a rotating block. The gear meshes with opposing side toothed moving blocks on both sides. Each of the two side toothed moving blocks is connected to a limit slider on the side away from the gear. Both sides of the movable cavity are connected to limit grooves that match the limit sliders. The limit sliders slide along the limit grooves to limit the movement of the auxiliary side toothed moving blocks inside and outside the movable cavity.

[0008] The side toothed moving block is connected to the corresponding position of the inner surface of the movable cavity via a spring, and the front and rear sides of the assembly groove are connected to a fixing groove that matches the side toothed moving block.

[0009] Preferably, the mounting plate has symmetrical through holes at both the top and bottom, which facilitates the installation of the entire device structure with the corresponding position on the robot.

[0010] The side of the contour gripper that is close to the inner surface of the gripper frame is connected to the inner side of the gripper frame via an elastic telescopic drive cylinder.

[0011] Preferably, an air bladder is connected to the side of the contour gripper away from the inner surface of the gripper frame. The expansion of the air bladder allows for better contact with the pipette surface, improving grip stability.

[0012] Preferably, an air pump is installed inside one end of the contour gripper near the hinge support.

[0013] Preferably, the air pump is connected to the airbag via an air inlet pipe.

[0014] Preferably, the air pump is connected to an exhaust pipe at its front, which extends to the outside of the front of the contour gripper.

[0015] Preferably, a control valve is installed at the outer end of the exhaust pipe.

[0016] Preferably, if the contouring gripper is electrically connected to the robot, then the robot is electrically controlled to the air pump, the control PC, and the quick-change module, and the control PC is electrically controlled to the automatic sensing module.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] (1) This type of replaceable and removable pipette testing gripper structure, by equipping the robot with a replaceable contour gripper, the overall structure of the contour gripper is assembled with the robot through the use of mounting holes and mounting plates, which facilitates subsequent maintenance operations. The setting of rotating block, transmission rod, gear and two side toothed moving blocks, together with the limiting slider sliding along the limiting groove, can limit and assist in the adjustment of the engagement state between the side toothed moving blocks and the fixed groove. The gripper frame can be quickly replaced by manually rotating the rotating block, so that the contour gripper is suitable for different brands of pipettes. The contour gripper can be switched in a quick way to meet the gripping adaptation of multiple brands to the greatest extent, and ensure that the operation efficiency of the entire system is not affected during the replacement of the contour gripper and the assembly sleeve.

[0019] (2) This type of replaceable and disassembled pipette inspection gripper structure, through the setting of elastic telescopic drive cylinder and hinge support, enables two contour grippers and the set air bladder to quickly grasp the pipette according to the specifications and model of the pipette. The setting of air pump enables the air bladder to expand, so as to cooperate with the contour gripper to improve the gripping tightness of the pipette, and can better fit the surface of the pipette, playing a very good pipette contour gripper role. For different brands of pipettes, various quick-change gripper design schemes can significantly improve the detection efficiency and flexibility of the robot system;

[0020] (3) This type of replaceable and removable pipette detection gripper structure, through the core design of the system, is used for automatic pipette operation, including movement, aspiration, dispensing, gripping, and placement. The control PC is set up to control the robot, elastic telescopic drive cylinder, contour gripper, air pump, quick-change module, automatic sensing module, and various subsystems. It also provides an operation interface and real-time operation status display, and can realize data acquisition and processing, including reading, processing, and analysis of its data. The automatic sensing module helps the robot system detect whether the contour gripper has been successfully connected to the connection interface. When the connection is successful, the system will automatically identify the contour gripper type and perform detection to achieve higher accuracy. The quick-change module can quickly prompt the replacement of the gripper through preset prompt modules. For example, templates can be made for the contour gripper and assembly sleeve of different brands of pipettes. Using the templates, the contour gripper and assembly sleeve can be easily replaced without readjusting the robot system. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0022] Figure 1 This is a top view of the structure of this utility model;

[0023] Figure 2 This is a top view of the structure of this utility model;

[0024] Figure 3 This is a front view structural diagram of the present invention;

[0025] Figure 4 This is a block diagram of the system structure of this utility model.

[0026] In the diagram: 1. Mounting plate; 2. Mounting hole; 3. Limiting slider; 4. Side toothed moving block; 5. Movable cavity; 6. Assembly sleeve; 601. Fixing groove; 7. Assembly groove; 8. Control valve; 9. Elastic telescopic drive cylinder; 10. Limiting slide groove; 11. Spring; 12. Transmission rod; 13. Gear; 14. Hinge support; 15. Grab outer frame; 16. Contouring gripper; 17. Airbag; 18. Inlet pipe; 19. Air pump; 20. Exhaust pipe; 21. Assembly block; 22. Rotating block; 23. Control PC; 24. Quick change module; 25. Automatic sensing module. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Please see Figure 1-4 This utility model provides an embodiment of a gripper structure for replacing and disassembling pipettes, comprising a mounting plate 1, a side-toothed moving block 4, an assembly sleeve 6, and an assembly block 21. The assembly block 21 is connected to the mounting plate 1, and a matching assembly sleeve 6 is fitted around the assembly block 21. An assembly groove 7 matching the assembly block 21 is connected to the inner side of the assembly sleeve 6. A gripper frame 15 is connected to the side surface of the assembly sleeve 6. A movable cavity 5 is connected inside the assembly block 21. A gear 13 is provided in the middle of the movable cavity 5, and a transmission rod 12 passes through the gear 13. The front end of the transmission rod 12 extends to the front side of the assembly block 21 and... With the rotating block 22 connected, the combination of the rotating block 22, transmission rod 12, gear 13 and two side toothed moving blocks 4, along with the limiting slider 3 sliding along the limiting groove 10, can limit and assist in controlling the engagement state between the side toothed moving blocks 4 and the fixed groove 601. The gripper frame 15 can be quickly replaced by manually rotating the rotating block 22, making the contour gripper 16 suitable for different brands of pipettes. The contour gripper 16 can be switched quickly to meet the gripping adaptability of multiple brands to the greatest extent, and to ensure that the operation efficiency of the entire system is not affected during the replacement of the contour gripper 16 and the assembly sleeve 6.

[0029] The gear 13 has two opposingly arranged side toothed moving blocks 4 for meshing transmission. The side of each side toothed moving block 4 away from the gear 13 is connected to a limit slider 3. The two sides of the movable cavity 5 are connected to limit grooves 10 that match the limit sliders 3. The side toothed moving blocks 4 are connected to the corresponding positions of the inner surface of the movable cavity 5 through springs 11. The front and rear sides of the assembly groove 7 are connected to fixing grooves 601 that match the side toothed moving blocks 4.

[0030] Mounting holes 2 are symmetrically inserted through the top and bottom of mounting plate 1.

[0031] The middle of the inner surface of the gripper frame 15 is symmetrically and movably connected to the contour gripper 16 through the hinge support 14. The robot is equipped with a replaceable contour gripper 16. The overall structure of the contour gripper 16 is assembled with the robot through the cooperation of the mounting hole 2 and the mounting plate 1, which facilitates subsequent maintenance operations.

[0032] The contour gripper 16 is connected to the inner side of the gripper frame 15 via an elastic telescopic drive cylinder 9 on the side close to the inner surface of the gripper frame 15.

[0033] An airbag 17 is connected to the side of the contour gripper 16 away from the inner surface of the gripper frame 15.

[0034] An air pump 19 is installed in one end of the contour gripper 16 near the hinge support 14. The elastic telescopic drive cylinder 9 and the hinge support 14 enable the two contour grippers 16 and the air bladder 17 to quickly grasp the pipette according to its specifications.

[0035] The air pump 19 allows the airbag 17 to inflate and work with the contour gripper 16 to increase the gripping tightness of the pipette. This allows for better contact with the surface of the pipette and provides excellent pipette contour gripping. Various quick-change gripper designs for different brands of pipettes can significantly improve the detection efficiency and flexibility of the robot system.

[0036] The air pump 19 is connected to the airbag 17 through the air inlet pipe 18.

[0037] An exhaust pipe 20 is connected to the front of the air pump 19, and the exhaust pipe 20 extends to the front of the contour gripper 16.

[0038] A control valve 8 is installed at the outer end of the exhaust pipe 20.

[0039] When the contouring gripper 16 is electrically connected to the robot, the robot is electrically connected to the air pump 19, the control PC 23, and the quick-change module 24. The control PC 23 is electrically connected to the automatic sensing module 25. The control PC 23 is configured to control the robot, the elastic telescopic drive cylinder 9, the contouring gripper 16, the air pump 19, the quick-change module 24, the automatic sensing module 25, and each subsystem. It also provides an operation interface and real-time operation status display, and can realize data acquisition and processing, including reading, processing, and analyzing its data.

[0040] The automatic sensing module 25 can help the robot system detect whether the contour gripper 16 has been successfully connected to the connection interface. When the connection is successful, the system will automatically identify the type of contour gripper 16 and perform detection to achieve higher accuracy.

[0041] The quick-change module 24 can quickly prompt the replacement of the gripper through a preset prompt module. For example, it can create templates for the overall structure of the contour gripper 16 and the assembly sleeve 6 on pipettes of different brands. Using the templates, the contour gripper 16 and the assembly sleeve 6 can be easily replaced without readjusting the robot system.

[0042] In this embodiment of the application, after the testing personnel prepare the pipette, they issue a command through the control PC23 to prompt the robot to enter the testing task. After receiving the command, the robot moves to the position of the pipette to be tested using its robotic arm, and uses the contour gripper 16 to remove the pipette to be tested from the testing holder.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A gripper structure for replacing and disassembling pipettes, characterized in that, The assembly includes a mounting plate (1), a side-toothed moving block (4), an assembly sleeve (6), and an assembly block (21). The mounting plate (1) is connected to the assembly block (21). The assembly block (21) is fitted with a matching assembly sleeve (6). The inner side of the assembly sleeve (6) is connected to an assembly groove (7) that matches the assembly block (21). The side surface of the assembly sleeve (6) is connected to a gripper frame (15). The assembly block (21) has a movable cavity (5) inside. A gear (13) is provided in the middle of the movable cavity (5). A transmission rod (12) passes through the gear (13). The front of the transmission rod (12) The end extends to the front side of the assembly block (21) and is connected to a rotating block (22). The gear (13) has two opposingly arranged side toothed moving blocks (4) meshing and driving each other. The two side toothed moving blocks (4) are connected to a limit slider (3) on the side away from the gear (13). The two sides of the movable cavity (5) are connected to a limit groove (10) that matches the limit slider (3). The side toothed moving block (4) is connected to the inner surface of the movable cavity (5) at a corresponding position through a spring (11). The front and rear sides of the assembly groove (7) are connected to a fixing groove (601) that matches the side toothed moving block (4).

2. The gripper structure for replacing and disassembling pipettes according to claim 1, characterized in that: The mounting plate (1) has symmetrical mounting holes (2) penetrating its top and bottom.

3. The gripper structure for replacing and disassembling pipettes according to claim 1, characterized in that: The middle part of the inner surface of the gripper frame (15) is symmetrically and movably connected to the contour gripper (16) through the hinge support (14).

4. The gripper structure for replacing and disassembling pipettes according to claim 3, characterized in that: The contour gripper (16) is connected to the inner side of the gripper frame (15) via an elastic telescopic drive cylinder (9) on one side close to the inner surface of the gripper frame (15).

5. The gripper structure for replacing and disassembling pipettes according to claim 4, characterized in that: An airbag (17) is connected to the side of the contour gripper (16) away from the inner surface of the gripper frame (15).

6. The gripper structure for replacing and disassembling pipettes according to claim 5, characterized in that: An air pump (19) is installed in one end of the contour gripper (16) near the hinge support (14).

7. The gripper structure for replacing and disassembling pipettes according to claim 6, characterized in that: The air pump (19) is connected to the airbag (17) through the air inlet pipe (18).

8. The gripper structure for replacing and disassembling pipettes according to claim 7, characterized in that: The air pump (19) is connected to an exhaust pipe (20) on its front side, which extends to the front side of the contour gripper (16).

9. The gripper structure for replacing and disassembling pipettes according to claim 8, characterized in that: A control valve (8) is installed at the outer end of the exhaust pipe (20).

10. The gripper structure for replacing and disassembling pipettes according to claim 6, characterized in that: The contouring gripper (16) is electrically connected to the robot, and the robot is electrically controlled to the air pump (19), the control PC (23) and the quick-change module (24). The control PC (23) is electrically controlled to the automatic sensing module (25).

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