Transfer mechanical arm for sequencer
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-28
- Publication Date
- 2026-04-14
AI Technical Summary
Existing sequencing instruments are prone to reagent kit damage when the robotic arm loses power or a component malfunctions, and their complex multi-stage transmission structure leads to high production costs.
Design a transfer robotic arm that includes a clamping plate, a fixed clamping end, and a movable clamping end. The movable clamping end is driven by a clamping control motor, and a retractable locking positioner locks the fixed clamping end and the movable clamping end to ensure that the reagent kit does not fall. The structure is simple and reduces production costs.
It effectively prevents reagent kits from falling, reduces production costs, and has a simple structure that is easy to manufacture.
Smart Images
Figure CN224116182U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of transfer robotic arms, and more specifically, to a transfer robotic arm for a sequencer. Background Technology
[0002] Currently, in the application of sequencers, robotic arms are often used to pick up and transfer reagent kits, which enables intelligent production and reduces human intervention.
[0003] However, current sequencing instrument transfer robots generally only use grippers to pick up and transfer reagent kits. When the gripper loses power or a component malfunctions, the gripper can easily loosen and open, causing the reagent kit to fall and become damaged. To solve this problem, some multi-stage drive robots have emerged on the market to prevent reagent kits from falling and being damaged when the gripper loosens. However, the structure of these multi-stage drive robots is relatively complex, which also leads to higher production costs.
[0004] Therefore, it is necessary to propose a robotic arm for reloading sequencers to solve the above problems. Utility Model Content
[0005] To overcome at least one of the defects (deficiencies) of the prior art described above, this utility model provides a transfer robotic arm for a sequencer.
[0006] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows: a transfer robotic arm for a sequencer, comprising a rotating robotic arm body, a clamping control motor, and a clamping part;
[0007] The clamping part includes a clamping fixing plate, a fixed clamping end and a movable clamping end. The clamping fixing plate is disposed at the end of the rotating shaft robotic arm body, and the fixed clamping end and the movable clamping end are respectively disposed on the left and right sides of the clamping fixing plate.
[0008] The clamping control motor is mounted on a clamping fixing plate on one side of the movable clamping end, and the movable clamping end is mounted on the clamping fixing plate in a way that allows it to be opened and closed via the clamping control motor.
[0009] The rotating robotic arm body is equipped with a retractable locking positioner. When the movable clamping end is opened or closed, the locking positioner moves and abuts against the fixed clamping end and the movable clamping end respectively. By setting the fixed clamping end and the movable clamping end on the left and right sides of the clamping plate respectively, and using the clamping control motor to drive the movable clamping end to open, the reagent kit can be gripped through the fixed clamping end and the movable clamping end. The retractable locking positioner on the rotating robotic arm body can lock onto the fixed clamping end and the movable clamping end after it moves. Therefore, even in case of an accident, the locking positioner can ensure the mutual locking between the movable clamping end and the fixed clamping end, thereby preventing the reagent kit from falling. Since the structure adopted by this utility model is relatively simple, it can effectively reduce the production cost.
[0010] Furthermore, the fixed clamping end includes a first fixed clamping arm, a second fixed clamping arm, and fixed clamping teeth, and the movable clamping end includes a first movable clamping arm, a second movable clamping arm, and movable clamping teeth;
[0011] The first fixed clamping arm is fixedly mounted on one side of the clamping plate, and the first movable clamping arm is rotatably mounted on the other side of the clamping plate via a clamping control motor.
[0012] The fixed clamping teeth are disposed on the first fixed clamping arm, and the movable clamping teeth are disposed on the first movable clamping arm;
[0013] The second fixed clamping arm is fixedly mounted on the first fixed clamping arm, and the second movable clamping arm is fixedly mounted on the first movable clamping arm;
[0014] A through groove is provided between the first fixed clamping arm and the first movable clamping arm. With the fixed clamping end and the movable clamping end set up, when it is necessary to clamp the reagent kit, it is only necessary to control the clamping control motor to rotate, which can open the movable clamping end. After the movable clamping end and the fixed clamping end are put on the reagent kit, the movable clamping end tightens and can clamp the two ends of the reagent kit. Since there is a through groove between the first fixed clamping arm and the first movable clamping arm, it is easy to pass the positioning device through, which is simple and convenient.
[0015] Furthermore, it also includes a first clamping pivot, a second clamping pivot, a fixed link, and a movable link;
[0016] The first clamping pivot is mounted on the clamping fixing plate, the second clamping pivot is mounted on the second movable clamping arm, and one end of the movable connecting rod is connected to the first clamping pivot and the other end is connected to the second clamping pivot.
[0017] One end of the fixed link is set on the clamping plate, and the other end is connected to the second fixed clamping arm. The fixed link strengthens the connection between the second fixed clamping arm and the clamping plate, while the movable link can move relatively while strengthening the connection, thus facilitating the opening and closing of the movable clamping end.
[0018] Furthermore, both the first fixed clamping arm and the first movable clamping arm are circular on the side connected to the clamping plate. Since both the first fixed clamping arm and the first movable clamping arm are circular on the side connected to the clamping plate, the fixed clamping teeth and the movable clamping teeth can be more evenly distributed on the circular first fixed clamping arm and the first movable clamping arm.
[0019] Furthermore, both the second fixed gripping arm and the second movable gripping arm are provided with grooves, which allows the transfer robotic arm to easily grip and transfer the reagent kit.
[0020] Furthermore, the clamping and fixing plate is provided with hollow weight-reducing holes, which can reduce the overall weight of the clamping and fixing plate.
[0021] Furthermore, the locking positioner includes a linear telescopic drive motor, a telescopic rod, a locking position block, and locking protrusions disposed on both sides of the locking position block;
[0022] The linear telescopic drive motor is mounted on the rotating shaft robotic arm body. One end of the telescopic rod is connected to the linear telescopic drive motor, and the other end passes through the through groove between the first fixed clamping arm and the first movable clamping arm and is connected to the locking positioning block. When the linear telescopic drive motor retracts, the locking positioning block, driven by the telescopic rod, engages with the locking teeth at both ends of the locking positioning block, which in turn abut against the fixed clamping teeth on the first fixed clamping arm and the movable clamping teeth on the first movable clamping arm, respectively. By driving the telescopic rod to extend and retract through the linear telescopic drive motor, the locking positioning block and locking teeth on the telescopic rod can be better fixed on the fixed clamping teeth and the movable clamping teeth, thereby locking both the fixed clamping end and the movable clamping end and preventing the reagent kit from falling out after the movable clamping end loosens.
[0023] Furthermore, the locking positioning block and the locking protrusion are an integral structure, which can effectively simplify the overall structure of the locking positioning device.
[0024] Furthermore, the rotating robotic arm body includes a first rotating robotic arm and a second rotating robotic arm, which are connected to each other. The second rotating robotic arm is connected to the gripping part and the locking positioner respectively. By connecting the first rotating robotic arm and the second rotating robotic arm, the gripping range can be extended, making it convenient to grip reagent kits in different positions.
[0025] Furthermore, the bottom of the first rotating robotic arm is provided with a rotating base that can rotate 360 degrees. The rotating base facilitates the sequencer's transfer robotic arm to rotate 360 degrees after holding the reagent kit.
[0026] Compared with the prior art, the beneficial effects of this utility model's technical solution are:
[0027] This utility model discloses a transfer robotic arm for sequencers. By setting a fixed clamping end and a movable clamping end on the left and right sides of a clamping plate, respectively, and using a clamping control motor to drive the movable clamping end to open, the reagent kit can be gripped through the fixed clamping end and the movable clamping end. The rotating robotic arm body is equipped with a retractable locking positioner. When the locking positioner moves, it can lock onto the fixed clamping end and the movable clamping end. Therefore, even in the event of an accident, the locking positioner can ensure mutual locking between the movable clamping end and the fixed clamping end, thereby preventing the reagent kit from falling. Since the structure adopted by this utility model is relatively simple, it can effectively reduce the production cost. Attached Figure Description
[0028] Figure 1 This is a schematic diagram of the transfer robotic arm used in the sequencer in this utility model.
[0029] Figure 2 This is a schematic diagram of the transfer robotic arm used in the sequencer in this utility model from another angle.
[0030] Figure 3 This is a schematic diagram of the structure of the locking positioner in this utility model when the fixed clamping end and the movable clamping end are not locked.
[0031] Figure 4 This is an enlarged view of the locking positioner in this utility model when the fixed clamping end and the movable clamping end are not locked.
[0032] Figure 5 This is a schematic diagram of the structure of the locking positioner in this utility model when locking the fixed clamping end and the movable clamping end respectively.
[0033] Figure 6 This is an enlarged view of the locking positioner in this utility model when locking the fixed clamping end and the movable clamping end respectively.
[0034] In the figure, 1 is the main body of the rotating shaft robotic arm, 2 is the clamping control motor, 3 is the clamping part, 4 is the clamping fixing plate, 5 is the fixed clamping end, 6 is the movable clamping end, 7 is the locking positioner, 8 is the first fixed clamping arm, 9 is the second fixed clamping arm, 10 is the fixed clamping tooth, 11 is the first movable clamping arm, 12 is the second movable clamping arm, 13 is the movable clamping tooth, 14 is the through groove, 15 is the first clamping rotating shaft, 16 is the second clamping rotating shaft, 17 is the fixed connecting rod, 18 is the movable connecting rod, 19 is the concave-convex groove, 20 is the hollow weight reduction hole, 21 is the linear telescopic drive motor, 22 is the telescopic rod, 23 is the locking positioner block, 24 is the locking protrusion, 25 is the first rotating shaft robotic arm, 26 is the second rotating shaft robotic arm, and 27 is the rotating base. Detailed Implementation
[0035] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.
[0036] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can be described as the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.
[0037] like Figure 1-2As shown, a transfer robotic arm for a sequencer includes a rotating robotic arm body 1, a clamping control motor 2, and a clamping part 3. The clamping part 3 includes a clamping fixing plate 4, a fixed clamping end 5, and a movable clamping end 6. The clamping fixing plate 4 is located at the end of the rotating robotic arm body 1, and the fixed clamping end 5 and the movable clamping end 6 are respectively located on the left and right sides of the clamping fixing plate 4. The clamping control motor 2 is located on the clamping fixing plate 4 on one side of the movable clamping end 6, and the movable clamping end 6 is closable on the clamping fixing plate 4 via the clamping control motor 2. The rotating robotic arm body 1 is provided with a retractable locking positioner 7. When the movable clamping end 6 is opened or closed, the locking positioner 7, after moving, interacts with the fixed clamping end 5 and the movable clamping end 6 respectively. The fixed clamping end 5 and the movable clamping end 6 are respectively set on the left and right sides of the clamping plate 4, and the movable clamping end 6 is driven to open by the clamping control motor 2. Therefore, the reagent kit can be clamped by the fixed clamping end 5 and the movable clamping end 6. The rotating robotic arm body 1 is provided with a retractable locking positioner 7. When the locking positioner 7 moves, it can lock onto the fixed clamping end 5 and the movable clamping end 6. Therefore, even in case of an accident, the locking positioner 7 can ensure that the movable clamping end 6 and the fixed clamping end 5 are locked together, thereby preventing the reagent kit from falling. Since the structure adopted by this utility model is relatively simple, it can effectively reduce the production cost.
[0038] like Figure 3-4As shown, the fixed clamping end 5 includes a first fixed clamping arm 8, a second fixed clamping arm 9, and a fixed clamping tooth 10, while the movable clamping end 6 includes a first movable clamping arm 11, a second movable clamping arm 12, and a movable clamping tooth 13. The first fixed clamping arm 8 is fixedly disposed on one side of the clamping plate 4, and the first movable clamping arm 11 is rotatably disposed on the other side of the clamping plate 4 via the clamping control motor 2. The fixed clamping tooth 10 is disposed on the first fixed clamping arm 8, and the movable clamping tooth 13 is disposed on the first movable clamping arm 11. The second fixed clamping arm 9 is fixedly disposed on the first fixed clamping arm 8, and the second movable clamping arm 12 is fixedly disposed on the first movable clamping arm 11. Above; a through groove 14 is provided between the first fixed clamping arm 8 and the first movable clamping arm 11. Through the fixed clamping end 5 and the movable clamping end 6, when the reagent kit needs to be clamped, simply control the clamping control motor 2 to rotate, which opens the movable clamping end 6. After the movable clamping end 6 and the fixed clamping end 5 are fitted onto the reagent kit, the movable clamping end 6 tightens to clamp both ends of the reagent kit. Because a through groove 14 is provided between the first fixed clamping arm 8 and the first movable clamping arm 11, it facilitates the passage of the positioning device 7, making it simple and convenient. In addition, it includes a first clamping rotating shaft 15, a second clamping rotating shaft 16, a fixed connecting rod 17, and a movable connecting rod 18; First A clamping pivot 15 is mounted on the clamping fixing plate 4, and a second clamping pivot 16 is mounted on the second movable clamping arm 12. One end of a movable connecting rod 18 is connected to the first clamping pivot 15, and the other end is connected to the second clamping pivot 16. One end of a fixed connecting rod 17 is mounted on the clamping fixing plate 4, and the other end is connected to the second fixed clamping arm 9. The fixed connecting rod 17 strengthens the connection between the second fixed clamping arm 9 and the clamping fixing plate 4, while the movable connecting rod 18, while strengthening the connection, also allows for relative movement, facilitating the opening and closing of the movable clamping end 6. The first fixed clamping arm 8 and the first movable clamping arm 11 are positioned relative to the clamping fixing plate 4. Both sides of the connection are circular. Since the first fixed clamping arm 8 and the first movable clamping arm 11 are both circular on the side connected to the clamping plate 4, the fixed clamping teeth 10 and the movable clamping teeth 13 can be more evenly arranged on the circular first fixed clamping arm 8 and the first movable clamping arm 11. In addition, the second fixed clamping arm 9 and the second movable clamping arm 12 are provided with grooves 19. Through the design of the grooves 19, the transfer robot arm can easily grip and transfer the reagent kit. In practical applications, the clamping plate 4 is provided with hollow weight-reducing holes 20. Through the setting of the hollow weight-reducing holes 20, the overall weight of the clamping plate 4 can be reduced.
[0039] like Figure 5-6As shown, the locking positioner 7 includes a linear telescopic drive motor 21, a telescopic rod 22, a locking position block 23, and locking protrusions 24 disposed on both sides of the locking position block 23. The linear telescopic drive motor 21 is mounted on the rotating shaft robotic arm body 1. One end of the telescopic rod 22 is connected to the linear telescopic drive motor 21, and the other end passes through the through groove 14 between the first fixed clamping arm 8 and the first movable clamping arm 11 and is connected to the locking position block 23. When the linear telescopic drive motor 21 retracts, the locking position block 23, driven by the telescopic rod 22, engages with the locking protrusions 24 at both ends of the locking position block 23, respectively, with the locking teeth 24 engaging with the fixed clamping teeth on the first fixed clamping arm 8. The tooth 10 abuts against the movable clamping tooth 13 on the first movable clamping arm 11. The telescopic rod 22 is extended and retracted by the linear telescopic drive motor 21, so that the locking positioning block 23 and the locking protrusion 24 on the telescopic rod 22 can be better fixed on the fixed clamping tooth 10 and the movable clamping tooth 13, thereby locking both the fixed clamping end 5 and the movable clamping end 6, preventing the reagent kit from falling off after the movable clamping end 6 is loosened. The locking positioning block 23 and the locking protrusion 24 are an integral structure, which can effectively simplify the overall structure of the locking positioner 7.
[0040] In this invention, the rotating robotic arm body 1 includes a first rotating robotic arm 25 and a second rotating robotic arm 26, which are connected to each other. The second rotating robotic arm 26 is connected to the clamping part 3 and the locking positioner 7 respectively. By connecting the first rotating robotic arm 25 and the second rotating robotic arm 26, the clamping range can be extended, making it convenient to clamp reagent kits in different positions. In addition, a rotating base 27 that can rotate 360 degrees is provided at the bottom of the first rotating robotic arm 25. The rotating base 27 facilitates the sequencer's transfer robotic arm to rotate 360 degrees after clamping the reagent kit.
[0041] Example
[0042] In this embodiment, the rotating robotic arm body is mounted on the transfer unit of the sequencer used to grip and transfer the reagent kit. When the reagent kit needs to be gripped, the movable gripping end opens under the drive of the gripping control motor, and the rotating robotic arm body also rotates into position. At this time, the reagent kit is located between the fixed gripping end and the movable gripping end. When the gripping control motor reverses its drive, the fixed gripping end and the movable gripping end can clamp the reagent kit.
[0043] To prevent the reagent kit from falling due to unexpected events at the movable clamping end, such as power failure or malfunction of the clamping control motor, a through groove is provided between the fixed clamping end and the movable clamping end. The locking positioner can be extended and retracted through the through groove and abuts against the fixed clamping teeth and the movable clamping teeth. This ensures that the reagent kit will not fall even if the clamping control motor loses power or malfunctions.
[0044] The positional relationships described in the figures are for illustrative purposes only and should not be construed as limiting this patent. Clearly, the above embodiments of this utility model are merely examples to clearly illustrate the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of the claims of this utility model.
Claims
1. A transfer robotic arm for a sequencer, comprising a rotating robotic arm body, a gripping control motor, and a gripping part, characterized in that: The clamping part includes a clamping fixing plate, a fixed clamping end and a movable clamping end. The clamping fixing plate is disposed at the end of the rotating shaft robotic arm body, and the fixed clamping end and the movable clamping end are respectively disposed on the left and right sides of the clamping fixing plate. The clamping control motor is mounted on a clamping fixing plate on one side of the movable clamping end, and the movable clamping end is mounted on the clamping fixing plate in a way that allows it to be opened and closed via the clamping control motor. The rotating robotic arm body is equipped with a retractable locking positioner. When the movable clamping end is opened or closed, the locking positioner abuts against the fixed clamping end and the movable clamping end respectively after it moves.
2. The retransfer robot arm for a sequencer of claim 1, wherein: The fixed clamping end includes a first fixed clamping arm, a second fixed clamping arm, and fixed clamping teeth; the movable clamping end includes a first movable clamping arm, a second movable clamping arm, and movable clamping teeth. The first fixed clamping arm is fixedly mounted on one side of the clamping plate, and the first movable clamping arm is rotatably mounted on the other side of the clamping plate via a clamping control motor. The fixed clamping teeth are disposed on the first fixed clamping arm, and the movable clamping teeth are disposed on the first movable clamping arm; The second fixed clamping arm is fixedly mounted on the first fixed clamping arm, and the second movable clamping arm is fixedly mounted on the first movable clamping arm; A through groove is provided between the first fixed clamping arm and the first movable clamping arm.
3. The retransfer robot arm for a sequencer of claim 2, wherein: It also includes a first clamping pivot, a second clamping pivot, a fixed link, and a movable link; The first clamping pivot is mounted on the clamping fixing plate, the second clamping pivot is mounted on the second movable clamping arm, and one end of the movable connecting rod is connected to the first clamping pivot and the other end is connected to the second clamping pivot. One end of the fixed link is mounted on the clamping plate, and the other end is connected to the second fixed clamping arm.
4. The retransfer mechanical arm for a sequencer of claim 2, wherein: Both the first fixed clamping arm and the first movable clamping arm are circular blocks on the side connected to the clamping and fixing plate.
5. The retransfer mechanical arm for a sequencer of claim 2, wherein: Both the second fixed clamping arm and the second movable clamping arm are provided with grooves.
6. The retransfer mechanical arm for a sequencer of claim 1, wherein: The clamping and fixing plate is provided with hollowed-out weight-reducing holes.
7. The retransfer mechanical arm for a sequencer of claim 2, wherein: The locking positioner includes a linear telescopic drive motor, a telescopic rod, a locking position block, and locking protrusions on both sides of the locking position block; The linear telescopic drive motor is mounted on the rotating shaft robotic arm body. One end of the telescopic rod is connected to the linear telescopic drive motor, and the other end passes through the through groove between the first fixed clamping arm and the first movable clamping arm and is connected to the locking positioning block. When the linear telescopic drive motor retracts, the locking positioning block, driven by the telescopic rod, engages with the locking teeth at both ends of the locking positioning block, respectively, with the fixed clamping teeth on the first fixed clamping arm and the movable clamping teeth on the first movable clamping arm.
8. The retransfer mechanical arm for a sequencer of claim 7, wherein: The locking positioning block and locking protrusion are an integral structure.
9. The transfer robotic arm for a sequencer according to claim 1, characterized in that: The rotating robotic arm body includes a first rotating robotic arm and a second rotating robotic arm, which are connected to each other. The second rotating robotic arm is connected to a clamping part and a locking positioner, respectively.
10. The transfer robotic arm for a sequencer according to claim 9, characterized in that: The bottom of the first rotating robotic arm is equipped with a rotating base that can rotate 360 degrees.