CN209367770U

CN209367770U - Switch cover external member and with switch lid function robot

Info

Publication number: CN209367770U
Application number: CN201822184012.0U
Authority: CN
Inventors: 王晓军
Original assignee: Megarobo Technologies Co Ltd
Current assignee: Megarobo Technologies Co Ltd
Priority date: 2018-12-25
Filing date: 2018-12-25
Publication date: 2019-09-10
Anticipated expiration: 2028-12-25

Abstract

The utility model provides a kind of switch cover external member and the robot with switch lid function, and switch cover external member includes installation ontology, pawl structure, lifting assembly, rotary components and connection frame.Lifting assembly is mounted on installation ontology.Rotary components and lifting assembly are arranged side by side.Rotary components include first motor and the rotary shaft that connect with first motor, and rotary shaft is connected with pawl structure.Lifting assembly includes the second motor and the lead screw with the output axis connection of the second motor, is threaded with sliding block on lead screw.Connection frame is fixedly connected with a slide block, and rotary components and pawl structure are installed on connection frame；When the second electric motor starting, lead screw band movable slider under the driving of the second motor is slided, and sliding block drives rotary components and pawl structure to move along the axial direction of lead screw by connection frame.For the utility model by the way that rotary components and lifting assembly are arranged side by side, the structure of switch cover external member is more compact, and size can minimize as far as possible, save occupied space.

Description

Switch cover external member and with switch lid function robot

Technical field

The utility model relates to robot fields, and in particular to a kind of switch cover external member and the machine with switch lid function People.

Background technique

The most fundamental difference of both robot and operation machine (such as crane or purely mechanic equipment) is crane etc. Purely mechanic equipment is driver to be controlled by people, and robot is that robot pawl is controlled by computer programming, robot when use Mainly according to scheduled route from initial position clamping target object (for example, test tube) to target position.

With the development of economy and society, the application field of robot is more and more wider, such as life science.In life section Field is important a ring to the inspection of sample, such as needs blood, urine equal samples to acquisition in the clinical laboratory of hospital Various chemical examinations are carried out, needs to carry out microorganism detection to the sample of acquisition in microorganism laboratory, be tested in gene sequencing Room needs the gene such as to be sequenced, in this way by examining available various testing results, and then can help doctor or Other reviewers judge the state of tested sample (or tested person).And occurs or occur not yet in robot but go back The initial stage not being widely popularized, above-mentioned detection process are substantially by what is be accomplished manually, and also some may be by pure machine certainly What tool device was completed.

And with the progress of automatic technology, present detection process to automatic detection direction via manually developing ?.Artificial participation is also but needed in many links entirely detected, such as when blood testing, usually by the blood of tested personnel Liquid is collected into test tube, and test tube is to use test tube cap closed, is not easy to spill so during transportation, is not easy to be secondary polluted, When being sent to laboratory and being detected, it is necessary to which bottle cap is first opened, handled again invisible spectro blood by testing staff, is examined The bottle cap of test tube is covered again after having surveyed, finally carries out storing/discarding equal operation.However switch cover operation is by testing staff's craft Not only waste of resource (in laboratory, general testing staff is high level intellectual) is completed, and for some samples, is being opened It is easy to impact the health of operator when lid, for example, some samples are easy to produce aerosol when opening lid, and Aerosol will affect the health of operator, it is therefore desirable to and machine or equipment replace manually performing switch cover operation, from And guarantee the health of testing staff.

Occur some technical solutions for switch cover in the prior art, for example, notification number is CN104444983A, name It is automatic that a kind of pair of sample tube referred to as is disclosed in the Chinese patent of " sample tube go automatically close the lid and handling device " Remove the device to close the lid, including board, clamping test tube vertical movement electric cylinders, test tube rotary-top motor, the rotation of clamping test tube bottom Turn electric cylinders, test tube clamping electric cylinders and test tube to uncap and clamp electric cylinders, rotation electric cylinders in clamping test tube bottom are connect with board, clamp test tube Vertical movement electric cylinders are connect with clamping test tube bottom rotation electric cylinders, and test tube clamps electric cylinders and clamps the one of test tube vertical movement electric cylinders End connection, test tube rotary-top motor are connect with the other end of clamping test tube vertical movement electric cylinders, and test tube clamps electric cylinders and is equipped with two A clamping jaw, test tube rotary-top motor are connected with lid rotator, and test tube, which is uncapped, to be clamped electric cylinders and connect with board, and test tube, which is uncapped, clamps electricity Cylinder is set there are two clamping jaw, although be able to achieve test tube concussion, go lid, scanning, upper cover entire roboticized work, there are with Lower shortcoming:

1, it needs that test tube rotary-top motor and multiple electric cylinders is arranged, so that the size of device entirety is larger, it is desirable that there is foot Enough big installation spaces.

2, test tube rotary-top motor is easy coiling, and since installation space limits, each power driver is (i.e. at the top of test tube Rotating electric machine and multiple electric cylinders) that there are cablings is in disorder, it has not been convenient to the problem of cabling.

3, sample tube close the lid by lid rotator, lid rotator is limited by sample tube shapes and sizes, All sample tubes cannot be common to, sample tube is enveloped additionally by lid rotator and is screwed or unscrewed, in turn In the process, it after especially with a period of time, is easy to skid between lid rotator and sample tube lid, causes to close the lid unsuccessfully.

4, switch cover operation can only be carried out to single test tube, can not achieve pipelining, when switch cover, test tube need from Test tube place hole location be first moved to test tube bearing, then just can be carried out switch cover operation, take a long time, working efficiency compared with It is low；Especially when sample especially more (such as a samples up to a hundred of genetic test one-time detection tens) for needing to detect, work effect Rate is especially low.

Utility model content

In view of the above problem, one aspect according to the present utility model provides a kind of switch cover external member, the switch first Lid external member working efficiency is higher, and can reduce the overall dimensions of robot, has flexible installation space.

Switch cover external member provided by the utility model, including for execute switch cover operation pawl structure, for driving State the lifting assembly that pawl structure moves up and down and the rotary components for driving the pawl structure rotation, the switch cover external member It further include installation ontology, the lifting assembly is mounted on the installation ontology, and the rotary components and the lifting assembly are simultaneously Row's setting, wherein

The rotary components include first motor and the rotary shaft that connect with the first motor, the rotary shaft with it is described Pawl structure is connected, to drive the pawl structure to rotate in first motor starting；

The lifting assembly includes the second motor and the lead screw with the output axis connection of second motor, on the lead screw It is threaded with sliding block；

The switch cover external member further includes connection frame, and the connection frame is fixedly connected with the sliding block, the rotary components It is installed on the connection frame with the pawl structure；When second electric motor starting, the lead screw is in second motor Driving under drive the sliding block to slide, the sliding block passes through the connection frame drive rotary components and pawl structure edge The axial direction of the lead screw is mobile.

Illustratively, the lifting assembly further includes the first support base and the second support base, first support base and institute The second support base is stated to fix with the installation ontology respectively and be respectively supported at the both ends of the lead screw.

Illustratively, sliding rail is provided on the installation ontology, the sliding rail is located at first support base and second It is arranged in parallel between support seat and with the lead screw, the sliding block is slidably connected with the sliding rail.

Illustratively, the connection frame include first part, second part and be connected to the first part with it is described Part III between second part, and the connection frame is integrally C-shaped, the sliding block is fixedly connected with the Part III.

Illustratively, first bearing mounting hole is offered in the first part, is installed in the first bearing mounting hole There is first bearing, one end of the rotary shaft is threaded through in the first bearing, the other end of the rotary shaft and the pawl knot Structure is connected.

Illustratively, the pawl structure includes:

Multiple claws；

Driving assembly is connected with the pressing plate for pushing the multiple claw in the driving component；

First shell, the multiple claw are arranged in first shell；And

Multiple elastic components, the elastic component are arranged between two adjacent claws；

Wherein, the claw and first shell are equipped with the tapered face being mutually matched, in the inner wall of first shell Limitation under, the elastic component between the multiple claw be in confined state always；

When the driving component travels forward, drive the pressing plate that the multiple claw is pushed to travel forward, described Under the limitation of the inner wall of first shell, the multiple claw be in tightening state；

When the driving component moves backward, under the elastic force effect of each elastic component, at the multiple claw In open configuration.

Illustratively, the pulling plate for pulling the multiple claw is also connected in the driving component by the pressing plate, when When the driving component moves backward, the pulling plate applies pulling force to the multiple claw to facilitate the multiple claw from described Tightening state switches to the open configuration.

Illustratively, the tapered face is the conical surface.

Illustratively, the driving component includes fixed axial linear motor, the fixed axial linear motor with it is described Axis connection is rotated, second bearing mounting hole is offered on the second part, is equipped with second in the second bearing mounting hole Bearing, the second bearing are set on the motor shaft of the fixed axial linear motor, the fixed axial linear motor The end of motor shaft is connected with the pressing plate.

Illustratively, the pressing plate includes pressing plate ontology, the first trunk portion and the second trunk portion, first trunk portion and Second trunk portion is extended from two opposing end surfaces of the pressing plate ontology respectively, first trunk portion and the fixation The motor axis connection of axial linear motor, second trunk portion are connect with the pulling plate, when the fixed axial linear motor Motor shaft when travelling forward, the motor shaft drives the pressing plate ontology that the multiple claw is pushed to travel forward, described Under the limitation of the inner wall of first shell, the multiple claw be in tightening state.

Illustratively, the end of the motor shaft of the fixed axial linear motor is provided with threaded joints, and described first The first thread segment is provided in trunk portion, first thread segment is threadedly coupled with the threaded joints.

Illustratively, the pulling plate includes pulling plate ontology and interconnecting piece, and the interconnecting piece is from one end of the pulling plate ontology Extend on face, screw thread is provided on the interconnecting piece, the second thread segment, the interconnecting piece are provided in second trunk portion It is threadedly coupled with the second thread segment of second trunk portion, when the driving component moves backward, the pulling plate ontology pair The multiple claw applies pulling force to facilitate the multiple claw to switch to the open configuration from the tightening state.

Illustratively, each claw includes flat part and the rake with the conical surface, the flat part and institute Rake is stated in the side close to the elastic component by step transition, the respective flat part of the multiple claw is common Form cylindrical body, the respective rake of the multiple claw is collectively formed bullet, the multiple claw it is respective Limit end face is collectively formed in the step, and the pulling plate ontology is located in the bullet and draws applying to the multiple claw When power with the positive stop end face contact.

Illustratively, the switch cover external member further includes anti-winding structure, and the anti-winding structure includes anti-coiling slip ring, The anti-coiling slip ring includes fixing shell and can be rotatably set in the hollow inner ring in the fixing shell, described hollow interior Snare is located in the rotary shaft and can rotate with the rotary shaft, and the harness of the fixed axial linear motor is connected to institute State on hollow inner ring, lead to power supply harness in the fixing shell, the power supply harness respectively by the fixing shell, in Empty inner ring is electrically connected with the harness of the fixed axial linear motor.

Illustratively, the anti-winding structure further includes drag chain, the top of one end of the drag chain and the first motor The fixed, other end is fixed with the installation ontology；The power supply harness drawn in the fixing shell is introduced to by aviation plug The drag chain.

Illustratively, the harness of the first motor is introduced in the drag chain and is drawn by the drag chain；Described The harness of two motors is introduced in the drag chain and is drawn by the drag chain.

Illustratively, the shell of the fixed axial linear motor and the anti-coiling slip ring are all located at the first part Between the second part.

It illustratively, further include having for preventing the sliding block from colliding first support base and second support base Anti-collision structure, has lateral clearance between the first motor and second motor, the anti-collision structure is located at the transverse direction In gap.

Illustratively, the anti-collision structure includes:

Optocoupler baffle, the optocoupler baffle are fixed on the shell of second motor by optocoupler bracket；And

Optocoupler, the optocoupler are fixed on the shell of the first motor and can move up and down with the first motor；

Wherein, the both ends of the optocoupler baffle are that the sliding block corresponds to first support base and second support base Extreme position.

Other side according to the present utility model provides a kind of robot with switch lid function, the robot Including controller, fixed frame and the sample bottle rack being mounted on the fixed frame；

The robot further includes above-mentioned switch cover external member；

Multiple sample bottle putting holes are provided on the sample bottle rack；

The switch cover external member is more sets, and the installation ontology of switch cover external member described in every set is fixed on the fixed frame Corresponding position, the pawl structure of switch cover external member described in every set is located at the top of the corresponding sample bottle putting hole；

The more set switch cover external members of controller control carry out switch cover operation to multiple sample bottles simultaneously.

In the utility model, by the way that rotary components and lifting assembly are arranged side by side, and rotary components and pawl structure are pacified On connection frame, connection frame is fixedly connected with the sliding block driven by lifting assembly, due to rotary components and liter arranged side by side It comes down to a lower group and is connected by connection frame with sliding block between part, so that the structure of switch cover external member is more compact, size can as far as possible most Smallization, compared with the prior art in structure size greatly reduce, save occupied space.

When lid switch cover external member to be applied in robot, more set switch cover external members can be set, since every set switchs The size of lid external member is smaller, occupied space is smaller, therefore can be adapted for simultaneously opening multiple sample bottles being closer Lid operation is closed, and then realizes pipelining, without first being shifted to sample bottle when switch cover, so that working efficiency is higher, Good user experience can be obtained.

Detailed description of the invention

The utility model embodiment is described in more detail in conjunction with the accompanying drawings, the utility model above-mentioned and its Its purpose, feature and advantage will be apparent.Attached drawing is used to provide to further understand the utility model embodiment, and And part of specification is constituted, it is used to explain the utility model together with the utility model embodiment, not constitute to this reality With novel limitation.In the accompanying drawings, identical reference label typically represents same parts or step.

Fig. 1 is the structural schematic diagram according to the robot of the utility model embodiment；

Fig. 2 is the structural schematic diagram according to the switch cover external member of the utility model embodiment；

Fig. 3 is the structure chart of the pawl structure of connection on the rotary shaft in Fig. 2；

Fig. 4 is the explosive view of Fig. 3；

Fig. 5 is the structural schematic diagram of the claw of the pawl structure in Fig. 3.

Wherein, appended drawing reference is

110-switch cover external members

1110-pawl structures

1111-claws

11111-flat parts

11112-rakes

11113-steps

11114-blind holes

11115-arc grooves

1112-driving assemblies

11121-shells

11122-first flanges

11123-second flanges

11124-motor shafts

111241-threaded joints

1113-the first shell

1114-second housings

1115-elastic components

1116-pressing plates

11161-pressing plate ontologies

11162-the first trunk portion

111621-the first thread segment

11163-the second trunk portion

111631-the second thread segment

1117-pulling plates

11171-pulling plate ontologies

11172-interconnecting pieces

1120-lifting assemblies

1121-the second motor

1122-lead screws

1123-sliding blocks

1124-the first support base

1125-the second support base

1126-handwheels

1130-rotary components

1131-first motors

1132-rotary shafts

114-installation ontologies

1141-sliding rails

1150-connection frames

1151-first parts

1152-second parts

1153-Part III

1160-anti-winding structures

1161-anti-coiling slip rings

1162-drag chains

11621-vertical sections

11622-bending sections

1163-aviation plugs

1170-anti-collision structures

1171-optocoupler baffles

1172-optocouplers

1173-optocoupler brackets

12-fixed frames

121-bottom plates

122-the first column

123-the second column

125-reinforcing beams

126-mounting rails

13-sample bottle racks

131-sample bottles

132-sample bottle stand driving mechanisms

Specific embodiment

In order to enable the purpose of this utility model, technical solution and advantage become apparent, retouch in detail below with reference to accompanying drawings State example embodiment according to the present utility model.Obviously, described embodiment is only that a part of the utility model is implemented Example, rather than the whole embodiments of the utility model, it should be appreciated that the utility model is not by the limit of example embodiment described herein System.Based on the utility model embodiment described in the utility model, those skilled in the art are not being made the creative labor In the case where obtained all other embodiment should all fall within the protection scope of the utility model.

In conjunction with refering to fig. 1, specific embodiment of the present utility model is related to a kind of robot with switch lid function, machine Device people includes switch cover external member 110, fixed frame 12, sample bottle rack 13 and controller (attached to be not shown in the figure) etc., in order to The utility model is better understood, each component will be hereafter described in detail.

In conjunction with referring to Fig.2, switch cover external member 110 includes pawl structure 1110, lifting assembly 1120, rotary components 1130, peace Fill ontology 114 and connection frame 1150.Pawl structure 1110 is for executing switch cover operation.Lifting assembly 1120 is used for band pawl structure 1110 move up and down.Rotary components 1130 are used for band pawl structure 1110 and rotate.Lifting assembly 1120 is mounted on installation ontology 114 On, in use, installation ontology 114 can be fixed in place, such as a workbench, or it is fixed on this embodiment party On fixed frame 12 in formula, it is discussed in detail below about this point.Wherein, rotary components 1130 and lifting assembly 1120 be side by side Setting.

Rotary components 1130 include first motor 1131 and the rotary shaft 1132 connecting with first motor 1131, rotary shaft 1132 are connected with pawl structure 1110, with band pawl structure 1110 rotation when first motor 1131 starts.

Lifting assembly 1120 includes the second motor 1121 and the lead screw 1122 with the output axis connection of the second motor 1121, silk Sliding block 1123 is threaded on thick stick 1122.Certainly, lifting assembly 1120 can also include that the first support base 1124, second supports Seat 1125 and handwheel 1126.Lead screw 1122 is preferably chosen lead screw, in this way compared to selection ball-screw, can be reduced lubrication Sample is not polluted in maintenance, and cost reduces.

Rotary components 1130 and the arranged side by side of lifting assembly 1120 are realized by connection frame 1150, connection frame 1150 It is fixedly connected with sliding block 1123, rotary components 1130 and pawl structure 1110 are installed on connection frame 1150；When the second motor When 1121 starting, the band movable slider 1123 under the driving of the second motor 1121 of lead screw 1122 is slided, and sliding block 1123 passes through connection frame 1150 drive rotary components 1130 and pawl structure 1110 move linearly along the axial direction of lead screw 1122.

Specifically, lead screw 1122 rotates with it, and sliding block 1123 will be rotated in lead screw 1122 when the rotation of the second motor 1121 When move linearly along the axis of lead screw 1122, and since connection frame 1150 and sliding block 1123 are fixed, rotary components 1130 and pawl Structure 1110 is in turn mounted on connection frame 1150, therefore rotary components 1130 and pawl structure 1110 are with connection frame 1150 together edge The axis of lead screw 1122 is for linear motion.Pawl structure 1110 can be mobile up and down (lifting) in practical applications, such as pawl knot Structure 1110 moves downward, so that sample bottle cap is moved closer to, after pawl structure 1110 is moved down into suitable position, pawl structure 1110 crawl sample bottle caps simultaneously clamp, and are rotated under the drive of the second motor 1131, to drive sample bottle cap together Rotation, and then realize the operation of uncapping of sample bottle, similarly, when closing lid, other operate with uncap operate it is identical, the difference is that need The rotation direction for changing pawl structure 1110, so that sample bottle cap be made to be tightened on sample bottle.

In the utility model, by the way that rotary components 1130 and lifting assembly 1120 are arranged side by side, rotation arranged side by side Connected between component 1130 and lifting assembly 1120 by connection frame 1150 and sliding block 1123, and lifting assembly 1120 be motor+ The structure of lead screw, so that the structure of switch cover external member 110 is more compact, size can minimize as far as possible, compared to existing There is the structure size in technology to greatly reduce, saves occupied space.It is applied in robot when by the switch cover external member 110 When, more set switch cover external members 110 can be set, since the size of every set switch cover external member 110 is smaller, occupied space is smaller, because This can be adapted for carrying out switch cover operation to multiple sample bottles being closer simultaneously, without first moving to sample bottle Position, and then realize pipelining, working efficiency is higher, can obtain good user experience.

In the utility model, by the way that rotary components 1130 and lifting assembly 1120 are arranged side by side, and pawl structure 1110 Elevating movement is realized by the sliding of sliding block 1123, is more had the following advantages: 1, being efficiently reduced the cantilever of switch cover external member, Vibration can be effectively reduced in this way, and the reduction of cantilever can also reduce the concentricity due to caused by cantilever is longer and amplify Defect；It 2, is to separate with lifting action due to the spinning movement of pawl structure, during tightening lid, pawl structure 1110 exists It does not need to simultaneously decline when cap, that is to say, that do not needed when cap through pawl structure 1110 to bottle cap One downward thrust, can easily control bottle cap in this way tightens degree.Wherein, for lifting assembly 1120, due to Lead screw is only rotated, and without elevating movement, the elevating movement of pawl structure 1110 is realized by the sliding of sliding block, this There is no need to the leads to lead screw to limit for sample, so as to select the lead screw of any lead (to fix if it is sliding block, lead screw It is moved up and down during rotation, then needs that lead screw is required to turn around, bottle cap is also tightened a circle).

First support base 1124 and the second support base 1125 are separately fixed on installation ontology 114, and the first support base 1124 and second support base 1125 be respectively supported at the both ends of lead screw 1122, so that entire lifting assembly 1120 is mounted on installation On ontology 114.Why first support base 1124 is set and the second support base 1125 be because, lead screw 1122 belongs to elongate articles, And it needs to be rotated and moved linearly simultaneously at work, and be also threaded with sliding block 1123 thereon, therefore in silk In the motion process of thick stick 1122, lead screw 1122 may be damaged or even fracture, while also be easy to appear rolling during the motion Dynamic (especially when pawl structure 1110 grabs sample bottle cap or when its own is by external force collision), and at 1122 both ends of lead screw Two support bases are set, so as to avoid the generation of above situation to a certain extent.

Even if the first support base 1124 and the second support base 1125 are provided at the both ends of lead screw 1122 certainly, in lead screw It in 1122 motion process or may shake, be provided between the first support base 1124 and the second support base 1125 thus Sliding rail 1141, sliding rail 1141 can be fixed on installation ontology 114 and be arranged in parallel with lead screw 1122, sliding block 1123 and sliding rail 1141 It is slidably connected.In this way, sliding rail 1141 can share a part of power for lead screw 1122, simultaneously in the motion process of lead screw 1122 Since sliding block 1123 and sliding rail 1141 are slidably connected, during lead screw 1122 moves, sliding rail 1141 can also be played The effect of guiding so as to effectively avoid the shaking of lead screw 1122 during the motion, and then avoids pawl structure 1110 from shaking.

The first support base 1124 or the second support base 1125, switch cover set are hit in 1123 sliding process of sliding block in order to prevent Part 110 is additionally provided with anti-collision structure 1170, which can use the fit structure of optocoupler and optocoupler baffle, due to The fit structure of optocoupler and optocoupler baffle is a kind of common technology, and about its structure and principle, which is not described herein again, below Only its mounting means is once introduced.

Having lateral clearance between first motor 1131 and the second motor 1121, (transverse direction herein is X as shown in Figure 2 To), anti-collision structure 1170 is located in lateral clearance, in the utility model, due to being arranged anti-collision structure in first motor 1131 In lateral clearance between the second motor 1121, so as to save installation space.Specifically, optocoupler baffle 1171 passes through light Coupling bracket 1173 is fixed on the shell of the second motor 1121；Optocoupler 1172 is fixed on the shell of first motor 1131 and can It is moved up and down with first motor 1131；The both ends of optocoupler baffle 1171 are corresponding first support base 1124 of sliding block 1123 and second Support the extreme position of seat 1125.Based on the setting, it is avoided that in 1123 sliding process of sliding block and hits the first support base 1124 or the Two support bases 1125.

Handwheel 1126 is connected on the end of the second support base of stretching 1125 of lead screw 1122, the setting energy side of handwheel 1126 Just the manual rotational lead screw 1122 in power failure or debugging.

In the present invention, shaft coupling is preferably used to connect (packet with the connection of lead screw 1122 in second motor 1121 First motor 1131 is included with the connection of rotary shaft 1132 it is also preferred that connecting using shaft coupling, why using the in present embodiment The statement of one motor, the second motor is intended merely to describe clear, and actually first motor, the second motor can be identical electricity Machine), the size of counter structure (such as switch cover external member, pawl structure) not only can be reduced, and transmission efficiency is higher.

Illustrate as an example, connection frame 1150 includes first part 1151, second part 1152 and is connected to the Part III 1153 between a part 1151 and second part 1152, and connection frame 1150 is whole C-shaped, sliding block 1123 and the Three parts 1153 are fixedly connected.First bearing mounting hole (not shown), first bearing peace are offered in first part 1151 Dress hole in it is mountable have first bearing, one end of rotary shaft 1132 is threaded through in first bearing, the other end of rotary shaft 1132 with Pawl structure 1110 is connected.Second bearing mounting hole (not shown), second bearing installation are offered on second part 1152 Second bearing is installed, which is used to support the motor shaft 11124 of fixation axial linear motor hereinafter in hole.This In utility model, by the setting of first bearing and second bearing, concentricity issues are substantially improved, but also can Reduce friction so that the rotation of pawl structure 1110 is more flexible.1150 whole design of connection frame at C-shaped, on the one hand can be convenient with Sliding block 1123 connects；On the other hand it can be convenient the motor shaft of the first rotary shaft of support 1132 and fixed axial linear motor 11124；In addition, the shell 11121 by anti-coiling slip ring 1161 and fixed axial linear motor hereinafter can be facilitated to be arranged in C In the corresponding opening of shape.

About pawl structure 1110, generally, different demands corresponds to the pawl structure of different structure, and the size of pawl structure, The detailed structures such as structure, which determine, can precisely, reliably grab target bottle cap.

In conjunction with refering to Fig. 3, Fig. 4 and Fig. 5, pawl structure 1110 includes claw 1111, driving assembly 1112, the first shell 1113, second housing 1114, multiple elastic components 1115, pressing plate 1116 and pulling plate 1117.It should be noted that above-mentioned technology is special Sign it is not necessary to occur, but can be combined into different technical sides according to actual needs simultaneously in the same technical solution Case.Practical pawl structure 1110 is exactly to prevent sample bottle cap from falling during uncapping or closing lid for firmly grasping sample bottle cap Or skid, to influence switch cover operation.

In a technical solution, pawl structure 1110 may include claw 1111, driving assembly 1112, the first shell 1113 With multiple elastic components 1115.The claw 1111 is multiple (being also considered as being independent of each other more claws), the first shell 1113 can be regarded as the installation foundation of claw 1111.Multiple claws 1111 are installed in the first shell 1113, elastic component 1115 are arranged between two adjacent claws 1111, and claw 1111 and the first shell 1113 are equipped with the tapered face being mutually matched, It is in confined state always in the elastic component 1115 under the limitation of the inner wall of the first shell 1113, between multiple claws 1111； When driving assembly 1112 pushes multiple claws 1111 to travel forward, under the limitation of the inner wall of the first shell 1113, multiple claws 1111 are in tightening state；When driving assembly 1112 moves backward, under the elastic force effect of each elastic component 1115, multiple claws 1111 are in open configuration.Wherein, " forward " in the embodiments of the present invention, " backward " can be understood as relative to " forward " and " backward " of driving assembly.In practical applications it can be appreciated that in diagram up and down.

Tapered face referred to above refers in the utility model: relative to driving assembly 1112, along far from driving assembly 1112 direction (i.e. forward), the inner edge perimeter of the first shell 1113 and the outer rim perimeter of claw are gradually reduced, it is understood that It is smaller and smaller for external opening for the first shell and claw.Wherein, tapered face can be the conical surface, and the conical surface is advantageously selected for Processing, and also can be big compared to the tapered face (for example, the diminishing arcwall face of radius) of other forms on production cost It is big to reduce.When switching from open configuration to tightening state, during multiple claws 1111 travel forward, due to claw 1111 and first shell 1113 the conical surface to match restriction effect (opening of claw and the first shell is smaller and smaller), it is adjacent The decrement of elastic component 1115 between two claws 1111 is gradually increased, thus the distance between two neighboring claw 1111 by Decrescence small, until the distance between two neighboring claw 1111 is reduced to minimum, multiple claws 1111 are in tightening state at this time. Similarly, when switching from tightening state to open configuration, starting driving assembly 1112, driving assembly 1112 moves backward, thus The thrust to claw 1111 is released, claw 1111 moves backward under the elastic force effect of elastic component 1115, in multiple claws 1111 During moving backward, due to change in size (claw and the of claw 1111 and the conical surface of the first shell 1113 to match The opening of one shell is increasing), the decrement of the elastic component 1115 between two neighboring claw 1111 is gradually reduced, thus phase The distance between adjacent two claws 1111 are gradually increased, until the maximum that the distance between two neighboring claw 1111 increases to, Multiple claws 1111 are in open configuration at this time.

As a kind of deformation, tapered face can also be the diminishing arcwall face of radius, and this tapered face also can use The gradual change of its radius, to realize the tightening and opening of pawl structure.

As another deformation, tapered face can also be the curved surface etc. for the continual curvature that other sizes are gradually reduced.

In the present invention, by the way that using the lesser elastic component 1115 of size, (elastic component can add according to actual needs Work it is very small), and the tapered face for combining claw 1111 and the first shell 1113 to match, so as to by pawl structure 1110 Size minimizes as far as possible, can be suitable for carrying out switch cover operation (especially suitable for neighboring samples simultaneously to multiple sample bottles The very small situation of the distance between bottle), realize continuous productive process；And pawl knot 1110 in the prior art is due to the limit of its structure System, pawl structure cannot design very small, to can only carry out switch cover behaviour to simple sample bottle when carrying out switch cover operation Make, can not achieve continuous productive process.And the pawl structure in the utility model is under the action of 1115 elastic force of elastic component, while Clamping sample bottle cap that can be very firm under the limitation of the inner wall of one shell 1113, it is not easy to fall.

Pawl structure in present embodiment include tightening state, open configuration and between tightening state and open configuration it Between intermediate state, these three states will be described in detail below:

Assuming that initial conditions are open configuration, when needing to grab using pawl structure 1110 and clamp sample bottle cap, also It is when saying that pawl structure 1110 is needed to be switched to tightening state from open configuration, sample bottle cap to be made to be located at the more of pawl structure 1110 first In the space that a claw 1111 is formed, then start driving assembly, under the driving of driving assembly, multiple claws 1111 are transported forward It is dynamic, during multiple claws 1111 travel forward, due to the tapered face of claw 1111 and the first shell 1113 to match Restriction effect (opening of claw and the first shell is smaller and smaller), the pressure of the elastic component 1115 between two neighboring claw 1111 Contracting amount is gradually increased, so that the distance between two neighboring claw 1111 is gradually reduced, until between two neighboring claw 1111 Distance be reduced to minimum, multiple claws 1111 are in tightening state at this time, before this it is considered that claw is in intermediate shape State.

On the contrary, when that is, claw 1111 switches from tightening state to open configuration, starting is driven when needing to unclamp sample bottle cap Dynamic component 1112, driving assembly 1112 move backward, to release the thrust to claw 1111, claw 1111 is in elastic component 1115 Elastic force effect under move backward, during multiple claws 1111 move backward, due to claw 1111 and the first shell The change in size (being gradually increased) in the 1113 tapered face to match, the pressure of the elastic component 1115 between two neighboring claw 1111 Contracting amount is gradually reduced, so that the distance between two neighboring claw 1111 is gradually increased, until between two neighboring claw 1111 Distance increase to maximum, multiple claws 1111 are in open configuration at this time, before this it is considered that claw is in intermediate shape State.

About driving assembly 1112, driving assembly 1112 illustrates as an example, drives for driving claw 1111 to move For dynamic component 1112 using fixed axial linear motor, fixed axial linear motor includes shell 11121, first flange 11122, the Two flanges 11123 and motor shaft 11124, shell 11121, first flange 11122 and second flange 11123 are for installing fixing axle Formula linear motor, wherein first flange 11122 is respectively fixedly connected with rotary shaft 1132 and shell 11121, second flange 11123 are fixedly connected with shell 11121.For motor shaft 11124 for transmitting power, the selection of fixed axial linear motor can Greatly simplify structure.It can also pass through other than it can provide power by fixed axial linear motor as a kind of deformation The modes such as hydraulic-driven, pneumatic provide power, herein a just different citing.

Illustrate as an example, the pressing plate 1116 for pushing multiple claws 1111 is connected on driving assembly 1112, works as drive When dynamic component 1112 is using fixed axial linear motor, pressing plate 1116 is connected to the motor shaft 11124 of fixed axial linear motor End.The operating principle of the pawl structure 1111 with pressing plate 1116 is described in detail below:

Assuming that initial conditions are open configuration, when needing to grab using pawl structure 1110 and clamp sample bottle cap, also It is when saying that pawl structure 1110 is needed to be switched to tightening state from open configuration, sample bottle cap to be made to be located at the more of pawl structure 1110 first In the space that a claw 1111 is formed, then starts driving assembly and the driving component is made to travel forward, in driving assembly Under driving, when driving assembly (for example, motor shaft 11124 of fixed axial linear motor) band dynamic pressure plate 1116 travels forward, from And make pressing plate 1116 that multiple claws 1111 be pushed to travel forward, during multiple claws 1111 travel forward, due to pawl The restriction effect (opening of claw and the first shell is smaller and smaller) in portion 1111 and the tapered face of the first shell 1113 to match, The decrement of elastic component 1115 between two neighboring claw 1111 is gradually increased, thus between two neighboring claw 1111 away from From being gradually reduced, until the distance between two neighboring claw 1111 is reduced to minimum, multiple claws 1111 are in tightening at this time State, before this it is considered that claw is in intermediate state.

In the present invention, it since multiple claws 1111 are mutual independent component, is pushed away in driving assembly 1112 When moving multiple claws 1111 and travelling forward, travel forward since the presence of pressing plate 1116 can guarantee that multiple claws can synchronize, To improve the reliability of total.

Illustrate as an example, pressing plate 1116 includes pressing plate ontology 11161, the first trunk portion 11162 and the second cylinder Portion 11163, the first trunk portion 11162 and the second trunk portion 11163 extend from two opposing end surfaces of pressing plate ontology 11161 respectively Out, the first trunk portion 11162 is connect with the motor shaft 11124 of fixed axial linear motor, the second trunk portion 11163 with it is subsequent Pulling plate 1117 connects.Specifically, the end of the motor shaft 11124 of fixed axial linear motor is provided with threaded joints 111241, the first thread segment 111621, the first thread segment 111621 and threaded joints are provided in the first trunk portion 11162 111241 are threadedly coupled, to realize being fixedly connected for pressing plate 1116 and motor shaft 11124.In this way, when fixed shaft type straight-line electric When the motor shaft 11124 of machine travels forward, which can drive pressing plate ontology 11161 that multiple claws 1111 is pushed to transport forward It is dynamic, under the limitation of the inner wall of the first shell 1113, multiple claws 1111 be in tightening state.

Illustrate as an example, is also connected with by pressing plate 1116 on driving assembly 1112 and pulls multiple claws 1111 Pulling plate 1117, when driving assembly 1112 moves backward, pulling plate 1117 applies pulling force to multiple claws 1111 to facilitate multiple pawls Portion 1111 switches to open configuration from tightening state.Setting based on pressing plate 1116 and pulling plate 1117, the pawl knot of the utility model The tightening of structure 1110 and opening can reliably switch very much, and realize claw 1111 by the cooperation of pressing plate 1116 and pulling plate 1117 Contraction and opening, the contraction of pressing plate 1116 and pulling plate 1117 can not only be made and opened more stable, moreover it is possible to extend elastic component 1115 service life, because the tightening of pawl structure 1110 is no longer completely dependent on the elastic force (elastic component of elastic component 1115 with opening 1115 main function is to prevent claw 1111 from shaking for multiple claws 1111 of separation to be combined into an entirety), but By the promotion of pressing plate 1116 and the pulling of pulling plate 1117, so that structure is relatively reliable.

The operating principle with pressing plate 1116 and the pawl structure 1111 of pulling plate 1117 is described in detail below:

Assuming that initial conditions are open configuration, when needing to grab using pawl structure 1110 and clamp sample bottle cap, also It is when saying that pawl structure 1110 is needed to be switched to tightening state from open configuration, sample bottle cap to be made to be located at the more of pawl structure 1110 first In the space that a claw 1111 is formed, then starts driving assembly and the driving component is made to travel forward, in driving assembly Under driving, driving assembly (such as the motor shaft 11124 that specifically can be fixed axial linear motor) band dynamic pressure plate 1116 is forward When movement, pressing plate 1116 pushes multiple claws 1111 to travel forward, during multiple claws 1111 travel forward, due to pawl The restriction effect (opening of claw and the first shell is smaller and smaller) in portion 1111 and the tapered face of the first shell 1113 to match, The decrement of elastic component 1115 between two neighboring claw 1111 is gradually increased, thus between two neighboring claw 1111 away from From being gradually reduced, until the distance between two neighboring claw 1111 is reduced to minimum, multiple claws 1111 are in tightening at this time State, before this it is considered that claw is in intermediate state.

On the contrary, when that is, claw 1111 switches from tightening state to open configuration, starting is driven when needing to unclamp sample bottle cap Dynamic component 1112, driving assembly 1112 move backward, to release the thrust to claw 1111, and backward due to pressing plate 1116 Movement, therefore pulling plate 1117 is pulled to move backward, elastic force effect and the drawing of pulling plate 1117 of the claw 1111 in elastic component 1115 It is moved backward under dynamic, during multiple claws 1111 move backward, due to the phase of claw 1111 and the first shell 1113 The decrement of the change in size (being gradually increased) in the tapered face matched, the elastic component 1115 between two neighboring claw 1111 gradually subtracts It is small, so that the distance between two neighboring claw 1111 is gradually increased, until the distance between two neighboring claw 1111 increases To maximum, multiple claws 1111 are in open configuration at this time, before this it is considered that claw is in intermediate state.

Illustrate as an example, pulling plate 1117 include pulling plate ontology 11171 and interconnecting piece 11172, interconnecting piece 11172 from Extend on one end face of pulling plate ontology 11171, screw thread (not shown), the second trunk portion are provided on interconnecting piece 11172 The second thread segment 111631, the second thread segment 111631 of interconnecting piece 11172 and the second trunk portion 11163 are provided on 11163 It is threadedly coupled, so that being fixedly connected for pressing plate 1116 and pulling plate 1117 is realized, in this way, when the motor shaft of fixation axial linear motor 11124 when moving backward, and pulling plate ontology 11171 applies pulling force to multiple claws 1111 to facilitate multiple claws 1111 from tightening shape State switches to open configuration.Certainly, pressing plate 1116 and the connection type of pulling plate 1117 are not limited thereto, as long as other can incite somebody to action The mode that pressing plate 1116 is fixedly connected with pulling plate 1117 can also be with.

About claw 1111, as shown in figure 5, each claw 1111 includes flat part 11111 and rake 11112, inclination Portion 11112 has the conical surface.In the side close to elastic component 1115, flat part 11111 and rake 11112 pass through step 11113 Limit end face is collectively formed in transition, the respective step 11113 of multiple claws 1111；The respective flat part of multiple claws 1111 11111 be collectively formed it is cylindric；Cone-shaped is collectively formed in the respective rake 11112 of multiple claws 1111.Pulling plate 1117 Pulling plate ontology 11171 is located in bullet and when applying pulling force to multiple claws with positive stop end face contact, limits the shape of end face Pulling force is applied to multiple claws 1111 to facilitate multiple claws 1111 to switch to from tightening state and open at can be convenient pulling plate 1117 Open state.Wherein, the installation site of pulling plate 1117 defines that pawl structure 1110 grasps the grasping height of sample bottle cap.

Illustrate as an example, in order to increase the frictional force between 1111 inner wall of sample bottle cap and claw, so that claw The grasping of 1111 pairs of sample bottle caps is tighter, can preferably add in the side of the close elastic component 1115 of each flat part 11111 Work annular knurl or decorative pattern.

As a kind of deformation, can also be increased between sample bottle cap and 1111 inner wall of claw using the structure of other forms Frictional force, such as in structures such as the side setting convex ribs of close elastic component 1115 of each flat part 11111.

In order to whole substantially at cylindric after installing pawl structure 1110, by claw 1111, pressing plate 1116 and pulling plate In 1117 equal components are wrapped in, so that each component is not easy to be broken or damaged, pawl structure 1110 further includes second housing 1114, second housing 1114 is fixed with the first shell 1113, driving assembly 1112 respectively.Specifically, in conjunction with refering to Fig. 3 and Fig. 4, Second housing 1114 can be using cylindric, and multiple first peaces are provided on the side close to one end of the first shell 1113 Hole is filled, accordingly, multiple second mounting holes are arranged in one end of the close second housing 1114 of the first shell 1113, and outside first A part of the end of shell 1113 can be inserted in second housing 1114, so that the first mounting hole and the alignment of the second mounting hole, Second housing and the first shell are fixed to be each passed through the first mounting hole and the second mounting hole by fasteners such as screws. Similarly, the fixation about second housing 1114 and driving assembly 1112 again may be by fastener realization.

About elastic component 1115, illustrate as an example, the elastic component 1115 can be spring (such as pressure spring, gas Spring etc.), the two sides of each claw 1111 are provided with blind hole 11114, and the both ends of each spring are only against two neighboring respectively In opposite two blind hole 11114 of claw 1111, wherein being to guarantee the steady of pawl structure by the installation spring of blind hole 11114 Qualitative and reliability prevents spring from disengaging, failure.In the present embodiment, claw 1111 is three, accordingly, spring three A, three springs are evenly distributed between three claws.

As a kind of deformation, elastic component is also possible to relatively thin metalwork in irregular shape, since its thickness is smaller, With certain elasticity.

Illustrate as an example, claw 1111 consistently forms line with the inner wall of the first shell 1113 and contacts, line here Contact is contact for face contact, between two components in fact if it is contact (the abbreviation face between face and face Contact), then opposite sliding between the two can be relatively difficult (larger because of frictional force), if the contact between two components is Line directly contacts (contact of abbreviation line) with line, then opposite sliding between the two will be easy very much (friction is small), That is the contact of line employed in the utility model is intended to reduce by two components and (refers mainly to claw 1111 in present embodiment With the first shell 1113) between friction can specifically include more so that opposite sliding between the two can be easier Kind situation finally connects into a line for example, each claw contacts a point with the first shell；For another example, each claw 1111 with All positions of first shell 1113 contact can connect in alignment.

Illustrate as an example, be all provided with arc groove 11115 on each claw 1111, multiple claws 1111 it is respective Arc groove 11115 punched out is collectively formed, which is used to be pierced by for the lower part of the second trunk portion 11163.

Since during switch cover, pawl structure 1110 needs to rotate with rotary shaft 1132, in this way, the drive of pawl structure 1110 The harness of dynamic component 1112 will be rotated with pawl structure 1110, and coiling phenomenon is easy to cause to occur in this way.In order to avoid around Line, in a technical solution, switch cover external member 110 further includes anti-winding structure 1160.

Illustrate as an example, anti-winding structure 1160 includes anti-coiling slip ring 1161, and anti-coiling slip ring 1161 can be with Including fixing shell and it can be rotatably set in the hollow inner ring in fixing shell, hollow inner ring is set in rotary shaft 1132 simultaneously It can be rotated with rotary shaft 1132, the harness of fixed axial linear motor is connected on hollow inner ring, is led in fixing shell One end of power supply harness, harness of powering is electrically connected by fixing shell, hollow inner ring with the harness of fixed axial linear motor, is supplied The other end of wirning harness is introduced in drag chain described hereinafter.Electric connection mode herein can be contact connection, for example, solid Determine that contact is arranged on the inner wall of shell, the outer wall of hollow inner ring is contacted with contact always；It is, of course, also possible to be that helix structure connects It connects.Setting based on anti-coiling slip ring 1161, on the one hand, when pawl structure 1110 rotates, fixing shell can't be with pawl structure 1110 rotations, so that the power supply harness drawn from fixing shell is not in winding problem, on the other hand, pawl structure 1110 is revolved When turning, although hollow inner ring is rotated with pawl structure 1110, it is connected to the line of the fixation axial linear motor of hollow inner ring The problem of beam can't rotate, and coiling is also just not present, this is because the fixed shaft type straight-line electric while rotation of hollow inner ring Machine also rotates, and the two is in opposing stationary state always, therefore the setting of anti-coiling slip ring 1161 can be avoided conducting wire and revolve It sprains or pulls apart during turning.Anti- coiling slip ring 1161 is a kind of common well-known device, about its structure, principle and peace Which is not described herein again for dress mode.

Illustrate as an example, anti-winding structure 1160 further includes drag chain 1162, one end of drag chain 1162 and the first electricity The top of machine 1131 is fixed, the other end and installation ontology 114 are fixed.The power supply harness drawn on the shell of anti-coiling slip ring 1161 Drag chain 1162 can be introduced to by aviation plug 1163.Similarly, the harness of first motor 1131 can also be introduced to drag chain It is drawn in 1162 and by drag chain 1162；The harness of second motor 1121 can also be introduced in drag chain 1162 and pass through drag chain 1162 draw.Based on the setting of drag chain 1162, it is able to achieve cabling, further avoids the generation of coiling phenomenon.

Again referring to Fig.2, illustrating as an example, drag chain 1162 may include vertical section 11621 and bending section 11622, the lower end of vertical section 11621 is fixed with installation ontology 114, upper end and bending section 11622 are connect, and bending section 11622 is remote The top of one end and first motor 1131 from vertical section 11621 is fixed.The harness of second motor 1121 can connect to vertical The junction of section 11621 and bending section 11622.The harness of first motor 1131 can connect to bending section 11622 far from perpendicular On one end of straight section 11621.The harness drawn from aviation plug 1163 also can connect to the separate vertical section of bending section 11622 On 11621 one end.In addition, the harness of optocoupler 1172 also can connect to the one of the separate vertical section 11621 of bending section 11622 On end.Arranged based on this kind of cabling, be not only avoided that coiling phenomenon occurs, moreover it is possible to make cabling it is clean and tidy, will not be in disorder.As one kind For example, the shell 11121 and anti-coiling slip ring 1161 of fixed axial linear motor are all located at first part 1151 and second Between part 1152, so that the structure of switch cover external member 110 is more compact, size can minimize as far as possible.

As another embodiment, referring to figs. 1 and 2, in a technical solution, robot includes opening Close lid external member 110, controller, fixed frame 12 and the sample bottle rack 13 being mounted on fixed frame 12；Wherein, sample bottle is placed Multiple sample bottle putting holes are provided on frame 13.In order to execute switch cover operation, the switch cover to multiple sample bottles 131 simultaneously External member 110 is more sets, and the installation ontology 114 of every set switch cover external member 110 is fixed on the corresponding position of fixed frame 12, and every set is opened The pawl structure 1110 for closing lid external member 110 is located at the top of corresponding sample bottle putting hole；Controller control covers switch cover external member 110 carry out switch cover operation to multiple sample bottles simultaneously.

In use, the sample bottle 131 (for example, test tube) equipped with sample to be tested (for example, blood, urine etc.) is placed into In corresponding sample bottle putting hole.When carrying out switch cover operation to sample bottle 131, need switch cover external member 110 and sample One of bottle 131 is fixed, and the other of switch cover external member 110 and sample bottle 131 rotate, thus by sample bottle 131 Lid remove or by lid spiral cover on sample bottle 131.In the present embodiment, switch cover external member 110 is can to rotate (specific rotation mode is being described in detail above, and details are not described herein), then sample bottle 131 needs to fix, sample bottle 131 fixed form has very much, such as is positioned by gluing or a positioning mechanism, for ease of operation, improves effect Rate can be arranged groove (specifically can be set in the bottom of sample bottle), simultaneously on sample bottle 131 in the present embodiment Protrusion is set in the inner wall of sample bottle putting hole, protrusion can be passed through when sample bottle 131 to be placed into sample bottle putting hole It is clamped in a groove, to prevent the rotation of sample bottle 131 in switch cover operation.Certainly, the position of groove and protrusion can also To exchange, i.e., groove is set in the inner wall of sample bottle putting hole, and protrusion is set on sample bottle.

In the present invention, since the size of pawl structure 1110 is smaller, robot can adjust the distance relatively close simultaneously Sample bottle execute switch cover operation, pipelining easy to accomplish, for example, can cooperate robot replace automatically sample bottle or Sample bottle stand, achievees the purpose that pipelining, and efficiency is higher.Moreover, robot can cooperate other robot (such as four axis Robot or six-joint robot etc.), other steps carry out automation matching with upstream and downstream, do not need manually to place test tube, can To place automatically, test tube or sample bottle stand can also be operated by other robot after upper cover.In addition, the utility model In, robot does not need the dress that sample bottle is first moved to fixed sample bottle from its putting hole position when executing switch cover operation Place is set, but can be directly in the i.e. executable switch cover operation of installation site, efficiency is higher.

About fixed frame 12, fixed frame 12 includes bottom plate 121, the first column 122 and the second column 123.First column 122 and second column 123 upwardly extended respectively from the two sides of bottom plate 121, sample rack 13 and switch cover external member 110 are respectively positioned on Between first column 122 and the second column 123, the installation ontology 114 of every set switch cover external member 110 is fixed on pair of fixed frame 12 It answers at position.From the foregoing, it will be observed that this structure of fixed frame 12 is similar compared with " door " font structure, this structure can will cover more Switch cover external member 110 is arranged in " door " font, i.e., both can be in the centre that the first column 122 and the second column 123 are formed Installation space is saved, and the simplifying the structure of robot, densification can be made, especially suitable for the limited place of installation space.

Further, fixed frame 12 further includes reinforcing beam 125 and mounting rail 126, and reinforcing beam 125 is located at mounting rail 126 Top, for improving the structural strength of fixed frame 12, so that fixed frame 12 is more stable.Specifically, the peace of switch cover external member 110 Filling ontology 114 is fixedly connected with mounting rail 126.

About sample bottle rack 13, as described above, sample bottle rack 13 is mounted on fixed frame 12.Wherein, described Sample bottle putting hole on sample bottle rack 13 can be set to multiple rows of multiple row, the quantity and switch of every row's sample bottle putting hole The quantity of lid external member is identical (that is corresponding sample bottle cap of a set of switch cover external member), for example, as shown in fig. 1, in figure Sample bottle rack be standard 32 orifice plates, i.e. 4*8,4 rows 8 column, just be also say that every row can place 8 sample bottles.

Wherein, the sample rack 13 and 121 slidable connection of bottom plate, so that pawl structure 1110 is directed at corresponding sample Product bottle putting hole.In this way, sample rack 13 can be driven the bottom of along by sample bottle stand driving mechanism 132 according to the actual situation Plate 121 is mobile.Wherein, sample bottle stand driving mechanism 132 may include motor, and driving method can use the shape of sliding block and sliding rail Formula, specifically can on bottom plate 121 fixed rack, and in the fixed sliding block in the lower surface of bottom plate, in this way after electric motor starting, Gu The sample rack 13 for being scheduled on plate upper surface can move under the drive of sliding block along sliding rail.Wherein, when sample bottle is placed When hole is set as multiple rows of multiple row, the sample rack 13 and bottom plate slidably connect along the direction of the column arrangement of sample bottle putting hole It connects, switch cover operation can be carried out to all sample bottles 13 by movement in this way.

In the utility model, on the one hand by the way that rotary components and lifting assembly are arranged side by side, and rotary components and pawl knot Structure is installed on connection frame, and connection frame is fixedly connected with the sliding block driven by lifting assembly, and the structure of switch cover external member is more Compact, size can minimize as far as possible, compared with the prior art in electric cylinders+synchronous belt structure size greatly reduce, save Occupied space is saved.

In the utility model, on the other hand to the improvement of pawl structure, so that pawl structure can be suitable for simultaneously to more A test tube carries out the case where switch cover operation, and working efficiency is higher.Moreover, by using motor+lead screw driving method, thus The size of corresponding construction can be reduced.In addition, not needing the hole location for placing test tube from test tube elder generation when carrying out switch cover operation It is moved to test tube bearing, then just can be carried out switch cover operation, work efficiency is high, pipelining easy to accomplish.

In the utility model, another further aspect is not only avoided that coiling, moreover it is possible to facilitate cabling by the way that anti-winding structure is arranged.

Above description is only a specific implementation of the present invention or to the explanation of specific embodiment, this is practical new The protection scope of type is not limited thereto, the technology model that anyone skilled in the art discloses in the utility model In enclosing, it can easily think of the change or the replacement, should be covered within the scope of the utility model.The protection of the utility model Range should be subject to the protection scope in claims.

Claims

1. a kind of switch cover external member, including for executing switch cover operation pawl structure, moved down in the pawl structure for driving Dynamic lifting assembly and the rotary components for driving the pawl structure rotation, which is characterized in that the switch cover external member is also Including installing ontology, the lifting assembly is mounted on the installation ontology, and the rotary components and the lifting assembly are side by side Setting, wherein

The rotary components include first motor and the rotary shaft that connect with the first motor, the rotary shaft and the pawl knot Structure is connected, to drive the pawl structure to rotate in first motor starting；

The lifting assembly includes the second motor and the lead screw with the output axis connection of second motor, screw thread on the lead screw It is connected with sliding block；

The switch cover external member further includes connection frame, and the connection frame is fixedly connected with the sliding block, the rotary components and institute Pawl structure is stated to be installed on the connection frame；When second electric motor starting, drive of the lead screw in second motor The dynamic lower drive sliding block sliding, the sliding block drive the rotary components and the pawl structure described in by the connection frame The axial direction of lead screw is mobile.

2. switch cover external member according to claim 1, it is characterised in that:

The lifting assembly further includes the first support base and the second support base, and first support base and second support base divide It is not fixed with the installation ontology and is respectively supported at the both ends of the lead screw.

3. switch cover external member according to claim 2, it is characterised in that:

Be provided with sliding rail on the installation ontology, the sliding rail between first support base and the second support base and with institute It states lead screw to be arranged in parallel, the sliding block is slidably connected with the sliding rail.

4. switch cover external member according to claim 1, which is characterized in that the connection frame includes first part, second The Part III for dividing and being connected between the first part and the second part, and the connection frame is integrally C-shaped, institute Sliding block is stated to be fixedly connected with the Part III.

5. switch cover external member according to claim 4, which is characterized in that offer first bearing peace in the first part Hole is filled, first bearing is installed in the first bearing mounting hole, one end of the rotary shaft is threaded through in the first bearing, The other end of the rotary shaft is connected with the pawl structure.

6. switch cover external member according to claim 4 or 5, which is characterized in that the pawl structure includes:

Multiple claws；

First shell, the multiple claw are arranged in first shell；And

Wherein, the claw and first shell are equipped with the tapered face being mutually matched, in the limit of the inner wall of first shell The elastic component under system, between the multiple claw is in confined state always；

When the driving component travels forward, drive the pressing plate that the multiple claw is pushed to travel forward, described first Under the limitation of the inner wall of shell, the multiple claw be in tightening state；

When the driving component moves backward, each elastic component elastic force effect under, the multiple claw be in Open state.

7. switch cover external member according to claim 6, it is characterised in that: also connected by the pressing plate in the driving component It is connected to the pulling plate for pulling the multiple claw, when the driving component moves backward, the pulling plate applies the multiple claw Add pulling force to facilitate the multiple claw to switch to the open configuration from the tightening state.

8. switch cover external member according to claim 7, it is characterised in that:

The tapered face is the conical surface.

9. switch cover external member according to claim 8, it is characterised in that: the driving component includes fixed shaft type straight-line electric Machine, the fixed axial linear motor and the rotation axis connection offer second bearing mounting hole, institute on the second part It states and second bearing is installed in second bearing mounting hole, the second bearing is set in the motor of the fixed axial linear motor On axis, the end of the motor shaft of the fixed axial linear motor is connected with the pressing plate.

10. switch cover external member according to claim 9, which is characterized in that the pressing plate includes pressing plate ontology, the first cylinder Portion and the second trunk portion, first trunk portion and second trunk portion are respectively from two opposing end surfaces of the pressing plate ontology Extend, the motor axis connection of first trunk portion and the fixed axial linear motor, second trunk portion with it is described Pulling plate connection, when the motor shaft of the fixed axial linear motor travels forward, the motor shaft drives the pressing plate ontology Push the multiple claw to travel forward, under the limitation of the inner wall of first shell, the multiple claw be in tightening shape State.

11. switch cover external member according to claim 10, which is characterized in that the motor shaft of the fixed axial linear motor End be provided with threaded joints, be provided with the first thread segment in first trunk portion, first thread segment with it is described Threaded joints are threadedly coupled.

12. switch cover external member according to claim 11, which is characterized in that the pulling plate includes pulling plate ontology and connection Portion, the interconnecting piece extend from an end face of the pulling plate ontology, and screw thread, second column are provided on the interconnecting piece The second thread segment is provided in body portion, the interconnecting piece is threadedly coupled with the second thread segment of second trunk portion, when described When driving assembly moves backward, the pulling plate ontology applies pulling force to the multiple claw to facilitate the multiple claw from described Tightening state switches to the open configuration.

13. switch cover external member according to claim 12, which is characterized in that each claw includes flat part and has The rake of the conical surface, the flat part and the rake pass through step transition, institute in the side close to the elastic component Cylindrical body is collectively formed in the respective flat part for stating multiple claws, and the respective rake of the multiple claw is common Bullet is formed, limit end face is collectively formed in the respective step of the multiple claw, and the pulling plate ontology is located at described In bullet and when applying pulling force to the multiple claw with the positive stop end face contact.

14. switch cover external member according to claim 9, which is characterized in that the switch cover external member further includes lap guard knot Structure, the anti-winding structure include anti-coiling slip ring, and the anti-coiling slip ring includes fixing shell and can be rotatably set in institute The hollow inner ring in fixing shell is stated, the hollow inner ring is set in the rotary shaft and can rotate with the rotary shaft, The harness of the fixed axial linear motor is connected on the hollow inner ring, and power supply harness is led in the fixing shell, The power supply harness is electrically connected by the fixing shell, hollow inner ring with the harness of the fixed axial linear motor respectively.

15. switch cover external member according to claim 14, which is characterized in that the anti-winding structure further includes drag chain, institute The top of one end and the first motor for stating drag chain is fixed, the other end is fixed with the installation ontology；In the fixing shell The power supply harness of extraction is introduced to the drag chain by aviation plug.

16. switch cover external member according to claim 15, which is characterized in that the harness of the first motor is introduced to described It is drawn in drag chain and by the drag chain；The harness of second motor is introduced in the drag chain and is drawn by the drag chain Out.

17. switch cover external member according to claim 14, which is characterized in that the shell of the fixed axial linear motor and The anti-coiling slip ring is all located between the first part and the second part.

18. switch cover external member according to claim 3, which is characterized in that further include having for preventing the sliding block from colliding The anti-collision structure of first support base and second support base has cross between the first motor and second motor To gap, the anti-collision structure is located in the lateral clearance.

19. switch cover external member according to claim 18, which is characterized in that the anti-collision structure includes:

Wherein, the both ends of the optocoupler baffle are the limit that the sliding block corresponds to first support base and second support base Position.

20. a kind of robot with switch lid function, the robot include controller, fixed frame and are mounted on the fixation Sample bottle rack on frame；

It is characterized by:

The robot further includes switch cover external member described in any one of claim 1-19；

Multiple sample bottle putting holes are provided on the sample bottle rack；

The switch cover external member is more sets, and the installation ontology of switch cover external member described in every set is fixed on pair of the fixed frame It answers at position, the pawl structure of switch cover external member described in every set is located at the top of the corresponding sample bottle putting hole；