CN111547498A - Flexible plate frame grabbing device and using method - Google Patents
Flexible plate frame grabbing device and using method Download PDFInfo
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- CN111547498A CN111547498A CN202010483766.5A CN202010483766A CN111547498A CN 111547498 A CN111547498 A CN 111547498A CN 202010483766 A CN202010483766 A CN 202010483766A CN 111547498 A CN111547498 A CN 111547498A
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- gripper
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- gripper piece
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000007769 metal material Substances 0.000 claims abstract description 16
- 238000010438 heat treatment Methods 0.000 claims description 35
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 238000009413 insulation Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 6
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 10
- 239000007788 liquid Substances 0.000 description 5
- 229910052757 nitrogen Inorganic materials 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000005138 cryopreservation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000012472 biological sample Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible plate frame grabbing device which comprises a grabbing plate and a grabbing part, wherein the grabbing part is arranged on the grabbing plate; the grabbing part comprises a plurality of grabs which are distributed at each corner of the grabbing plate and grab inwards; the gripper comprises a first gripper piece, a second gripper piece and a gripper hook; the first gripper piece and the second gripper piece are arranged in a fitting manner, and the lower ends of the first gripper piece and the second gripper piece are fixedly provided with a gripper hook; the first gripper piece is made of a metal material with a high expansion coefficient, and the second gripper piece is made of a metal material with a low expansion coefficient; when the temperature changes, the expansion degrees of the first gripper piece and the second gripper piece are different, so that the curvature of the gripper is different; thereby achieving the purpose of grabbing the plate frame; the plate frame is bent due to temperature change, so that the plate frame can be grabbed; meanwhile, the device has the characteristic of flexibility, and is suitable for grabbing plate frames with different specifications and sizes; the invention also provides a use method of the flexible plate frame grabbing device.
Description
Technical Field
The invention relates to the field of biological storage equipment, in particular to a flexible plate frame grabbing device.
Background
When the biological sample is stored, the biological sample to be stored is stored in the cryopreservation tube, then the whole cryopreservation tube is stored in the plate frame, and then the whole plate frame is stored in the liquid nitrogen tank for cryopreservation; but when drawing or access in liquid nitrogen container medium plate frame, current grillage snatchs the mechanism, and the liquid nitrogen container bottom portion of deepening that can not be fine, because dark low temperature environment's reason, conventional grillage snatchs the mechanism and all can receive the low temperature environment influence, and the location snatchs the effect not good, and the grillage is transversely snatched to the tongs can not be fine moreover, and the centre gripping dynamics is little, and the influence draws the grillage effect.
Disclosure of Invention
The invention aims to provide a flexible plate frame grabbing device which can better grab a plate frame in a deep low-temperature environment along with the change of temperature, so that the grabbing degree is changed, and the plate frame is grabbed more favorably; meanwhile, the flexible plate frame is flexible and can be suitable for plate frames with different specifications and sizes.
Another object of the present invention is to provide a method for using a flexible board frame gripping device, which can control the opening or the contraction of the hand grip by using the temperature change to grip the board frame. The using method is suitable for various grabbing fields and also suitable for grills with different specifications and sizes.
The technical scheme adopted by the invention for solving the technical problems is as follows: a flexible plate frame grabbing device comprises a grabbing plate and a grabbing part, wherein the grabbing part is arranged on the grabbing plate; the grabbing part comprises a plurality of grabs which are distributed at each corner of the grabbing plate and grab inwards;
the gripper comprises a first gripper piece, a second gripper piece and a gripper hook; the first gripper piece and the second gripper piece are arranged in a fitting manner, and the lower ends of the first gripper piece and the second gripper piece are fixedly provided with a gripper hook;
heating wires are arranged on the peripheries of the first gripper piece and the second gripper piece and can heat the first gripper piece and the second gripper piece; the first gripper piece is made of a metal material with a high expansion coefficient, and the second gripper piece is made of a metal material with a low expansion coefficient.
Preferably, the first grip piece and the second grip piece are directly provided with an insulating layer sheet.
Preferably, the outer surfaces of the first grip piece and the second grip piece are coated with a heating coating.
Preferably, the three-dimensional robot further comprises a connecting rod, a spring, a switching part, a telescopic rod and a bearing frame, wherein the bearing frame is connected with the three-axis mechanical arm and can move in three dimensions; the lower extreme of accepting the frame is provided with the telescopic link, the telescopic link with the connecting rod passes through the switching portion is connected, the connecting rod periphery is provided with the spring, the lower extreme of connecting rod is provided with the board of grabbing.
A use method of a flexible plate frame gripping device,
s1, driving the grabbing plate to move by the three-axis mechanical arm, and moving a grabbing part arranged on the grabbing plate to the position above the target plate frame;
s2, heating the first gripper piece and the second gripper piece on the gripper of the gripping part through a heating wire, wherein the expansion coefficient of the first gripper piece is high to drive the second gripper piece to expand outwards, so that the gripper expands outwards;
s3, driving the three-axis mechanical arm to continuously drive the grabbing part to move downwards, so that the plurality of grabs surround the plate frame;
and S4, contracting the grippers in a low-temperature environment, and clamping and grabbing the plate rack.
Preferably, the step S4 is that the heating wire stops heating the grippers, and in the deep low temperature environment, the first gripper sheet drives the second gripper sheet to contract, and the plurality of grippers grip the plate frame.
Preferably, in the step S2, the heating wire increases the heating degree by heating the coating on the first grip piece and the second grip piece.
Preferably, in the step S2, the first grip piece and the second grip piece are insulated from each other by a thermal insulating layer.
The invention has the following beneficial effects: the first gripper piece is made of a metal material with a high expansion coefficient, and the second gripper piece is made of a metal material with a low expansion coefficient; when the temperature changes, the expansion degrees of the first gripper piece and the second gripper piece are different, so that the curvature of the gripper is different; thereby achieving the purpose of grabbing the plate frame; the plate frame is bent due to temperature change, so that the plate frame can be grabbed conveniently; have flexible characteristic simultaneously, be fit for the grillage of different specifications size and snatch.
The invention has the following beneficial effects: the first gripper piece and the second gripper piece are heated by the heating wires, and the first gripper piece with a high expansion coefficient is driven by the deep low temperature environment and controls the expansion or contraction action of the gripper, so that the gripping of the target piece is completed. The flexibility is good, and is fit for the grillage of different specifications and sizes and snatchs.
Drawings
FIG. 1 is a schematic structural view of a flexible plate frame gripping device;
FIG. 2 is an enlarged view of the grasping portion of FIG. 1A in a normal state;
FIG. 3 is a schematic view of a pallet structure;
FIG. 4 is a schematic view of the first grip tab and the second grip tab in a normal state;
FIG. 5 is a schematic view of the first and second grip tabs in a heated condition;
FIG. 6 is a schematic view of the first tab and the second tab in a cold-shrink condition;
FIG. 7 is a schematic view of the configuration of the grasping portion in the heating condition;
FIG. 8 is a schematic view of the configuration of the gripping portion in the cold-shrink condition;
FIG. 9 is a flowchart of example 2.
The notation in the figures means: 1-grabbing a plate; 2-a grasping section; 3, gripping the hand; 4-a first grip tab; 5-a second grip tab; 6-grappling; 7-a plate frame; 8-a connecting rod; 9-a spring; 10-a switching part; 11-a telescopic rod; 12-carrying frame.
Detailed Description
The technical solution of the present invention is further described below with reference to the following embodiments and the accompanying drawings.
Example 1
The embodiment provides a flexible plate frame grabbing device which comprises a grabbing plate 1 and a grabbing part 2, wherein the grabbing part 2 is arranged on the grabbing plate 1; the grabbing part 2 comprises a plurality of grabbing hands 3 which are distributed at each corner of the grabbing plate 1 and grab inwards; the hand grip 3 comprises a first hand grip piece 4, a second hand grip piece 5 and a grapple 6; the first gripper piece 4 and the second gripper piece 5 are attached, and the lower ends of the first gripper piece 4 and the second gripper piece 5 are fixed with the gripping hooks 6; heating wires are arranged on the peripheries of the first gripper piece 4 and the second gripper piece 5 and can heat the first gripper piece and the second gripper piece; the first grip piece 4 is made of a metal material with a high expansion coefficient, and the second grip piece 5 is made of a metal material with a low expansion coefficient.
The initial states of the first gripper piece and the second gripper piece are shown in figures 1 and 4, when the flexible plate frame grabbing device enters a liquid nitrogen tank deep low-temperature environment to grab a plate frame, the first gripper piece 4 and the second gripper piece 5 are heated through heating wires, the first gripper piece 4 is made of a metal material with a high expansion coefficient, and the second gripper piece 5 is made of a metal material with a low expansion coefficient; the first gripper sheet 4 is deformed and expanded when heated, and the second gripper sheet 5 has a smaller degree of deformation, so that the first gripper sheet 4 is bent outwards to drive the whole grippers 3 to be bent outwards, so that the respective grippers 3 directly expand the interval to stretch the gripping parts 2, as shown in fig. 5 and 7; when the grabbing part 2 moves to the target plate rack to be grabbed, the heating wire is not heated any more, the first hand grip pieces 4 contract inwards to drive the hand grips 5 to contract, and the grabbing part 2 grabs the target plate rack 7, as shown in fig. 4 and 8.
The arrangement utilizes the particularity of the bimetallic strip, and the bimetallic strip bends due to temperature change, so that the action of grabbing the plate frame 7 is realized, the bimetallic strip is more suitable for operation in a low-temperature environment, and the bimetallic strip is more convenient; meanwhile, original mechanical grabbing is abandoned, and the grab handle has the flexible characteristic, is suitable for plate frames with different specifications and sizes, and is convenient to grab.
In a preferred further embodiment of this embodiment, the first grip tab 4 and the second grip tab 5 are directly provided with an insulating layer sheet. The heat preservation layer slice has the effect of insulating temperature, can insulate temperature with first tongs piece 4 and second tongs piece 5, does benefit to the inflation degree of first tongs piece 4 and second tongs piece 5 better performance oneself separately.
In a preferred further embodiment of this embodiment, the outer surfaces of the first grip tab 4 and the second grip tab 5 are coated with a heating coating. This arrangement allows for better heat absorption.
In a preferred further embodiment of this embodiment, the robot further includes a connecting rod 8, a spring 9, an adapter 10, a telescopic rod 11 and a receiving frame 12, wherein the receiving frame 12 is connected with the three-axis robot arm and can move in a three-dimensional space; the lower extreme of accepting frame 12 is provided with telescopic link 11, telescopic link 11 with connecting rod 8 passes through switching portion 10 is connected, the connecting rod 8 periphery is provided with spring 9, the lower extreme of connecting rod 8 is provided with grabs board 1. The three-axis mechanical arm drives the bearing frame to move to the target plate frame, the telescopic rod 11 extends out, and the grabbing part 2 below the grabbing plate 1 is driven to grab a target piece; the spring is arranged to play a role in buffering when the grabbing plate moves and the grabbing part 2 grabs.
In a preferred further embodiment of this embodiment, the grasping plate 1 is a rectangular parallelepiped structure having a certain thickness; the number of the grippers is four, and the grippers are respectively arranged at four corners of the gripping plate. This arrangement is more consistent with the grabbing of the panel rack.
Example 2
The use method of the flexible plate frame grabbing device comprises a grabbing plate 1 and a grabbing part 2, wherein the grabbing part 2 is arranged on the grabbing plate 1; the grabbing part 2 comprises a plurality of grabbing hands 3 which are distributed at each corner of the grabbing plate 1 and grab inwards; the hand grip 3 comprises a first hand grip piece 4, a second hand grip piece 5 and a grapple 6; the first gripper piece 4 and the second gripper piece 5 are attached, and the lower ends of the first gripper piece 4 and the second gripper piece 5 are fixed with the gripping hooks 6; heating wires are arranged on the peripheries of the first gripper piece 4 and the second gripper piece 5 and can heat the first gripper piece and the second gripper piece; the first grip piece 4 is made of a metal material with a high expansion coefficient, and the second grip piece 5 is made of a metal material with a low expansion coefficient.
S1, driving the grabbing plate to move by the three-axis mechanical arm, and moving a grabbing part arranged on the grabbing plate to the position above the target plate frame; s2, heating the first gripper piece and the second gripper piece on the gripper of the gripping part through a heating wire, wherein the expansion coefficient of the first gripper piece is high to drive the second gripper piece to expand outwards, so that the gripper expands outwards; s3, driving the three-axis mechanical arm to continuously drive the grabbing part to move downwards, so that the plurality of grabs surround the plate frame; and S4, contracting the grippers in a low-temperature environment, and clamping and grabbing the plate rack.
The initial states of the first gripper piece and the second gripper piece are shown in figures 1 and 4, when the flexible plate frame grabbing device enters a liquid nitrogen tank deep low-temperature environment to grab a plate frame, the first gripper piece 4 and the second gripper piece 5 are heated through heating wires, the first gripper piece 4 is made of a metal material with a high expansion coefficient, and the second gripper piece 5 is made of a metal material with a low expansion coefficient; the first gripper sheet 4 is deformed and expanded when heated, and the second gripper sheet 5 has a smaller degree of deformation, so that the first gripper sheet 4 is bent outwards to drive the whole grippers 3 to be bent outwards, so that the respective grippers 3 directly expand the interval to stretch the gripping parts 2, as shown in fig. 5 and 7; the three-axis mechanical arm drives the grabbing part to move downwards continuously, so that the plurality of grippers surround the plate frame; when the grabbing part 2 moves to the target plate rack needing to be grabbed, the heating wire is not heated any more, the first hand grip pieces 4 contract inwards to drive the hand grips 5 to contract, and the grabbing part 2 clamps and grabs the target plate rack 7, as shown in fig. 4 and 8.
The arrangement utilizes the particularity of the bimetallic strip, and the bimetallic strip bends due to temperature change, so that the action of grabbing the plate frame 7 is realized, the bimetallic strip is more suitable for operation in a low-temperature environment, and the bimetallic strip is more convenient; meanwhile, original mechanical grabbing is abandoned, and the grab handle has the flexible characteristic, is suitable for plate frames with different specifications and sizes, and is convenient to grab.
In a preferred further implementation manner of this embodiment, in the step S4, the heating wire stops heating the gripper, and in the low and deep temperature environment, the first gripper tab drives the second gripper tab to contract, and the plurality of grippers grip the rack.
In a preferred further implementation manner of this embodiment, in the step S2, the heating wire increases the heating degree by heating the coating on the first grip piece and the second grip piece. So that the heating is more stable.
In a preferred further implementation manner of this embodiment, in the step S2, the first grip piece and the second grip piece are insulated from each other by a thermal insulating layer.
The sequence of the above embodiments is only for convenience of description and does not represent the advantages and disadvantages of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The flexible plate frame grabbing device is characterized by comprising a grabbing plate and a grabbing part, wherein the grabbing part is arranged on the grabbing plate; the grabbing part comprises a plurality of grabs which are distributed at each corner of the grabbing plate and grab inwards;
the gripper comprises a first gripper piece, a second gripper piece and a gripper hook; the first gripper piece and the second gripper piece are arranged in a fitting manner, and the lower ends of the first gripper piece and the second gripper piece are fixedly provided with a gripper hook;
heating wires are arranged on the peripheries of the first gripper piece and the second gripper piece and can heat the first gripper piece and the second gripper piece; the first gripper piece is made of a metal material with a high expansion coefficient, and the second gripper piece is made of a metal material with a low expansion coefficient.
2. The flexographic plate frame grabbing device according to claim 1, wherein said first gripping sheet and said second gripping sheet are directly provided with an insulating layer sheet.
3. The flexographic plate frame gripping device of claim 1 or 2, wherein the outer surfaces of the first and second gripping sheets are coated with a heating coating.
4. The device for grabbing the flexible plate frame as claimed in claim 3, further comprising a connecting rod, a spring, a switching part, a telescopic rod and a bearing frame, wherein the bearing frame is connected with the three-axis mechanical arm and can move in three dimensions; the lower extreme of accepting the frame is provided with the telescopic link, the telescopic link with the connecting rod passes through the switching portion is connected, the connecting rod periphery is provided with the spring, the lower extreme of connecting rod is provided with the board of grabbing.
5. The flexible plate rack gripping device of claim 3 wherein the gripping plate is a rectangular parallelepiped structure having a thickness; the number of the grippers is four, and the grippers are respectively arranged at four corners of the gripping plate.
6. A use method of a flexible plate frame gripping device, and is characterized in that,
s1, driving the grabbing plate to move by the three-axis mechanical arm, and moving a grabbing part arranged on the grabbing plate to the position above the target plate frame;
s2, heating the first gripper piece and the second gripper piece on the gripper of the gripping part through a heating wire, wherein the expansion coefficient of the first gripper piece is high to drive the second gripper piece to expand outwards, so that the gripper expands outwards;
s3, driving the three-axis mechanical arm to continuously drive the grabbing part to move downwards, so that the plurality of grabs surround the plate frame;
and S4, contracting the grippers in a low-temperature environment, and clamping and grabbing the plate rack.
7. The method as claimed in claim 6, wherein said step S4 is that the heating wire stops heating the gripper, the first gripper sheet drives the second gripper sheet to contract in the deep low temperature environment, and the plurality of grippers grip the pallet.
8. The method of using a flexographic plate frame gripping device according to claim 6, and wherein said step S2 is that the heating wire increases the heating degree by heating the coating on the first grip tab and the second grip tab.
9. The use method of the flexible board frame gripping device according to claim 8, wherein in the step S2, the first grip piece and the second grip piece are insulated from each other by a thermal insulation layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010483766.5A CN111547498A (en) | 2020-06-01 | 2020-06-01 | Flexible plate frame grabbing device and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010483766.5A CN111547498A (en) | 2020-06-01 | 2020-06-01 | Flexible plate frame grabbing device and using method |
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| CN111547498A true CN111547498A (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010483766.5A Pending CN111547498A (en) | 2020-06-01 | 2020-06-01 | Flexible plate frame grabbing device and using method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022073780A1 (en) * | 2020-10-09 | 2022-04-14 | Syntegon Technology Gmbh | Nest remover and sterile chamber |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0360988A (en) * | 1989-07-27 | 1991-03-15 | Ckd Corp | Piezo-electric type grasping device |
| CN1662349A (en) * | 2002-06-24 | 2005-08-31 | 松下电器产业株式会社 | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN101075588A (en) * | 2006-05-16 | 2007-11-21 | 台湾积体电路制造股份有限公司 | Semiconductor structure, semiconductor chip and manufacturing method thereof |
| CN203726500U (en) * | 2014-03-03 | 2014-07-23 | 上海春升机电设备有限公司 | Automotive suspension spring manipulator |
| CN105448762A (en) * | 2014-08-28 | 2016-03-30 | 中国科学院微电子研究所 | Method for adjusting warping degree of substrate |
| CN212268780U (en) * | 2020-06-01 | 2021-01-01 | 上海原能细胞生物低温设备有限公司 | Flexible plate frame gripping device |
-
2020
- 2020-06-01 CN CN202010483766.5A patent/CN111547498A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0360988A (en) * | 1989-07-27 | 1991-03-15 | Ckd Corp | Piezo-electric type grasping device |
| CN1662349A (en) * | 2002-06-24 | 2005-08-31 | 松下电器产业株式会社 | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN101075588A (en) * | 2006-05-16 | 2007-11-21 | 台湾积体电路制造股份有限公司 | Semiconductor structure, semiconductor chip and manufacturing method thereof |
| CN203726500U (en) * | 2014-03-03 | 2014-07-23 | 上海春升机电设备有限公司 | Automotive suspension spring manipulator |
| CN105448762A (en) * | 2014-08-28 | 2016-03-30 | 中国科学院微电子研究所 | Method for adjusting warping degree of substrate |
| CN212268780U (en) * | 2020-06-01 | 2021-01-01 | 上海原能细胞生物低温设备有限公司 | Flexible plate frame gripping device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022073780A1 (en) * | 2020-10-09 | 2022-04-14 | Syntegon Technology Gmbh | Nest remover and sterile chamber |
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