CN106680524A - Gripper anti-collision mechanism - Google Patents
Gripper anti-collision mechanism Download PDFInfo
- Publication number
- CN106680524A CN106680524A CN201710086551.8A CN201710086551A CN106680524A CN 106680524 A CN106680524 A CN 106680524A CN 201710086551 A CN201710086551 A CN 201710086551A CN 106680524 A CN106680524 A CN 106680524A
- Authority
- CN
- China
- Prior art keywords
- handgrip
- torsion spring
- fixed plate
- plate
- gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a gripper anti-collision mechanism. The gripper anti-collision mechanism comprises a fixed plate equipped with a position sensor, wherein the fixed plate is glidingly connected with a moving plate provided with a gripper through a guiding mechanism; a torsional spring is arranged between the fixed plate and the moving plate; a first fixed connection point where the torsional spring and the fixed plate are connected is higher than a second fixed connection position where the torsional spring and the moving plate are connected; a sensor chip of the position sensor is fixedly connected with the moving plate. The gripper anti-collision mechanism is simple in structure and convenient to assemble and has a good anti-collision effect, and with the application of the guiding mechanism, the operation is more stable, and location after reset is more accurate.
Description
Technical field
The present invention relates to biochemical analysis apparatus technical field, more particularly, to a kind of handgrip anticollision mechanism.
Background technology
For the automatic chemiluminescence immunoassay system of in-vitro diagnosis, biochemistry analyzer, laboratory streamline, nucleic acid
Include the handgrip of pickup, transfer article Deng equipment.Handgrip is connected to mechanical arm end, and is connected with guiding mechanism, can be with
Corresponding distance is run according to instrument instructions along assigned direction.When mechanical arm does not run to specified location or misoperation,
Easily cause handgrip and surrounding articles collide, cause the damage of handgrip, mechanical arm or other components of machine.Application No.
201410152240.3 Chinese patent discloses a kind of mechanical hand anti-collision structure, relies on and arranged between fixed plate and swing component
Location structure and resetting structure realize the collision prevention function of mechanical hand.Its complex structure, rigging error are larger, when colliding,
The buffering of less stroke is only allowed, when impact velocity is too fast, the mechanism can not prevent the generation of hard collision.
The content of the invention
In order to solve the above problems, the present invention provide a kind of simple structure, be quick on the draw, the handgrip that cushion stroke is larger is prevented
Collide structure.
For achieving the above object, the present invention can take following technical proposals：
Handgrip anticollision mechanism of the present invention, including the fixed plate of position sensor is set, the fixed plate is by being oriented to
Mechanism slides with the movable plate with handgrip and is connected, is provided with torsion spring between the fixed plate and movable plate, the torsion spring with consolidate
Fixed board be connected first be connected point higher than torsion spring be connected with movable plate second be connected a point, the sensing chip of the position sensor and
Movable plate is fixedly linked.
The handgrip anticollision mechanism that the present invention is provided, simple structure is convenient for assembly, with good anti-collision effect, specifically such as
Under：
1）Present configuration is simple, and matching requirements are relatively low, convenient production assembling, can save assembly work and human cost.
2）Crusherbull zone stroke of the present invention is larger, can be applicable to the speed of service faster on handgrip, is avoided that because control
The long collision that can be caused of machine response time.
3）The application-oriented mechanism of the present invention, operation is more steady, and the positioning after reset is more accurate.
4）The present invention can lay down the external force that handgrip is subject to after collision occurs, from the extruding of larger external force, in stress
After reaching setting value, it is zero that external force can disappear, and can well protect handgrip.
Description of the drawings
Fig. 1 is the structural representation of the present invention.
Specific embodiment
As shown in figure 1, handgrip anticollision mechanism of the present invention, including the fixed plate 2 of setting position sensor 1, Gu
Fixed board 2 is slided with the movable plate 5 with handgrip 4 by guiding mechanism 3 and is connected.The guiding mechanism 3 includes being arranged in fixed plate 2
Guide groove, and the slide rail on movable plate 5, both cooperate, and handgrip 4 and movable plate 5 is integrally smoothly gone up
Lower movement.In addition to guide groove and rail structure, guiding mechanism 3 can also adopt other common form.The sensing chip 9 of position sensor 1
It is fixedly linked with movable plate 5.
Torsion spring 6 is provided between fixed plate 2 and movable plate 5, the first connected point 7 that torsion spring 6 is connected with fixed plate 2 is higher than torsion
The second connected point 8 that spring 6 is connected with movable plate 5.Therefore, under normal circumstances, torsion spring 6 provides movement plate 5 elastic force obliquely；
When handgrip 4 is moved downward to be collided, i.e., handgrip 4 is subject to external force effect upwards, and the active force upwards being subject to is more than torsion
Spring provide to down spring when, movable plate 5 drives handgrip 4 and sensing chip 9 to run up along guiding mechanism 3, the stress of torsion spring 6 so as to
Deform；After movable plate 5 runs up a segment distance, the first of torsion spring 6 is connected the connected point 8 of point 7 and second in same
Horizontal plane, torsion spring 6 is in dynamic balance state, i.e., no longer provide downward active force, does not also provide active force upwards；Handgrip 4
Continue stress, movable plate 5 continues up operation, when the second of torsion spring 6 is connected point 8 higher than the first connected point 7, the power of torsion spring 6 is put down
Weighing apparatus state disappears；Hereafter, torsion spring 6 provides elastic force obliquely, and torsion spring 6 promoted and moved on movable plate 5, makes handgrip 4 quickly upspring
Open；And when the second of torsion spring 6 is connected point 8 higher than the first connected point 7, the induction point of the outflow location sensor 1 of sensing chip 9, position
Put sensor 1 and signal is fed back to into control centre, total line is cut off, machine down.
Guiding mechanism 3 can according to the actual requirements select vertically-guided, oriented, horizontally-guided or arc to lead in the present invention
To etc., the first of torsion spring 6 set location for being connected the connected point 8 of point 7 and second changes therewith, but should all meet above Anti-bumping protection
Require.
The present invention is solved in mechanical arm running because operation is less than touching that specified location or misoperation are caused
Hit, it is to avoid the damage of the handgrip, mechanical arm or other machinery parts that thus result in.Its anticollision feedback mechanism occurs in handgrip
During collision can fast reaction, quick shutdown is prevented effectively from unattended and more great loss occurs.
Claims (1)
1. a kind of handgrip anticollision mechanism, it is characterised in that：Including setting position sensor（1）Fixed plate（2）, the fixation
Plate（2）By guiding mechanism（3）With with handgrip（4）Movable plate（5）Slide and be connected, the fixed plate（2）And movable plate（5）
Between be provided with torsion spring（6）, the torsion spring（6）With fixed plate（2）The connected point of connected first（7）Higher than torsion spring（6）And movement
Plate（5）The connected point of connected second（8）, the position sensor（1）Sensing chip（9）With movable plate（5）It is fixedly linked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710086551.8A CN106680524B (en) | 2017-02-17 | 2017-02-17 | Handgrip anticollision mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710086551.8A CN106680524B (en) | 2017-02-17 | 2017-02-17 | Handgrip anticollision mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106680524A true CN106680524A (en) | 2017-05-17 |
| CN106680524B CN106680524B (en) | 2019-01-25 |
Family
ID=58861868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710086551.8A Active CN106680524B (en) | 2017-02-17 | 2017-02-17 | Handgrip anticollision mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106680524B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103195001A (en) * | 2012-01-09 | 2013-07-10 | 芜湖爱瑞特环保科技有限公司 | Side brush collision-prevention device |
| CN103358314A (en) * | 2012-03-28 | 2013-10-23 | 发那科株式会社 | Workpiece taking-out method using robot including holding nails |
-
2017
- 2017-02-17 CN CN201710086551.8A patent/CN106680524B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103195001A (en) * | 2012-01-09 | 2013-07-10 | 芜湖爱瑞特环保科技有限公司 | Side brush collision-prevention device |
| CN103358314A (en) * | 2012-03-28 | 2013-10-23 | 发那科株式会社 | Workpiece taking-out method using robot including holding nails |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106680524B (en) | 2019-01-25 |
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