CN204397899U - A kind of rotatable mechanical gripping for biological detection Automation workstation - Google Patents
A kind of rotatable mechanical gripping for biological detection Automation workstation Download PDFInfo
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- CN204397899U CN204397899U CN201420666430.2U CN201420666430U CN204397899U CN 204397899 U CN204397899 U CN 204397899U CN 201420666430 U CN201420666430 U CN 201420666430U CN 204397899 U CN204397899 U CN 204397899U
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- mechanical gripping
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Abstract
The utility model relates to a kind of rotatable mechanical packet capturing for biological detection Automation workstation and draws together keyset (1), outer cover (2), front shroud (3) and 2 manipulators (8), front shroud (3) and described outer cover (2) are connected, the front end of described manipulator (8) is stretched out from outer cover (2) bottom, it is characterized in that: also comprise the angle stepper motor (5), width stepper motor (6), carriage (16) and the guide post (18) that are all connected with it in outer cover (2); Described angle stepper motor (5) is connected with described width stepper motor (6); The rotating shaft of described angle stepper motor (5) protrudes upward outer cover (2) top and is connected with described keyset (1), and angular transducer (4) cover is connected in angle stepper motor (5) rotating shaft; Effectively overcome manipulator one end force time leverage, during clamping articles force evenly; Manipulator leading inside also can be installed a pair photoelectric sensor and judge whether have object between manipulator, improves further and captures reliability.
Description
Technical field
The utility model belongs to mechanical device field, particularly a kind of rotatable mechanical gripping for biological detection Automation workstation, is mainly used in capturing the article such as experiment apparatus.
Background technology
Along with the development in the fields such as biochemical analysis, molecular biology, environmental science, experimentation is also increasingly sophisticated, need experimental facilities can meet the requirement of high flux, high accuracy, high speed, traditional specialization, the Biochemical Analyzer of function singleness can not satisfy the demands.Occurred biological detection Automation workstation in recent years, it imitates completely and replaces manual operations, not only increases operating efficiency, can also reduce subjective error, stability checking quality.Current, biological detection Automation workstation has become one of necessary instruments of research such as carrying out life science, Biochemical Research and clinical diagnosis, is mainly used in molecular biology, immunology, drug research, biochemical test etc.The mechanical gripping follow procedure set path work under the control of the computer of biological detection Automation workstation, completes the transfer operation of various experiment apparatus, is organically linked together by modules.Therefore, manipulator is the core of whole biological detection Automation workstation, and its reliability, stability and practicality directly determine performance and the operational efficiency of work station.
Utility model content
For above-mentioned device requirement, the utility model provides a kind of rotatable mechanical gripping for biological detection Automation workstation, mechanical gripping completes rotation and opening and closing under the control of stepper motor, be applicable to require higher biological detection Automation workstation to mechanical gripping, can the effectively stability of elevator system and reliability.
The technical scheme that the utility model is taked is:
For a rotatable mechanical gripping for biological detection Automation workstation, comprise keyset, outer cover, front shroud and 2 manipulators, front shroud and outer cover are connected, and the front end of described manipulator is stretched out from outer cover bottom; The angle stepper motor, width stepper motor, carriage and the guide post that are all connected with it is also comprised in outer cover; Described angle stepper motor is connected with width stepper motor; Angle stepping motor rotating shaft protrudes upward outer cover top and is connected with described keyset, and angular transducer cover is connected on angle stepping motor rotating shaft; Width stepping motor rotating shaft is connected with cam downwards, and described cam rotates in the horizontal direction with width stepping motor rotating shaft; The sliding pair rectilinear motion in the horizontal direction of described carriage, 2 manipulators are arranged in 2 independent slide pairs respectively; Described guide post is connected with 2 manipulator self-lubricatings, and guide post two ends apply pressure in opposite directions to 2 manipulators, has a fixed contact point to contact with flank of cam respectively, be clipped in the middle by described cam in the horizontal direction inside 2 manipulators; Because cam has long and short axle, under the promotion that manipulator rotates at cam, produce horizontal direction linear slide, the change of 2 manipulator distances forms opening and closing action;
Preferably, the described fixed contact point that manipulator connects with cam is arc convex;
Preferably, described guide post two ends are equipped with cushion block, regulating spring and adjustable cushion block from inside to outside respectively, and guide post two ends are by described cushion block extrusion machinery hand;
Preferably, limited block is equipped with in described manipulator upper end, and path arranges limit sensors to limited block, when limit sensors detects limited block, controls width stepper motor and stops, cam is stopped operating;
Further preferred, described limit sensors position be manipulator A/F maximum time the position that arrives of limited block;
Preferably, described manipulator leading inside is equipped with a pair photoelectric sensor, in order to detect between manipulator whether have object;
Preferably, described manipulator front end connects mechanical finger by connecting rod;
Preferred further, rubber bullet pad is housed inside described mechanical finger;
Preferred further, there is alignment pin the connecting rod both sides on described mechanical finger, and manipulator correspondence position has locating hole; Locating hole diameter is slightly larger than alignment pin, and alignment pin inserts in locating hole and forms matched in clearance, and mechanical finger is that axle can carry out angle adjustment with connecting rod;
Preferably, described angle stepper motor and width stepper motor adopt high pulling torque thin electric motor, can effectively reduce height and the volume of mechanical gripping entirety, reduce the working strength of manipulator.
Technical solutions of the utility model have the following advantages:
1. the utility model structure is simple, and strong adaptability, can be used for the experiment apparatus that gripping is dissimilar;
2. the utility model mechanical gripping can rotate freely at horizontal plane, and manipulator is connected with guide post and horizontal slip device, can adjusting position in the horizontal direction, expands the working range of mechanical gripping, make the folding of mechanical gripping more steadily, reliable;
3. the utility model is by regulating the degree of tightness of adjustable cushion block control spring, make arc convex inside manipulator all the time with cam contact, the equipment that simplifies is installed and is regulated;
4. the rubber bullet pad inside the utility model mechanical finger and article contacts, mechanical finger is connected with manipulator by connecting rod, the stress point of mechanical finger is positioned in the middle part of mechanical finger all the time, effectively can overcome the leverage during force of manipulator one end, force during clamping articles evenly, stability when improve pick-and-place article and reliability;
5. the utility model utilizes a pair photoelectric sensor inside manipulator to judge whether have object between manipulator, further increases the reliability of pick-and-place article.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of the utility model mechanical gripping band outer cover;
Fig. 2 is the three-dimensional structure diagram after the utility model mechanical gripping removes outer cover;
Fig. 3 is the utility model mechanical gripping working state schematic representation.
Wherein:
1. keyset, 2. outer cover, 3. front shroud, 4. angular transducer, 5. angle stepper motor, 6. width stepper motor, 7. cam, 8. manipulator, 9. photoelectric sensor, 10. connecting rod, 11. alignment pins, 12. rubber bullet pads, 13. mechanical fingers, 14. limit sensors, 15. limited blocks, 16. carriages, 17. adjustable cushion blocks, 18. guide posts, 19. regulating springs, 20. cushion blocks, A. locating hole, B. arc convex.
Detailed description of the invention
Below in conjunction with accompanying drawing, by embodiment, technical solutions of the utility model are described further.
As shown in Figure 1, 2, in embodiment, outer cover 2, front shroud 3, angle stepper motor 5, width stepper motor 6, carriage 16 and guide post 18 are bolted to connection, the axle of angle stepper motor 5 is fixed on keyset 1, and is used for by keyset 1 docking with the mechanical arm of Automation workstation; Angular transducer 4 is fixed on above angle stepper motor 5, and cam 7 selects ellipse, is fixed on the axle of width stepper motor 6, during width stepper motor 6 axis of rotation, and cam 7 coaxial rotation; 2 manipulators 8 are arranged on 2 sliding pairs of carriage 16, and guide post 18 is slidably socketed through 2 manipulators 8 and manipulator 8; Guide post 18 two ends are equipped with cushion block 20, regulating spring 19 and adjustable cushion block 17 from inside to outside respectively, by regulating adjustable cushion block 17, to the inside hold-down manipulator 8 make inner side arc convex B all the time with cam 7 contacts side surfaces; Limited block 15 is equipped with in manipulator 8 upper end, and when manipulator 8 A/Fs are maximum, limited block 15 reaches the limit of position, in this position, limit sensors 14 is housed; A pair photoelectric sensor 9 is equipped with near the inner side of mechanical finger 13 in manipulator 8 front end, whether have object between inspecting manipuator, if object do not detected, mechanical gripping can not carry out grasping movement, if object surprisingly drops in gripping process, mechanical gripping control program can return mistake and report to the police; Manipulator 8 is connected with mechanical finger 13 by connecting rod 10, mechanical finger 13 upper connecting rod 10 both sides have two alignment pins 11 respectively, manipulator 8 correspondence position there are two locating hole A, the diameter of locating hole A is equipped with two rubber bullet pads 12 respectively slightly larger than inside alignment pin 11, two mechanical finger 13 on mechanical finger 13.
In embodiment, keyset 1, outer cover 2, front shroud 3, cam 7, manipulator 8, mechanical finger 13 and guide post 18 adopt antifriction metal (AFM) material; Outer cover 2, front shroud 3 adopt aluminium alloy plate to make, keyset 1, guide post 18, manipulator 8, mechanical finger 13 adopt stainless steel to make, guide post 18 carries out surface treatment, make its smooth surface, manipulator 8 carries out self-lubrication treatment with the junction of guide post 18, is convenient to manipulator 8 and slides on guide post 18; There is screw thread at guide post 18 two ends, match with the internal thread of adjustable cushion block 17; Carriage 16 adopts alloy line slideway, angle stepper motor 5 and width stepper motor 6 all adopt the thin electric motor of high pulling torque, and oval cam 7 uses alloy material to make, and surface treatment is carried out in side, guarantee that cam 7 is smooth with the contact surface of manipulator 8, be convenient to promotion robot 8 and move.
Fig. 3 illustrates the duty of the utility model mechanical gripping.Upper figure in Fig. 3 represent when oval cam 7 turn to major axis contact with arc convex B time, manipulator 8 be in A/F maximum time state, now limited block 15 moves to limit sensors 14 place, and oval cam 7 stops operating, and mechanical gripping is open mode.Figure below illustrates when oval cam 7 minor axis contacts with arc convex B, and manipulator 8 A/F is minimum, and mechanical gripping is seized condition.
Should understand; above-described embodiment is only for illustrating technical conceive of the present utility model and feature; its object is to understand content of the present utility model for those skilled in the art and implement according to this, not detailed description of the invention is exhaustive, can not limit protection domain of the present utility model with this.Allly modify according to technical scheme of the present utility model or equivalent to replace, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (10)
1. the rotatable mechanical gripping for biological detection Automation workstation, comprise keyset (1), outer cover (2), front shroud (3) and 2 manipulators (8), front shroud (3) and described outer cover (2) are connected, the front end of described manipulator (8) is stretched out from outer cover (2) bottom, it is characterized in that:
The angle stepper motor (5), width stepper motor (6), carriage (16) and the guide post (18) that are all connected with it is also comprised in outer cover (2); Described angle stepper motor (5) is connected with described width stepper motor (6); The rotating shaft of described angle stepper motor (5) protrudes upward outer cover (2) top and is connected with described keyset (1), and angular transducer (4) cover is connected in angle stepper motor (5) rotating shaft; The rotating shaft of described width stepper motor (6) is connected with cam (7) downwards, and described cam (7) rotates in the horizontal direction with width stepper motor (6) rotating shaft; The sliding pair rectilinear motion in the horizontal direction of described carriage (16), 2 manipulators (8) are arranged in 2 independent slide pairs respectively; Described guide post (18) stage casing is connected with the self-lubricating of 2 manipulators (8), guide post (18) two ends apply pressure in opposite directions to 2 manipulators (8), 2 manipulator (8) inner sides have a fixed contact point and cam (7) contacts side surfaces respectively, are clipped in the middle by described cam (7) in the horizontal direction.
2. the rotatable mechanical gripping for biological detection Automation workstation according to claim 1, is characterized in that: the described fixed contact point that described manipulator (8) connects with described cam (7) is arc convex (B).
3. the rotatable mechanical gripping for biological detection Automation workstation according to claim 1, it is characterized in that: described guide post (18) two ends are equipped with cushion block (20), regulating spring (19) and adjustable cushion block (17) from inside to outside respectively, described cushion block (20) extrusion machinery hand (8).
4. the rotatable mechanical gripping for biological detection Automation workstation according to claim 1, it is characterized in that: limited block (15) is equipped with in described manipulator (8) upper end, described limited block (15) mobile route is arranged limit sensors (14).
5. the rotatable mechanical gripping for biological detection Automation workstation according to claim 4, is characterized in that: described limit sensors (14) position be manipulator (8) A/F maximum time limited block (15) position.
6. the rotatable mechanical gripping for biological detection Automation workstation according to any one of claim 1 to 5, is characterized in that: described manipulator (8) leading inside is equipped with a pair photoelectric sensor (9).
7. the rotatable mechanical gripping for biological detection Automation workstation according to any one of claim 1 to 5, is characterized in that: described manipulator (8) front end connects mechanical finger (13) by connecting rod (10).
8. the rotatable mechanical gripping for biological detection Automation workstation according to claim 7, is characterized in that: rubber bullet pad (12) is equipped with in described mechanical finger (13) inner side.
9. the rotatable mechanical gripping for biological detection Automation workstation according to claim 7, it is characterized in that: there is alignment pin (11) connecting rod (10) both sides on described mechanical finger (13), and described manipulator (8) correspondence position has locating hole (A); Described alignment pin (11) inserts in locating hole (A) and forms matched in clearance.
10. the rotatable mechanical gripping for biological detection Automation workstation according to any one of claim 1 to 5, is characterized in that: described angle stepper motor (5) and described width stepper motor (6) adopt high pulling torque thin electric motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420666430.2U CN204397899U (en) | 2014-11-10 | 2014-11-10 | A kind of rotatable mechanical gripping for biological detection Automation workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420666430.2U CN204397899U (en) | 2014-11-10 | 2014-11-10 | A kind of rotatable mechanical gripping for biological detection Automation workstation |
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| Publication Number | Publication Date |
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| CN204397899U true CN204397899U (en) | 2015-06-17 |
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| CN201420666430.2U Active CN204397899U (en) | 2014-11-10 | 2014-11-10 | A kind of rotatable mechanical gripping for biological detection Automation workstation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959930A (en) * | 2015-06-23 | 2015-10-07 | 苏州柏德纳科技有限公司 | Light workpiece grabbing clamp |
| CN105058358A (en) * | 2015-08-17 | 2015-11-18 | 苏州速腾电子科技有限公司 | Simple pickup device |
| CN106002997A (en) * | 2016-06-27 | 2016-10-12 | 深圳市亚辉龙生物科技股份有限公司 | Object grabbing device |
| CN108127679A (en) * | 2017-12-29 | 2018-06-08 | 苏州镒升机器人科技有限公司 | Linear motor type sheet material toter |
| CN108408399A (en) * | 2018-04-18 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of turnover box intelligence pickup robot paw |
| CN108582137A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of Dual-motors Driving |
-
2014
- 2014-11-10 CN CN201420666430.2U patent/CN204397899U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959930A (en) * | 2015-06-23 | 2015-10-07 | 苏州柏德纳科技有限公司 | Light workpiece grabbing clamp |
| CN105058358A (en) * | 2015-08-17 | 2015-11-18 | 苏州速腾电子科技有限公司 | Simple pickup device |
| CN106002997A (en) * | 2016-06-27 | 2016-10-12 | 深圳市亚辉龙生物科技股份有限公司 | Object grabbing device |
| CN106002997B (en) * | 2016-06-27 | 2018-04-20 | 深圳市亚辉龙生物科技股份有限公司 | Device for grasping bodies |
| CN108127679A (en) * | 2017-12-29 | 2018-06-08 | 苏州镒升机器人科技有限公司 | Linear motor type sheet material toter |
| CN108582137A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of Dual-motors Driving |
| CN108408399A (en) * | 2018-04-18 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of turnover box intelligence pickup robot paw |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171106 Address after: 210038 Jiangsu city of Nanjing province Nanjing economic and Technological Development Zone No. 12 Chong Xing Ke Lu base room 207 Patentee after: Nanjing Colbert Medical Technology Co Ltd Address before: 210038 Jiangsu city of Nanjing province and the economic and Technological Development Zone Road No. 18 Patentee before: Naijing Zhongke Shenguang Technology Co., Ltd. |
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| TR01 | Transfer of patent right |