CN108908321A - Full-automatic illumination analyzer clamping jaw device - Google Patents

Abstract

The invention provides a claw device for a fully automatic luminescence analyzer, which includes a lifting device, a clamping device and a housing, the lifting device includes a motor, a gear and a rack, the motor and the gear are fixed on the housing, and the motor drives The gear, the gear drives the rack to do the lifting movement. The beneficial effect of the present invention is that due to the adoption of the above technical solution, the device has low cost, high reliability, and good compatibility with clamping objects of different shapes.

Description

Automatic Luminescence Analyzer Gripper Device

technical field

The invention relates to the technical field of medical instruments, in particular to a claw device for a fully automatic luminescence analyzer.

Background technique

The automatic luminescence analyzer is an important instrument for clinical testing. The analysis samples are mainly contained in the cuvette. The analyzer clamps the cuvette through the mechanical arm and transports the samples in the cuvette to different positions, so that the samples in the analyzer Perform operations such as reactions or tests.

In the prior art, there are mainly two ways to realize the clamping action of the cuvette during the conveying process: one is the pneumatic type, which needs to increase the cylinder mechanism and use the cylinder to provide the clamping power. Due to the relatively high air compression, The clamping force is difficult to control. The solution is to add a force sensor, which increases the complexity of the overall mechanism, increases the cost, and increases the size of the entire mechanism; another solution is the worm gear structure. The clamping force is related to the holding force of the power machine and is difficult to control. In addition, for precision machinery, the processing cost of this kind of worm gear and worm mechanism is relatively high, and this kind of structure requires high installation and assembly precision, which reduces the efficiency of mass production.

In addition, in the fully automatic luminescence analyzer, the gripping objects of the gripper device include square cuvettes and round TIP heads, and the above-mentioned gripping function requirements are integrated into the same set of gripper devices, which can simplify the equipment volume and structure. is of great significance.

Contents of the invention

The object of the present invention is to provide a cuvette gripper device with simple structure and good stability.

Technical scheme of the present invention is:

A claw device for a fully automatic luminescence analyzer, including a lifting device, a clamping device and a housing, the lifting device includes a motor, a gear and a rack, the motor and the gear are fixed on the housing, the motor drives the gear, the gear The rack is driven to move up and down. The clamping device includes a gripper and a gripper driving device. The gripper driving device is fixedly connected to the rack. The gripper includes a left gripper and a right gripper. The gripper driving device It includes an electromagnetic switch and a cam. The horizontal section of the cam is in the shape of a parallelogram. The cam includes a first side and a second side that are parallel to each other. The cam also includes a third side and a fourth side that are parallel to each other. The third side and the second side are parallel to each other. The distance between the fourth side is greater than the distance between the first side and the second side, and the grip driving device further includes a clamping spring for restoring the grip.

Clamping of the cuvette is realized by opening and closing of two grippers. In the present invention, a cam is arranged between the two grippers, and an electromagnetic switch is used to drive the cam to realize the opening and closing of the grippers. The motor and the electromagnetic switch are connected with the power supply through the controller. When the gripper is closed, under the action of the clamping spring, the first side and the second side of the cam located between the two grippers are attached to the two grippers respectively, and the distance between the two grippers is the first The gap gripper between the side and the second side is in the closed state. When performing the opening action, the controller controls the rotation of the electromagnetic switch, the electromagnetic switch drives the cam, the cam overcomes the tension of the clamping spring, and the two grippers are stretched apart by the cam.

The gripper driving device also includes a gripper left arm, a gripper right arm, a fixed plate and a gripper support plate, the gripper driving device is connected with the rack through the fixed plate, the gripper support plate is connected with the fixed plate, and the left gripper Fixed on the left arm of the gripper, the right gripper is fixed on the right arm of the gripper, the left arm of the gripper and the right arm of the gripper are respectively fixed on the gripper support plate through the rotating shaft, and the clamping spring is arranged on the left arm of the gripper and between the gripper's right arm. The gripper fixing plate mainly serves to connect the gripper driving device with the rack, thereby realizing the function of moving the gripper driving device up and down under the drive of the rack. The gripper support plate provides a platform for the installation of the gripper and a reference for the limit of the gripper. Both the cam and the clamping spring act on the left or right gripper through the left arm of the gripper or the right arm of the gripper. Compared with directly acting on the gripper, the left and right arms of the gripper replace part of the connection function of the gripper , which can effectively reduce the volume of the gripper, and facilitate the precise gripping action of the gripper for the densely arranged cuvettes.

The left gripper includes a first connecting portion and a first main body portion, the first main body portion includes a clamping side, the angle between the clamping side and the horizontal plane is 85-90°, and the clamping side is away from the first One end of a connecting portion is provided with a protrusion perpendicular to the clamping side, the right gripper includes a second connecting portion and a second main body, and the second main body is provided with a clamping arc surface corresponding to the clamping side .

The clamping of the cuvette mainly depends on the cooperation of the left gripper and the right gripper. The side wall of the cuvette used in conjunction with the present invention is provided with a semicircular protrusion, and the lower part of the semicircular protrusion is provided with an end face, and the left gripper The protrusion on the upper part matches the end surface of the lower part of the cuvette protrusion to lift the cuvette. The arc surface of the right arm can adapt to the end of most cuvettes, and the reaction cup can be stably held by the cooperation of the left and right grippers. cup grabbed. In the present invention, the side wall of the cuvette used together has a certain slope, and the left and right grippers are provided with similar slopes to further increase the clamping stability. The structure of the left and right grippers and the gripper cam can realize self-adjustment and can grasp round and square workpieces.

An opening and closing sensor is provided at the handle support plate. The opening and closing sensors are used to confirm whether the left and right grippers have grasped the cuvette successfully or not. The opening and closing sensor adopts a through-beam sensor.

A limit protection spring is provided between the grip support plate and the fixed plate, and a limit protection sensor is provided at the limit protection spring. When the operation is abnormal, a collision occurs during the descent of the gripper. Through the transmission of force, the gripper support plate and other components move up relative to the rack, compressing the limit protection spring, and the limit protection sensor is blocked at this time. When the fault is removed, the limit protection spring rebounds, the grip support plate and other components move down relative to the rack, and the limit protection sensor is connected. In this way, the protection function of the entire jaw mechanism can be realized

A positioning torsion spring is arranged between the right arm of the gripper and the gripper support plate. The positioning torsion spring mainly plays a positioning role. Under the action of the positioning torsion spring, the right gripper is attached to the gripper support plate without the action of the cam, and the positioning function is realized.

The lifting device also includes a track for limiting the rack and a slide block, the track is fixed on the housing, and the slide block is fixedly connected with the rack. The gear provides power for the rack, and the running track of the rack is determined by the track and the slider.

The upper part of the housing is fixed with a zero point sensor, and the rack is provided with a sensor stopper matched with the zero point sensor. The zero point sensor provides the initial position for the device, and the grasping action process of the cuvette starts from the zero point position.

A tension spring is arranged between the top of the housing and the top of the rack. When a fault occurs, when the gear does not provide power, the extension spring can limit the infinite decline of the gripper driving device under the action of gravity, preventing collision damage to the gripper driving device.

The advantages and positive effects of the present invention are: due to the adoption of the above technical solution, the equipment has low cost and high reliability, and has good compatibility with clamping objects of different shapes.

Description of drawings

Fig. 1 is the front view of the present invention

Fig. 2 is the back view of the present invention

Figure 3 is a top view of the gripper drive device

Figure 4 is a schematic diagram of the structure of the left gripper

Figure 5 is a schematic diagram of the structure of the right gripper

Figure 6 is a structural schematic diagram of the cam

In the picture:

1. Gear 2. Rack 3. Gripper

4. Electromagnetic switch 5. Cam 6. Gripper support plate

7. Fixed plate 8. Left arm of gripper 9. Right arm of gripper

10. Opening and closing sensor 11. Limit protection spring 12. Limit protection sensor

13. Track 14. Zero point sensor 15. Sensor block

16. Extension spring 31. Left gripper 32 Right gripper

33. Clamping spring 51. First side 52. Second side

53. The third side 54. The fourth side 311. The first connecting part

312, first body part 313, clamping side 314, protrusion

321, second connecting part 322, second main body part 323, clamping arc surface

17. Positioning torsion spring

Detailed ways

As shown in Figures 1 and 2, the present invention

A fully automatic luminescence analyzer jaw device, including a lifting device, a clamping device and a housing, the lifting device includes a motor, a gear 1 and a rack 2, the motor and the gear 1 are fixed on the housing, and the motor drives Gear 1, the gear drives the rack 2 to do lifting movement,

The clamping device includes a gripper 3 and a gripper driving device, and the gripper driving device is fixedly connected with the rack 2,

The gripper includes a left gripper 31 and a right gripper 32,

As shown in Figure 6

The gripper driving device includes an electromagnetic switch 4 and a cam 5, the horizontal section of the cam 5 is in the shape of a parallelogram, the cam 5 includes a first side 51 and a second side 52 parallel to each other, and the cam also includes parallelograms. The third side 53 and the fourth side 54, the distance between the third side 53 and the fourth side 54 is greater than the distance between the first side 51 and the second side 52, and the grip driving device also includes the clamping of the reset grip spring 33.

As shown in Figure 3,

The gripper driving device also includes a gripper left arm, a gripper right arm, a fixed plate 7 and a gripper support plate 6, the gripper drive unit is connected to the rack 2 through the fixed plate 7, and the gripper support plate 6 is connected to the fixed plate 7 are connected, the left gripper 31 is fixed on the left arm 8 of the gripper, the right gripper 32 is fixed on the right arm 9 of the gripper, the left arm of the gripper and the right arm of the gripper are respectively fixed on the gripper support plate 6 through the rotating shaft, The clamping spring 33 is arranged between the left arm 8 and the right arm 9 of the grip.

As shown in Figure 4 and 5,

The left handle 31 includes a first connecting portion 311 and a first main body portion 312, the first main body portion 312 includes a clamping side 313, and the included angle between the clamping side 313 and the horizontal plane is 85-90°, so The end of the clamping side 313 away from the first connecting portion 311 is provided with a protrusion 314 perpendicular to the clamping side 313, the right handle 32 includes a second connecting portion 321 and a second main body 322, the second The main body portion 322 is provided with a clamping curved surface 323 corresponding to the clamping side surface 313 .

The handle support plate 6 is provided with an opening and closing sensor 10 .

A limit protection spring 11 is provided between the handle support plate 6 and the fixed plate 7, and a limit protection sensor 12 is provided at the limit protection spring 11 .

A positioning torsion spring 17 is arranged between the right arm 9 of the gripper and the gripper support plate 6 .

The lifting device also includes a track 13 for limiting the rack and a slide block, the track 13 is fixed on the housing, and the slide block is fixedly connected with the rack 2 .

The upper part of the housing is fixed with a zero point sensor 14 , and the rack 2 is provided with a sensor stopper 15 matched with the zero point sensor 14 .

A tension spring 16 is arranged between the top end of the housing and the top end of the rack 2 .

The working process of this example:

When the gripper is running, first the motor rotates through the meshing of the gear 1 to drive the rack 2 and the components installed on the rack to rise until the sensor stopper 15 moves to the position of the zero sensor 14, which is the zero position of the gripper at this time, and then the motor reverses Rotate the rack 2 to move down to the required position.

During normal operation, when descending to a fixed position, the electromagnetic switch 4 rotates, and the left arm 8 of the gripper, the right arm 9 of the gripper are strutted by the cam 5, and the left arm 8 of the gripper, the right arm 9 of the gripper rotate around the fixed axis. Both arms open and overcome gripper clamping spring 33 simultaneously, gripper right arm 9 overcomes the torsion force of gripper location torsion spring 17 simultaneously, gripper becomes splayed and opens after opening. At this time, as the gripper left arm 8 rotates, the opening and closing sensor 9 is turned on. When the electromagnet 7 is powered off, the electromagnet torque is interrupted, and the gripping spring 14 rebounds to realize the clamping function. At the same time, the gripper positioning torsion spring 21 is reset, and the right arm 23 of the gripper is pushed to be close to the gripper support plate 13, so as to realize the positioning function. At this time, if the gripper is successfully grasped, the opening and closing sensor 10 is in the on state, otherwise it is in the blocking state. According to the signal feedback of the opening and closing sensor 10, it can be known whether the actual grasping by the gripper is successful.

When running abnormally, a collision occurs during the gripper's descent. Through the transmission of force, parts such as the gripper support plate 6 move up relative to the rack 2, compressing the limit protection spring 11, and now the limit sensor 12 is blocked. When the fault is removed, the limit protection spring 11 rebounds, the grip support plate 6 and other components move down relative to the rack 2, and the limit protection sensor 12 is connected. In this way, the protection function of the entire jaw mechanism can be realized.

An embodiment of the present invention has been described in detail above, but the content described is only a preferred embodiment of the present invention, and cannot be considered as limiting the implementation scope of the present invention. All equivalent changes and improvements made according to the application scope of the present invention shall still belong to the scope covered by the patent of the present invention.

Claims (9)

1. A full-automatic luminescence analyzer jaw device is characterized in that: it comprises a lifting device, a clamping device and a housing, and the lifting device includes a motor, a gear and a rack, and the motor and the gear are fixed on the housing , the motor drives the gear, the gear drives the rack for lifting movement, The clamping device includes a gripper and a gripper driving device, and the gripper driving device is fixedly connected to the rack, The gripper includes a left gripper and a right gripper, The gripper driving device includes an electromagnetic switch and a cam. The horizontal section of the cam is in the shape of a parallelogram. The cam includes a first side and a second side that are parallel to each other. The cam also includes a third side and a fourth side that are parallel to each other. On the side, the distance between the third side and the fourth side is greater than the distance between the first side and the second side, and the gripper driving device also includes a clamping spring for restoring the gripper. 2. The gripper device of a fully automatic luminescence analyzer according to claim 1, characterized in that: the gripper driving device also includes a gripper left arm, a gripper right arm, a fixing plate and a gripper support plate, and the gripper The driving device is connected with the rack through the fixed plate, the gripper support plate is connected with the fixed plate, the left gripper is fixed on the left arm of the gripper, the right gripper is fixed on the right arm of the gripper, the left arm of the gripper and the right arm of the gripper They are respectively fixed on the gripper support plate through rotating shafts, and the clamping spring is arranged between the left arm of the gripper and the right arm of the gripper. 3. The jaw device of a fully automatic luminescence analyzer according to claim 2, wherein the left gripper includes a first connecting portion and a first main body, the first main body includes a clamping side, and the The included angle between the clamping side and the horizontal plane is 85-90°, the end of the clamping side away from the first connecting part is provided with a protrusion perpendicular to the clamping side, and the right handle includes a second connecting part and The second main body part is provided with a clamping arc surface corresponding to the clamping side surface. 4. The gripper device of a fully automatic luminescence analyzer according to claim 2, wherein an opening and closing sensor is provided at the support plate of the gripper. 5. The claw device of the automatic luminescence analyzer according to claim 2, characterized in that: a limit protection spring is provided between the gripper support plate and the fixed plate, and a limit protection spring is provided at the position limit protection spring sensor. 6. The claw device of the automatic luminescence analyzer according to claim 2, wherein a positioning torsion spring is arranged between the right arm of the gripper and the gripper support plate. 7. The automatic luminescence analyzer jaw device according to claim 1, characterized in that: the lifting device also includes a track and a slider for limiting the rack, the track is fixed on the housing, and the slider The block is fixedly connected with the rack. 8 . The gripper device of a fully automatic luminescence analyzer according to claim 7 , wherein a zero point sensor is fixed on the upper part of the housing, and a sensor block that cooperates with the zero point sensor is provided on the rack. 9. The jaw device of the automatic luminescence analyzer according to claim 8, wherein a tension spring is provided between the top of the housing and the top of the rack.