A specimen manipulator device

Abstract

The utility model provides a kind of for specimen manipulator device, belong to automation control technical field.It solves the problem that conveying line, gear and rack type manipulator structure is complex, occupies large space, service life is low, maintenance cost is big.A kind of for specimen manipulator device, including driving device, micro lead screw guide rail module and jaw linkage block, driving device is assembled in the top of micro lead screw guide rail module, the lower portion of micro lead screw guide rail module is equipped with jaw linkage block, jaw linkage block's lower portion middle part is oppositely rotated and is installed with clamping arm, driving device is used to drive micro lead screw guide rail module to move up and down to drive jaw linkage block to move up and down, when jaw linkage block moves up and down, clamping arm rotates around its inflection point to realize specimen action of clamping and loosening.It has the advantages of simple structure, small space occupation, long service life, low maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of automation control technology, specifically to a specimen manipulator device. Background Technology

[0002] In the process of medical / laboratory specimen testing, there is a crucial step – the specimen needs to be transferred in multiple directions during the testing process within the instrument:

[0003] Specimen transfer via conveyor line: This method utilizes a motor-driven belt conveyor. However, this method involves multiple segments in the conveyor mechanism, resulting in a complex equipment structure. It carries a higher risk of jamming and occupies a large amount of space. After transfer, the specimens are in a disordered and disorganized state, further complicating equipment control.

[0004] Rack and pinion robotic arm: This method uses a motor to drive a gear, with racks on both sides of the gear, and mechanical claws fixed on the racks. However, this method has a complex mechanism, occupies a large space, is prone to wear, has a short service life, high installation requirements, and high maintenance costs.

[0005] The existing specimen racks are basically 5 / 10-well specimen racks, see the instruction manual. Figures 1 to 3 The spacing between adjacent specimens on the specimen rack is between 18 and 22 mm. Existing robotic arms are too thick to directly grasp test tubes on the specimen rack. In order to improve efficiency, multiple robotic arms are needed to grip and transfer the specimens together. Therefore, it is necessary to design a robotic arm with a thickness of less than 18 mm. Utility Model Content

[0006] (a) Technical problems to be solved

[0007] To address the shortcomings of existing technologies, this utility model provides a specimen manipulator device that has the advantages of simple structure, small footprint, long service life, and low maintenance cost. It solves the problems of complex structure, large footprint, short service life, and high maintenance cost of conveyor lines and rack and pinion manipulators.

[0008] (II) Technical Solution

[0009] To achieve the aforementioned goals of simple structure, small footprint, long service life, and low maintenance cost, this utility model provides the following technical solution: A specimen manipulator device, comprising a drive unit, a micro screw guide rail module, and a gripper linkage block. The drive unit is mounted above the micro screw guide rail module, and the gripper linkage block is mounted below the micro screw guide rail module. A gripping arm is rotatably mounted opposite to the lower center of the gripper linkage block.

[0010] The drive device is used to drive the micro lead screw guide module to move up and down, thereby driving the gripper linkage block to move up and down. When the gripper linkage block moves up and down, the gripper arm rotates around its inflection point to realize the action of gripping and releasing the specimen.

[0011] Preferably, a robotic arm housing is mounted on the gripper linkage block to enclose it.

[0012] Preferably, a sliding wheel is provided at the connection between the clamping arm and the clamping claw linkage block, and the sliding wheel is used to connect the two clamping arms.

[0013] Preferably, the robotic arm housing is provided with a sliding wheel limiting groove, and the sliding wheel is disposed therein.

[0014] Preferably, a clamping arm pivot is provided at the inflection point of the clamping arm, and the clamping arm is rotatably mounted on the robotic arm housing via the clamping arm pivot.

[0015] Preferably, a chuck is installed at the lower end of the clamping arm.

[0016] Preferably, the clamping arm is further provided with a sensing plate, and the sensing plate is provided with a sensor switch.

[0017] Preferably, a tension spring located at the bottom of the gripper linkage block is also connected between the two gripper arms.

[0018] Preferably, a compression spring is also provided between the top of the clamping arm and the clamping claw linkage block.

[0019] (III) Beneficial Effects

[0020] Compared with the prior art, the present invention provides a specimen manipulator device with the following advantages:

[0021] This specimen robotic arm device utilizes a drive unit, a miniature lead screw guide module, a gripper linkage block, gripping arms, and the specimen in coordinated operation. The drive unit moves the miniature lead screw guide module, which in turn moves the gripper linkage block up and down. The gripper linkage block moves up and down within a sliding wheel limit groove on the robotic arm housing via a sliding wheel. As the gripper linkage block moves up and down, the sliding wheel causes the connection between the gripper arm and the gripper linkage block to move up and down. At this time, the gripper arm rotates around a pivot point on the robotic arm housing, thereby gripping and releasing the specimen. When the gripping arms are open, the tension spring provides inward preload force to the gripper arm, preventing it from wobbling and protecting the structure. When the gripping arms are closed and the specimen is being gripped, the compression spring provides preload force to the gripper arm, preventing it from being crushed, protecting the mechanical structure, and securing the specimen. The sensor plate acts on the inductive switch to control the position of the clamping arm when picking up and releasing the specimen. This achieves the effects of simple structure, small footprint, long service life, and low maintenance cost. Attached Figure Description

[0022] Figure 1 This refers to a test tube rack used in the prior art for storing five test tubes;

[0023] Figure 2 This refers to a test tube rack used in the prior art for storing ten test tubes;

[0024] Figure 3 This refers to a test tube rack used in the prior art for storing five test tubes;

[0025] Figure 4 This is an exploded view of a specimen manipulator device according to the present invention.

[0026] Figure 5 This is a schematic diagram of the structure of a specimen manipulator device according to the present invention.

[0027] In the diagram: 1. Drive unit; 2. Miniature lead screw guide rail module; 3. Gripper linkage block; 4. Tension spring; 5. Specimen; 6. Compression spring; 7. Inductive switch; 8. Robotic arm housing; 9. Inductive plate; 10. Grip arm pivot; 11. Sliding wheel; 12. Grip arm; 13. Grip head. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figure 1-2 A specimen manipulator includes a drive unit 1, a miniature lead screw guide module 2, and a gripper linkage block 3. The drive unit 1 is mounted above the miniature lead screw guide module 2, and the gripper linkage block 3 is mounted below the miniature lead screw guide module 2. A gripper arm 12 is rotatably mounted opposite to the lower center of the gripper linkage block 3. The drive unit 1 is the power source of the entire device, driving the miniature lead screw guide module 2 to move by outputting power, providing power support for the up-and-down movement of the miniature lead screw guide module 2 and the gripper linkage block 3, thereby realizing the gripping and releasing actions of the gripper arm 12. The miniature lead screw guide module 2 mainly plays a role in transmission and guidance. On the one hand, it transmits the power of the drive unit 1 to the gripper linkage block 3, enabling the gripper linkage block 3 to move precisely up and down in the vertical direction; on the other hand, its guide rail structure provides stable guidance for the movement of the gripper linkage block 3, ensuring that the gripper linkage block 3 moves along a predetermined straight trajectory, thereby ensuring that the gripper arm 12 can accurately complete the gripping and releasing actions of the specimen 5, improving the motion accuracy and stability of the device. The gripper linkage block 3 is an intermediate component connecting the miniature lead screw guide module 2 and the gripper arm 12. When the gripper linkage block 3 moves upward, it causes the gripper arm 12 to rotate around its inflection point, thereby gripping the specimen 5; when it moves downward, it causes the gripper arm 12 to release the specimen 5. The gripper arm 12 is used to grip the specimen 5.

[0030] A robotic arm housing 8 is mounted on the gripper linkage block 3, enclosing it. Firstly, the robotic arm housing 8 protects the internal structure, enclosing the components and shielding them from external environmental interference and damage, such as dust, moisture, and impacts, thereby extending the device's lifespan. Secondly, the sliding wheel 11 limiting grooves on the robotic arm housing 8 provide a movement track and limit for the sliding wheel 11, ensuring that components such as the gripper arm 12 can move along a precise trajectory, achieving accurate gripping and releasing of the specimen 5. It also provides support for the mounting of both ends of the gripper arm pivot 10. The robotic arm housing 8 provides a contoured moving inner cavity for the nut in the miniature lead screw guide module 2, ensuring that when the lead screw rotates, the nut can only move linearly along its inner cavity within the robotic arm housing 8.

[0031] A sliding wheel 11 is provided at the connection between the gripper arm 12 and the gripper linkage block 3. The sliding wheel 11 has a dual function of connection and guidance. First, the sliding wheel 11 connects the contact points of the two gripper arms 12 and is installed in the lower center of the gripper linkage block 3. Second, the sliding wheel 11 is installed in the sliding wheel 11 mounting groove of the robot arm housing 8. When the gripper linkage block 3 moves up and down, the sliding wheel 11 will move up and down in the sliding wheel 11 limiting groove, thereby accurately realizing the gripping and opening of the gripper arm 12.

[0032] The robotic arm housing 8 is provided with a sliding wheel 11 limiting groove, in which the sliding wheel 11 is disposed, and the sliding wheel 11 limiting groove plays a limiting role in the movement of the sliding wheel 11.

[0033] A gripper shaft 10 is provided at the inflection point of the gripper arm 12, and the gripper arm 12 is rotatably mounted on the robotic arm housing 8 via the gripper shaft 10. The gripper shaft 10 is the fulcrum for the rotation of the gripper arm 12. When the connection end of the gripper arm 12 and the gripper linkage block 3 is driven up and down by the gripper linkage block 3, the gripper arm 12 will rotate around the gripper shaft 10 to realize the gripping and releasing actions.

[0034] A clamp 13 is installed at the lower end of the clamp arm 12. The clamp 13 is in direct contact with the specimen 5. The clamp 13 increases the contact area with the specimen 5, reduces the pressure generated during contact, and avoids damage to the specimen 5.

[0035] A sensor plate 9 is also provided on the gripper arm 12, and a sensor switch 7 is provided on the sensor plate 9. The sensor plate 9 serves as the sensing object of the sensor switch 7. By changing its own position, it transmits motion status information of the gripper arm 12 to the sensor switch 7, such as whether the gripper arm 12 has reached the designated position or whether the gripping action has been completed, thereby providing feedback signals for the automated control of the entire robotic arm device.

[0036] A tension spring 4 located at the bottom of the gripper linkage block 3 is also connected between the two gripping arms 12. When the two gripping arms 12 are open, the tension spring 4 provides an inward preload force to the gripping arms 12 at the limit position below the sliding wheel 11 limit groove of the robot housing 8, preventing the gripping arms 12 from shaking and protecting the structure.

[0037] A compression spring 6 is also provided between the top of the gripper arm 12 and the gripper linkage block 3. When the gripper arms 12 on both sides close to grip the specimen 5, the compression spring 6 provides a pre-tightening force for gripping the specimen 5 at the limit position above the sliding wheel 11 limit groove of the robotic arm housing 8, so as to prevent the specimen 5 from being crushed, protect the mechanical structure, and clamp the specimen 5.

[0038] Working principle: The drive device 1 drives the miniature lead screw guide module 2 to move, thereby driving the gripper linkage block 3 to move up and down. The gripper linkage block 3 moves up and down in the sliding wheel 11 limiting groove on the robotic arm housing 8 through the sliding wheel 11. When the gripper linkage block 3 moves up and down, it will drive the connection between the gripper arm 12 and the gripper linkage block 3 to move up and down. At this time, the gripper arm 12 will rotate around the gripper arm pivot 10 installed at the inflection point on the robotic arm housing 8, thereby gripping and releasing the specimen 5. When the gripper arms 12 on both sides are open, the tension spring 4 provides the inward preload force of the gripper arm 12 at the lower limit position of the sliding wheel 11 limiting groove of the robotic arm housing 8 to prevent the gripper arm 12 from shaking and to protect the structure. When the gripper arms 12 on both sides are closed to grip the specimen 5, the compression spring 6 provides the preload force of the gripper arm 5 at the upper limit position of the sliding wheel 11 limiting groove of the robotic arm housing 8 to prevent the specimen 5 from being crushed, to protect the mechanical structure and to clamp the specimen 5. The sensor 9 acts on the inductive switch 7 to control the position of the clamping arm 12 when gripping and releasing the specimen 5. This achieves the effects of simple structure, small footprint, long service life, and low maintenance cost.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A specimen manipulator device, characterized in that: It includes a drive device (1), a micro screw guide rail module (2) and a gripper linkage block (3). The drive device (1) is mounted on top of the micro screw guide rail module (2). The gripper linkage block (3) is mounted on the bottom of the micro screw guide rail module (2). A gripper arm (12) is rotatably mounted on the bottom center of the gripper linkage block (3). The drive device (1) is used to drive the micro screw guide module (2) to move up and down, thereby driving the gripper linkage block (3) to move up and down. When the gripper linkage block (3) moves up and down, the gripper arm (12) rotates around its inflection point to realize the action of gripping and releasing the specimen (5).

2. The specimen manipulator device according to claim 1, characterized in that: The gripper linkage block (3) is equipped with a robotic arm housing (8) that encloses it.

3. The specimen manipulator device according to claim 1, characterized in that: A sliding wheel (11) is provided at the connection between the clamping arm (12) and the clamping linkage block (3), and the sliding wheel (11) is used to connect the two clamping arms (12).

4. A specimen manipulator device according to claim 2, characterized in that: The robotic arm housing (8) is provided with a sliding wheel (11) limiting groove, and the sliding wheel (11) is disposed therein.

5. A specimen manipulator device according to claim 2, characterized in that: The clamping arm (12) is provided with a clamping arm pivot (10) at the inflection point, and the clamping arm (12) is rotatably mounted on the manipulator housing (8) via the clamping arm pivot (10).

6. A specimen manipulator device according to claim 1, characterized in that: The lower end of the clamping arm (12) is equipped with a clamp (13).

7. A specimen manipulator device according to claim 1, characterized in that: The clamping arm (12) is also provided with a sensor plate (9), and the sensor plate (9) is provided with a sensor switch (7).

8. A specimen manipulator device according to claim 1, characterized in that: A tension spring (4) located at the bottom of the gripper linkage block (3) is also connected between the two gripper arms (12).

9. A specimen manipulator device according to claim 1, characterized in that: A compression spring (6) is also provided between the top of the clamping arm (12) and the clamping linkage block (3).

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