Sample tube transfer gripper

Abstract

The utility model discloses a sample tube transfer clamping jaw, including the clamping jaw main part, the groove hole of being set up on the clamping jaw main part is passed through its top, be provided with the X groove type cam of being able to slide along vertical direction in the groove hole, the cam cover plate and drive assembly are installed in proper order on the clamping jaw main part, drive assembly includes the driving piece for driving the X groove type cam, the X groove type cam has two axis mutually vertical groove, every the groove all is provided with a gyro wheel with its cooperation, the gyro wheel is installed on the gyro wheel axle, every gyro wheel axle all is connected with a clamping jaw subassembly, to hold the sample tube, still be provided with the buffer piece of contact with the clamping jaw main part in the X groove type cam. The utility model utilizes the X groove type cam to optimize the gyro wheel motion path, greatly reduces the structure size in the opening and closing direction under the premise of guaranteeing enough opening and closing distance, and then makes the overall size and weight of clamping jaw drop obviously.

Description

Technical Field

[0001] This utility model belongs to the field of sample tube transfer technology, and in particular relates to a sample tube transfer gripper. Background Technology

[0002] Sample tube transfer grippers are core components of automated sample processing systems (such as clinical testing, biological research, and pharmaceutical fields). Their main function is to accurately grasp, transfer, and place sample tubes, thereby automating sample flow and avoiding the risks of contamination and efficiency issues associated with manual operation. Currently, existing instruments use a V-shaped cam and linear guide rail structure to open and close the gripper. The V-shaped cam moves up and down, pressing against two rollers mounted on the linear guide rail. The wedge motion between the V-shaped cam and the rollers is used to open the gripper. When the V-shaped cam moves down, the gripper closes, and the closing power comes from the motor. When the V-shaped cam moves up, the gripper opens, and the opening power comes from the compression spring. For example, Chinese patent CN216030893U discloses a servo electric gripper, which includes a frame, a servo motor, a lead screw, a plug plate, a guide rail, two rollers, and two grippers. The servo motor is fixedly mounted on the frame, the lead screw is mounted on the frame and is arranged parallel to the motor shaft of the servo motor, and the motor shaft and the upper part of the lead screw are respectively equipped with meshing gears. A nut sleeve is fitted on the lead screw, the plug plate is fixedly mounted on the lower part of the nut sleeve, the bottom of the plug plate is provided with a lower insertion angle and teeth at the lower insertion angle, the guide rail is fixedly mounted on the lower part of the frame, the two rollers are provided with gear teeth that cooperate with the plug plate, and the roller axles are respectively fixedly connected to the corresponding sliders. The two sliders are respectively slidably mounted on the guide rail, and the two grippers are respectively fixedly connected to the corresponding sliders. However, the applicant discovered that the gripper relies on a motor-driven plate to close and a return spring to open. The gripper's drive mechanism relies on a motor, gears, and a lead screw and nut structure to achieve linear motion, resulting in a complex structure and large size. Furthermore, since the gripper's power to grasp objects comes from the motor, there is a risk of the grasped object falling if the motor loses power. Utility Model Content

[0003] The purpose of this invention is to overcome the defects of the prior art by providing a sample tube transfer gripper. The X-groove cam optimizes the roller movement path, greatly reducing the structural dimensions in the opening and closing direction while ensuring sufficient opening and closing distance, thereby significantly reducing the overall size and weight of the gripper.

[0004] The objective of this utility model is achieved through the following technical solution: A sample tube transfer gripper includes a gripper body with a slot extending through its top. An X-groove cam capable of sliding vertically is disposed within the slot. A cam cover plate and a drive assembly are sequentially mounted on the gripper body. The drive assembly includes a drive element for driving the X-groove cam. The X-groove cam has two grooves with mutually perpendicular axes. Each groove contains a roller that mates with it. The rollers are mounted on roller shafts, and each roller shaft is connected to a gripper assembly to hold the sample tube. A buffer element that contacts the gripper body is also disposed within the X-groove cam.

[0005] In one embodiment, the gripper assembly includes a linear guide rail located on one side of the gripper body, a finger mounting plate is mounted on the linear guide rail, gripper fingers are also provided on the finger mounting plate, and the roller shaft is connected to the finger mounting plate; This embodiment, which utilizes the interaction between an X-groove cam and a linear guide, effectively reduces the number of parts in the gripper assembly, further reducing weight while improving structural reliability.

[0006] In one embodiment, a shock-absorbing pad is also provided at the end of the gripper finger away from the finger mounting plate; This embodiment allows for direct contact with the sample tube, preventing damage to the sample tube or barcode from impacts. It also reduces vibration and increases friction, preventing the sample tube from falling and splashing.

[0007] In one embodiment, a resilient retaining ring is also installed on the roller shaft.

[0008] In one embodiment, the driving component is a lead screw motor mounted on the gripper body, and the output shaft of the lead screw motor contacts the X-groove cam.

[0009] In one embodiment, the cam cover plate has a through hole corresponding to the slot position, so that the output shaft of the lead screw motor passes through the cam cover plate and contacts the X-slot cam.

[0010] In one embodiment, the drive assembly further includes columns disposed on both sides of the lead screw motor, a motor limiting plate disposed on the top of the column, the other end of the column contacting the cam cover plate, and slotted photoelectric sensors disposed on both the upper and lower surfaces of the motor limiting plate.

[0011] In one embodiment, the drive assembly further includes a lead screw anti-rotation plate connected to the lead screw end of the lead screw motor. The motor limiting plate is also provided with a through groove for sliding of the lead screw anti-rotation plate, and a lead screw limiting plate that cooperates with the lead screw anti-rotation plate is installed on the motor limiting plate. The lead screw anti-rotation plate is also provided with a protrusion for triggering the slotted photoelectric sensor.

[0012] In one embodiment, the bottom of the X-groove cam is provided with one or more blind holes, and each blind hole is provided with a buffer.

[0013] In one embodiment, the buffer is a return spring.

[0014] The beneficial effects of this utility model are as follows: (1) The roller motion path was optimized by using an X-groove cam, which greatly reduced the structural dimensions in the opening and closing direction while ensuring sufficient opening and closing distance, thereby significantly reducing the overall size and weight of the gripper.

[0015] (2) By using the X-groove cam in conjunction with the linear guide rail, the number of parts in the gripper assembly is effectively reduced, further reducing the weight while improving the reliability of the structure.

[0016] (3) Even if the screw motor loses power, the object being gripped will continue to be clamped by the return spring, preventing the object from falling. Attached Figure Description

[0017] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings. Wherein: Figure 1 A schematic diagram of the structure of this utility model is shown; Figure 2 A schematic diagram of the gripper assembly of this utility model is shown; Figure 3 A schematic diagram of the drive component of this utility model is shown; Figure 4 The diagram shows a bottom view of the structure of the X-groove cam of this invention. Figure 5 The diagram shows a side view of the structure of the X-groove cam of this invention. In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0018] Figure label: 1-Gripper body, 2-Slot, 3-X-groove cam, 4-Cam cover plate, 5-Screw motor, 6-Groove, 7-Roller, 8-Roller shaft, 9-Linear guide rail, 10-Finger mounting plate, 11-Gripper finger, 12-Shock damping pad, 13-Elastic retaining ring, 14-Output shaft, 15-Column, 16-Motor limit plate, 17-Groove photoelectric sensor, 18-Screw anti-rotation plate, 19-Through groove, 20-Screw limit plate, 21-Reset spring, 22-Blind hole. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] This utility model provides a sample tube transfer gripper, such as Figure 1 and Figure 5 As shown, the device includes a gripper body 1, with a slot 2 extending through its top. An X-groove cam 3 capable of sliding vertically is disposed within the slot 2. A cam cover plate 4 and a drive assembly are sequentially mounted on the gripper body 1. The drive assembly includes a drive component for driving the X-groove cam 3. The X-groove cam 3 has two grooves 6 with mutually perpendicular axes. Each groove 6 is provided with a roller 7 that cooperates with it. The roller 7 is mounted on a roller shaft 8. Each roller shaft 8 is connected to a gripper assembly to hold the sample tube. A buffer component that contacts the gripper body 1 is also provided within the X-groove cam 3. It should be noted that the applicant found that the gripper relies on a motor-driven insert plate to close and a return spring to open. The gripper's driving part relies on a motor, gear, and lead screw nut structure to achieve linear motion, which is complex and bulky. In this embodiment, the X-groove cam 3 is driven by a driving component to slide vertically within the gripper body 1. The width of the X-groove cam 3 can be set according to the actual situation, but it is necessary to avoid rotation within the gripper body 1. At the same time, the roller 7 located within the X-groove cam 3 is used to transmit power. That is, the X-groove cam 3 optimizes the movement path of the roller 7, greatly reducing the structural dimensions in the opening and closing direction while ensuring sufficient opening and closing distance, thereby significantly reducing the overall size and weight of the gripper. Specifically, such as Figure 2 The gripper assembly includes a linear guide rail 9 located on one side of the gripper body 1, a finger mounting plate 10 mounted on the linear guide rail 9, and gripper fingers 11 also provided on the finger mounting plate 10. A roller shaft 8 is connected to the finger mounting plate 10. Figure 3 As shown, the driving component is a lead screw motor 5 mounted on the gripper body 1, and the output shaft 14 of the lead screw motor 5 contacts the X-groove cam 3; It should be noted that in this embodiment, a lead screw motor 5 is used as the driving component. Those skilled in the art can also use a cylinder or electromagnet as the driving component as needed. The output shaft 14 of the lead screw motor 5 acts on the X-groove cam 3. Two sets of linear guide rails 9 are located on both sides of the gripper body 1, respectively, for mounting the finger mounting plate 10. The roller 7 cooperates with the X-groove cam 3. Under the action of the lead screw motor 5, the roller 7 slides in the groove 6 of the X-groove cam 3. At the same time, the roller 7 is mounted on the roller shaft 8, the roller shaft 8 is mounted on the finger mounting plate 10, and the finger mounting plate 10 is mounted on the linear guide rail 9. That is, the vertical linear motion of the lead screw motor 5 is converted into horizontal linear motion to control the opening and closing of the gripper fingers 11. In this embodiment, by cooperating with the X-groove cam 3 and the linear guide rail 9, the number of parts of the gripper assembly is effectively reduced, further reducing the weight while improving the reliability of the structure.

[0021] Furthermore, the roller 7 and the groove 6 are in a small clearance fit, and the X-shaped cam and the roller 7 mounted on the linear guide 9 are in a groove 6 fit. The roller 7 has very small clearance in the horizontal direction, so the opening and closing gap of the gripper is small and the spacing control accuracy during opening and closing is high, so as to ensure the movement accuracy of the gripper.

[0022] Specifically, such as Figure 3 As shown, the cam cover plate 4 has a through hole corresponding to the position of the slot 2, so that the output shaft 14 of the lead screw motor 5 passes through the cam cover plate 4 and contacts the X-groove cam 3.

[0023] In one embodiment, such as Figure 1 As shown, the end of the gripper finger 11 away from the finger mounting plate 10 is also provided with a shock-absorbing pad 12, which is in direct contact with the sample tube to prevent the sample tube or barcode from being damaged by impact. It can also reduce vibration and increase friction to prevent the sample tube from falling and splashing liquid.

[0024] In one embodiment, such as Figure 2 As shown, an elastic retaining ring 13 is also installed on the roller shaft 8 to prevent the roller 7 from falling off.

[0025] In one embodiment, such as Figure 3 As shown, the drive assembly also includes columns 15 on both sides of the lead screw motor 5. A motor limiting plate 16 is provided on the top of the column 15. The other end of the column 15 contacts the cam cover plate 4. The upper and lower surfaces of the motor limiting plate 16 are provided with slotted photoelectric sensors 17. It should be noted that the column 15 is used to support the motor limit plate 16, while the slotted photoelectric sensor 17 on the upper and lower surfaces of the motor limit plate 16 is used to detect the zero position of the lead screw motor 5 and the opening and closing status of the gripper.

[0026] Furthermore, such as Figure 3As shown, the drive assembly also includes a screw anti-rotation plate 18 connected to the screw end of the screw motor 5, a through groove 19 for the screw anti-rotation plate 18 to slide on the motor limit plate 16, and a screw limit plate 20 that cooperates with the screw anti-rotation plate 18 is installed on the motor limit plate 16. The screw anti-rotation plate 18 also has a protrusion for triggering the slotted photoelectric sensor 17. It should be noted that the lead screw anti-rotation plate 18 is fixedly connected to the output shaft 14 of the lead screw motor 5 and can slide within the through groove 19 of the motor limiting plate 16 to prevent the output shaft 14 of the lead screw motor 5 from rotating during lifting and lowering. The protrusion on the lead screw anti-rotation plate 18 is used to trigger the slotted photoelectric sensor 17 during sliding to determine its position. The lead screw limiting plate 20, which is installed on the motor limiting plate 16 and cooperates with the lead screw anti-rotation plate 18, is used to limit the movement of the output shaft 14 of the lead screw motor 5 in the height direction.

[0027] In one embodiment, the bottom of the X-groove cam 3 is provided with one or more blind holes 22, and each blind hole 22 is provided with a buffer. Specifically, such as Figure 4 As shown, two symmetrical blind holes 22 can be opened on both sides of the bottom of the X-groove cam 3; of course, those skilled in the art can also open a blind hole 22 at the center of the X-groove cam 3 as needed; or they can open a blind hole 22 at the center of the X-groove cam 3 and at the same time open symmetrical blind holes 22 on both sides of the bottom of the X-groove cam 3 to meet the requirements of jaw balance and clamping force.

[0028] Furthermore, the buffer is a return spring 21. In the design process, those skilled in the art can select a pre-calculated return spring 21 and opening and closing stroke to make the clamping force of the gripper basically constant each time, so as to avoid the situation where the clamping force cannot be controlled when the lead screw motor 5 is directly driven.

[0029] In the description of this utility model, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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.

[0030] While specific embodiments of the present invention have been described herein with reference to them, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A sample tube transfer gripper, characterized in that, The device includes a gripper body with a slot extending through its top. An X-shaped cam capable of sliding vertically is disposed within the slot. A cam cover plate and a drive assembly are sequentially mounted on the gripper body. The drive assembly includes a drive component for driving the X-shaped cam. The X-shaped cam has two grooves with mutually perpendicular axes. Each groove contains a roller that mates with it. The rollers are mounted on roller shafts, and each roller shaft is connected to a gripper assembly to hold a sample tube. A buffer component that contacts the gripper body is also disposed within the X-shaped cam.

2. The sample tube transfer gripper according to claim 1, characterized in that, The gripper assembly includes a linear guide rail located on one side of the gripper body, a finger mounting plate is mounted on the linear guide rail, gripper fingers are also provided on the finger mounting plate, and the roller shaft is connected to the finger mounting plate.

3. A sample tube transfer gripper according to claim 2, characterized in that, The end of the gripper finger away from the finger mounting plate is also provided with a shock-absorbing pad.

4. A sample tube transfer gripper according to claim 1, characterized in that, An elastic retaining ring is also installed on the roller shaft.

5. A sample tube transfer gripper according to claim 1, characterized in that, The driving component is a lead screw motor mounted on the gripper body, and the output shaft of the lead screw motor is in contact with the X-groove cam.

6. A sample tube transfer gripper according to claim 5, characterized in that, The cam cover plate has a through hole corresponding to the position of the slot, so that the output shaft of the lead screw motor passes through the cam cover plate and contacts the X-slot cam.

7. A sample tube transfer gripper according to claim 5, characterized in that, The drive assembly also includes columns disposed on both sides of the lead screw motor. A motor limiting plate is disposed on the top of the column. The other end of the column contacts the cam cover plate. The upper and lower surfaces of the motor limiting plate are provided with slotted photoelectric sensors.

8. A sample tube transfer gripper according to claim 7, characterized in that, The drive assembly also includes a lead screw anti-rotation plate connected to the lead screw end of the lead screw motor. The motor limiting plate is also provided with a through groove for sliding the lead screw anti-rotation plate, and a lead screw limiting plate that cooperates with the lead screw anti-rotation plate is installed on the motor limiting plate. The lead screw anti-rotation plate is also provided with a protrusion for triggering the slotted photoelectric sensor.

9. A sample tube transfer gripper according to claim 1, characterized in that, The bottom of the X-groove cam has one or more blind holes, and each blind hole contains a buffer.

10. A sample tube transfer gripper according to claim 1 or 9, characterized in that, The buffer is a return spring.

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