CN107053230A - Sucked type gripping structure - Google Patents
Sucked type gripping structure Download PDFInfo
- Publication number
- CN107053230A CN107053230A CN201611163932.3A CN201611163932A CN107053230A CN 107053230 A CN107053230 A CN 107053230A CN 201611163932 A CN201611163932 A CN 201611163932A CN 107053230 A CN107053230 A CN 107053230A
- Authority
- CN
- China
- Prior art keywords
- sucker
- handgrip
- fixture
- handgrip sucker
- fixed block
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Abstract
A kind of sucked type gripping structure, including elevating mechanism and sucker gripper mechanism；The mechanism that upgrades includes being fixed with transmission belt contiguous block in lifting base, riser guide and sliding block, motor, the driving wheel being connected with driving motor output shaft, the driven pulley being connected by transmission belt and driving wheel, transmission belt；Sucker gripper mechanism includes handgrip sucker fixed block, fixture, handgrip sucker, stage clip, back-up ring and airway tube；Handgrip sucker fixture, it is sleeved on, in fixed block, handgrip sucker is axially sleeved on, in fixture, handgrip sucker fixed block is connected by, back-up ring and handgrip sucker fixture；Set between fixed block and fixture, have stage clip；Airway tube, be sleeved on handgrip sucker and, in fixture and extend fixture upper end；Sliding block and transmission belt contiguous block are fixedly connected with fixed block respectively.With can be accurately positioned, and damage will not be caused to reaction tube, prevent from leaving " scratch " in reaction pipe outer wall so that the high advantage of reaction tube repeat usage.
Description
Technical field
The present invention relates to the reaction tube shifting device technical field of full-automatic Medical Devices, and in particular to a kind of sucked type is grabbed
Hand structure.
Background technology
In full-automatic Medical Devices, when reaction tube is transferred into another place by one, claw handgrip is generally used,
The handgrip of this structure, such as be typically provided to three-jaw structure, although can also complete the crawl and movement to reaction tube, but this
Handgrip is planted to carry out in the presence of the process contacted with reaction tube produces chucking power by three claws to reaction tube body,
Certain pretightning force necessarily is caused to the body of reaction tube, it is easy to leave " scratch " on (interior) wall outside reaction tube, be unfavorable for pair
Reaction tube is reused, and even results in the damage of reaction tube；And this claw handgrip requires the structure and reaction tube of clamping part
Contact surface realize accurate laminating, precise positioning could be preferably realized, it is ensured that the accurate movement of reaction tube, to equipment requirement
It is high.
The content of the invention
The present invention can be accurately positioned for the above-mentioned deficiency of prior art there is provided one kind, and reaction tube will not be caused
Damage, prevents from outside reaction tube leaving " scratch " on (interior) wall so that the high sucked type gripping structure of reaction tube repeat usage.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of sucked type gripping structure, including rise
Descending mechanism and sucker gripper mechanism；
Described upgrading mechanism includes lifting base, is arranged at the riser guide on lifting base, is slidably matched with guide rail
Sliding block, motor, the driving wheel being connected with driving motor output shaft, by transmission belt and driving wheel be connected it is driven
Transmission belt contiguous block is fixed with wheel, described transmission belt；
Described sucker gripper mechanism includes handgrip sucker fixed block, handgrip sucker fixture, handgrip sucker, stage clip, axle
With circlip and airway tube；Described handgrip sucker fixture is axially sleeved in handgrip sucker fixed block, described handgrip
Sucker is axially sleeved in handgrip sucker fixture, and handgrip sucker fixture is provided with circumferential recessed on the lateral wall of upper end
Groove, handgrip sucker fixed block is connected by the circlip for shaft being arranged in circumferential recess with handgrip sucker fixture；It is described
Handgrip sucker fixed block and handgrip sucker fixture between be provided with stage clip；Described airway tube is axially sleeved on handgrip sucker
In handgrip sucker fixture, and extend handgrip sucker fixture upper end；
Described sliding block and transmission belt contiguous block are fixedly connected with handgrip sucker fixed block respectively.
Using said structure, handgrip sucker fixed block is fixed on elevating mechanism, driving wheel is driven by motor
Rotate, then transmission V belt translation is given and transmission belt contiguous block is secured in driven pulley rotation, transmission belt, and transmission belt contiguous block and cunning
Block is fixedly connected with handgrip sucker fixed block, then handgrip sucker fixed block moves up and down under the drive of transmission belt contiguous block, with
Its sliding block being fixedly connected then does smooth up and down motion along guide rail, then drives whole sucker gripper mechanism to move up and down,
When needing adsorption reaction pipe, elevating mechanism drives handgrip sucker to move downward, and handgrip is being run to i.e. into contact with reaction tube
During upper surface, continuation runs downwards certain stroke, and elastic deformation occurs for stage clip, and release elastic force is compressed to handgrip sucker fixture,
Certain pretightning force is provided by stage clip so as to realize, handgrip sucker is brought into close contact with reaction tube upper surface；Recycle true
Empty pump is connected with airway tube, by airway tube abstraction reaction inner air tube, is made to form certain negative pressure in reaction tube, is opened by pressure
Close, effectively control is carried out rationally to negative pressure pressure in reaction tube, when reaching expecting pressure in reaction tube, handgrip rises, moved to
Need at placing response pipe, drop to reaction tube placing height, then, handgrip arm swing certain angle allows reaction tube and putting hole
Side wall collision, causes handgrip sucker certain gap occur with reaction tube upper surface, allows air to enter reaction tube.Now, reaction tube
Interior negative pressure is disappeared, under gravity, and reaction tube is fallen into reaction tube loading position hole, and handgrip resets, and prepares crawl work next time.
The present invention completely by negative pressure to reaction tube carry out crawl movement, without as claw handgrip to the outer wall or inwall of reaction tube
Apply chucking power, so that reaction tube will not be caused damage, prevent from outside reaction tube leaving " scratch " on (interior) wall so that reaction
Pipe repeat usage is high, and can also be accurately positioned.
Transmission-type is provided with preferably, being provided with described transmission belt contiguous block on projection, described lifting base
Optical interruption device, and when transmission belt contiguous block is close to transmission-type optical interruption device, described projection is located in transmission-type optical interruption device.
Preferably, described handgrip sucker include the disk body section fitted with the reaction tube mouth of pipe and with handgrip sucker fixture
The shaft sleeve part of connection, described shaft sleeve part is sleeved in handgrip sucker fixture；The external diameter of described disk body section is more than or equal to
The external diameter of the reaction tube mouth of pipe, the height of described shaft sleeve part is less than the height of handgrip sucker fixture；Use said structure can be with
Guarantee sucker is fully adsorbed on the mouth of pipe of reaction tube, the combination dynamics of raising and reaction tube, and the height of shaft sleeve part is less than in addition
The height of handgrip sucker fixture, can terminate sucker weight, prevent absorption from coming off, and save material.
It is handgrip sucker prepared by elastomeric material as further preferred, described handgrip sucker, can using the structure
To realize the damage with the soft contact of reaction tube, reduction to reaction tube, while the close of sucker and reaction tube can also be improved effectively
Seal effect, improve absorption dynamics.
Preferably, the lower surface of described airway tube is concordant with the lower surface of handgrip sucker；Can be to prevent using the structure
Only airway tube touches reaction tube.
Preferably, described handgrip sucker fixture includes round plate and beam barrel portion, described beam barrel portion, which is sleeved on, grabs
In hand sucker fixed block, described round plate stretches out in the lower end of handgrip sucker fixed block, and the external diameter of round plate is more than sucker
The external diameter of fixed block；The disk body section of the handgrip sucker is located in round plate, and lower end slightly protrudes from the lower end of round plate；Using
Said structure, realizes the connection of handgrip sucker and handgrip sucker fixed block, and ensures the steady of handgrip sucker fixture position simultaneously
It is qualitative, it will not be moved up and down with respect to handgrip sucker fixture, while be located at using disk body section in round plate, and lower end is slightly protruded from
The lower end of round plate prevents reaction tube from being contacted firmly with handgrip sucker fixture, effectively damage of the reduction to reaction tube.
Brief description of the drawings
The sucked type gripping structure schematic diagram of the present invention of accompanying drawing 1.
The elevating mechanism structural representation of the present invention of accompanying drawing 2.
The sucker gripper mechanism use state structural representation of the present invention of accompanying drawing 3.
The sucker gripper mechanism broken section figure structure schematic representation of the present invention of accompanying drawing 4.
The handgrip sucker structure schematic diagram of the present invention of accompanying drawing 5.
The handgrip sucker anchor structure schematic diagram of the present invention of accompanying drawing 6.
Embodiment
The present invention is described in further detail below by accompanying drawing, but the present invention is not limited solely to following examples.
As shown in accompanying drawing 1-4,6, a kind of sucked type gripping structure of the invention, including elevating mechanism 1 and sucker gripper machine
Structure 2；
Described upgrading mechanism includes lifting base 1.1, is arranged at the riser guide 1.2 on lifting base, is led with lifting
The sliding block 1.3 that rail is slidably matched, motor 1.4, the driving wheel 1.5 being connected with driving motor output shaft passes through transmission belt 1.6
Transmission belt contiguous block 1.8 is fixed with the driven pulley 1.7 being connected with driving wheel, described transmission belt；
Described sucker gripper mechanism 2 includes handgrip sucker fixed block 2.1, handgrip sucker fixture 2.2, handgrip sucker
2.3 (accompanying drawing is without signs), stage clip 2.4, circlip for shaft 2.5 and airway tube 2.6；Described handgrip sucker fixture axially covers
Together in handgrip sucker fixed block, described handgrip sucker is axially sleeved in handgrip sucker fixture, handgrip sucker fixture
Circumferential recess 2.7 is provided with the lateral wall of upper end, and handgrip sucker fixed block passes through the axle that is arranged in circumferential recess
It is connected with circlip with handgrip sucker fixture；It is provided between described handgrip sucker fixed block and handgrip sucker fixture
Stage clip；Described airway tube is axially sleeved in handgrip sucker and handgrip sucker fixture, and extends handgrip sucker fixture
Upper end；
Described sliding block 1.3 and transmission belt contiguous block 1.8 are fixedly connected with handgrip sucker fixed block 2.1 respectively.
Using said structure, handgrip sucker fixed block is fixed on elevating mechanism, driving wheel is driven by motor
Rotate, then transmission V belt translation is given and transmission belt contiguous block is secured in driven pulley rotation, transmission belt, and transmission belt contiguous block and cunning
Block is fixedly connected with handgrip sucker fixed block, then handgrip sucker fixed block moves up and down under the drive of transmission belt contiguous block, with
Its sliding block being fixedly connected then does smooth up and down motion along guide rail, then drives whole sucker gripper mechanism to move up and down,
When needing adsorption reaction pipe, elevating mechanism drives handgrip sucker to move downward, and handgrip is being run to i.e. into contact with reaction tube
During upper surface, continuation runs downwards certain stroke, and elastic deformation occurs for stage clip, and release elastic force is compressed to handgrip sucker fixture,
Certain pretightning force is provided by stage clip so as to realize, handgrip sucker is brought into close contact with reaction tube upper surface；Recycle true
Empty pump is connected with airway tube, by airway tube abstraction reaction inner air tube, is made to form certain negative pressure in reaction tube, is opened by pressure
Close, effectively control is carried out rationally to negative pressure pressure in reaction tube, when reaching expecting pressure in reaction tube, handgrip rises, moved to
Need at placing response pipe, drop to reaction tube placing height, then, handgrip arm swing certain angle allows reaction tube and putting hole
Side wall collision, causes handgrip sucker certain gap occur with reaction tube upper surface, allows air to enter reaction tube.Now, reaction tube
Interior negative pressure is disappeared, under gravity, and reaction tube is fallen into reaction tube loading position hole, and handgrip resets, and prepares crawl work next time.
The present invention completely by negative pressure to reaction tube carry out crawl movement, without as claw handgrip to the outer wall or inwall of reaction tube
Apply chucking power, so that reaction tube will not be caused damage, prevent from outside reaction tube leaving " scratch " on (interior) wall so that reaction
Pipe repeat usage is high, and can also be accurately positioned.
As shown in Figure 2, projection 1.81, described lifting base are provided with transmission belt contiguous block 1.8 of the present invention
Transmission-type optical interruption device 1.9, and the projection position when transmission belt contiguous block is close to transmission-type optical interruption device, described are provided with seat
In in transmission-type optical interruption device.The setting of the structure can control the start and stop of lifting structure, accurate control test tube shift position.
As shown in Figure 5, handgrip sucker 2.3 of the present invention includes the disk body section 2.31 fitted with the mouth of pipe of reaction tube 3
With the shaft sleeve part 2.32 being connected with handgrip sucker fixture, described shaft sleeve part is sleeved in handgrip sucker fixture；Described
The external diameter of disk body section is more than or equal to the external diameter of the reaction tube mouth of pipe, and the height of described shaft sleeve part is less than handgrip sucker fixture
Highly；It can ensure that sucker is fully adsorbed on the mouth of pipe of reaction tube using said structure, the combination dynamics of raising and reaction tube,
The height of other shaft sleeve part is less than the height of handgrip sucker fixture, can terminate sucker weight, prevent absorption from coming off, and save
Material saving.It is handgrip sucker prepared by elastomeric material as further preferred, described handgrip sucker, can using the structure
To realize the damage with the soft contact of reaction tube, reduction to reaction tube, while the close of sucker and reaction tube can also be improved effectively
Seal effect, improve absorption dynamics.
The lower surface of airway tube of the present invention is concordant with the lower surface of handgrip sucker；It can prevent from leading using the structure
Tracheae touches reaction tube.
As shown in Figure 6, handgrip sucker fixture of the present invention includes round plate 2.21 and beam barrel portion 2.22, described
Beam barrel portion be sleeved in handgrip sucker fixed block, described round plate stretches out in the lower end of handgrip sucker fixed block, and disk
The external diameter in portion is more than the external diameter of sucker fixed block；The disk body section of the handgrip sucker is located in round plate, and lower end is slightly protruded from
The lower end of round plate；Using said structure, the connection of handgrip sucker and handgrip sucker fixed block is realized, and ensures that handgrip is inhaled simultaneously
The stability of disk fixture position, will not be moved up and down with respect to handgrip sucker fixture, while being located at round plate using disk body section
It is interior, and lower end slightly protrudes from the lower end of round plate and prevents reaction tube from being contacted firmly with handgrip sucker fixture, effectively reduction is to reaction
The damage of pipe.
The motor of the embodiment of the present invention can use stepper motor, and transmission belt uses timing belt, can improve transport
Precision.
Claims (6)
1. a kind of sucked type gripping structure, it is characterised in that：Including elevating mechanism and sucker gripper mechanism,
Described upgrading mechanism includes lifting base, is arranged at the riser guide on lifting base, the cunning being slidably matched with guide rail
Block, motor, the driving wheel being connected with driving motor output shaft, the driven pulley being connected by transmission belt and driving wheel,
Transmission belt contiguous block is fixed with described transmission belt；
Described sucker gripper mechanism includes handgrip sucker fixed block, handgrip sucker fixture, handgrip sucker, stage clip, axle bullet
Property back-up ring and airway tube；Described handgrip sucker fixture is axially sleeved in handgrip sucker fixed block, described handgrip sucker
Axially it is sleeved in handgrip sucker fixture, handgrip sucker fixture is provided with circumferential recess on the lateral wall of upper end,
Handgrip sucker fixed block is connected by the circlip for shaft being arranged in circumferential recess with handgrip sucker fixture；Described grabs
Stage clip is provided between hand sucker fixed block and handgrip sucker fixture；Described airway tube is axially sleeved on handgrip sucker and grabbed
In hand sucker fixture, and extend handgrip sucker fixture upper end；
Described sliding block and transmission belt contiguous block are fixedly connected with handgrip sucker fixed block respectively.
2. sucked type gripping structure according to claim 1, it is characterised in that：It is provided with described transmission belt contiguous block
Transmission-type optical interruption device is provided with projection, described lifting base, and works as transmission belt contiguous block close to transmission-type optical interruption device
When, described projection is located in transmission-type optical interruption device.
3. sucked type gripping structure according to claim 1, it is characterised in that：Described handgrip sucker includes and reaction tube
The disk body section of mouth of pipe laminating and the shaft sleeve part being connected with handgrip sucker fixture, described shaft sleeve part are sleeved on handgrip sucker and fixed
In part；The external diameter of described disk body section is more than or equal to the external diameter of the reaction tube mouth of pipe, and the height of described shaft sleeve part is less than handgrip
The height of sucker fixture.
4. sucked type gripping structure according to claim 3, it is characterised in that：Described handgrip sucker is elastomeric material system
Standby handgrip sucker.
5. sucked type gripping structure according to claim 1, it is characterised in that：The lower surface of described airway tube and handgrip
The lower surface of sucker is concordant.
6. sucked type gripping structure according to claim 1, it is characterised in that：Described handgrip sucker fixture includes circle
Pan portion and beam barrel portion, described beam barrel portion are sleeved in handgrip sucker fixed block, and described round plate stretches out in handgrip sucker and consolidated
Determine the lower end of block, and external diameter of the external diameter more than sucker fixed block of round plate；The disk body section of the handgrip sucker is located at round plate
It is interior, and lower end slightly protrudes from the lower end of round plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611163932.3A CN107053230B (en) | 2016-12-16 | 2016-12-16 | Sucker type gripper structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611163932.3A CN107053230B (en) | 2016-12-16 | 2016-12-16 | Sucker type gripper structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053230A true CN107053230A (en) | 2017-08-18 |
| CN107053230B CN107053230B (en) | 2023-07-04 |
Family
ID=59618932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611163932.3A Active CN107053230B (en) | 2016-12-16 | 2016-12-16 | Sucker type gripper structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053230B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471224A (en) * | 2017-09-12 | 2017-12-15 | 牛翠芹 | A kind of puma manipulator for glass cleaning based on Internet of Things |
| CN109290789A (en) * | 2018-10-26 | 2019-02-01 | 珠海智新自动化科技有限公司 | A kind of toner cartridge gear kludge |
| CN110422625A (en) * | 2019-09-06 | 2019-11-08 | 南京诺尔曼生物技术有限公司 | Mobile device |
| CN111448459A (en) * | 2017-12-18 | 2020-07-24 | 泰肯贸易股份公司 | Gripper |
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| CN206436264U (en) * | 2016-12-16 | 2017-08-25 | 宁波美康盛德生物科技有限公司 | Sucked type gripping structure |
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| US6749160B1 (en) * | 2003-03-12 | 2004-06-15 | Herbert Richter | Suction disc mounting arrangement |
| CN201340345Y (en) * | 2008-12-31 | 2009-11-04 | 上海鸿臻电子技术有限公司 | Manipulator used for sampling on blood coagulation analyzer |
| EP2574576A1 (en) * | 2011-09-27 | 2013-04-03 | Uwe Reifenhäuser | Suction gripper and method for cleaning same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471224A (en) * | 2017-09-12 | 2017-12-15 | 牛翠芹 | A kind of puma manipulator for glass cleaning based on Internet of Things |
| CN107471224B (en) * | 2017-09-12 | 2019-11-15 | 徐州诚凯知识产权服务有限公司 | A kind of puma manipulator for glass cleaning based on Internet of Things |
| CN111448459A (en) * | 2017-12-18 | 2020-07-24 | 泰肯贸易股份公司 | Gripper |
| CN109290789A (en) * | 2018-10-26 | 2019-02-01 | 珠海智新自动化科技有限公司 | A kind of toner cartridge gear kludge |
| CN110422625A (en) * | 2019-09-06 | 2019-11-08 | 南京诺尔曼生物技术有限公司 | Mobile device |
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| Publication number | Publication date |
|---|---|
| CN107053230B (en) | 2023-07-04 |
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