CN206733041U - A kind of gripper equipment - Google Patents
A kind of gripper equipment Download PDFInfo
- Publication number
- CN206733041U CN206733041U CN201720571783.8U CN201720571783U CN206733041U CN 206733041 U CN206733041 U CN 206733041U CN 201720571783 U CN201720571783 U CN 201720571783U CN 206733041 U CN206733041 U CN 206733041U
- Authority
- CN
- China
- Prior art keywords
- handgrip
- finger
- motor
- swing arm
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of gripper equipment, including handgrip seat, handgrip body and control panel, handgrip seat is provided with the rotary shaft for rotating and lifting, and handgrip body is fixed on the upper end of the rotary shaft, and the control panel is on handgrip seat or handgrip body；Rotary shaft is connected with the first stepper motor and driven by the first stepper motor by the first transmission mechanism to be rotated, and rotary shaft is connected with the second stepper motor and driven by the second stepper motor and lifted by the second transmission mechanism；Handgrip body includes mechanical gripper, swing arm, handgrip motor, and swing arm is fixedly connected with the upper end of rotary shaft, and for handgrip motor in swing arm, mechanical gripper is in swing arm and is connected by the 3rd transmission mechanism with handgrip motor and drives work by handgrip motor；First stepper motor, the second stepper motor and handgrip motor control work by control panel.The utility model positioning precision is higher, fault-tolerant ability is strong, service life length, has automatic discrimination to grab cup, falls the malfunctions such as cup, crawl is flexible.
Description
Technical field
The transporter for being used for automated analysis equipment in medical instruments field is the utility model is related to, is related to a kind of handgrip
Device.
Background technology
In the medical field, simple to operate, reliable automatical analysis instrument is the trend of industry development, is immunized and divides
The automatic transfer of analysis reaction cup is workflow essential in the work of automatical analysis instrument.It there are on the market at present more
Kind of reaction cup crawl transfer device, such as using plunger type gripper equipment, using magnet roll shaft clamping rotating shaft formula, utilize cam folding
Finger-type of clamping etc.；By linear motion, gland in reaction cup outer wall, utilizes finger part to plunger gripper equipment by force
Object is clamped generation frictional force and catches reaction cup by flexural deformation, and its elastic finger will produce Relative friction with reaction cup for a long time,
Wherein the limitation life-span of finger part receipts material property is not long and can produce abrasion；Magnet roll shaft clamping rotating shaft formula and cam are opened
Because the big roll shaft of frictional force and cam are easy to wear in the tight finger-type of co-clip, and have that the one very big i.e. precision of common defects is not high,
So swing arm leading portion added many supplementary structures help to position with security protection and driving source such as motor or magnet, result in
Whole device swing arm quality is big, center of gravity is remote from spindle central, rotary inertia (J=m*r2) and torque have it is very big, so as to increase
The difficulty of control and reduce its exploitation speed.
Utility model content
The purpose of this utility model is to provide a kind of gripper equipment.Solve the short life and precision of existing gripper equipment
The problem of low.
To achieve these goals, the technical solution adopted in the utility model is as follows：
A kind of gripper equipment, including handgrip seat, handgrip body and control panel, the handgrip seat, which is provided with, to be rotated and lifts
Rotary shaft, handgrip body is fixed on the upper end of the rotary shaft, and the control panel is on handgrip seat or handgrip body；Rotary shaft
It is connected with the first stepper motor by the first transmission mechanism and is driven by the first stepper motor and rotate, rotary shaft passes through the second transmission
Mechanism is connected with the second stepper motor and driven by the second stepper motor and lifted；The handgrip body include mechanical gripper, swing arm,
Handgrip motor, the swing arm are fixedly connected with the upper end of rotary shaft, and handgrip motor is in swing arm, and mechanical gripper is in swing arm
And it is connected by the 3rd transmission mechanism with handgrip motor and work is driven by handgrip motor；The handgrip motor is controlled by control panel
Work.
The utility model by can the handgrip body of automatic lifting and rotation realize automatic crawl, pass through stepper motor work
Make, positioning precision is higher, service life length.Handgrip body can realize independent crawl, the function of decontroling.
Specifically, the handgrip seat includes riser and the transverse slat located at riser upper end, and rotary shaft extends through horizontal stroke along riser
Plate is simultaneously fixedly connected with handgrip body, and the first stepper motor and the second stepper motor are both secured on handgrip seat；Described first passes
Motivation structure includes the first motor wheel, the first timing belt, the first synchronous pulley, and the first motor wheel is connected to the defeated of the first stepper motor
On shaft, the first synchronous pulley is connected in rotary shaft；Second transmission mechanism include the second motor wheel, the second timing belt,
Second synchronous pulley, the second motor wheel are connected on the output shaft of the second stepper motor, and the second synchronous pulley is located on riser simultaneously
Above or below the second motor wheel, the lower end of rotary shaft is then connected on the second timing belt by connector.
Further, the mechanical gripper includes left hinge axis, main shaft, thumb wheel, support wheel, finger, the finger right side, fixed bullet
Spring, mutually draw spring；The finger left side, the finger right side are hingedly coupled to the lower section of swing arm by hinge axis, and support wheel is two, respectively
Located at a finger left side and finger upper right；Thumb wheel is connected to one end of main shaft, thumb wheel respectively against the support wheel that finger is left, finger is right,
The other end of main shaft is connected with the 3rd transmission mechanism through swing arm and drives work by it；Finger is left and the free end of finger passes through
Mutually spring is drawn to link together；The left free end of finger and swing arm are also linked together by fixed spring, and the thumb wheel is located at
Between hinge connection end and free end.
Further, the thumb wheel is axially symmetric structure of the section in class ellipse.Pushed up respectively by long side by rotating
A finger left side, the finger right side are strutted on the support wheel that finger is left, finger is right, in the case of reaction cup is not pressed from both sides, support wheel and thumb wheel begin
Terminating, which is touched and had, mutually draws spring tension pretension.
As a kind of preferred structure, the finger is left and the finger right side includes supporting part and crawl section, and crawl section is located at certainly
By holding end, the crawl section that finger is left and finger is right is the arcuate structure to cooperate, and the arc of the crawl section is a diameter of
R4.1-R5, arc height D are be crawled thing radius 1/2~3/4.
Yet further, spacer and self-locking nut are socketed with the hinge axis, by self-locking nut lock finger it is left and
Finger is right, and the main shaft is fixed in swing arm by axle sleeve.
In order to realize that the automatic detection function of handgrip body, including automatic discrimination grab cup, fall the malfunctions such as cup, the machine
Tool handgrip also includes opening and closing sensing chip, opening and closing sensor, handgrip sensor, the handgrip sensing chip being connected with control panel；It is described to open
Sensing chip is closed on the 3rd transmission mechanism, opening and closing sensor is fixed in swing arm and near opening and closing sensing chip；It is described to grab
Hand sensor, handgrip sensing chip are respectively arranged on the free end end that finger is left and finger is right.Handgrip finger does not produce with reaction cup
Relative motion, avoids that reaction cup hidden danger and additional wear, the fault-tolerant ability such as damage, scratch occur strong.
Yet further, the 3rd transmission mechanism includes handgrip driving wheel, handgrip timing belt, handgrip execution belt wheel, grabs
Torch machine is fixed on swing arm one end, and the end is connected on the output shaft of handgrip motor close to rotary shaft, handgrip driving wheel, and handgrip is held
Row belt wheel is located at swing arm other end, and the end performs belt wheel and be connected away from rotary shaft, main shaft and the handgrip of mechanical gripper.
In addition, first stepper motor is the motor with 1000 indexing encoders.Improve the precision of gripper equipment.
Compared with prior art, the utility model has the advantages that：
The utility model is directly captured reaction cup, and lifted by handgrip seat by a finger left side, the finger right side of handgrip body
With rotate handgrip body, in this way, realizing the automatic crawl and transfer of reaction cup；During cup is grabbed, because finger is left, finger
The right side is stainless steel part, and self-strength is enough, there is provided power is all spring, is independent of outside influences, and reaction cup of getting along well produces any phase
To sliding, avoid the occurrence of reaction cup and the hidden danger such as damage, scratch；Simultaneously positioning used in pulling force and clamp reaction cup pulling force spring
Separate, there is certain space when clamping reaction cup again, therefore gripper equipment also can be adjusted voluntarily in the case of positioning precision is not high,
So gripper equipment just has very big reinforcement to the fault-tolerant ability of deviations；Handgrip motor and mechanical gripper separate, middle
By handgrip synchronization band connection, the rotary inertia of such swing arm greatly reduces, and positioning precision greatly improves.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model-embodiment.
Fig. 2 is the dimensional structure diagram of the utility model-embodiment handgrip body.
Fig. 3 is the sectional view of the utility model-embodiment mechanical gripper.
Fig. 4 is the top view after the utility model-embodiment mechanical gripper is splitted.
Fig. 5 is the right dimensional structure diagram of the utility model-embodiment finger.
Fig. 6 is the profile that the utility model-embodiment closes up crawl section.
Fig. 7 is that the stereochemical structure that the utility model-embodiment mechanical gripper thumb wheel is opened when finger is left and finger is right is illustrated
Figure.
Fig. 8 is the dimensional structure diagram of the utility model-embodiment handgrip seat.
Wherein, the title corresponding to reference：
1- handgrip bodies, 11- mechanical grippers, 102- swing arms, 103- wire guide fixed plates, 104- handgrip motors, 106-
Handgrip driving wheel, 107- handgrip timing belts, 108- handgrips execution belt wheel, 109- hinge axis, 110- spacers, 111- self-locking nuts,
113- is opened and closed sensing chip, 114- opening and closing sensors, 115- axle sleeves, 116- main shafts, 117- thumb wheels, 118- support wheels, 119- fingers
A left side, 120- fingers are right, 121- fixed springs, 122- handgrip sensors, 123- handgrip sensing chips, and 124- mutually draws spring, and 125- is anti-
Answer cup, 126- hinge shaft holes, 2- handgrip seats, 3- rotary shafts, the stepper motors of 4- first, the motor wheels of 401- first, 402- first is same
Step band, the synchronous pulleys of 403- first, the stepper motors of 5- second, the motor wheels of 501- second, the timing belts of 502- second, 503- second are same
Walk belt wheel, 504- connectors, 6- control panels.
Embodiment
With reference to embodiment and accompanying drawing, the utility model is described in further detail, and embodiment of the present utility model includes
But it is not limited to the following example.
Embodiment
A kind of gripper equipment, the gripper equipment are arranged in biochemical analyzer, for capturing and transfer reaction cup.
Gripper equipment includes handgrip body 1, handgrip seat 2, and handgrip seat 2 is provided with rotary shaft 3, and the rotary shaft 3 can be in handgrip
Rotated on seat 2 and lifting, handgrip body 1 are located at the upper end of the rotary shaft 3, the present embodiment, rotary shaft 3 is hollow splined shaft, is grabbed
Hand body 1 is rotated and lifted by the hollow splined shaft to realize its motion and positioning.
Wherein, the rotation of rotary shaft 3 is controlled by first stepper motor 4 with high-precision encoder, and is led to
Big speed ratio is crossed to realize precise positioning；The lifting of rotary shaft 3 is controlled by the second stepper motor 5.
As shown in Fig. 1,8, handgrip seat 2 includes riser and the transverse slat located at riser upper end, and rotary shaft 3 extends through along riser
Transverse slat is simultaneously fixedly connected with handgrip body 1.First stepper motor 4 is fixed on handgrip seat, and the output shaft of the first stepper motor 4 connects
The first transmission mechanism is connected to, first transmission mechanism includes the first motor wheel 401, the first timing belt 402, the first synchronous pulley
403, the first motor wheel 401 is connected on the output shaft of the first stepper motor 4, and the first synchronous pulley 403 is connected to rotary shaft 3
On.
In the present embodiment, the first transmission mechanism is located above transverse slat.
Second stepper motor 5 is fixed on handgrip seat, and the output shaft of the second stepper motor 5 is connected with the second transmission mechanism,
Second transmission mechanism includes the second motor wheel 501, the second timing belt 502, the second synchronous pulley 503, and the second motor wheel 501 connects
It is connected on the output shaft of the second stepper motor 5, the second synchronous pulley 503 is on riser and positioned at the upper of the second motor wheel 501
Side or lower section, the lower end of rotary shaft 3 are then connected on the second timing belt 502 by connector 504, and rotary shaft 3 follows second same
The motion of step band 502 moves up and down.
In order that the elevating movement of rotary shaft 3 is more stable, the vertical axis of guide is additionally provided with riser, correspondingly,
Connector 504 is provided with the guide bearing being slidably coupled to outside the axis of guide.
As shown in Fig. 2 handgrip body 1 includes mechanical gripper 11, swing arm 102, the 3rd transmission mechanism, wire guide fixed plate
103rd, handgrip motor 104, control panel 6, swing arm 102 are provided with the connecting hole for being used for being connected with rotary shaft 3.
Specifically, the 3rd transmission mechanism includes handgrip driving wheel 106, handgrip timing belt 107, handgrip execution belt wheel 108, grabs
Hand driving wheel 106 is fixed on the one end of swing arm 102, and the end is connected to handgrip close to connecting hole, handgrip driving wheel 106 by fastener
On the output shaft of motor 104, handgrip performs belt wheel 108 and is located at the other end of swing arm 102, and the end is away from connecting hole, mechanical gripper 11
In swing arm 102 and perform belt wheel 108 with handgrip to be connected, control panel 6 is located at the downside of swing arm 102, wire guide fixed plate
103 located at the upside of swing arm 102 and between handgrip timing belt 107, and the electric wire of control panel 6 passes through swing arm 102, is led by electric wire
Guide to fixed plate 103 and passed through among the 3rd transmission mechanism, lead to rotary shaft through the top of handgrip driving wheel 106.
As shown in Figure 3,4, mechanical gripper 11 includes hinge axis 109, spacer 110, self-locking nut 111, opening and closing sensing chip
113rd, sensor 114, axle sleeve 115, main shaft 116, thumb wheel 117, support wheel 118, a finger left side 119, the finger right side 120, fixation are opened and closed
Spring 121, handgrip sensor 122, mutually handgrip sensing chip 123, drawing spring 124.
Wherein, a finger left side 119, the finger right side 120 are hingedly coupled to the lower section of swing arm 102 by hinge axis 109, correspondingly,
Hinge shaft hole 126 is equipped with a finger left side 119, the finger right side 120 and swing arm 102, spacer 110 and self-locking nut 111 are socketed on
On hinge axis 109, a finger left side 119 and the finger right side 120 are locked by self-locking nut 111.
Main shaft 116 is parallel with hinge axis 109, and the one end of main shaft 116 is connected with thumb wheel 117 by pin, and the other end passes through axle
Set 115 performs belt wheel 108 with handgrip after being pinned with back-up ring and opening and closing sensing chip 113 is connected, and axle sleeve 115 is fixed under swing arm 102
Side, main shaft 116, thumb wheel 117, handgrip perform belt wheel 108, opening and closing sensing chip 113 realizes synchronous axial system.
Opening and closing sensor 114 is connected by connecting plate with swing arm 102, and opening and closing sensor 114 is opened and closed sensing chip by sensing
113 rotation differentiates a mechanical finger left side 119 and right 120 foldings of finger；Handgrip sensor 122 is grabbed located at left 119 ends of finger
Hand sensing chip 123 judges whether to grab located at right 120 ends of finger, handgrip sensor 122 by the position of handgrip sensing chip 123
There is reaction cup 125；Handgrip sensor 122 is sensed less than handgrip sensing chip 123, handgrip sensor 122 when having grabbed reaction cup 125
Handgrip sensing chip 123 is sensed when not grabbed reaction cup 125.
Support wheel 118, and oneself of a finger left side 119 and the finger right side 120 are respectively equipped with a finger left side 119 and the finger right side 120
By end by mutually drawing spring 124 to link together, the free end is the position end of opposite from hinge connection end, fixed spring 121
One end connection finger left side 119, other end connection swing arm 102, thumb wheel 117 is axially symmetric structure of the section in class ellipse, is passed through
Rotation is withstood on the support wheel 118 on a finger left side 119, the finger right side 120 respectively by long side struts a finger left side 119, the finger right side 120；
In the case of not clamping reaction cup, support wheel 118 and thumb wheel 117 contact all the time；When accompanying reaction cup, pass through fixed spring 121
The support wheel 118 on a finger left side 119 and thumb wheel 117 are brought into close contact, and the support wheel 118 on the finger right side 120 will be with thumb wheel 117
Disengage, and clamping force is kept in the presence of spring 124 is mutually drawn.
As shown in Figure 5,6, a finger left side 119 and the finger right side 120 are used in conjunction with each other, and a finger left side 119 and the finger right side 120 are wrapped
Include supporting part a and crawl section b, the crawl section b on a finger left side 119 and the finger right side 120 be arc, finger left 119 and the finger right side 120
Crawl section b cooperates and clamps reaction cup 125, a diameter of 8.1~10mm that crawl section b contacts with reaction cup 125, crawl section b
Arc height D be the radius of reaction cup 125 1/2~3/4.A finger left side 119 and the finger right side 120 use stainless steel, ensure one
Fixed mechanical strength.
As shown in fig. 7, thumb wheel 117 is withstood on the support wheel 118 on a finger left side 119, the finger right side 120 by rotating respectively by long side
On strut a finger left side 119, the finger right side 120, in the case where not clamping reaction cup 125, support wheel 118 and thumb wheel 117 connect all the time
Touch and have spring force pretension.
It is described in detail with reference to the operation principle of crawls of the Fig. 1 to Fig. 8 to each parts of handgrip body 1, such as
Under degree of rotation be the long side of thumb wheel 117 and swing arm 102 is rectangular is upwardly formed angle.
The gripper equipment course of work：After the hollow splined shaft of handgrip seat 2 rises to specified location with handgrip body 1, after
It is continuous to drive hollow splined shaft to be rotated with handgrip body 1 to specified location by the first stepper motor 4 with high-precision encoder.
Reach after specifying crawl position, control panel 6 sends control signal and passes through company to handgrip motor 104, handgrip motor 104
The transmission mechanism connect realizes that handgrip timing belt 107 and handgrip perform belt wheel 108, opening and closing sensing chip 113, thumb wheel 117 and keep synchronous
Rotate；Under the driving of handgrip motor 104, a finger left side 119, finger are opened in the top of thumb wheel 117 when handgrip driving wheel 106 rotates 10~30 degree
The support wheel 118 on the right side 120, handgrip sensor 122 and handgrip sensing chip 123 with a finger left side 119, the finger right side 120 opening and
Separate, handgrip sensor 122 sends a signal to control panel 6, allows control panel 6 to know that mechanical gripper 11 has begun to open；Grabbing
When hand driving wheel 106 is rotated to 85~95 degree, opening and closing sensor 114 senses opening and closing sensing chip 113, and opening and closing sensor 114 is sent out
The number of delivering letters gives control panel 6, and control panel 6 knows that mechanical gripper 11 is opened completely；If control panel 6 persistently provides 200 pulses
Fail to receive the opening and closing signal of sensor 114 after signal, then can be stopped and report an error.
Under the full open position of mechanical gripper 11, the hollow splined shaft of handgrip seat 2 drops to specified with handgrip body 1
Position.
After handgrip body 1 drops to specified location, control panel 6 sends control signal to handgrip motor 104, handgrip motor
104 drive thumb wheel 117 to rotate by transmission mechanism 5, and opening and closing sensor 114 senses that opening and closing sensing chip 113 leaves, and sends at once
For signal to control panel 6, control panel 6 knows that mechanical gripper 11 has begun to close, and a finger left side 119, the finger right side 120 are with thumb wheel
117 rotate and are closed to minimum position, i.e., a finger left side 119, the support wheel 118 on the finger right side 120 are fully pressed against the most short side of thumb wheel 117
On, long side and the length direction of swing arm 102 of thumb wheel 117 are in -5~5 degree of angles, and handgrip sensor 122 and handgrip sensing chip 123 close completely
Hold together and send a signal to control panel 6, fail to catch reaction cup 125；Otherwise leave opening and closing sensor 114 in opening and closing sensing chip 113
Afterwards, when thumb wheel 117 turns to 30~45 degree, a finger left side 119, the finger right side 120 are in the case where mutually drawing the pulling force of spring 124 with thumb wheel 117
Rotation is closed up to centre position and just no longer closed up because clamping reaction cup 125, as thumb wheel 117 rotates, the branch on the finger right side 120
Support wheel 118 slowly leaves thumb wheel 117, and a finger left side 119 in the presence of fixed spring 121 its be close to thumb wheel 117 all the time, because of hand
A finger left side 119, the finger right side 120, which are sandwiched between reaction cup 125, causes handgrip sensor 122 to sense all the time less than opening and closing sensing chip 113,
It can not be signaled to control panel 6, when thumb wheel 117 goes to long side and the length direction of swing arm 102 is in -5~5 degree of angles, handgrip sensor
122 still do not have feedback signal, that is, represent to have clamped reaction cup 125.
When handgrip body 1 catches reaction cup 125, the hollow splined shaft of handgrip seat 2 rises to specified with handgrip body 1
Position, if having in the axis of uphill process reaction cup 125 and a finger left side 119, right 120 axis of finger 0.5 or so it is inclined
Difference, handgrip body 1 can suitably be adjusted with the gap between thumb wheel 117 and the support wheel on a finger left side 119 118；The band of handgrip seat 2
And rise to specified location, handgrip body 1, which rotates to, needs position；Specified altitude assignment is dropped to again.
After the handgrip seat 2 for grabbing reaction cup 125 drops to specified altitude assignment, control panel 6 sends control signal and gives handgrip electricity
Machine 104；Thumb wheel 117, which rotates, opens a finger left side 119, the finger right side 120, and control panel 6 receives opening and closing sensor 114 and senses opening and closing
The signal of sensing chip 113, that is, confirm that a finger left side 119, the finger right side 120 are opened.
After the handgrip body 1 of opening rises to specified altitude assignment by handgrip seat 2, control panel 6 sends signal control handgrip electricity
Machine 104, which is rotated to a finger left side 119, the finger right side 120, to be closed up, and handgrip sensor 122 and handgrip sensing chip 123 fully come together and sent
Signal completes the whole workflow for capturing, shifting to control panel 6.
According to above-described embodiment, the utility model can be realized well.What deserves to be explained is based on said structure design
On the premise of, to solve same technical problem, some made on the utility model are without substantial change or profit
Color, the essence of used technical scheme is still as the utility model, therefore it should also be as in protection model of the present utility model
In enclosing.
Claims (10)
1. a kind of gripper equipment, it is characterised in that including handgrip seat (2), handgrip body (1) and control panel (6), the handgrip seat
(2) rotary shaft (3) for rotating and lifting is provided with, handgrip body (1) is fixed on the upper end of the rotary shaft (3), the control
Plate (6) is on handgrip seat (2) or handgrip body (1)；
Rotary shaft (3) is connected with the first stepper motor (4) and driven by the first stepper motor (4) by the first transmission mechanism revolves
Turn, rotary shaft (3) is connected with the second stepper motor (5) and driven by the second stepper motor (5) and lifted by the second transmission mechanism；
The handgrip body (1) includes mechanical gripper (11), swing arm (102), handgrip motor (104), the swing arm (102) and rotation
The upper end of rotating shaft (3) is fixedly connected, and for handgrip motor (104) in the swing arm, mechanical gripper (11) is in swing arm and passes through the
Three transmission mechanisms are connected with handgrip motor (104) and drive work by handgrip motor (104)；
The handgrip motor (104) controls work by control panel (6).
2. a kind of gripper equipment according to claim 1, it is characterised in that the handgrip seat (2) includes riser and is located at
The transverse slat of riser upper end, rotary shaft (3) extend through transverse slat along riser and are fixedly connected with handgrip body (1), the first stepping electricity
Machine (4) and the second stepper motor (5) are both secured on handgrip seat；
First transmission mechanism includes the first motor wheel (401), the first timing belt (402), the first synchronous pulley (403), the
One motor wheel (401) is connected on the output shaft of the first stepper motor (4), and the first synchronous pulley (403) is connected to rotary shaft (3)
On；
Second transmission mechanism includes the second motor wheel (501), the second timing belt (502), the second synchronous pulley (503), the
Two motor wheels (501) are connected on the output shaft of the second stepper motor (5), and the second synchronous pulley (503) is located on riser and position
Above or below the second motor wheel (501), the lower end of rotary shaft (3) is then connected to second synchronously by connector (504)
On band (502).
3. a kind of gripper equipment according to claim 1, it is characterised in that the mechanical gripper (11) includes hinge axis
(109), main shaft (116), thumb wheel (117), support wheel (118), finger left (119), finger right (120), fixed spring (121),
Mutually draw spring (124)；
The finger left (119), finger right (120) are hingedly coupled to the lower section of swing arm (102), support by hinge axis (109)
It is two to take turns (118), is respectively arranged on finger left (119) and finger right (120)；
Thumb wheel (117) is connected to one end of main shaft (116), and thumb wheel (117) is respectively against finger left (119), finger right (120)
Support wheel (118), the other end of main shaft (116) are connected with the 3rd transmission mechanism through swing arm (102) and drive work by it；
A finger left side (119) and the free end of finger right (120) are by mutually drawing spring (124) to link together；A finger left side (119)
Free end and swing arm (102) are also linked together by fixed spring (121), the thumb wheel (117) be located at finger left (119) and
Between the hinge connection end and free end on the finger right side (120).
4. a kind of gripper equipment according to claim 3, it is characterised in that the thumb wheel (117) is that section is ellipse
Axially symmetric structure.
5. a kind of gripper equipment according to claim 3, it is characterised in that the finger left (119) and finger are right (120)
Include supporting part (a) and crawl section (b), crawl section (b) be located at free end end, a finger left side (119) and the finger right side (120)
Crawl section (b) is the arcuate structure to cooperate.
6. a kind of gripper equipment according to claim 5, it is characterised in that the arc of the crawl section (b) is a diameter of
R4.1-R5, arc height D are be crawled thing radius 1/2~3/4.
7. a kind of gripper equipment according to claim 3, it is characterised in that be socketed with spacer on the hinge axis (109)
(110) and self-locking nut (111), pass through self-locking nut (111) and lock finger left (119) and the finger right side (120), the main shaft
(116) it is fixed on by axle sleeve (115) in swing arm (102).
8. according to a kind of gripper equipment described in claim 3-7 any one, it is characterised in that the mechanical gripper (11) is also
Opening and closing sensing chip (113), opening and closing sensor (114), handgrip sensor (122), handgrip including being connected with control panel (6) sense
Piece (123)；
On the 3rd transmission mechanism, opening and closing sensor (114) is fixed in swing arm (102) simultaneously the opening and closing sensing chip (113)
Near opening and closing sensing chip (113)；
The handgrip sensor (122), handgrip sensing chip (123) are respectively arranged on the freedom of finger left (119) and finger right (120)
Hold end.
9. according to a kind of gripper equipment described in claim 3-7 any one, it is characterised in that the 3rd transmission mechanism bag
Include handgrip driving wheel (106), handgrip timing belt (107), handgrip and perform belt wheel (108), handgrip motor (104) is fixed on swing arm
(102) one end, the end are connected on the output shaft of handgrip motor (104) close to rotary shaft (3), handgrip driving wheel (106), handgrip
Perform belt wheel (108) and be located at swing arm (102) other end, the end away from rotary shaft (3), the main shaft (116) of mechanical gripper (11) and
Handgrip performs belt wheel (108) connection.
10. a kind of gripper equipment according to claim 1, it is characterised in that first stepper motor (4) is with volume
The motor of code device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720571783.8U CN206733041U (en) | 2017-05-22 | 2017-05-22 | A kind of gripper equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720571783.8U CN206733041U (en) | 2017-05-22 | 2017-05-22 | A kind of gripper equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206733041U true CN206733041U (en) | 2017-12-12 |
Family
ID=60567514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720571783.8U Active CN206733041U (en) | 2017-05-22 | 2017-05-22 | A kind of gripper equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206733041U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267355A (en) * | 2017-12-29 | 2018-07-10 | 迪瑞医疗科技股份有限公司 | A kind of automation oscillating uniform device |
| CN108569440A (en) * | 2018-05-20 | 2018-09-25 | 成都鸿源锦程机器人有限公司 | A kind of automatic charge slash pocket machine |
| CN108872623A (en) * | 2018-08-20 | 2018-11-23 | 长春市布拉泽医疗科技有限公司 | A kind of sampling apparatus of automatic clinical chemistry analyzer |
| CN110615277A (en) * | 2019-10-29 | 2019-12-27 | 厦门达斯自动化技术有限公司 | Automatic unloading manipulator of press and automatic unloading equipment |
| CN110774271A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Multi-angle grabbing manipulator for industrial robot |
| WO2021012108A1 (en) * | 2019-07-19 | 2021-01-28 | 深圳市大疆创新科技有限公司 | Gripper apparatus and control method therefor, and mobile device |
-
2017
- 2017-05-22 CN CN201720571783.8U patent/CN206733041U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267355A (en) * | 2017-12-29 | 2018-07-10 | 迪瑞医疗科技股份有限公司 | A kind of automation oscillating uniform device |
| CN108267355B (en) * | 2017-12-29 | 2021-01-05 | 迪瑞医疗科技股份有限公司 | Automatic change and shake even device |
| CN108569440A (en) * | 2018-05-20 | 2018-09-25 | 成都鸿源锦程机器人有限公司 | A kind of automatic charge slash pocket machine |
| CN108872623A (en) * | 2018-08-20 | 2018-11-23 | 长春市布拉泽医疗科技有限公司 | A kind of sampling apparatus of automatic clinical chemistry analyzer |
| WO2021012108A1 (en) * | 2019-07-19 | 2021-01-28 | 深圳市大疆创新科技有限公司 | Gripper apparatus and control method therefor, and mobile device |
| CN110615277A (en) * | 2019-10-29 | 2019-12-27 | 厦门达斯自动化技术有限公司 | Automatic unloading manipulator of press and automatic unloading equipment |
| CN110774271A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Multi-angle grabbing manipulator for industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206733041U (en) | A kind of gripper equipment | |
| JP6387078B2 (en) | Test tube labeling unit and test tube preparation device including the same | |
| CN206649047U (en) | Automatic enzyme immune luminescence analyzer | |
| CN110234975A (en) | For seeking measuring device, measurement component and the method for measuring signal when pressure head indentation moves in specimen surface | |
| CN209244532U (en) | A kind of quadruple board platform comb manipulator | |
| CN109650047A (en) | One kind is made up a prescription robot | |
| CN107351076A (en) | A kind of self-locking intelligent machine handgrip for high-throughput nucleic acid sample liquor removing workstation | |
| CN108621149A (en) | A kind of robot device of automatic crawl reaction cup | |
| CN107838938A (en) | A kind of robot gripper | |
| CN115128526B (en) | Rotary magnetic variation measuring equipment and measuring method for transformer substation | |
| CN105922246B (en) | A kind of babinet palletizing mechanical arm | |
| CN108423408A (en) | A kind of medicine bottle flow system | |
| CN205837922U (en) | The housing connecting gear of electronic drain valve control assembly machine | |
| CN111977589A (en) | Rotary clamping mechanism compatible with various containers and cover opening device | |
| CN104764409B (en) | A kind of phaser detection device | |
| CN206960502U (en) | A kind of sample adding device being precisely controlled | |
| CN108528558A (en) | A kind of cable climbing robot | |
| CN112027959B (en) | Lifting device and lifting rotating equipment | |
| CN211971003U (en) | Material lifting device | |
| CN114062689A (en) | Heat source detector | |
| CN208531817U (en) | It is a kind of for carrying the manipulator of cloth core | |
| CN208413141U (en) | A kind of medicine bottle flow system | |
| CN108217555A (en) | A kind of hood-opening device of sample container | |
| CN209025629U (en) | A kind of tube rod for oil well repairing operation tight shackle device automatically | |
| CN219807360U (en) | Three-dimensional transfer device for tubular luminous reaction cup |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |