A flexible grasping mechanism

Abstract

The utility model discloses a kind of flexible grabbing mechanism, for grabbing slide, including fixed plate and the clamping component of rotation setting on fixed plate, clamping component can rotate to fixed plate, to grab the slide between clamping component and fixed plate, clamping component includes rotating unit and buffer unit, wherein, rotating unit is rotatably connected with fixed plate, and rotating unit is provided with accommodating groove in the end away from the fixed plate connection place;Buffer unit is set in accommodating groove, and buffer unit includes first reset piece and buffer piece, buffer piece is inserted in accommodating groove, and can be moved relative to rotating unit, one end of first reset piece is abutted on buffer piece, the other end is abutted on rotating unit, and first reset piece is used to exert force away from rotating unit for buffer piece. The flexible grabbing mechanism utilizes buffer piece and can be moved relative to rotating unit under the action of first reset piece, so that slide is more uniform in clamping process Stress, improve the stability of clamping action.

Description

Technical Field

[0001] This utility model belongs to the field of biological experimental equipment, and in particular relates to a flexible gripping mechanism. Background Technology

[0002] As a commonly used experimental instrument in biochemical experiments, glass slides are often used as observation bases for biological specimens when conducting microscopic observations. In use, the biological specimen is evenly spread on a clean glass slide, covered with a coverslip, and then held onto the microscope observation stage by a slide clamping device for observation.

[0003] Most commonly used slide holders are tweezers, or simply modified tweezers. However, this rigid gripping method can cause stress concentration at the edges of the slide, leading to edge chipping or even complete slide breakage. Furthermore, improper handling with tweezers can cause cross-contamination between samples, resulting in incalculable losses.

[0004] Therefore, there is an urgent need to design a flexible gripping mechanism to solve the problems mentioned above. Utility Model Content

[0005] To address the technical problems mentioned in the background art, such as the rigid gripping method easily leading to damage and cross-contamination of glass slides, a flexible gripping mechanism is provided.

[0006] To achieve the above objectives, the specific technical solution of the flexible gripping mechanism of this utility model is as follows: A flexible gripping mechanism for gripping glass slides includes a fixed plate and a clamping assembly rotatably mounted on the fixed plate. The clamping assembly is rotatable toward the fixed plate to grip the glass slide located between the clamping assembly and the fixed plate. The clamping assembly includes: A rotating unit is rotatably connected to a fixed plate, and a receiving groove is provided at the end of the rotating unit away from the connection with the fixed plate. A buffer unit is disposed in a receiving groove. The buffer unit includes a first reset member and a buffer member. The buffer member is inserted into the receiving groove and can move relative to the rotating unit. One end of the first reset member abuts against the buffer member and the other end abuts against the rotating unit. The first reset member is used to apply a force away from the rotating unit to the buffer member.

[0007] Furthermore, the rotating unit includes: The rotating clamp is rotatably connected to the fixed plate, and a through hole is provided at the end of the rotating clamp away from the connection with the fixed plate. A cover plate is placed on the side of the through hole away from the glass slide to close one side of the through hole and form a receiving groove. One end of the first reset member abuts against the buffer member, and the other end abuts against the cover plate, for applying a force away from the cover plate to the buffer member.

[0008] Furthermore, the rotating unit also includes a positioning part, which is disposed on the rotating clamp plate and located between the rotating clamp plate and the fixed plate. The fixed plate is provided with a positioning groove, and the positioning part can move closer to the rotating clamp plate and enter the positioning groove to position the rotating clamp plate.

[0009] Furthermore, the rotating unit also includes a sensing unit, which is disposed on the rotating clamp plate and located at one end of the rotating clamp plate near the connection with the fixed plate. A detection unit is correspondingly disposed on the fixed plate. The sensing unit can rotate together with the rotating clamp plate to enter or leave the sensing area of ​​the detection unit.

[0010] Furthermore, the flexible gripping mechanism also includes a drive assembly and a second reset member, which are located on both sides of the rotating clamping plate. The drive assembly is used to drive the rotating unit to rotate relative to the fixed plate. One end of the second reset member abuts against the fixed plate, and the other end abuts against the rotating unit. The second reset member is used to apply a force away from the fixed member to the rotating unit.

[0011] Furthermore, the driving components include: The drive unit is mounted on the fixed plate; The transmission unit is located at the output end of the drive unit and is cylindrical in shape. The output end of the drive unit passes through the transmission unit along the axial direction of the cylindrical transmission unit, and the output end of the drive unit is eccentrically positioned relative to the cylindrical transmission unit to form a cam structure.

[0012] Furthermore, the fixed plate is provided with a receiving space, and the opposite sidewalls of the receiving space are provided with mounting holes for mounting the two ends of the rotating pin respectively. The rotating unit is installed in the middle position of the rotating pin so as to be pivotally connected to the fixed plate through the rotating pin and rotate relative to the fixed plate.

[0013] Furthermore, the second reset member is disposed within the receiving space, and the distance between the second reset member and the rotating pin is less than the distance between the positioning part and the rotating pin.

[0014] Furthermore, the side of the rotating clamp without the positioning part includes a first plane, an arc surface, and a second plane. The arc surface is located between the first plane and the second plane, and the cross-sectional width of the rotating clamp on the first plane is greater than the cross-sectional width on the second plane.

[0015] Furthermore, the fixing plate includes a first support and a second support spaced apart, the driving unit is disposed on the first support, and the driving unit includes an output shaft, the output shaft of the driving unit extends from the first support to the second support and is rotatably connected to the second support through a bearing.

[0016] The flexible gripping mechanism of this invention has the following advantages: The flexible gripping mechanism utilizes a buffer that can move relative to the rotating unit under the first action, making the force on the slide more uniform during clamping. In other words, the first reset component ensures that the buffer automatically returns to its original position after clamping release. Together with the buffer, it transforms traditional rigid clamping into flexible compression, allowing the buffer to automatically adapt to minor thickness changes and flatness errors of the slide after contact, evenly distributing the clamping force and greatly eliminating localized stress concentration. This avoids stress concentration caused by rigid clamping, effectively preventing the slide edge from cracking or breaking, and improving the stability of the gripping action. Furthermore, the rotating unit clamps the two ends of the slide, typically the blank edge area without samples, providing a highly flat positioning reference surface, ensuring the stability of the gripping posture, and simultaneously avoiding any contact between the gripping mechanism and the sample area, isolating the contamination path and reducing the possibility of cross-contamination. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the flexible gripping mechanism of this utility model; Figure 2 This is a cross-sectional view of the flexible gripping mechanism of this utility model; Figure 3 This is a structural schematic diagram of the fixing plate of this utility model; Figure 4 This is a top view of the flexible gripping mechanism of this utility model.

[0018] Explanation of markings in the diagram: 1. Fixing plate; 11. Positioning groove; 12. Detection unit; 13. Accommodation space; 14. Rotating pin; 15. First support; 16. Second support; 2. Clamping assembly; 21. Rotating unit; 211. Rotating clamping plate; 2111. First plane; 2112. Arc surface; 2113. Second plane; 212. Cover plate; 213. Positioning part; 22. Buffer unit; 221. First reset member; 222. Buffer member; 223. Receiving groove; 23. Sensing part; 3. Drive components; 31. Drive unit; 32. Transmission unit; 4. Second reset component; 100. Glass slide. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0021] Microscopic slides play a crucial role in biochemical experiments, serving as an indispensable basic instrument for the microscopic observation of biological samples. The procedure begins by evenly spreading the biological sample to be observed onto a cleaned slide, then covering it with a coverslip to ensure complete coverage and protection. Next, a slide holder is used to securely and stably place the slide on the microscope's observation platform for detailed observation and analysis.

[0022] In laboratories, the most commonly used slide holding devices are tweezers, or simply modified tweezers. Operators typically use these tools to grip a corner or edge of the slide, lift it, and smoothly move it to the microscope stage. However, this rigid gripping method can cause stress concentration at the slide's edge, leading to edge chipping or even complete slide breakage. This not only damages experimental equipment but may also harm the samples. Furthermore, improper handling when using tweezers to hold slides can cause cross-contamination between samples, resulting in incalculable losses.

[0023] For example, utility model application CN202120319942.1 discloses a clamping mechanism for microscope slides. This clamping mechanism places the microscope slide between two sets of auxiliary plates, and two sets of return springs drive two U-shaped blocks to slide towards the center, causing two connecting plates to slide towards the center. At this time, rotating two first threaded rods through two third bearings moves the two clamping plates downward, thereby fixing the microscope slide firmly. However, similar to the slide clamping mechanism in the above document, when fixing and clamping the slide, considering the material structure of the slide itself, it is necessary to provide a certain degree of clamping protection to avoid damage to the slide due to edge stress during clamping, which would affect experimental observation.

[0024] The following is a reference to the appendix. Figure 1 To be continued Figure 4 This invention describes a flexible gripping mechanism.

[0025] This embodiment provides a flexible gripping mechanism. Figure 1 This is a schematic diagram of the flexible gripping mechanism in this embodiment; Figure 2 This is a cross-sectional view of the flexible gripping mechanism in this embodiment; as shown Figure 1 and Figure 2 As shown, a device for gripping a glass slide 100 includes a fixed plate 1 and a gripping assembly 2 rotatably mounted on the fixed plate 1. The gripping assembly 2 can rotate toward the fixed plate 1 to grip the glass slide 100 located between the gripping assembly 2 and the fixed plate 1. The gripping assembly 2 includes a rotating unit 21 and a buffer unit 22. The rotating unit 21 is rotatably connected to the fixed plate 1, and a receiving groove 223 is provided at one end of the rotating unit 21 away from the connection with the fixed plate 1. The buffer unit 22 is disposed in the receiving groove 223 and includes a first reset member 221 and a buffer member 222. The buffer member 222 is inserted into the receiving groove 223 and can move relative to the rotating unit 21. One end of the first reset member 221 abuts against the buffer member 222, and the other end abuts against the rotating unit 21. The first reset member 221 is used to apply a force away from the rotating unit 21 to the buffer member 222.

[0026] Understandably, this flexible gripping mechanism utilizes the buffer 222, which can move relative to the rotating unit 21 under the action of the first reset member 221. This makes the force on the slide 100 more uniform during the clamping process. In other words, the first reset member 221 ensures that the buffer 222 automatically returns to its original position after the clamping is released. Together with the buffer 222, the traditional rigid clamping is transformed into flexible pressing. This allows the buffer 222 to automatically adapt to the slight thickness changes and flatness errors of the slide 100 after contacting it, distributing the pressing force evenly and greatly eliminating local stress concentration. This avoids stress concentration caused by rigid clamping, effectively preventing the edge of the slide 100 from cracking or breaking, and improving the stability of the gripping action. In addition, the rotating unit 21 clamps the two ends of the slide 100, which are usually blank edge areas without samples, providing a highly flat positioning reference surface. This ensures the stability of the gripping posture and avoids any contact between the gripping mechanism and the sample area, isolating the contamination path and reducing the possibility of cross-contamination.

[0027] Furthermore, such as Figure 2 As shown, the rotating unit 21 includes a rotating clamping plate 211 and a cover plate 212. The rotating clamping plate 211 is rotatably connected to the fixed plate 1, and a through hole is provided at one end of the rotating clamping plate 211 away from the connection with the fixed plate 1. The cover plate 212 covers the side of the through hole away from the glass slide 100, so that one side of the through hole is closed and a receiving groove 223 is formed. One end of the first reset member 221 abuts against the buffer member 222, and the other end abuts against the cover plate 212, for applying a force away from the cover plate 212 to the buffer member 222.

[0028] Understandably, the through hole can cooperate with the cover plate 212 to form a closed receiving groove 223, which allows the buffer unit 22 to be quickly installed or replaced, improving the maintainability of the overall structure. The cover plate 212 and the through hole form a limiting structure to ensure that the buffer 222 maintains its directionality during movement and avoids deviation or jamming. In addition, the first reset member 221 acts on the cover plate 212, which can more effectively control the elasticity of the buffer 222 and improve the stability during clamping.

[0029] Furthermore, Figure 3 This is a structural schematic diagram of the fixing plate in this embodiment; as shown Figure 2 and 3 As shown, the rotating unit 21 also includes a positioning part 213, which is disposed on the rotating clamping plate 211 and located between the rotating clamping plate 211 and the fixed plate 1. The fixed plate 1 is provided with a positioning groove 11. The positioning part 213 can move closer to the rotating clamping plate 211 and enter the positioning groove 11 to position the rotating clamping plate 211.

[0030] It is understandable that by using the positioning part 213 in conjunction with the positioning groove 11, the position of the rotating clamping plate 211 is fixed in the clamping state, thereby ensuring that the clamping angle is consistent each time, improving the operation accuracy and the reliability of the clamping action. In addition, the positioning structure can prevent the clamping plate from rotating too much or too little during the clamping process, which would cause structural damage to the clamping plate due to excessive rotation, thus extending the service life of the mechanism.

[0031] Furthermore, such as Figure 2 As shown, the rotating unit 21 also includes a sensing part 23, which is disposed on the rotating clamp 211 and located at one end of the rotating clamp 211 near the connection with the fixed plate 1. The fixed plate 1 is provided with a detection unit 12. The sensing part 23 can rotate together with the rotating clamp 211 to enter or leave the sensing area of ​​the detection unit 12.

[0032] It is understandable that by using the sensor 23 in conjunction with the detection unit 12, it is possible to detect in real time whether the clamping component 2 has completed the clamping action, so that the system can judge the clamping status, realize closed-loop control of the clamping action, and improve the intelligence and automation level of the equipment. Specifically, when the sensor 23 does not enter the sensing area of ​​the detection unit 12, the system can judge that the clamping is not completed, and prevent erroneous action or misoperation.

[0033] In this embodiment, when the slide 100 is clamped, the sensing element enters the sensing area of ​​the detection unit 12. At this time, the detection unit 12 outputs a high-level signal and determines the system as "grabbed". When the slide 100 is not clamped, the sensing element moves away from the sensing area of ​​the detection unit 12. At this time, the detection unit 12 outputs a low-level signal and determines the system as "released" or "not grasped". It can be understood that integrating the above-mentioned sensing structure into the motion mechanism for real-time, non-contact detection of the system's "open" / "closed" state not only solves the state feedback and safety interlocking problems in the automated process, but also provides a clear signal to prevent the transfer action from being performed when the grasp is unsuccessful, or the descent action from being performed when the release is not successful, thereby improving the intelligence level and reliability of the entire system.

[0034] Furthermore, such as Figure 1 and 2 As shown, the flexible gripping mechanism also includes a drive assembly 3 and a second reset member 4. The drive assembly 3 and the second reset member 4 are located on both sides of the rotating clamp 211. The drive assembly 3 is used to drive the rotating unit 21 to rotate relative to the fixed plate 1. One end of the second reset member 4 abuts against the fixed plate 1, and the other end abuts against the rotating unit 21. The second reset member 4 is used to apply a force away from the fixed member to the rotating unit 21.

[0035] Understandably, the drive assembly 3 can automatically control the opening and closing of the clamping assembly 2, improving operational efficiency and reducing manual intervention. In addition, the second reset component 4 and the drive assembly 3 are located on both sides of the rotating clamping plate 211, ensuring the stability and reliability of the rotating clamping plate 211. In actual operation, the operator can also flexibly adjust the clamping force by adjusting the parameters of the drive assembly 3 and the second reset component 4 to adapt to glass slides 100 of different thicknesses or materials.

[0036] Furthermore, the drive assembly 3 includes a drive unit 31 and a transmission unit 32, wherein the drive unit 31 is disposed on the fixed plate 1; the transmission unit 32 is disposed at the output end of the drive unit 31, and the transmission unit 32 is cylindrical; the output end of the drive unit 31 passes through the transmission unit 32 along the axial direction of the cylindrical transmission unit 32, and the output end of the drive unit 31 is eccentrically disposed relative to the cylindrical transmission unit 32 to form a cam structure.

[0037] Understandably, the cam structure can convert rotational motion into linear motion, enabling the opening and closing action of the clamping component 2. It has a compact structure and high transmission efficiency. In addition, the cam structure can precisely control the rotation angle of the rotating unit 21, improving the controllability of the clamping action.

[0038] Furthermore, the fixed plate 1 is provided with a receiving space 13, and the opposite sidewalls of the receiving space 13 are provided with mounting holes for mounting the two ends of the rotating pin 14 respectively. The rotating unit 21 is installed in the middle position of the rotating pin 14 so as to be pivotally connected to the fixed plate 1 through the rotating pin 14 and rotate relative to the fixed plate 1.

[0039] It is understandable that the rotating pin 14, as a key load-bearing component, can improve the strength and durability of the overall structure by being securely installed. Therefore, fixing both ends of the rotating pin 14 through the mounting holes makes the rotation of the rotating unit 21 on the fixed plate 1 more stable and reduces shaking. In addition, the accommodating space 13 and the mounting hole structure are reasonably designed to facilitate the installation and replacement of the rotating pin 14.

[0040] Furthermore, the second reset member 4 is disposed within the accommodating space 13, and the distance between the second reset member 4 and the rotating pin 14 is less than the distance between the positioning part 213 and the rotating pin 14.

[0041] Understandably, the second reset member 4 is close to the rotating pin 14, which can more effectively apply the reset force to the rotating unit 21, reduce the lever arm length, and improve the reset efficiency. In addition, the second reset member 4 is kept at a certain distance from the positioning part 213 to avoid interference between the two during the operation, thereby improving the overall structural coordination. Furthermore, the second reset member 4 is close to the rotation center, which makes the response faster and improves the sensitivity of the clamping and releasing action.

[0042] Furthermore, such as Figure 2As shown, the side of the rotating clamp 211 without the positioning part 213 includes a first plane 2111, an arc surface 2112, and a second plane 2113. The arc surface 2112 is located between the first plane 2111 and the second plane 2113. The cross-sectional width of the rotating clamp 211 on the first plane 2111 is greater than the cross-sectional width on the second plane 2113.

[0043] Understandably, variations in the width of different planes can provide space for other components and improve the rationality of the overall structural layout. Specifically, designing the first plane 2111 to be wider can enhance the load-bearing capacity at the root of the clamping plate and improve the overall structural strength; the arc surface 2112 design can reduce friction during movement and improve the smoothness of the clamping plate rotation.

[0044] Figure 4 This is a top view of the flexible gripping mechanism in this embodiment.

[0045] During operation, such as Figure 1 , Figure 2 and Figure 4 As shown, when the drive unit 31 drives the cylindrical transmission unit 32 to rotate, the protruding part contacts and presses against the second plane 2113. At this time, it overcomes the elastic force of the second reset member 4 and drives the entire rotating unit 21 to rotate downward, so that the clamping assembly and the fixing plate 1 clamp the glass slide 100. When the rotating unit 21 rotates to the limit position, the buffer member 222 can flexibly press the glass slide 100 onto the fixing plate 1. When the cam continues to rotate and passes the arc surface 2112, that is, when it enters the return section, the rotating unit 21 can move upward under the action of the second reset member 4, so that the clamping assembly and the fixing plate 1 release the glass slide 100.

[0046] Furthermore, such as Figure 1 and Figure 4 As shown, the fixing plate 1 includes a first support 15 and a second support 16 spaced apart. The driving unit 31 is disposed on the first support 15 and includes an output shaft. The output shaft of the driving unit 31 extends from the first support 15 to the second support 16 and is rotatably connected to the second support 16 through a bearing.

[0047] Understandably, the output shaft is supported at both ends by the first support 15 and the second support 16, which makes the structure stable and prevents the output shaft from shifting or vibrating. The support structure facilitates the installation and replacement of the drive unit 31 and improves maintenance efficiency. The bearing structure can reduce friction when the output shaft rotates, improve transmission efficiency, and extend the service life of the drive unit 31.

[0048] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating 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 protection scope of the claims of this utility model.

Claims

1. A flexible gripping mechanism for gripping glass slides, characterized in that, Includes a fixed plate and a gripping assembly rotatably mounted on the fixed plate. The gripping assembly is rotatable toward the fixed plate to grip a glass slide located between the gripping assembly and the fixed plate. The gripping assembly includes: A rotating unit is rotatably connected to a fixed plate, and a receiving groove is provided at the end of the rotating unit away from the connection with the fixed plate. A buffer unit is disposed in a receiving groove. The buffer unit includes a first reset member and a buffer member. The buffer member is inserted into the receiving groove and can move relative to the rotating unit. One end of the first reset member abuts against the buffer member and the other end abuts against the rotating unit. The first reset member is used to apply a force away from the rotating unit to the buffer member.

2. The flexible gripping mechanism according to claim 1, characterized in that, The rotating unit includes: The rotating clamp is rotatably connected to the fixed plate, and a through hole is provided at the end of the rotating clamp away from the connection with the fixed plate. A cover plate is placed on the side of the through hole away from the glass slide to close one side of the through hole and form a receiving groove. One end of the first reset member abuts against the buffer member, and the other end abuts against the cover plate, for applying a force away from the cover plate to the buffer member.

3. The flexible gripping mechanism according to claim 2, characterized in that, The rotating unit also includes a positioning part, which is disposed on the rotating clamp plate and located between the rotating clamp plate and the fixed plate. The fixed plate is provided with a positioning groove, and the positioning part can move closer to the rotating clamp plate and enter the positioning groove to position the rotating clamp plate.

4. The flexible gripping mechanism according to claim 2, characterized in that, The rotating unit also includes a sensing unit, which is disposed on the rotating clamp plate and located at one end of the rotating clamp plate near the connection with the fixed plate. A detection unit is correspondingly disposed on the fixed plate. The sensing unit can rotate together with the rotating clamp plate to enter or leave the sensing area of ​​the detection unit.

5. The flexible gripping mechanism according to claim 3, characterized in that, The flexible gripping mechanism also includes a drive assembly and a second reset member, which are located on both sides of the rotating clamping plate. The drive assembly is used to drive the rotating unit to rotate relative to the fixed plate. One end of the second reset member abuts against the fixed plate, and the other end abuts against the rotating unit. The second reset member is used to apply a force away from the fixed member to the rotating unit.

6. The flexible gripping mechanism according to claim 5, characterized in that, The driver components include: The drive unit is mounted on the fixed plate; The transmission unit is located at the output end of the drive unit and is cylindrical in shape. The output end of the drive unit passes through the transmission unit along the axial direction of the cylindrical transmission unit, and the output end of the drive unit is eccentrically positioned relative to the cylindrical transmission unit to form a cam structure.

7. The flexible gripping mechanism according to claim 6, characterized in that, The fixed plate is provided with a receiving space, and the opposite side walls of the receiving space are provided with mounting holes. The mounting holes are used to install the two ends of the rotating pin respectively. The rotating unit is installed in the middle position of the rotating pin so as to be pivotally connected to the fixed plate through the rotating pin and rotate relative to the fixed plate.

8. The flexible gripping mechanism according to claim 7, characterized in that, The second reset member is disposed within the receiving space, and the distance between the second reset member and the rotating pin is less than the distance between the positioning part and the rotating pin.

9. The flexible gripping mechanism according to any one of claims 6-8, characterized in that, The side of the rotating clamp without a positioning part includes a first plane, an arc surface, and a second plane. The arc surface is located between the first plane and the second plane. The cross-sectional width of the rotating clamp on the first plane is greater than the cross-sectional width on the second plane.

10. The flexible gripping mechanism according to claim 6, characterized in that, The fixed plate includes a first support and a second support spaced apart. The drive unit is disposed on the first support and includes an output shaft. The output shaft of the drive unit extends from the first support to the second support and is rotatably connected to the second support through a bearing.

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