CN110422625A - Mobile device - Google Patents
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- CN110422625A CN110422625A CN201910845470.0A CN201910845470A CN110422625A CN 110422625 A CN110422625 A CN 110422625A CN 201910845470 A CN201910845470 A CN 201910845470A CN 110422625 A CN110422625 A CN 110422625A
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- Prior art keywords
- cup body
- cup
- mobile device
- axis
- finger
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- 239000011521 glass Substances 0.000 claims abstract description 46
- 238000005452 bending Methods 0.000 claims description 50
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000005489 elastic deformation Effects 0.000 abstract description 6
- 238000003745 diagnosis Methods 0.000 abstract description 5
- 238000000338 in vitro Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Abstract
This application involves in-vitro diagnosis apparatus fields, in particular to a kind of mobile device.Including mechanical arm, cup disk and clamping jaw.Clamping jaw, which is installed on mounting portion and has, has the grasping part of opening in x-axis direction, and grasping part is suitable for clamping the first end of cup body.To cup body is touched, cup body squeezes support clamping jaw, brings it about elastic deformation jaw action, so that cup body is squeezed into the grasping part of clamping jaw, and is supported by the inner wall of clamping jaw, realizes the crawl to cup body.When putting glass, by being placed in the hole location of glass disk for cup body, then mechanical arm moves along the x-axis direction, and under the restriction effect of hole location, cup body emerges in clamping jaw from the opening of grasping part, and cup is put in completion.The mobile device structure is simple, the crawl time is short, high-efficient.
Description
Technical field
This application involves in-vitro diagnosis apparatus fields, in particular to a kind of mobile device.
Background technique
In-vitro diagnosis equipment is to obtain diagnostic message and detecting to human sample (blood, body fluid, tissue etc.)
Equipment, instrument.
Sample to be detected needs to acquire in reaction cup, is reacted.Automation in-vitro diagnosis equipment one common at present
As need supporting machinery hand that reaction cup is moved to suitable position.
Manipulator grabs cup, puts a glass detection speed for speed influence in-vitro diagnosis equipment.
Summary of the invention
The embodiment of the present application is designed to provide that a kind of structure is simple and the fireballing mobile device of pick-and-place cup.
In a first aspect, the application provides a kind of technical solution:
A kind of mobile device, it is suitable for grabbing and place cup body, comprising:
Mechanical arm, mechanical arm have a mounting portion, and mounting portion has at least along the x-axis direction and the mobile freedom degree in z-axis direction；
It being capable of elastically-deformable clamping jaw；Clamping jaw, which is installed on mounting portion and has, has the grasping part of opening in x-axis direction, presss from both sides
Hold the first end that space is suitable for clamping cup body；
Cup disk, has the hole location of the second end for grafting cup body；Cup disk is located in the three-dimensional space that clamping jaw can reach；
Mechanical arm is configured to for the second end of cup body to be plugged in hole location and opposite position occurs in x-axis direction with cup disk
It moves, so that the first end of cup body is detached from from the opening of grasping part.
The mobile device, mechanical arm drive clamping jaw to move to along the z-axis direction and touch cup body, and cup body squeezes support into clamping jaw,
So that elastic deformation occurs for clamping jaw, so that cup body is squeezed into the grasping part of clamping jaw, and is supported by the inner wall of clamping jaw, it is real
Now to the crawl of cup body.When needing to put glass, mechanical arm drives clamping jaw and the cup body movement for being clamped in grasping part, by cup body
Bottom is placed in the hole location of glass disk and positions, and then mechanical arm moves along the x-axis direction, under the restriction effect of hole location, cup body from
The opening of grasping part emerges in clamping jaw, and cup is put in completion.The mobile device structure is simple, does not need actuator driving and grabs finger opening
And close up, it is short to grab glass time, high-efficient, the cooperation of mechanical arm Yu cup disk is only needed when putting glass, it will be able to so that cup body is automatic
It falls off from clamping jaw, it is fast to put glass speed, high-efficient.
In the other embodiments of the application, clamping jaw includes at least two extended along the z-axis direction grabbing fingers, opening position
It is grabbed between finger in adjacent two.
At least two grab finger, it is easier to grab cup body and put cup.
In the other embodiments of the application, it includes linkage section and gripping section that each, which grabs finger, and linkage section is connected to peace
Dress portion, gripping section are connected to linkage section；
Each is grabbed finger and all has support division, and support division is located at the inner wall of linkage section or gripping section；
Gripping section includes the first bending section and the second bending section；First bending section is connected to linkage section；Second bending section connects
It is connected to the first bending section；
The first bore that multiple first bending sections surround is greater than the second bore that multiple second bending sections surround.
By support division, cup body can be clamped and be limited in grasping part.For there is the cup body of cup edge, due to cup body
The bore of cup edge is greater than the outer diameter of the cup body of cup body, and when grabbing glass, the cup edge of the cup body of larger caliber is squeezed into the first bore, and by
The inner wall of first bore supports, and the cup body of more small-bore cup body is squeezed into the second bore, and is supported by the inner wall of the second bore,
It is greater than the second bore that multiple second bending sections surround by the first bore for surrounding above-mentioned multiple first bending sections, it can
The shape for better adapting to cup body, is more held fixedly cup body.
Optionally, the angle of the axis of each above-mentioned first bending section and linkage section is 40~50 °；
The angle of the axis of each second bending section and linkage section is 25~35 °.
In above-mentioned angular range, at least two grab and refer to be held fixedly cup body.
In the other embodiments of the application, above-mentioned support division is located at the inner wall of gripping section；
Support division is between the first bending section and the second bending section, and support division is cambered surface.
, can be after the cup edge of cup body to be by the second bending section by the way that the gripping section of cambered surface is arranged, the gripping section of cambered surface supports
It is held in the cup body of cup body.
In the other embodiments of the application, above-mentioned mobile device includes pushing away cup assembly, pushes away cup assembly and includes push rod and push away
Cup pawl；
It pushes away glass pawl and is located at grasping part, and the bottom end for pushing away glass pawl extends to the first bending section, push rod one end, which is connected to, pushes away cup
Pawl, the other end are connected to mechanical arm.
It push rod and pushes away glass pawl and is located in grasping part, it can be when mechanical arm moves along the x-axis direction, in z-axis direction to cup
Body generates active force, and then can guarantee that the cup body in the grasping part of clamping jaw is steadily released by mechanical arm.
In the other embodiments of the application, the above-mentioned glass pawl that pushes away includes at least four limiting section, and at least four limiting section is worn
For grasping part, and the free end of at least two limiting section is pierced by respectively to the same two sides for grabbing finger.
Position-limiting action can be played to push rod by the way that limiting section is arranged, push rod is avoided to rotate.
In the other embodiments of the application, above-mentioned mobile device includes elastic component, and elastic component is mounted on push rod, and is located
In compressive state.
By the way that elastic component is arranged, and elastic component is made to be in compressive state, pretightning force can be generated, so that clamping jaw grabs cup,
One pressure is generated to cup body, guarantees the stability of mechanical arm cup body on the move, while guaranteeing cup body one when putting glass
Directly in the bottom of hole location.
In the other embodiments of the application, above-mentioned mobile device includes linear bearing, and linear bearing is mounted on push rod,
And it is connected to one end of elastic component, so that elastic component is compressed in linear bearing and pushes away between glass pawl.
By the way that linear bearing is arranged so that the installation of spring and compression are more convenient, but also push rod and mounting portion it
Between friction it is smaller.
In the other embodiments of the application, above-mentioned mobile device includes two and grabs finger, and respectively first grabs finger and second
Finger is grabbed, first, which grabs finger and second, grabs the two sides for referring to and being symmetrically mounted on mounting portion；First, which grabs the support division of finger and second, grabs supporting for finger
Hold that finger is grabbed with first by the distance between portion and second to grab the ratio between minimum range between finger be 1.1~1.3；
In terms of z-axis direction, first grab refer to and second grab finger arc length be first to grab and refer to and second grabs and refer to the annulus that surrounds
15%~25%.
Referred to and second grabs and refer to and be symmetrically mounted on the two sides of mounting portion by being grabbed first, so that first grabs finger and second and grab finger
More uniform to the chucking power of cup body, clamping effect is more preferable.
Second aspect, the application provide a kind of technical solution:
A kind of mobile device, comprising:
Mechanical arm, mechanical arm have a mounting portion, and mounting portion has at least along the x-axis direction and the mobile freedom degree in z-axis direction；
It being capable of elastically-deformable clamping jaw；Clamping jaw, which is installed on mounting portion and has, has the grasping part of opening in x-axis direction, presss from both sides
Hold the first end that space is suitable for clamping cup body；
Mechanical arm is configured to for the second end of cup body to be plugged in the three-dimensional space that is placed on mechanical arm and can reach
The hole location of interior cup disk, and relative displacement occurs in x-axis direction with cup disk, so that the first end of cup body opening from grasping part
Mouth is detached from.
The mobile device, structure is simple, and movement is high-efficient.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the mobile device that the application embodiment provides；
Fig. 2 is the z-axis for the mobile device that the application embodiment provides and the structural schematic diagram of clamping jaw；
Fig. 3 is the structural schematic diagram at the first visual angle of the clamping jaw for the mobile device that the application embodiment provides；
Fig. 4 is that the structural schematic diagram at the second visual angle of the clamping jaw for the mobile device that the application embodiment provides (does not include
Cup body)；
Fig. 5 is the cross-sectional view in the direction A-A in Fig. 4；
Fig. 6 is the partial sectional view of the clamping jaw for the mobile device that the application embodiment provides (comprising cup body)；
Fig. 7 is the clamping jaw of mobile device that provides of the application embodiment from the schematic diagram in terms of z-axis direction.
Icon: 100- mobile device；110- mechanical arm；111-x axis；1112-x axis rail；1113-x axis belt retainer；
1114-x axis driving motor；1115-x axis synchronous belt；112-y axis；1122-y axis rail；1123-y axis belt retainer；1124-
Y-axis driving motor；1125-y axis synchronous belt；113-z axis；1132-z axis rail；1133-z axis belt retainer；1134-z axis drives
Dynamic motor；1135-z axis synchronous belt；120- glasss of disks；121- hole location；130- clamping jaw；131- grabs finger；131a- first grabs finger；131b-
Second grabs finger；1313- linkage section；1312- gripping section；The first bending section of 1312a-；The second bending section of 1312b-；1314- is supported
Portion；132- mounting portion；133- mounting plate；140- grasping part；141- opening；150- cup body；151- cup edge；152- cup body；
160- pushes away cup assembly；161- push rod；162- pushes away a glass pawl；1621- limiting section；170- elastic component；180- linear bearing.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present application, it is to be understood that the side of the instructions such as term " on ", "lower", "inner", "outside"
Position or positional relationship be based on the orientation or positional relationship shown in the drawings or this application product using when the side usually put
The orientation or positional relationship that position or positional relationship or those skilled in the art usually understand is merely for convenience of description originally
Application and simplified description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with specific side
Position construction and operation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the embodiment of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " installation ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.
For the ordinary skill in the art, the concrete meaning of above-mentioned term in this application can be understood with concrete condition.
Fig. 1-7 is please referred to, a kind of mobile device 100 is present embodiments provided comprising mechanical arm 110 is used for cup placement
The cup disk 120 and clamping jaw 130 of body.
Further, mechanical arm 110 include along the x-axis direction, the mobile freedom degree in y-axis direction and z-axis direction.Referring to figure
1, mechanical arm 110 includes x-axis 111, y-axis 112 and z-axis 113.X-axis 111, y-axis 112 and z-axis 113 are formed in three-dimensional space, cup
Disk 120 is placed in three-dimensional space.Mechanical arm 110 can move in each hole location 121 of glass disk 120.Cup disk 120 is along x
Axis direction and/or y-axis direction are fixed.Clamping jaw 130 is connected to z-axis 113, is then only connected to the z-axis direction of mechanical arm 110.Mechanical arm
110 are able to drive any position that clamping jaw 130 moves in the three-dimensional space, carry out grabbing cup or put cup movement, and then realize
Movement to cup body.
In the application in other optional embodiments, above-mentioned mechanical arm 110 can only include along the x-axis direction and z
The mobile freedom degree of axis direction only includes x-axis and z-axis.Or only include along the y-axis direction and z-axis direction it is mobile from
It by spending, i.e., only include y-axis and z-axis.
In some embodiments of the application, the x-axis 111 of above-mentioned mechanical arm 110 includes x-axis guide rail referring to FIG. 1-2,
1112, x-axis belt retainer 1113, x-axis driving motor 1114 and x-axis synchronous belt 1115.X-axis synchronous belt 1115 is sequentially connected
In x-axis driving motor 1114.X-axis belt retainer 1113 is mounted on x-axis guide rail 1112, and is connected to x-axis synchronous belt 1115.
Under the driving of x-axis driving motor 1114, x-axis synchronous belt 1115 drives x-axis belt retainer 1113 to move.Y-axis 112 is connected to
X-axis belt retainer 1113, to realize that x-axis belt retainer 1113 drives y-axis 112 to move along 111 direction of x-axis.
Further, y-axis 112 includes y-axis guide rail 1122, y-axis belt retainer 1123, y-axis driving motor 1124 and y
Axis synchronous belt 1125.Y-axis synchronous belt 1125 is sequentially connected in y-axis driving motor 1124.Y-axis belt retainer 1123 is mounted on y
On axis rail 1122, and it is connected to y-axis synchronous belt 1125.Under the driving of y-axis driving motor 1124,1125 band of y-axis synchronous belt
Dynamic y-axis belt retainer 1123 moves.Z-axis 113 is connected to y-axis belt retainer 1123, to realize y-axis belt retainer
1123 drive z-axis 113 are moved along 112 direction of y-axis.
Further, z-axis 113 includes z-axis guide rail 1132, z-axis belt retainer 1133, z-axis driving motor 1134 and z
Axis synchronous belt 1135.Z-axis synchronous belt 1135 is sequentially connected in z-axis driving motor 1134.Z-axis belt retainer 1133 is mounted on z
On axis rail 1132, and it is connected to z-axis synchronous belt 1135.Under the driving of z-axis driving motor 1134,1135 band of z-axis synchronous belt
Dynamic z-axis belt retainer 1133 moves.Clamping jaw 130 is connected to z-axis belt retainer 1133, to realize z-axis belt retainer
1133 drive clamping jaws 130 are moved along 113 direction of z-axis.
In the application in other optional embodiments, x-axis 111, y-axis 112 and the z-axis 113 of above-mentioned mechanical arm 110 are in fact
The mode now moved also can choose other transmission mechanisms, such as linear motor etc..
In some embodiments, above-mentioned cup disk 120 can be subjected to displacement along the z-axis direction.
Further, referring to Fig. 3-5, clamping jaw 130 is mounted on the mounting portion 132 in the z-axis 113 of mechanical arm 110.
Further, clamping jaw 130 has grasping part 140, and grasping part 140 is suitable for clamping the first end of cup body.Cup
Disk 120 has the hole location 121 of the second end for grafting cup body.Further, grasping part 140 has along x-axis 111 or y
The opening 141 in 112 direction of axis.Since elastic deformation can occur for clamping jaw 130, when cup body is squeezed into grasping part 140, folder
The size for holding space 140 can be changed, so that cup body is squeezed into grasping part 140, is realized and clamped to cup body.Into one
Step ground, mechanical arm 110 are configured to for the second end of cup body to be plugged in hole location 121 and occur with cup disk 120 in x-axis direction
Relative displacement, so that the first end of cup body is detached from from the opening 141 of grasping part 140.
Illustratively, above-mentioned elastic clamping jaw, which can choose, is set as including at least two thin-wall parts for being spaced apart from each other setting
It is manufactured to grab finger 131.Each is grabbed finger 131 and is substantially extended along the z-axis direction.Aforementioned opening 141 is located at adjacent two
It grabs between finger 131.It grabs finger and 131 can generate elastic deformation after by crowded support when at least two, to change the big of grasping part 140
It is small, so that cup body 150 is squeezed into grasping part 140, realize the clamping to cup body 150.Above-mentioned at least two grab finger
131 material can choose plastics or metal etc..
In the application in other optional embodiments, above-mentioned clamping jaw 130, which can choose, is set as an overall structure,
For example, a generally thin-wall part, encompasses one week formation grasping part 140, only in x-axis or y-axis direction setting opening
141。
Further, clamping jaw 130, which has, puts glass process and grabs a glass process.When putting glass, along the x-axis direction by mechanical arm 110
Or the movement of y-axis direction, so that the cup body 150 being positioned in the hole location 121 of glass disk 120 is de- from the opening 141 of grasping part 140
Out.For example, being moved along the x-axis direction by mechanical arm 110, cup body 150 is from along x-axis side when opening 141 is arranged along the x-axis direction
To opening 141 skid off.When be open 141 be arranged along the y-axis direction when, moved along the y-axis direction by mechanical arm 110, cup body 150 from
Opening 141 along the y-axis direction skids off.It should be noted that adjacent two grab refer to 131 between gaps be open 141 it is big
It small pipe diameter size according to cup body and grabs and refers to that 131 elastic deformation degree determines.For example, 141 arc length of being open is set
It is set to the diameter of equal to or slightly less than 150 cup body of cup body.
When grabbing glass, moved by clamping jaw 130 along z-axis 113, so that cup body 150 is squeezed into the grasping part 140 of clamping jaw 130.
In some embodiments of the application, mounting portion 132 is connected to mounting plate 133, and mounting plate 133 is connected to z-axis
On belt retainer 1133.At least two grab the circumferential directions that finger 131 is evenly distributed on mounting portion 132.It, can when z-axis 113 moves
At least two are driven to grab 131 movement of finger.
Further, it includes linkage section 1313 and gripping section 1312 that each, which grabs finger 131,.Linkage section 1313 is connected to peace
Dress portion 132, gripping section 1312 are connected to linkage section 1313.I.e. in z-axis direction, linkage section 1313 is located above position, gripping section
1312 are located below position.Each is grabbed finger 131 and all has support division 1314, and support division 1314 is located at linkage section 1313 or folder
Hold the inner wall of section 1312.
In some embodiments of the application, support division 1314 is located at the inner wall of gripping section 1312.Gripping section 1312 wraps
Include the first bending section 1312a and the second bending section 1312b.First bending section 1312a is connected to linkage section 1313；Second bending section
1312b is connected to the first bending section 1312a.Support division 1314 be located at the first bending section 1312a and the second bending section 1312b it
Between, and support division 1314 is cambered surface.
, can be after the cup edge 151 of cup body 150 be by the second bending section 1312b by the way that support division 1314 is arranged, support division
1314 are held in the cup body 152 of cup body 150, realize that the crawl to cup body clamps.
The first bore that multiple first bending section 1312a are surrounded is greater than second mouthful that multiple second bending section 1312b are surrounded
Diameter.
For some cup bodies 150 with cup edge, since the bore of the cup edge 151 of cup body 150 is greater than the cup body of cup body 150
152 outer diameter, when grabbing glass, the cup edge 151 of the cup body 150 of larger caliber is squeezed into the first bore, and by the first bore
Wall supports, and the cup body 152 of more small-bore cup body 150 is squeezed into the second bore, and is supported by the inner wall of the second bore, pass through by
The first bore that above-mentioned multiple first bending section 1312a are surrounded is greater than the second bore that multiple second bending section 1312b are surrounded,
The shape of cup body 150 can be better adapted to, cup body 150 is more held fixedly.
Further, the angle of the axis of each first bending section 1312a and linkage section 1313 is 40~50 °.
The angle of the axis of each second bending section 1312b and linkage section 1313 is 25~35 °.
Still optionally further, the angle of the axis of each first bending section 1312a and linkage section 1313 is 42~48 °.
The angle of the axis of each second bending section 1312b and linkage section 1313 is 27~33 °.
Illustratively, referring to Figure 4 and 5, in the illustrated embodiment, each first bending section 1312a and linkage section
The angle of 1313 axis is α.Optionally, α can be with are as follows: 40 °, 41 °, 42 °, 45 °, 47 °, 48 ° or 50 ° etc..
Illustratively, in the illustrated embodiment, the folder of the axis of each second bending section 1312b and linkage section 1313
Angle is β.Optionally, β can be with are as follows: 25 °, 28 °, 30 ° or 35 ° etc..
In some embodiments of the application, then support division 1314 is located at linkage section 1313.Such as when gripping section 1312
Only one.It can be linkage section 1313 close to the inner wall of 1312 part of gripping section.
In the illustrated embodiment, clamping jaw 130 grabs finger 131 including two, and respectively first, which grabs finger 131a and second, grabs
Refer to 131b, first, which grabs finger 131a and second, grabs the two sides for referring to that 131b is symmetrically mounted on mounting portion 132.
Refer to that 131a and second grabs the two sides for referring to that 131b is symmetrically mounted on mounting portion 132 by grabbing first, so that first grabs
Refer to that 131a and second is grabbed and refer to that 131b is more uniform to the chucking power of cup body 150, clamping effect is more preferable.
Further, first grab refer to 131a support division 1314 and second grab refer to 131b the distance between support division 1314
It grabs finger 131a and second with first and grabs and refer to that the ratio between minimum range is 1.1~1.3 between 131b.Further, in terms of z-axis direction,
First grabs and refers to that 131a and second is grabbed and refer to that the arc length of 131b is first to grab and refer to that 131a and second is grabbed and refer to the annulus that surrounds of 131b
15%~25%.To guarantee when putting glass, cup body, which is smoothly grabbed from first, refers to that 131a and second grabs the opening 141 referred between 131b
Middle abjection.
It should be noted that the mobile device 100 can be suitable for the cup body of different sizes, in the application, other can
In the embodiment of choosing, the opening 141 of grasping part 140 is adaptively arranged according to the cup body of different sizes.
Illustratively, the mobile device 100 provided in illustrated embodiment can be used in clamping I type cup body, the ruler of I type cup body
Very little size is as shown in Figure 6.Specifically, it is 11mm that the cup body diameter of I type cup body, which is T1, and the diameter T2 of cup edge is 14mm.
Incorporated by reference to Fig. 6-7, first, which grabs finger 131a and second, grabs the distance between the support division for referring to 131b T3 as 12mm, so that
Finger and the unilateral interference fit of cup body are grabbed in z-axis direction, so as to ensure cup body in the positioning of Z-direction.Further, to x-axis
The shortest distance T4=10mm for referring to that 131a and second is grabbed between finger 131b is grabbed with y-axis direction radial positioning, first, (i.e. from z-axis side
To seeing, first, which grabs the circular arc for referring to 131a and second, grabs the circular arc closest approach distance for referring to 131b).Further, cup body is justified with finger is grabbed
Arc is in coplanar diameter T5=11mm, finger and the unilateral interference fit of cup body is grabbed, so that it is guaranteed that cup is in x-axis and y-axis direction
Positioning.In conjunction with Fig. 1-7, when grabbing glass, z-axis 113 drives clamping jaw 130 to move downward, first grab refer to and second grabs finger the second folding
After curved segment 1312b touches the cup edge 151 of cup body 150, the crowded support first of the cup edge 151 of cup body 150 grabs finger and second and grabs finger, so that
First, which grabs finger and second, grabs finger generation flexible deformation, opens in the direction away from each other, the cup edge 151 of cup body 150 enters two
In the space that a second bending section 1312b is surrounded.
As z-axis 113 continues to move downward, the cup edge 151 of cup body 150 is squeezed into 1314 region of support division, and squeezes support two
A support division 1314 opens in the direction away from each other so that flexible deformation occurs for two support divisions 1314.
Then z-axis 113 continues to move downward, and the cup edge 151 of cup body 150 crosses support division 1314, squeezes into two the first foldings
In the space that curved segment 1312a is surrounded.And two the first bending section 1312a of support are squeezed, so that bullet occurs for two the first bending section 1312a
Property deformation, open in the direction away from each other.
At this point, due to cup body 150 cup edge 151 no longer squeeze support support division 1314, two support divisions 1314 to
Direction close to each other is restored, and is held in the cup body 152 of cup body 150, and the inner wall of two the first bending section 1312a supports at this time
It is held in the lower edge of cup edge 151, cup is grabbed in completion.
In other optional embodiments of the application, above-mentioned grabbing refers to that 131 quantity can select to set according to actual needs
It sets, such as selection is set as 3 or 4.
Further, referring to Fig. 3-5, mobile device 100 includes pushing away cup assembly 160, and pushing away cup assembly 160 includes push rod 161
With push away glass pawl 162.
Further, it pushes away glass pawl 162 and is located at grasping part 140, and the bottom end for pushing away glass pawl 162 extends to the first bending section
1312a, 161 one end of push rod, which is connected to, pushes away glass pawl 162, and the other end is piercing in mounting portion 132 and is connected to z-axis 113.
It push rod 161 and pushes away glass pawl 162 and is located in grasping part 140, it can be in mechanical arm 110 along x-axis 111 or y-axis 112
When movement, active force is generated to cup body 150 in 113 direction of z-axis, and then can guarantee in the grasping part 140 of clamping jaw 130
Cup body 150 is steadily released by mechanical arm 110.
Further, pushing away glass pawl 162 includes at least four limiting section 1621, and at least four limiting section 1621 is piercing in clamping
Space 140, and the free end of at least two limiting section 1621 is pierced by respectively to the same two sides for grabbing finger 131.
Position-limiting action can be played to push rod 161 by the way that limiting section 1621 is arranged, push rod 161 is avoided to rotate.
In the illustrated embodiment, pushing away glass pawl 162 includes that 4 limiting sections, 1621,4 limiting sections 1621 entirely to push away
The shape of cup pawl 162 is substantially in " ten " font.The free end of 2 limiting sections 1621 is pierced by respectively to same and grabs the two of finger 131
Side.Specifically, the free end of 2 limiting sections 1621 is pierced by first respectively and grabs the two sides for referring to 131a.The freedom of 2 limiting sections 1621
End is pierced by second respectively and grabs the two sides for referring to 131b, improves and grabs the position-limiting action for referring to that 131a and second grabs finger 131b to first.
Further, mobile device 100 includes elastic component 170, and elastic component 170 is mounted on push rod 161, and in compression
State.
By the way that elastic component 170 is arranged, and elastic component 170 is made to be in compressive state, pretightning force can be generated, so that clamping jaw
130 grab cup, generate a pressure to cup body 150, guarantee the stability of the cup body 150 on the move of mechanical arm 110, while putting cup
When guarantee cup body 150 always in the bottom of hole location 121.Further, referring to Fig. 3-5, in the illustrated embodiment, on
The elastic component 170 stated is spring.Spring is set on push rod 161, and one end is connected to mounting portion 132, and the other end, which is connected to, pushes away cup
Pawl 162.
Since push rod 161 has spring to push down, the insertion of upper cup edge 151 first of cup body 150, which is grabbed, refers to that 131a and second grabs finger
In the first bore of cone that 131b is formed, so that there are certain self-locking, only x-axis or y-axis side in x-axis direction and y-axis direction
To the inertia of movement fall off from clamping jaw insufficient for cup.Due to the unilateral interference fit of x-axis or y-axis direction, in x-axis
Or the comparison of resistance that y-axis direction is traversing when putting glass is small, and the deformation for grabbing finger will not make in its regime of elastic deformation to finger is grabbed
At the risk of deformation, the service life for grabbing finger ensure that.
Further, linear bearing 180 is installed in mounting portion 132, linear bearing 180 is mounted on push rod 161, and
It is connected to one end of elastic component 170, so that elastic component 170 is compressed in linear bearing 180 and pushes away between glass pawl 162.
It should be noted that the length selection of spring is longer than the length of push rod 161, when assembly, spring is mounted on push rod
On 161, one end is connected to linear bearing 180, and the other end, which is connected to, pushes away glass pawl 162.Since the length of spring is longer than push rod 161
Length, therefore spring is in compressive state always, and then can generate pretightning force on pushing away glass pawl 162.It is grabbing cup and is putting cup
Process is at so that pushing away glass pawl 162 in 113 direction of z-axis to the generation pretightning force of cup body 150, guarantee cup body 150 is stabilized in hole location
In 121.
By the way that linear bearing 180 is arranged, so that the installation of spring and compression are more convenient, but also push rod 161 and peace
Friction between dress portion 132 is smaller.
Referring to Fig.1, illustratively, when putting glass, mechanical arm 110 is moved downward along z-axis 113, by the cup body 152 of cup body 150
It is placed in the hole location 121 of glass disk 120, then, mechanical arm 110 is moved along x-axis 111 or y-axis 112 again, at this point, due to hole location
121 are limited the cup body 152 of cup body 150 by the wall body of hole location 121, position can not occur in x-axis 111 or 112 direction of y-axis
It moves, therefore the movement of opposite x-axis 111 or y-axis 112, cup body 150 are deviate from from the opening 141 of clamping jaw 130, cup is put in realization.This
Some embodiments of application also provide a kind of mobile device, comprising: mechanical arm and being capable of elastically-deformable clamping jaw.
Mechanical arm has a mounting portion, and mounting portion has at least along the x-axis direction and the mobile freedom degree in z-axis direction.
Clamping jaw, which is installed on mounting portion and has, has the grasping part of opening in x-axis direction, and grasping part is suitable for clamping cup
The first end of body.
Mechanical arm is configured to for the second end of cup body to be plugged in the three-dimensional space that is placed on mechanical arm and can reach
The hole location of interior cup disk, and relative displacement occurs in x-axis direction with cup disk, so that the first end of cup body opening from grasping part
Mouth is detached from.
The mobile device can be used in grabbing cup body and discharge cup body, realize the movement to cup body；It can be used for other
It is adapted to crawl, the release of object, realizes movement.
The mechanical arm of the mobile device and mechanical arm and clamping jaw in the specific structure and aforementioned embodiments of clamping jaw
Structure it is identical.
In use, cup disk is placed in the three-dimensional space that mechanical arm surrounds, by moving along the z-axis direction, by cup body
After the bottom part of cup body is limited in the hole location of glass disk, then by moving along the x-axis direction, cup body is taken off from the opening of grasping part
Out.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of mobile device, it is suitable for grabbing and place cup body characterized by comprising
Mechanical arm, the mechanical arm have a mounting portion, the mounting portion have at least along the x-axis direction and z-axis direction it is mobile from
By spending；
It being capable of elastically-deformable clamping jaw；The clamping jaw, which is installed on the mounting portion and has, has the folder of opening in the x-axis direction
Space is held, the grasping part is suitable for clamping the first end of the cup body；
Cup disk, has the hole location of the second end for grafting cup body；The cup disk is located at the three-dimensional space that the clamping jaw can reach
In；
The mechanical arm is configured to for the second end of cup body to be plugged in the hole location and send out with the cup disk in x-axis direction
Raw relative displacement, so that the first end of cup body is detached from from the opening of the grasping part.
2. mobile device according to claim 1, which is characterized in that
The clamping jaw include at least two it is extended along the z-axis direction grab fingers, the opening described in adjacent two positioned at grabbing
Between finger.
3. mobile device according to claim 2, which is characterized in that each grabbing fingers includes linkage section and clamping
Section, the linkage section are connected to the mounting portion, and the gripping section is connected to the linkage section；
Each grabbing fingers all has support division, and the support division is located at the inner wall of the linkage section or the gripping section；
The gripping section includes the first bending section and the second bending section；First bending section is connected to the linkage section；It is described
Second bending section is connected to first bending section；
The first bore that multiple first bending sections surround is greater than the second bore that multiple second bending sections surround.
4. mobile device according to claim 3, which is characterized in that
The support division is located at the inner wall of the gripping section；
The support division is between first bending section and second bending section, and the support division is cambered surface.
5. mobile device according to claim 3 or 4, which is characterized in that
The mobile device includes pushing away cup assembly, and the cup assembly that pushes away includes push rod and pushes away a glass pawl；
Glass pawl that pushes away is located at the grasping part, and the bottom end for pushing away glass pawl extends to first bending section, described to push away
Bar one end pushes away a glass pawl described in being connected to, and the other end is connected to the mechanical arm.
6. mobile device according to claim 5, which is characterized in that
Glass pawl that pushes away includes at least four limiting section, and at least four limiting section is piercing in the grasping part, and at least 2
The free end of a limiting section is pierced by respectively to the two sides of the same grabbing fingers.
7. mobile device according to claim 5, which is characterized in that
The mobile device includes elastic component, and the elastic component is mounted on the push rod, and is in compressive state.
8. mobile device according to claim 7, which is characterized in that
The mobile device includes linear bearing, and the linear bearing is mounted on the push rod, and is connected to the elastic component
One end so that the elastic component is compressed in the linear bearing and described pushes away between glass pawl.
9. mobile device according to claim 1, which is characterized in that
The clamping jaw includes two and grabs finger, and respectively first, which grabs finger, grabs finger with second, and described first, which grabs finger and described second, grabs finger
It is symmetrically mounted on the two sides of the mounting portion；Described first grab the support division of finger and described second grab between the support division of finger away from
Finger is grabbed from described first and described second to grab the ratio between minimum range between finger be 1.1~1.3；
In terms of z-axis direction, described first grab refer to and described second grab finger arc length be described first to grab finger and described second grab
Refer to the 15%~25% of the annulus surrounded.
10. a kind of mobile device characterized by comprising
Mechanical arm, the mechanical arm have a mounting portion, the mounting portion have at least along the x-axis direction and z-axis direction it is mobile from
By spending；
It being capable of elastically-deformable clamping jaw；The clamping jaw, which is installed on the mounting portion and has, has the folder of opening in the x-axis direction
Space is held, the grasping part is suitable for clamping the first end of cup body；
The mechanical arm is configured to for the second end of cup body to be plugged in the three-dimensional that is placed on the mechanical arm and can reach
The hole location of cup disk in space, and relative displacement occurs in x-axis direction with the cup disk, so that the first end of cup body is from described
The opening of grasping part is detached from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910845470.0A CN110422625A (en) | 2019-09-06 | 2019-09-06 | Mobile device |
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| CN201910845470.0A CN110422625A (en) | 2019-09-06 | 2019-09-06 | Mobile device |
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Family
ID=68417903
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| CN113210517A (en) * | 2021-05-18 | 2021-08-06 | 珠海格力智能装备有限公司 | Pipe expander |
| CN114348634A (en) * | 2021-12-31 | 2022-04-15 | 南京国科医工科技发展有限公司 | Reaction cup carrying device |
| WO2023178717A1 (en) * | 2022-03-24 | 2023-09-28 | 迈得医疗工业设备股份有限公司 | Material transfer device and medical instrument production line |
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