CN107053230B - Sucker type gripper structure - Google Patents
Sucker type gripper structure Download PDFInfo
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- CN107053230B CN107053230B CN201611163932.3A CN201611163932A CN107053230B CN 107053230 B CN107053230 B CN 107053230B CN 201611163932 A CN201611163932 A CN 201611163932A CN 107053230 B CN107053230 B CN 107053230B
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- Prior art keywords
- sucker
- gripper
- fixing piece
- sucker fixing
- grip
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- 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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A sucker type gripper structure comprises a lifting mechanism and a sucker type gripper mechanism; the upgrading mechanism comprises a lifting base, a lifting guide rail and a sliding block, a driving motor, a driving wheel connected with an output shaft of the driving motor, a driven wheel in transmission connection with the driving wheel through a transmission belt, and a transmission belt connecting block is fixed on the transmission belt; the sucker gripper mechanism comprises a gripper sucker fixing block, a fixing piece, a gripper sucker, a pressure spring, a check ring and an air duct; the gripper sucker fixing piece is sleeved in the fixing block, the gripper sucker is axially sleeved in the fixing piece, and the gripper sucker fixing block is connected with the gripper sucker fixing piece through the check ring; a pressure spring is arranged between the fixed block and the fixed piece; the air duct is sleeved in the grip sucker and the fixing piece and extends out of the upper end of the fixing piece; the sliding block and the transmission belt connecting block are respectively and fixedly connected with the fixed block. The method has the advantages of being capable of accurately positioning, preventing the reaction tube from being damaged and preventing the outer wall of the reaction tube from being left with 'scratch', and enabling the repeated use rate of the reaction tube to be high.
Description
Technical Field
The invention relates to the technical field of reaction tube moving devices of full-automatic medical equipment, in particular to a sucker type gripper structure.
Background
In the fully automatic medical equipment, when the reaction tube is transferred from one place to another place, a claw type gripper is generally adopted, for example, the gripper with the structure is generally arranged into a three-claw structure, and can grip and move the reaction tube, but the gripper is carried out under the action of the clamping force generated by three claws on the tube body of the reaction tube in the process of contacting the reaction tube, so that a certain pretightening force is necessarily caused on the tube body of the reaction tube, a 'scratch' is easily left on the outer (inner) wall of the reaction tube, the reaction tube is not repeatedly used, and even the reaction tube is damaged; in addition, the claw type gripper requires the structure of the clamping part to be precisely attached to the contact surface of the reaction tube, so that precise positioning can be better realized, precise movement of the reaction tube is ensured, and the requirement on equipment is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the sucker type handle structure which can be used for accurately positioning, does not damage the reaction tube, prevents the outer (inner) wall of the reaction tube from leaving a scratch mark, and ensures that the reaction tube has high reuse rate.
In order to solve the technical problems, the invention adopts the following technical scheme: a sucker type gripper structure comprises a lifting mechanism and a sucker type gripper mechanism;
the upgrading mechanism comprises a lifting base, a lifting guide rail arranged on the lifting base, a sliding block in sliding fit with the guide rail, a driving motor, a driving wheel connected with an output shaft of the driving motor, and a driven wheel in transmission connection with the driving wheel through a transmission belt, wherein a transmission belt connecting block is fixed on the transmission belt;
the sucker gripper mechanism comprises a gripper sucker fixing block, a gripper sucker fixing piece, a gripper sucker, a pressure spring, an elastic retainer ring for a shaft and an air duct; the grip sucker fixing piece is axially sleeved in the grip sucker fixing block, the grip sucker is axially sleeved in the grip sucker fixing piece, a circumferential groove is formed in the outer side wall, close to the upper end portion, of the grip sucker fixing piece, and the grip sucker fixing block is connected with the grip sucker fixing piece through an elastic retainer ring for a shaft arranged in the circumferential groove; a pressure spring is arranged between the gripper sucker fixing block and the gripper sucker fixing piece; the air duct is axially sleeved in the grip sucker and the grip sucker fixing piece and extends out of the upper end of the grip sucker fixing piece;
the sliding block and the transmission belt connecting block are respectively and fixedly connected with the handle sucker fixing block.
By adopting the structure, the handle sucker fixing block is fixed on the lifting mechanism, the driving wheel is driven to rotate by the driving motor, then the transmission belt is transmitted to the driven wheel to rotate, the transmission belt is fixedly provided with the transmission belt connecting block, the transmission belt connecting block and the sliding block are fixedly connected with the handle sucker fixing block, the handle sucker fixing block moves up and down under the driving of the transmission belt connecting block, the sliding block fixedly connected with the handle sucker fixing block moves up and down smoothly along the guide rail, then the whole sucker handle mechanism is driven to move up and down, when a reaction tube is required to be adsorbed, the lifting mechanism drives the handle sucker to move downwards, the handle continues to move downwards for a certain stroke when moving to the upper end face of the reaction tube, the pressure spring is elastically deformed, and the elastic force is released to compress the handle sucker fixing piece, so that a certain pretightening force is provided by the pressure spring, and the handle sucker is tightly attached to the upper surface of the reaction tube; and then the vacuum pump is connected with the air duct, air in the reaction tube is extracted through the air duct, a certain negative pressure is formed in the reaction tube, the negative pressure in the reaction tube is reasonably and effectively controlled through the pressure switch, when the expected pressure is reached in the reaction tube, the gripper ascends and moves to the position where the reaction tube needs to be placed, the gripper descends to the placing height of the reaction tube, then the gripper arms swing by a certain angle, the reaction tube collides with the side wall of the placing hole, a certain gap is formed between the gripper sucking disc and the upper surface of the reaction tube, and the air enters the reaction tube. At this time, the negative pressure in the reaction tube disappears, the reaction tube falls into the loading position hole of the reaction tube under the action of gravity, and the gripper resets to prepare for the next grabbing work. The invention completely uses negative pressure to grasp and move the reaction tube, and does not need to apply clamping force to the outer wall or the inner wall of the reaction tube like a claw type gripper, thereby not damaging the reaction tube, preventing the outer (inner) wall of the reaction tube from leaving a scratch, having high repeated use rate of the reaction tube and being capable of accurately positioning.
Preferably, the transmission belt connecting block is provided with a bump, the lifting base is provided with a transmission type photointerrupter, and the bump is positioned in the transmission type photointerrupter when the transmission belt connecting block approaches the transmission type photointerrupter.
Preferably, the grip sucker comprises a body part attached to the pipe orifice of the reaction pipe and a shaft sleeve part connected with the grip sucker fixing piece, and the shaft sleeve part is sleeved in the grip sucker fixing piece; the outer diameter of the disc body is larger than or equal to the outer diameter of the orifice of the reaction tube, and the height of the shaft sleeve part is smaller than that of the sucker fixing piece of the gripper; by adopting the structure, the suction cup can be ensured to be fully adsorbed on the pipe orifice of the reaction pipe, the combination strength with the reaction pipe is improved, in addition, the height of the shaft sleeve part is smaller than that of the clamping cup fixing piece of the gripper, the weight of the suction cup can be ended, the suction cup is prevented from being adsorbed and falling off, and the material is saved.
As further preference, the grip sucker is made of rubber materials, and by adopting the structure, soft contact with the reaction tube can be realized, damage to the reaction tube is reduced, and meanwhile, the sealing effect of the sucker and the reaction tube can be effectively improved, and the adsorption force is improved.
Preferably, the lower end face of the air duct is flush with the lower end face of the grip sucker; by adopting the structure, the air duct can be prevented from touching the reaction tube.
Preferably, the grip sucker fixing piece comprises a disc part and a shaft cylinder part, wherein the shaft cylinder part is sleeved in the grip sucker fixing block, the disc part extends out of the lower end of the grip sucker fixing block, and the outer diameter of the disc part is larger than that of the sucker fixing block; the disc body part of the grip sucker is positioned in the disc part, and the lower end of the grip sucker slightly protrudes out of the lower end of the disc part; by adopting the structure, the connection of the gripper sucker and the gripper sucker fixing block is realized, the stability of the position of the gripper sucker fixing piece is ensured, the gripper sucker fixing piece can not move up and down relatively, the tray body is arranged in the tray part, the lower end slightly protrudes out of the lower end of the tray part to prevent the reaction tube from being in hard contact with the gripper sucker fixing piece, and the damage to the reaction tube is effectively reduced.
Drawings
Fig. 1 is a schematic view of the structure of a suction cup type gripper of the invention.
Fig. 2 is a schematic diagram of the structure of the lifting mechanism of the invention.
FIG. 3 is a schematic view of the operational state structure of the suction cup gripper mechanism of the invention.
FIG. 4 is a schematic view of a partial cross-sectional structure of the suction cup gripper mechanism of the present invention.
Fig. 5 is a schematic diagram of the structure of the gripper chuck of the invention.
FIG. 6 is a schematic view of the structure of the gripper chuck fixture of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings, but the present invention is not limited to the following examples.
As shown in fig. 1-4 and 6, the suction cup type gripper structure comprises a lifting mechanism 1 and a suction cup gripper mechanism 2;
the upgrading mechanism comprises a lifting base 1.1, a lifting guide rail 1.2 arranged on the lifting base, a sliding block 1.3 in sliding fit with the lifting guide rail, a driving motor 1.4, a driving wheel 1.5 connected with an output shaft of the driving motor, a driven wheel 1.7 in transmission connection with the driving wheel through a transmission belt 1.6, and a transmission belt connecting block 1.8 fixed on the transmission belt;
the sucker gripper mechanism 2 comprises a gripper sucker fixing block 2.1, a gripper sucker fixing piece 2.2, a gripper sucker 2.3 (the drawing is not labeled), a pressure spring 2.4, a shaft elastic retainer ring 2.5 and an air duct 2.6; the gripper sucker fixing piece is axially sleeved in the gripper sucker fixing block, the gripper sucker is axially sleeved in the gripper sucker fixing piece, a circumferential groove 2.7 is formed in the outer side wall, close to the upper end portion, of the gripper sucker fixing piece, and the gripper sucker fixing block is connected with the gripper sucker fixing piece through an elastic retainer ring for a shaft arranged in the circumferential groove; a pressure spring is arranged between the gripper sucker fixing block and the gripper sucker fixing piece; the air duct is axially sleeved in the grip sucker and the grip sucker fixing piece and extends out of the upper end of the grip sucker fixing piece;
the sliding block 1.3 and the transmission belt connecting block 1.8 are respectively and fixedly connected with the gripper sucker fixing block 2.1.
By adopting the structure, the handle sucker fixing block is fixed on the lifting mechanism, the driving wheel is driven to rotate by the driving motor, then the transmission belt is transmitted to the driven wheel to rotate, the transmission belt is fixedly provided with the transmission belt connecting block, the transmission belt connecting block and the sliding block are fixedly connected with the handle sucker fixing block, the handle sucker fixing block moves up and down under the driving of the transmission belt connecting block, the sliding block fixedly connected with the handle sucker fixing block moves up and down smoothly along the guide rail, then the whole sucker handle mechanism is driven to move up and down, when a reaction tube is required to be adsorbed, the lifting mechanism drives the handle sucker to move downwards, the handle continues to move downwards for a certain stroke when moving to the upper end face of the reaction tube, the pressure spring is elastically deformed, and the elastic force is released to compress the handle sucker fixing piece, so that a certain pretightening force is provided by the pressure spring, and the handle sucker is tightly attached to the upper surface of the reaction tube; and then the vacuum pump is connected with the air duct, air in the reaction tube is extracted through the air duct, a certain negative pressure is formed in the reaction tube, the negative pressure in the reaction tube is reasonably and effectively controlled through the pressure switch, when the expected pressure is reached in the reaction tube, the gripper ascends and moves to the position where the reaction tube needs to be placed, the gripper descends to the placing height of the reaction tube, then the gripper arms swing by a certain angle, the reaction tube collides with the side wall of the placing hole, a certain gap is formed between the gripper sucking disc and the upper surface of the reaction tube, and the air enters the reaction tube. At this time, the negative pressure in the reaction tube disappears, the reaction tube falls into the loading position hole of the reaction tube under the action of gravity, and the gripper resets to prepare for the next grabbing work. The invention completely uses negative pressure to grasp and move the reaction tube, and does not need to apply clamping force to the outer wall or the inner wall of the reaction tube like a claw type gripper, thereby not damaging the reaction tube, preventing the outer (inner) wall of the reaction tube from leaving a scratch, having high repeated use rate of the reaction tube and being capable of accurately positioning.
As shown in fig. 2, a bump 1.81 is disposed on the connecting block 1.8 of the transmission belt, a transmission type photointerrupter 1.9 is disposed on the lifting base, and the bump is located in the transmission type photointerrupter when the connecting block of the transmission belt approaches the transmission type photointerrupter. The setting of this structure can control the start-stop of elevation structure, and accurate control test tube removes the position.
As shown in fig. 5, the gripper chuck 2.3 of the invention comprises a chuck body part 2.31 attached to the pipe orifice of the reaction pipe 3 and a shaft sleeve part 2.32 connected with the gripper chuck fixing piece, and the shaft sleeve part is sleeved in the gripper chuck fixing piece; the outer diameter of the disc body is larger than or equal to the outer diameter of the orifice of the reaction tube, and the height of the shaft sleeve part is smaller than that of the sucker fixing piece of the gripper; by adopting the structure, the suction cup can be ensured to be fully adsorbed on the pipe orifice of the reaction pipe, the combination strength with the reaction pipe is improved, in addition, the height of the shaft sleeve part is smaller than that of the clamping cup fixing piece of the gripper, the weight of the suction cup can be ended, the suction cup is prevented from being adsorbed and falling off, and the material is saved. As further preference, the grip sucker is made of rubber materials, and by adopting the structure, soft contact with the reaction tube can be realized, damage to the reaction tube is reduced, and meanwhile, the sealing effect of the sucker and the reaction tube can be effectively improved, and the adsorption force is improved.
The lower end face of the air duct is flush with the lower end face of the gripper sucker; by adopting the structure, the air duct can be prevented from touching the reaction tube.
As shown in fig. 6, the grip sucker fixing piece of the invention comprises a disc part 2.21 and a shaft barrel part 2.22, wherein the shaft barrel part is sleeved in the grip sucker fixing block, the disc part extends out of the lower end of the grip sucker fixing block, and the outer diameter of the disc part is larger than the outer diameter of the sucker fixing block; the disc body part of the grip sucker is positioned in the disc part, and the lower end of the grip sucker slightly protrudes out of the lower end of the disc part; by adopting the structure, the connection of the gripper sucker and the gripper sucker fixing block is realized, the stability of the position of the gripper sucker fixing piece is ensured, the gripper sucker fixing piece can not move up and down relatively, the tray body is arranged in the tray part, the lower end slightly protrudes out of the lower end of the tray part to prevent the reaction tube from being in hard contact with the gripper sucker fixing piece, and the damage to the reaction tube is effectively reduced.
The driving motor of the embodiment of the invention can adopt a stepping motor, and the transmission belt adopts a synchronous belt, so that the transportation precision can be improved.
Claims (5)
1. The utility model provides a sucking disc formula tongs structure which characterized in that: comprises a lifting mechanism and a sucker and handle mechanism,
the lifting mechanism comprises a lifting base, a lifting guide rail arranged on the lifting base, a sliding block in sliding fit with the guide rail, a driving motor, a driving wheel connected with an output shaft of the driving motor, a driven wheel in transmission connection with the driving wheel through a transmission belt,
a transmission belt connecting block is fixed on the transmission belt;
the sucker gripper mechanism comprises a gripper sucker fixing block, a gripper sucker fixing piece, a gripper sucker, a pressure spring, an elastic retainer ring for a shaft and an air duct; the grip sucker fixing piece is axially sleeved in the grip sucker fixing block, the grip sucker is axially sleeved in the grip sucker fixing piece, a circumferential groove is arranged on the outer side wall of the grip sucker fixing piece close to the upper end part,
the handle sucker fixing block is connected with the handle sucker fixing piece through an elastic check ring for a shaft arranged in the circumferential groove; a pressure spring is arranged between the gripper sucker fixing block and the gripper sucker fixing piece; the air duct is axially sleeved in the grip sucker and the grip sucker fixing piece and extends out of the upper end of the grip sucker fixing piece;
the sliding block and the transmission belt connecting block are respectively and fixedly connected with the handle sucker fixing block;
the gripper sucker comprises a body part attached to the pipe orifice of the reaction pipe and a shaft sleeve part connected with the gripper sucker fixing piece, and the shaft sleeve part is sleeved in the gripper sucker fixing piece; the outer diameter of the disc body is larger than or equal to the outer diameter of the orifice of the reaction tube, and the height of the shaft sleeve part is smaller than that of the sucker fixing piece of the gripper.
2. The suction cup type gripper structure according to claim 1, wherein: the transmission belt connecting block is provided with a bump, the lifting base is provided with a transmission type optical interrupter, and the bump is positioned in the transmission type optical interrupter when the transmission belt connecting block is close to the transmission type optical interrupter.
3. The suction cup type gripper structure according to claim 1, wherein: the grip sucker is made of rubber materials.
4. The suction cup type gripper structure according to claim 1, wherein: the lower end face of the air duct is flush with the lower end face of the gripper sucker.
5. The suction cup type gripper structure according to claim 1, wherein: the gripper sucker fixing piece comprises a disc part and a shaft barrel part, the shaft barrel part is sleeved in the gripper sucker fixing block, the disc part extends out of the lower end of the gripper sucker fixing block, and the outer diameter of the disc part is larger than that of the sucker fixing block; the disk body part of the grip sucker is positioned in the disk part, and the lower end of the grip sucker slightly protrudes out of the lower end of the disk part.
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 CN107053230A (en) | 2017-08-18 |
| CN107053230B true CN107053230B (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611163932.3A Active CN107053230B (en) | 2016-12-16 | 2016-12-16 | Sucker type gripper structure |
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| CN (1) | CN107053230B (en) |
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| 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 |
| EP3499241B1 (en) * | 2017-12-18 | 2020-06-17 | Tecan Trading Ag | Gripper with at least one vacuum cup |
| CN109290789B (en) * | 2018-10-26 | 2024-05-24 | 珠海智新自动化科技有限公司 | Selenium drum gear assembling machine |
| CN110422625A (en) * | 2019-09-06 | 2019-11-08 | 南京诺尔曼生物技术有限公司 | Mobile device |
| CN111503127A (en) * | 2020-05-07 | 2020-08-07 | 儒拉玛特自动化技术(苏州)有限公司 | Small-space vacuum precision positioning mechanism |
| CN112743565B (en) * | 2021-01-22 | 2024-06-21 | 上海莘翔自动化科技有限公司 | Positioning device for picking and placing flexible material |
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| DE102015009998A1 (en) * | 2014-08-01 | 2016-02-04 | Technische Universität Ilmenau | Suction gripper for objects with smooth surfaces and associated method and use thereof |
| 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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| CN103991713A (en) * | 2014-05-08 | 2014-08-20 | 李赵和 | Rotation type powder suction head |
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| CN107053230A (en) | 2017-08-18 |
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