CN113858242B - Feeding manipulator for cell factory production - Google Patents
Feeding manipulator for cell factory production Download PDFInfo
- Publication number
- CN113858242B CN113858242B CN202111229956.5A CN202111229956A CN113858242B CN 113858242 B CN113858242 B CN 113858242B CN 202111229956 A CN202111229956 A CN 202111229956A CN 113858242 B CN113858242 B CN 113858242B
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- China
- Prior art keywords
- fixed
- mounting hole
- sliding
- sliding table
- mounting
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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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
Abstract
The invention belongs to the field of grabbing equipment, and is used for grabbing materials required by cell factory production, in particular relates to a feeding manipulator for cell factory production, which comprises a mounting plate, a mounting hole, a vacuum adsorption table, a profiling mechanism, a connecting rod and a clamping mechanism, wherein the vacuum adsorption table is fixed in the middle of the mounting plate, the mounting hole is uniformly distributed on the mounting plate, the profiling mechanism is fixed in the mounting hole, the connecting rod is arranged in a U shape, one wing plate is connected with the profiling mechanism, the other wing plate is connected with the clamping mechanism, the mounting hole is radially arranged with the vacuum adsorption table as the center, and the profiling mechanism and the clamping mechanism are respectively positioned on the upper side and the lower side of the mounting plate and are arranged along the same straight line; the profiling mechanism comprises a first sliding table, a first sliding rail, a probe, a mounting seat and a first locking handle, wherein the first sliding table is fixed in the mounting hole. The feeding manipulator disclosed by the invention is simple in structure, convenient to use and wide in application range, and can clamp plates with different sizes.
Description
Technical Field
The invention belongs to the field of grabbing equipment, and is used for grabbing materials required by cell factory production, in particular to a feeding manipulator for cell factory production.
Background
The cell factory is also called a multi-layer cell culture device, which is a cell culture device and occupies a small space, but can provide a culture surface to the maximum extent.
The cell factory mainly comprises a bottom plate, a plurality of middle plates and a top plate, and when in production, the mechanical arm is mainly used for driving the mechanical arm to sequentially grasp the bottom plate, the middle plates and the top plate, and the dispensing mechanical arm is used for dispensing materials.
However, because the specifications of the cell factories are different, the sizes of the plates of the cell factories with different specifications are also different, so that the parameters of the manipulator are changed every time the cell factories with new specifications are processed, thereby being convenient for grabbing the plates with different sizes.
Disclosure of Invention
The invention aims at: the feeding manipulator for cell factory production can grasp plates with any size.
The technical scheme adopted by the invention is as follows: the utility model provides a cell mill production is with pay-off manipulator, includes mounting panel, mounting hole, vacuum adsorption platform, profile modeling mechanism, connecting rod and fixture, the vacuum adsorption platform is fixed the mounting panel intermediate position the mounting hole equipartition is on the mounting panel, the profile modeling mechanism is fixed in the mounting hole, be U-shaped setting the connecting rod, one pterygoid lamina is connected with the profile modeling mechanism, another pterygoid lamina is connected with the fixture, wherein, the mounting hole regards vacuum adsorption platform as the center, is radial setting, profile modeling mechanism and fixture are located the upper and lower both sides of mounting panel respectively, and along same straight line setting;
the profiling mechanism comprises a first sliding table, a first sliding rail, a probe, a mounting seat and a first locking handle, wherein the first sliding table is fixed in a mounting hole, the first sliding rail is connected with the first sliding table in a sliding manner, the mounting seat is fixed at the first end of the first sliding rail, the mounting seat is fixed on a fixing sleeve of the probe, and the first locking handle is fixed on the first sliding table;
the clamping mechanism comprises a second sliding rail, a clamping cylinder and a rubber cushion block, wherein the second sliding rail is fixed on a wing plate of the connecting rod, a cylinder body of the clamping cylinder is fixed on the second sliding rail, the rubber cushion block is fixed on a telescopic rod of the clamping cylinder, and one surface, far away from the telescopic rod of the clamping cylinder, of the rubber cushion block is arranged along the same straight line with the end part of the probe.
Further, the first sliding table is fixed in the mounting hole through the fixing mechanism, the fixing mechanism comprises a fixing bolt and a rotating sleeve, the upper end of the rotating sleeve is fixed on the lower surface of the first sliding table, the lower end of the rotating sleeve is immersed in the mounting hole, and a screw rod of the fixing bolt penetrates through the lower portion of the mounting hole and is screwed into the rotating sleeve.
Further, a spring washer is arranged between the nut of the fixing bolt and the lower surface of the mounting plate.
Further, the clamping cylinder is installed on the second sliding rail through a second sliding table, the second sliding table is connected to the second sliding rail in a sliding mode, and a second locking handle is further installed on the second sliding table.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
the feeding manipulator disclosed by the invention is simple in structure, convenient to use and wide in application range, and can clamp plates with different sizes.
When the manipulator is used, a piece of plate to be processed is taken out and is used as a die to be fixed on a vacuum adsorption table, the profiling mechanism is fixed in a proper mounting hole according to the outline of the die plate, the profiling mechanism samples the outline size of the die plate, and the clamping mechanisms are driven to synchronously move by the connecting rod, so that the distance between the clamping mechanisms can be changed in real time along with the size of materials, and the material plates with different sizes can be grasped.
When the mechanical arm is used for grabbing the die plate by using the profiling mechanism, the first sliding rail is slid to enable the end part of the probe to be abutted against the die plate, the clamping mechanism is driven to synchronously move by the connecting rod while the first sliding rail is slid, and then the position of the first sliding rail is locked by the first locking handle, so that the distance between the clamping mechanisms is the size of the die plate.
When the first sliding table is fixed in the mounting hole, the rotating sleeve can be inserted into the mounting hole, so that the first sliding table can be rotated randomly, the angle of the first sliding table can be adjusted conveniently, and after the adjustment is finished, the first sliding table is fixed by penetrating through the mounting hole through the fixing bolt and screwing in the rotating sleeve.
When the manipulator is used, the position of the clamping cylinder can be changed by sliding the second sliding table, so that the position of the cylinder body of the clamping cylinder can be adjusted according to the actual extension length of the telescopic rod of the clamping cylinder, and the manipulator is suitable for cylinders with various strokes.
Description of the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of the present invention;
fig. 3 is a partial enlarged view at a in fig. 1.
Reference numerals illustrate:
1. a mounting plate; 2. a mounting hole; 3. a vacuum adsorption stage; 4. a profiling mechanism; 41. a first sliding table; 42. a first slide rail; 43. a probe; 44. a mounting base; 45. a first locking handle; 5. a connecting rod; 6. a clamping mechanism; 61. a second slide rail; 62. a clamping cylinder; 63. a rubber cushion block; 64. a second sliding table; 65. a second locking handle; 7. a fixing mechanism; 71. a fixing bolt; 72. a spring washer; 73. the sleeve is rotated.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Example 1
The utility model provides a cell mill production is with pay-off manipulator, including mounting panel 1, mounting hole 2, vacuum adsorption platform 3, profile modeling mechanism 4, connecting rod 5 and fixture 6, vacuum adsorption platform 3 is fixed in mounting panel 1 intermediate position, mounting hole 2 equipartition is on mounting panel 1, profile modeling mechanism 4 is fixed in mounting hole 2, connecting rod 5 that is the U-shaped setting, one pterygoid lamina is connected with profile modeling mechanism 4, another pterygoid lamina is connected with fixture 6, wherein, mounting hole 2 regards vacuum adsorption platform 3 as the center, be radial setting, profile modeling mechanism 4 and fixture 6 are located the upper and lower both sides of mounting panel 1 respectively, and set up along same straight line;
the plate to be clamped is taken out and is used as a die to be fixed on the vacuum adsorption table 3, the profiling mechanism 4 is fixed in a proper mounting hole 2 according to the outline of the die plate, the outer outline size of the die plate is sampled through the profiling mechanism 4, and the clamping mechanisms 6 are driven to synchronously move through the connecting rod 5, so that the distance between the clamping mechanisms 6 can be changed in real time along with the size of a material, and the material plates with different sizes can be grabbed.
The profiling mechanism 4 comprises a first sliding table 41, a first sliding rail 42, a probe 43, a mounting seat 44 and a first locking handle 45, wherein the first sliding table 41 is fixed in the mounting hole 2, the first sliding rail 42 is connected with the first sliding table 41 in a sliding manner, the mounting seat 44 is fixed at the first end of the first sliding rail 42, a fixing sleeve of the probe 43 is fixed on the mounting seat 44, and the first locking handle 45 is fixed on the first sliding table 41;
when the profiling mechanism 4 is used for grabbing the die plate, the end part of the probe 43 is propped against the die plate by sliding the first sliding rail 42, the clamping mechanism 6 is driven to synchronously move by the connecting rod 5 while the first sliding rail 42 is slid, and then the position of the first sliding rail 42 is locked by the first locking handle 45, so that the distance between the clamping mechanisms 6 is the size of the die plate.
The clamping mechanism 6 comprises a second sliding rail 61, a clamping cylinder 62 and a rubber cushion block 63, the second sliding rail 61 is fixed on a wing plate of the connecting rod 5, a cylinder body of the clamping cylinder 62 is fixed on the second sliding rail 61, the rubber cushion block 63 is fixed on a telescopic rod of the clamping cylinder 62, and one surface of the rubber cushion block 63, which is far away from the telescopic rod of the clamping cylinder 62, and the end part of the probe 43 are arranged along the same straight line;
the second slide rail 61 is used for connecting the connecting rod 5 and the clamping cylinder 62, and when the first slide rail 42 slides and simultaneously drives the clamping mechanism 6 to synchronously move through the connecting rod 5, the second slide rail 61 drives the clamping cylinder 62 to move together, the telescopic rod of the clamping cylinder 62 stretches out, the clamping of the plate is realized, and the rubber cushion block 63 fixed on the telescopic rod of the telescopic rod avoids damaging the plate.
Example 2
This embodiment differs from embodiment 1 in that: the first sliding table 41 is fixed in the mounting hole 2 through the fixing mechanism 7, the fixing mechanism 7 comprises a fixing bolt 71 and a rotating sleeve 73, the upper end of the rotating sleeve 73 is fixed on the lower surface of the first sliding table 41, the lower end of the rotating sleeve is immersed in the mounting hole 2, and a screw rod of the fixing bolt 71 penetrates through the lower side of the mounting hole 2 and is screwed into the rotating sleeve 73;
when the first sliding table 41 is fixed in the mounting hole 2, the rotating sleeve 73 can be inserted into the mounting hole 2 first, so that the first sliding table 41 can be rotated arbitrarily, the angle of the first sliding table 41 can be adjusted conveniently, and after the adjustment is finished, the first sliding table 41 is fixed by penetrating through the mounting hole 2 and screwing in the rotating sleeve 73 by using the fixing bolt 71.
Example 3
This embodiment differs from embodiment 2 in that: a spring washer 72 is also arranged between the nut of the fixing bolt 71 and the lower surface of the mounting plate 1;
the spring washer 72 can increase the friction force between the fixing bolt 71 and the mounting plate 1, preventing the first slide table 41 from loosening.
Example 4
This embodiment differs from embodiment 1 in that: the clamping cylinder 62 is mounted on the second slide rail 61 through a second slide table 64, the second slide table 64 is connected with the second slide rail 61 in a sliding manner, and a second locking handle 65 is further mounted on the second slide table 64;
the position of the clamping cylinder 62 can be changed by sliding the second slide table 64 so that the position of the cylinder body of the clamping cylinder 62 is adjusted according to the actual extension length of the telescopic rod of the clamping cylinder 62, thereby being adapted to cylinders of various strokes.
Claims (4)
1. The utility model provides a cell mill production is with pay-off manipulator, its characterized in that includes mounting panel (1), mounting hole (2), vacuum adsorption platform (3), contour mechanism (4), connecting rod (5) and fixture (6), vacuum adsorption platform (3) are fixed mounting panel (1) intermediate position mounting hole (2) equipartition is on mounting panel (1), contour mechanism (4) are fixed in mounting hole (2), be U-shaped setting connecting rod (5), one pterygoid lamina is connected with contour mechanism (4), another pterygoid lamina is connected with fixture (6), wherein mounting hole (2) use vacuum adsorption platform (3) as the center, are radial setting, contour mechanism (4) and fixture (6) are located the upper and lower both sides of mounting panel (1) respectively, and set up along same straight line;
the profiling mechanism (4) comprises a first sliding table (41), a first sliding rail (42), a probe (43), a mounting seat (44) and a first locking handle (45), wherein the first sliding table (41) is fixed in a mounting hole (2), the first sliding rail (42) is connected with the first sliding table (41) in a sliding manner, the mounting seat (44) is fixed at the first end of the first sliding rail (42), a fixing sleeve of the probe (43) is fixed on the mounting seat (44), and the first locking handle (45) is fixed on the first sliding table (41);
the clamping mechanism (6) comprises a second sliding rail (61), a clamping cylinder (62) and a rubber cushion block (63), wherein the second sliding rail (61) is fixed on a wing plate of the connecting rod (5), a cylinder body of the clamping cylinder (62) is fixed on the second sliding rail (61), the rubber cushion block (63) is fixed on a telescopic rod of the clamping cylinder (62), and one surface, far away from the telescopic rod of the clamping cylinder (62), of the rubber cushion block (63) is arranged along the same straight line with the end part of the probe (43).
2. The feeding manipulator for cell factory production according to claim 1, wherein: the first sliding table (41) is fixed in the mounting hole (2) through the fixing mechanism (7), the fixing mechanism (7) comprises a fixing bolt (71) and a rotating sleeve (73), the upper end of the rotating sleeve (73) is fixed on the lower surface of the first sliding table (41), the lower end of the rotating sleeve is immersed in the mounting hole (2), and a screw of the fixing bolt (71) penetrates through the lower portion of the mounting hole (2) and is screwed into the rotating sleeve (73).
3. The feeding manipulator for cell factory production according to claim 1, wherein: the clamping cylinder (62) is installed on the second sliding rail (61) through a second sliding table (64), the second sliding table (64) is connected to the second sliding rail (61) in a sliding mode, and a second locking handle (65) is further installed on the second sliding table (64).
4. The feeding manipulator for cell factory production according to claim 2, wherein: a spring washer (72) is arranged between the nut of the fixing bolt (71) and the lower surface of the mounting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111229956.5A CN113858242B (en) | 2021-10-21 | 2021-10-21 | Feeding manipulator for cell factory production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111229956.5A CN113858242B (en) | 2021-10-21 | 2021-10-21 | Feeding manipulator for cell factory production |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113858242A CN113858242A (en) | 2021-12-31 |
| CN113858242B true CN113858242B (en) | 2023-09-22 |
Family
ID=78997175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111229956.5A Active CN113858242B (en) | 2021-10-21 | 2021-10-21 | Feeding manipulator for cell factory production |
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| Country | Link |
|---|---|
| CN (1) | CN113858242B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07284992A (en) * | 1994-04-13 | 1995-10-31 | Nippon Steel Corp | Clamp device |
| WO2013060264A1 (en) * | 2011-10-26 | 2013-05-02 | 广州新标机电科技有限公司 | Reel-fed in-mould labeling label auto-feeding system |
| WO2018028108A1 (en) * | 2016-08-09 | 2018-02-15 | 杨志勇 | Clamping device for automatically adjusting size |
| CN107738399A (en) * | 2017-07-08 | 2018-02-27 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of automobile back door glass production line for automatically assembling |
| CN207071756U (en) * | 2017-07-14 | 2018-03-06 | 赵相雷 | A kind of welding gun feeler mechanism |
| CN208601827U (en) * | 2018-07-13 | 2019-03-15 | 苏州东昊塑胶五金有限公司 | A kind of adjustable mechanical hand |
| CN209999220U (en) * | 2019-05-14 | 2020-01-31 | 南京费杰机器人有限公司 | mechanical arm clamping mechanism of infiltration equipment |
| CN111531376A (en) * | 2020-04-18 | 2020-08-14 | 无锡易通精密机械股份有限公司 | Medical retainer profiling cutting machine and cutting process |
| CN212552770U (en) * | 2020-06-05 | 2021-02-19 | 上海乾庾智能科技有限公司 | Universal profiling fixture |
-
2021
- 2021-10-21 CN CN202111229956.5A patent/CN113858242B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07284992A (en) * | 1994-04-13 | 1995-10-31 | Nippon Steel Corp | Clamp device |
| WO2013060264A1 (en) * | 2011-10-26 | 2013-05-02 | 广州新标机电科技有限公司 | Reel-fed in-mould labeling label auto-feeding system |
| WO2018028108A1 (en) * | 2016-08-09 | 2018-02-15 | 杨志勇 | Clamping device for automatically adjusting size |
| CN107738399A (en) * | 2017-07-08 | 2018-02-27 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of automobile back door glass production line for automatically assembling |
| CN207071756U (en) * | 2017-07-14 | 2018-03-06 | 赵相雷 | A kind of welding gun feeler mechanism |
| CN208601827U (en) * | 2018-07-13 | 2019-03-15 | 苏州东昊塑胶五金有限公司 | A kind of adjustable mechanical hand |
| CN209999220U (en) * | 2019-05-14 | 2020-01-31 | 南京费杰机器人有限公司 | mechanical arm clamping mechanism of infiltration equipment |
| CN111531376A (en) * | 2020-04-18 | 2020-08-14 | 无锡易通精密机械股份有限公司 | Medical retainer profiling cutting machine and cutting process |
| CN212552770U (en) * | 2020-06-05 | 2021-02-19 | 上海乾庾智能科技有限公司 | Universal profiling fixture |
Non-Patent Citations (1)
| Title |
|---|
| 异形链条附板直线进给靠模仿形铣工装设计;余初和;叶俊勇;;机械工程师(第06期);全文 * |
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| CN113858242A (en) | 2021-12-31 |
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