Grabbing arm group module

Abstract

The utility model discloses a gripper arm group module which comprises a Z arm group assembly and a gripper assembly, and the Z arm group assembly and the gripper assembly are connected through a gripper connecting block. The Z arm set assembly comprises a Z arm set bottom plate, and a Z-direction guide rail, a Z arm set stepping motor and a Z arm set transmission assembly are arranged on the Z arm set bottom plate. The Z arm set transmission assembly is driven by a Z arm set stepping motor to drive the gripper assembly to move up and down along the Z-direction guide rail. The gripper assembly comprises a gripper stepping motor, a gripper mounting plate and a finger assembly, the gripper stepping motor is mounted above the gripper mounting plate, and the finger assembly is mounted below the gripper mounting plate; the gripper mounting plate is connected with the gripper connecting block; the gripper stepping motor is used for driving the finger assembly to complete the gripping action. According to the grabbing arm group module, on one hand, the grabbing stability of the flow type pipe is good, and the grabbing arm group module can be suitable for flow type pipes of different models; on the other hand, the structural design is simple, and occupied space is small.

Description

Technical Field

[0001] This utility model relates to the field of medical testing equipment technology, and more specifically to a gripper arm assembly module. Background Technology

[0002] Flow cytometry, also known as liquid chip technology (LuminexxMAP technology), integrates several cutting-edge technologies, including fluorescently encoded microspheres, laser analysis, applied fluid dynamics, and high-speed digital signal processing. It is a new generation of high-throughput luminescence detection technology developed at the end of the last century. Currently, this technology is widely used in immunoassay, nucleic acid research, enzymatic analysis, receptor and ligand recognition, and has received high recognition from authoritative institutions and the medical community. Flow cytometers typically use a Z-axis movable gripping module to grasp the flow tube. During the gripping process, it is necessary to ensure stability to prevent liquid splashing from the test tube, while also considering the overall size of the analyzer and minimizing its space occupation. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a gripping arm assembly module, which has good stability in gripping flow ducts and can be applied to different types of flow ducts; on the other hand, its structural design is simple and occupies little space.

[0004] The technical solution adopted by this utility model to solve the technical problem is as follows: a gripper arm assembly module, including a Z-arm assembly and a gripper assembly, wherein the Z-arm assembly and the gripper assembly are connected by a gripper connecting block; the Z-arm assembly includes a Z-arm base plate, on which a Z-guide rail, a Z-arm stepper motor, and a Z-arm transmission assembly are provided; the Z-arm transmission assembly, driven by the Z-arm stepper motor, drives the gripper assembly to move up and down along the Z-guide rail; the gripper assembly includes a gripper stepper motor, a gripper mounting plate, and a finger assembly, wherein the gripper stepper motor is mounted above the gripper mounting plate, and the finger assembly is mounted below the gripper mounting plate; the gripper mounting plate is connected to the gripper connecting block; the gripper stepper motor is used to drive the finger assembly to complete the gripping action.

[0005] Furthermore, the Z-arm assembly also includes a motion line and a motion line guide groove, wherein the motion line guide groove is used for semi-open fixing, guiding, transmission and protection of the motion line.

[0006] Furthermore, the Z-arm assembly also includes a zero-position optocoupler and a zero-position baffle. The zero-position optocoupler is located on the upper part of the Z-arm base plate, and the zero-position baffle is connected to the gripper connecting block and moves in the Z direction with the gripper assembly.

[0007] Furthermore, the Z-arm transmission assembly includes a drive wheel, a timing belt, and a driven wheel. The Z-arm stepper motor drives the drive wheel to rotate, and the timing belt drives the gripper assembly to perform Z-axis lifting and lowering movements.

[0008] Furthermore, the finger assembly includes a cam, a finger connecting block, a finger, and a gripper tension spring. The cam is driven to rotate by the gripper stepper motor. The upper end of the finger connecting block is connected to the gripper mounting plate, and the lower end of the finger connecting block is provided with a finger. The two ends of the gripper tension spring are respectively connected to the tension spring mounting plate, and the tension spring mounting plate is fixed on the finger connecting block.

[0009] Furthermore, there are two finger connecting blocks and two fingers, and each finger connecting block and finger is symmetrically arranged; a groove structure is provided at the connection between the finger and the finger connecting block.

[0010] The beneficial effects of this utility model are as follows: Compared with the prior art, the gripper arm assembly module provided by this utility model has the following advantages:

[0011] 1) The motion line guide groove is used to fix, guide, transmit and protect the motion line in a semi-open manner, replacing the traditional drag chain structure, which minimizes space occupation while ensuring the optimal turning radius of the motion line.

[0012] 2) The Z-arm assembly is equipped with a tension spring, which automatically stretches the gripper assembly to the mechanical zero position of the Z-arm assembly when the instrument or gripper arm assembly module is powered off, effectively preventing the liquid in the flow tube from splashing down due to the module losing power.

[0013] 3) The fingers in the gripper assembly are designed with protective wings with shallow grooves to ensure stable transfer of the flow cribe under special circumstances, such as: when the gripper arm loses its step slightly, the gripper may deviate slightly when grasping the flow cribe, or the gripper arm assembly may move too fast, or the flow cribe may be of a different model. Attached Figure Description

[0014] Figure 1 A three-dimensional structural diagram of the grab arm assembly module provided by this utility model.

[0015] Figure 2 This is a schematic diagram of the structure of the grab arm assembly module provided by this utility model.

[0016] Figure 3 A diagram showing the state of the Z-arm tension spring in the grab arm assembly module provided by this utility model when it is pulled up.

[0017] Figure 4 A schematic diagram of the gripper assembly provided by this utility model.

[0018] Figure 5This is a structural schematic diagram of the gripper assembly provided by this utility model from another angle.

[0019] Among them, 1-motion line guide groove; 2-Z to X connecting block; 3-Z arm assembly base plate; 4-gripper connecting block; 5-gripper assembly; 6-Z guide rail; 7-motion line; 8-Z arm assembly stepper motor; 9-adapter plate; 10-zero position optocoupler; 11-zero position baffle; 12-driven wheel; 13-synchronous belt; 14-Z transmission slot; 15-drive wheel; 16-Z arm assembly tension spring; 17-gripper stepper motor; 18-gripper tension spring; 19-tension spring mounting plate; 20-finger; 21-finger connecting block; 22-gripper mounting plate; 23-flow tube; 24-cam; 25-groove. Detailed Implementation

[0020] To facilitate understanding of this utility model, a more comprehensive description will be given below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of this utility model. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0021] Example

[0022] like Figures 1 to 5 As shown, a gripper arm assembly module includes a Z-arm assembly and a gripper assembly 5, which are connected by a gripper connecting block 4. The Z-arm assembly includes a Z-arm base plate 3, on which a Z-guide rail 6, a Z-arm stepper motor 8, and a Z-arm transmission assembly are mounted. Driven by the Z-arm stepper motor 8, the Z-arm transmission assembly drives the gripper assembly 5 to move up and down along the Z-guide rail 6. The gripper assembly 5 includes a gripper stepper motor 17, a gripper mounting plate 22, and a finger assembly. The gripper stepper motor 17 is mounted above the gripper mounting plate 22, and the finger assembly is mounted below the gripper mounting plate 22. The gripper mounting plate 22 is connected to the gripper connecting block 4. The gripper stepper motor 17 drives the finger assembly to complete the gripping action.

[0023] In this embodiment, the Z-arm assembly further includes a motion line 7 and a motion line guide groove 1. The motion line guide groove 1 is used for semi-open fixing, guiding, transmission, and protection of the motion line 7. In this embodiment, there are two motion line guide grooves 1, respectively located on both sides of the Z-arm assembly base plate 3. Considering the compact internal space layout of the entire machine, the traditional cable chain structure is eliminated in the Z-arm assembly; the motion line guide groove 1 is used to semi-openly fix, guide, transmit, and protect the two motion lines 7, minimizing space occupation while ensuring the optimal turning radius of the motion lines 7.

[0024] In this embodiment, the Z-arm assembly further includes a zero-position optocoupler 10 and a zero-position baffle 11. The zero-position optocoupler 10 is disposed on the upper part of the Z-arm base plate 3, and the zero-position baffle 11 is connected to the gripper connecting block 4 and moves in the Z direction with the gripper assembly 5.

[0025] In this embodiment, the Z-arm assembly also includes a Z-arm tension spring 16. When the instrument or the gripper arm assembly module is powered off, the Z-arm tension spring 16 can automatically stretch the gripper assembly 5 to the mechanical zero position (zero position optocoupler 10) of the Z-arm assembly, effectively preventing the liquid in the test tube from splashing due to the module losing power.

[0026] In this embodiment, the Z-arm transmission assembly includes a drive wheel 15, a timing belt 13, and a driven wheel 12. The Z-arm stepper motor 8 drives the drive wheel 15 to rotate, and the timing belt 13 drives the gripper assembly 5 to perform Z-axis lifting and lowering movements. The driven wheel 12 is configured with adjustable tension to meet different usage requirements.

[0027] In this embodiment, the Z-arm assembly also includes a Z-drive slot 14 located on one side of the Z-arm base plate 3. The Z-drive slot 14 is used to hold the belt of the X-arm assembly (not shown in this embodiment), and power is transmitted through the Z-drive slot 14 when the X-arm assembly moves. The wires in the grab arm assembly module are all connected through the adapter plate 9. The Z-to-X connecting block 2 is also provided on the Z-arm base plate 3, and the Z-to-X connecting block 2 is used to connect to the X-axis motion mechanism of the whole machine (not shown in this embodiment).

[0028] In this embodiment, the finger assembly includes a cam 24, a finger connecting block 21, a finger 20, and a gripper tension spring 18. The cam 24 is driven to rotate by the gripper stepper motor 17. The upper end of the finger connecting block 21 is connected to the gripper mounting plate 22, and the lower end of the finger connecting block 21 is provided with the finger 20. The two ends of the gripper tension spring 18 are respectively connected to the tension spring mounting plate 19, and the tension spring mounting plate 19 is fixed on the finger connecting block 21. The finger assembly is responsible for gripping the flow tube 23. The fingers 20 in the finger assembly are self-tensioned by default through two pairs of gripper springs 18. The cam 24 is driven by controlling the gripper stepper motor 17. The gripping action of the fingers 20 is divided into before gripping and after gripping. Before gripping, the gripper stepper motor 17 drives the cam 24 to rotate at a set angle to open the fingers 20 that are tensioned by the gripper springs 18. After gripping, the gripper stepper motor 17 drives the cam 24 to rotate back to its original position. The flow tube 23 is clamped by the fingers 20 that are tensioned by the gripper springs 18, and the gripping action is completed.

[0029] In this embodiment, there are two finger connecting blocks 21 and two fingers 20, and each finger connecting block 21 and finger 20 is symmetrically arranged; the connection between the finger 20 and the finger connecting block 21 is provided with a groove 25 structure. The finger 20 is designed with a protective wing with shallow grooves 25 to ensure that the flow tube 23 can be transferred stably under special circumstances, such as when the gripper assembly slightly loses its step, the finger gripping the flow tube will have a small deviation, or the gripper arm assembly moves too fast, or the flow tube model is different, etc.

[0030] The above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present utility model. Therefore, all equivalent technical solutions also fall within the scope of the present utility model. The patent protection scope of the present utility model should be defined by the claims.

Claims

1. A gripper arm assembly module, characterized in that: The device includes a Z-arm assembly and a gripper assembly, which are connected by a gripper connecting block. The Z-arm assembly includes a base plate with a Z-guide rail, a Z-arm stepper motor, and a Z-drive assembly. Driven by the Z-arm stepper motor, the drive assembly moves the gripper assembly up and down along the Z-guide rail. The gripper assembly includes a gripper stepper motor, a gripper mounting plate, and finger components. The gripper stepper motor is mounted above the gripper mounting plate, and the finger components are mounted below it. The gripper mounting plate is connected to the gripper connecting block. The gripper stepper motor drives the finger components to perform the gripping action.

2. The gripper arm assembly module as described in claim 1, characterized in that: The Z-arm assembly also includes a motion line and a motion line guide groove, wherein the motion line guide groove is used for semi-open fixing, guiding, transmission and protection of the motion line.

3. The gripper arm assembly module as described in claim 1, characterized in that: The Z-arm assembly also includes a zero-position optocoupler and a zero-position baffle. The zero-position optocoupler is located on the upper part of the Z-arm base plate, and the zero-position baffle is connected to the gripper connecting block and moves in the Z direction with the gripper assembly.

4. The gripper arm assembly module as described in claim 1, characterized in that: The Z-arm assembly also includes a Z-arm tension spring, which is connected to a zero-position stop plate.

5. A gripper arm assembly module as described in claim 1, characterized in that: The Z-arm transmission assembly includes a drive wheel, a timing belt, and a driven wheel. The Z-arm stepper motor drives the drive wheel to rotate, and the timing belt drives the gripper assembly to perform Z-axis lifting and lowering movements.

6. A gripper arm assembly module as described in claim 1, characterized in that: The finger assembly includes a cam, a finger connecting block, a finger, and a gripper tension spring. The cam is driven to rotate by the gripper stepper motor. The upper end of the finger connecting block is connected to the gripper mounting plate, and the lower end of the finger connecting block is provided with a finger. The two ends of the gripper tension spring are respectively connected to the tension spring mounting plate, and the tension spring mounting plate is fixed on the finger connecting block.

7. A gripper arm assembly module as described in claim 6, characterized in that: The number of finger connecting blocks and fingers is two, and each finger connecting block and finger is symmetrically arranged; a groove structure is provided at the connection between the finger and the finger connecting block.

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