A robotic arm and medical automation device

Abstract

This utility model discloses a robotic arm and a medical automation device. The robotic arm includes a rotating device, a gripping device, and a limiting device. The rotating device includes a motor base, a rotating shaft, and a drive motor. The drive motor is fixed on the motor base and drives the rotating shaft to rotate. Support wheels are provided on both sides of the top surface of the rotating shaft. The gripping device includes a gripper bracket, gripper A, gripper B, and a tension spring. Grippers A and B are movably mounted on the gripper bracket and located on both sides above the rotating shaft. The tension spring connects grippers A and B. The limiting device includes a limiting post A, a limiting post B, and a limiting stop bar. Limiting posts A and B are located on both sides of the rotating shaft. The limiting stop bar is perpendicularly connected to the side of the rotating shaft. When the limiting stop bar abuts against limiting post A or limiting post B, the two support wheels open grippers A and B. Therefore, the overall structure is simple, compact, and small. The opening and closing of the robotic arm grippers is achieved through the drive motor and tension springs.

Description

Technical Field

[0001] This utility model relates to the field of experimental instrument technology, and in particular to a robotic arm and medical automation equipment. Background Technology

[0002] In automated medical equipment, robotic arms are widely used for grasping and transferring biological carriers, such as test tubes, reaction cups, and microplates. For example, in current fully automated chemiluminescence immunoassay analyzers, reaction cups are primarily transferred and transported using robotic arms. However, most robotic arms in these devices are large and complex, making them cumbersome, slow in grasping the cups, and inaccurate in their opening position, which makes them difficult to meet the application requirements of modern medical equipment. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a robotic arm with a simple, compact overall structure. The opening and closing of the robotic arm's grippers is achieved through a drive motor and a tension spring, and the grippers are kept in the correct position by a limiting post to complete the cup-grabbing action.

[0004] According to a first aspect of this utility model, a robotic arm is provided, comprising:

[0005] A rotating device includes a rotating shaft and a drive motor, wherein the drive motor drives the rotating shaft to rotate, and support wheels are provided on both sides of the top surface of the rotating shaft;

[0006] The clamping device includes a clamp A, a clamp B, and a tension spring. The clamp A and the clamp B are movably disposed on both sides above the rotating shaft, and the tension spring connects the clamp A and the clamp B.

[0007] The limiting device includes a limiting post and a limiting stop bar. The limiting post is located on both sides of the rotating shaft, and the limiting stop bar is perpendicularly connected to the side of the rotating shaft. When the limiting stop bar abuts against the limiting post, the two support wheels open the gripper A and the gripper B.

[0008] The aforementioned robotic arm has at least the following beneficial effects: When the drive motor operates, it rotates the rotating shaft until it reaches the limit stop and holds at the limit post. Support wheels on both sides of the rotating shaft open grippers A and B. When the robotic arm moves to the biological carrier grasping position, the drive motor rotates the rotating shaft back and releases it. Grippers A and B close under the action of the tension spring, completing the grasping action. When it is necessary to release the biological carrier, upon reaching the biological carrier placement position, the drive motor again drives the support wheels on the rotating shaft to open grippers A and B. The biological carrier falls to the designated position under the action of gravity, completing the placement action. Therefore, the overall structure is simple, compact, and small. The opening and closing of the robotic arm's grippers is achieved through the drive motor and tension spring, and the limit post ensures that the grippers open to the accurate position for grasping.

[0009] According to some embodiments of the present invention, the limiting post includes limiting post A and limiting post B. The limiting post A is located on one side of the gripper A, the limiting post B is located on one side of the gripper B, and the limiting stop is located on the side of the rotating shaft near one of the support wheels.

[0010] The advantage is that this setting ensures that when the limit lever abuts against limit post A or limit post B, the support wheels on both sides of the rotating shaft will spread the grippers A and B apart. When the drive motor rotates and releases, the limit lever moves between limit post A and limit post B, which is beneficial for the drive motor to control.

[0011] According to some embodiments of the present invention, the rotating mechanism is further provided with a motor base, the motor is fixed on the motor base, a photoelectric switch is provided on the motor base, and the gripper A or the gripper B is provided with a detection baffle that cooperates with the photoelectric switch. The photoelectric switch is used to detect the position of the detection baffle.

[0012] The advantages are: setting up a motor mount can fix the motor and photoelectric switch, and setting up a photoelectric switch and a detection baffle can detect the opening and closing position of gripper A or gripper B, thereby determining whether the robot has grasped the biological carrier and preventing it from missing.

[0013] According to some embodiments of the present invention, both gripper A and gripper B are provided with spring fixing posts, which are used to connect and fix the tension spring.

[0014] The advantage is that setting up spring fixing posts helps grippers A and B fix the tension spring, ensuring that the robot grips the biological carrier tightly and does not let go under the action of the tension spring.

[0015] According to some embodiments of the present invention, both gripper A and gripper B are provided with arc-shaped clamps that conform to the shape of the side of the biological carrier, and the two arc-shaped clamps are arranged opposite to each other.

[0016] The advantage is that the curved clamps of grippers A and B match the shape of the side of the biological carrier, which is beneficial for grasping the biological carrier and ensures that it is not easy to fall after being grasped.

[0017] According to some embodiments of this utility model, the inner surface of the arc-shaped clamp is provided with anti-slip texture.

[0018] The advantage is that the anti-slip texture can prevent the biological carrier from slipping off the curved clamp during the clamping process.

[0019] According to some embodiments of the present invention, the gripper bracket is provided with a sliding groove, and both gripper A and gripper B are provided with a sliding part that is movably engaged with the sliding groove.

[0020] The advantage is that grippers A and B can slide through the sliding slots on the gripper bracket via the sliding part, allowing the support wheel to easily open grippers A and B, and the tension spring to easily pull grippers A and B closer together to grasp the biological carrier.

[0021] According to some embodiments of the present invention, the motor base is provided with an installation port, the drive motor is installed on one side of the motor base, and the rotating shaft is provided on the other side of the motor base and connected to the drive motor through the installation port.

[0022] The advantages are: the installation port on the motor mount makes it easier to install the drive motor onto the motor mount, and it also facilitates the coordinated operation of the rotating shaft with the clamping device and the limiting device.

[0023] According to some embodiments of the present invention, the gripper bracket is provided with lugs on both sides, the lugs are provided with first bolt holes, the motor base is provided with second bolt holes, and the first bolt holes and the second bolt holes are connected by bolts.

[0024] The advantage is that the lugs and first bolt holes on both sides of the gripper bracket facilitate installation and maintenance by matching them with the second bolt holes on the motor mount.

[0025] According to a second aspect of the present invention, a medical automation device is provided, including a robotic arm as described in the first aspect of the present invention.

[0026] The aforementioned medical automation equipment has at least the following advantages: The medical automation equipment uses the aforementioned robotic arm, which uses a drive motor and tension spring to open and close the gripper. Under the action of limiting posts, the gripper is ensured to open in an accurate position to complete the grasping action. The overall structure is simple, compact, and small, which helps to simplify the structure of medical automation equipment.

[0027] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of an embodiment of the present utility model;

[0030] Figure 2 for Figure 1 A schematic diagram of the decomposition process;

[0031] Figure 3 for Figure 2 Enlarged schematic diagram of the clamping device.

[0032] Reference numerals: Motor base 100, Rotating shaft 110, Drive motor 120, Support wheel 130, Gripper bracket 140, Gripper A 150, Gripper B 160, Tension spring 170, Limiting post A 180, Limiting post B 190, Limiting stop bar 200, Photoelectric switch 210, Detection baffle 220, Detection notch 230, First side hole 240, Second side hole 250, Spring fixing post 260, Arc-shaped clamping plate 270, Sliding groove 280, Sliding part 290, Mounting port 300, Lug 310, First bolt hole 320, Second bolt hole 330. Detailed Implementation

[0033] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0034] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationships based on the directional or positional relationships shown in the accompanying drawings of the current embodiment. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" and "second" are mentioned, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0036] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation, connection, and linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to 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.

[0037] The following is for reference. Figures 1-3 The robotic arm of the first aspect of this utility model is described in detail with reference to a specific embodiment. It is to be understood that the following description is merely illustrative and not a specific limitation of the utility model. The biological carrier is illustrated using a reaction cup as an example.

[0038] like Figures 1-3 As shown, a robotic arm includes a rotating device, a gripping device, and a limiting device.

[0039] Among them, such as Figure 1 and Figure 2 As shown, the rotating device includes a motor base 100, a rotating shaft 110, and a drive motor 120. The drive motor 120 is fixed on the motor base 100 and drives the rotating shaft 110 to rotate. Support wheels 130 are provided on both sides of the top surface of the rotating shaft 110. It should be noted that the drive motor 120 is only one preferred drive mechanism; other drive mechanisms for opening and closing can also be used. Specifically, the motor base 100 is provided with a mounting port 300. The drive motor 120 is mounted on one side of the motor base 100, and the rotating shaft 110 is located on the other side of the motor base 100 and connected to the drive motor 120 through the mounting port 300. The mounting port 300 in the motor base 100 facilitates the mounting of the drive motor 120 onto the motor base 100 and facilitates the cooperation of the rotating shaft 110 with the clamping device and the limiting device.

[0040] like Figure 3As shown, the clamping device includes a gripper bracket 140, grippers A150, grippers B160, and a tension spring 170. Grippers A150 and B160 are movably mounted on the gripper bracket 140 and located on both sides above the rotation shaft 110. The tension spring 170 connects grippers A150 and B160. Specifically, both grippers A150 and B160 are provided with spring fixing posts 260, which are used to connect and fix the tension spring 170. The spring fixing posts 260 help grippers A150 and B160 fix the tension spring 170, ensuring that the robot grips the reaction cup tightly under the action of the tension spring 170. Furthermore, both grippers A150 and B160 are provided with arc-shaped clamping plates 270 that match the shape of the side of the reaction cup, and the two arc-shaped clamping plates 270 are arranged opposite each other. Grippers A150 and B160 are equipped with arc-shaped clamping plates 270 that match the shape of the side of the reaction cup, which facilitates gripping the reaction cup and prevents it from falling after gripping. Additionally, the inner surface of the arc-shaped clamping plates 270 can be provided with anti-slip textures to increase the friction between the clamping plates and the reaction cup, thereby preventing slippage during gripping. It should be noted that the gripper bracket 140 is provided with a sliding groove 280, and both grippers A150 and B160 have sliding parts 290 that movably engage with the sliding groove 280. The sliding parts 290 must be equipped with locking components such as retaining pins to ensure they do not detach from the sliding groove 280. In this way, grippers A150 and B160 can slide through the sliding part 290 in the sliding groove 280 on the gripper bracket 140, which facilitates the support wheel 130 to open grippers A150 and B160, and the tension spring 170 can also more smoothly pull grippers A150 and B160 closer to grasp the reaction cup. It is worth mentioning that the gripper bracket 140 has lugs 310 on both sides, and the lugs 310 have first bolt holes 320. The motor base 100 has second bolt holes 330. The first bolt holes 320 and the second bolt holes 330 are connected by bolts (bolts are not shown in the figure). The lugs 310 and the first bolt holes 320 on both sides of the gripper bracket 140 facilitate installation with the second bolt holes 330 of the motor base 100, making installation and maintenance convenient.

[0041] like Figure 2As shown, the limiting device includes a limiting post A180, a limiting post B190, and a limiting stop 200. Limiting posts A180 and B190 are located on both sides of the rotating shaft 110. The shapes of limiting posts A180 and B190 are not limited; they can be cylindrical or elongated rods, etc. The limiting stop 200 is perpendicularly connected to the side of the rotating shaft 110. When the limiting stop 200 abuts against limiting post A180 or limiting post B190, the two support wheels 130 open the grippers A150 and B160. Specifically, limiting post A180 is located on one side of gripper A150, limiting post B190 is located on one side of gripper B160, and the limiting stop 200 is located on the side of the rotating shaft 110 closest to one of the support wheels 130. This configuration ensures that when the limit stop 200 abuts against either the limit post A180 or the limit post B190, the support wheels 130 on both sides of the rotating shaft 110 open the grippers A150 and B160. When the drive motor 120 rotates and releases, the limit stop 200 moves between the limit posts A180 and B190, thus facilitating control by the drive motor 120. In another embodiment, when the rotating shaft 110 rotates to the point where the limit stop 200 abuts against either the limit post A180 or the limit post B190, the two support wheels 130 open the grippers A150 and B160, leaving them in an open state. When the rotating shaft 110 rotates in the opposite direction to the point where the limit stop 200 abuts against the other limit post, the two grippers close under the action of the tension spring 170, completing the gripping of the reaction cup.

[0042] In some specific embodiments of this utility model, such as Figure 2As shown, a photoelectric switch 210 is provided on the side of the motor base 100 facing away from the gripper bracket 140. Gripper A150 or gripper B160 has a detection baffle 220 that cooperates with the photoelectric switch 210. The photoelectric switch 210 is used to detect the position of the baffle 220, thereby determining whether the robot has grasped the reaction cup. It should be noted that only one photoelectric switch can be set; when the photoelectric switch detects the baffle, it indicates successful cup grasping. Alternatively, it can be set so that the photoelectric switch does not detect the baffle, indicating successful cup grasping. Two photoelectric switches can also be set, one for detecting successful cup grasping and one for detecting missed grasping. The photoelectric switch 210 and detection baffle 220 can detect the opening and closing position of gripper A150 or gripper B160, thereby determining whether the robot has grasped the reaction cup and preventing missed grasping. Specifically, the photoelectric switch 210 has a detection notch 230 for accommodating the detection baffle 220. When gripper A150 and gripper B160 approach each other after a missed grasp, the detection baffle 220 enters the detection notch 230. The photoelectric switch 210 is equipped with a detection notch 230 to facilitate its interaction with the detection baffle 220. The detection baffle 220 must enter the detection notch 230 for detection to occur, thus ensuring that the photoelectric switch 210 accurately determines whether the grippers A150 and B160 are not gripping properly. It should be noted that the motor mount 100 has a first side hole 240, and the photoelectric switch 210 has a second side hole 250 that mates with the first side hole 240. The first side hole 240 and the second side hole 250 are connected by bolts (bolts are not shown in the figure). The first side hole 240 and the second side hole 250 facilitate the bolted connection between the motor mount 100 and the photoelectric switch 210, making installation and maintenance convenient.

[0043] During operation, the drive motor 120 is fixed on the motor base 100. When the drive motor 120 runs, it drives the rotating shaft 110 to rotate until the limit stop 200 abuts against the limit post A180 or the limit post B190 and holds. The support wheels 130 on both sides of the rotating shaft 110 open the grippers A150 and B160. When the robot moves to the reaction cup gripping position, the drive motor 120 drives the rotating shaft 110 to rotate and release. The grippers A150 and B160 close under the action of the tension spring 170, completing the action of gripping the reaction cup. The photoelectric switch 210 and the detection baffle 220 can detect the opening and closing position of the grippers A150 and B160, thereby determining whether the robot has gripped the reaction cup and preventing it from missing. When the reaction cup needs to be released, upon reaching the designated placement position, the drive motor 120 again drives the support wheel 130 on the rotating shaft 110 to open the grippers A150 and B160. The reaction cup then falls to the designated position under gravity, completing the cup-releasing action. Therefore, the overall structure is simple, compact, and small. The opening and closing of the robotic grippers is achieved through the drive motor 120 and the tension spring 170, and the limiting post ensures that the grippers open to the accurate position to complete the cup-grabbing action.

[0044] The medical automation equipment according to the second aspect of this utility model includes a robotic arm as described in the first aspect. For example, taking a fully automated chemiluminescence immunoassay analyzer as an example, the fully automated chemiluminescence immunoassay analyzer uses the aforementioned robotic arm. A drive motor and a tension spring are used to open and close the gripper of the robotic arm, and a limiting post ensures that the gripper opens to an accurate position to complete the cup-grabbing action. The overall structure is simple, compact, and small, which helps to simplify the structure of the fully automated chemiluminescence immunoassay analyzer.

[0045] In the description of this specification, references to terms such as "an embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A robotic arm, characterized in that, include: The rotating device includes a rotating shaft (110) and a drive motor (120). The drive motor (120) drives the rotating shaft (110) to rotate. Support wheels (130) are provided on both sides of the top surface of the rotating shaft (110). The clamping device includes a clamp A (150), a clamp B (160) and a tension spring (170). The clamp A (150) and the clamp B (160) are movably disposed on both sides above the rotating shaft (110), and the tension spring (170) connects the clamp A (150) and the clamp B (160). The limiting device includes a limiting post and a limiting stop (200). The limiting post is located on one side of the rotating shaft (110), and the limiting stop (200) is perpendicularly connected to the side of the rotating shaft (110). When the limiting stop (200) abuts against the limiting post, the two support wheels (130) open the gripper A (150) and the gripper B (160).

2. The robotic arm according to claim 1, characterized in that, The limiting post includes limiting post A (180) and limiting post B (190). The limiting post A (180) is located on one side of the gripper A (150), and the limiting post B (190) is located on one side of the gripper B (160). The limiting stop bar (200) is located on the side of the rotating shaft (110) near one of the support wheels (130).

3. A robotic arm according to claim 1, characterized in that, The rotating device is also provided with a motor base (100), the motor (120) is fixed on the motor base (100), the motor base (100) is provided with a photoelectric switch (210), and the gripper A (150) and / or the gripper B (160) are provided with a detection baffle (220) that cooperates with the photoelectric switch (210).

4. A robotic arm according to claim 1, characterized in that, Both the gripper A (150) and the gripper B (160) are provided with spring fixing posts (260), which are used to connect and fix the tension spring (170).

5. A robotic arm according to claim 1, characterized in that, Both gripper A (150) and gripper B (160) are provided with arc-shaped clamps (270) that match the shape of the side of the biological carrier, and the two arc-shaped clamps (270) are arranged opposite to each other.

6. A robotic arm according to claim 5, characterized in that, The inner surface of the arc-shaped clamp (270) is provided with anti-slip texture.

7. A robotic arm according to claim 3, characterized in that, The clamping device further includes a jaw support (140), which has a sliding groove (280). Both jaw A (150) and jaw B (160) have a sliding part (290) that is movably engaged with the sliding groove (280).

8. A robotic arm according to claim 3, characterized in that, The motor mount (100) is provided with a mounting port (300), the drive motor (120) is mounted on one side of the motor mount (100), and the rotating shaft (110) is located on the other side of the motor mount (100) and connected to the drive motor (120) through the mounting port (300).

9. A robotic arm according to claim 7, characterized in that, The gripper bracket (140) has lugs (310) on both sides, the lugs (310) have a first bolt hole (320), and the motor base (100) has a second bolt hole (330). The first bolt hole (320) and the second bolt hole (330) are connected by bolts.

10. A medical automation device, characterized in that, Includes the robotic arm as described in any one of claims 1-9.

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