CN207327014U - A kind of manipulator and contact pin apparatus, blood taking needle assembling equipment - Google Patents
A kind of manipulator and contact pin apparatus, blood taking needle assembling equipment Download PDFInfo
- Publication number
- CN207327014U CN207327014U CN201721405480.5U CN201721405480U CN207327014U CN 207327014 U CN207327014 U CN 207327014U CN 201721405480 U CN201721405480 U CN 201721405480U CN 207327014 U CN207327014 U CN 207327014U
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- China
- Prior art keywords
- clamping jaw
- manipulator
- jaw seat
- rotation axis
- kidney
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- 239000008280 blood Substances 0.000 title claims abstract description 11
- 210000004369 blood Anatomy 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 210000003734 kidney Anatomy 0.000 claims abstract description 13
- 230000006835 compression Effects 0.000 claims abstract description 7
- 238000007906 compression Methods 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
A kind of manipulator provided by the utility model, including bearing and rotation axis, clamping jaw seat, opposite opened clamping jaw, rotation axis are installed on bearing；There is kidney-shaped axis hole, clamping jaw seat is axially confined in rotation axis on clamping jaw seat；Clamping jaw is arranged on the top of clamping jaw seat；One end of kidney-shaped axis hole has kidney slot, the side of kidney slot has rack, rotation axis is equipped with the gear coordinated with rack, clamping jaw seat is equipped with spacing inserted link, bearing is equipped with limiting slot, the one side wall of limiting slot is higher than another side wall, so that limiting slot limits being rotated further for clamping jaw seat by limiting the position of spacing inserted link when clamping jaw seat turns to contact pin station, rack is located at the side opposite with the upper side wall of limiting slot, and clamping jaw seat is equipped with rotation axis elastic compression in the pressure mechanism of the bottom of kidney-shaped axis hole.So that only need control rotation axis rotation can control clamping jaw seat and clamping jaw multiple directions movement.The utility model is additionally provided assembles equipment using the contact pin apparatus and blood taking needle of the manipulator.
Description
Technical field
This application involves industrial robot field, has been specifically related to a kind of manipulator, is mainly used for material or spy
For earnest part by a certain position or azimuth transfer to another location or orientation, the main purpose which is developed is to be used for medical treatment
In apparatus production equipment, but the manipulator may be obviously used for other various fields.
In addition, the application further relates to the production equipment technology of medical instrument, it is above-mentioned more particularly to a kind of application
The contact pin apparatus of manipulator and the blood taking needle assembling equipment including the contact pin apparatus.
Background technology
, it is necessary to insert the needle into needle handle or connector in the assembling process of blood taking needle, and it is of the prior art various
The mechanism that carrying is shifted in other words is all more complicated, and the course of work is cumbersome.
Therefore it provides a kind of manipulator is skill in the art to simplify the structure of contact pin apparatus and optimize its technological process
Art personnel are badly in need of the important technological problems solved at present.
The content of the invention
The purpose of this utility model includes providing a kind of manipulator, by the manipulator can be easy by supply come pin
Head is transferred to contact pin operating point and carries out contact pin operation, and simple in structure, and workflow is short.The further object of the utility model is
A kind of contact pin apparatus including above-mentioned manipulator and the assembling equipment of the blood taking needle including the contact pin apparatus are provided.
For this reason, a kind of manipulator is the utility model is related to, including：
Bearing；
Rotation axis, is rotatably installed on the bearing；
Clamping jaw seat, has the kidney-shaped axis hole being slidably matched with the rotation axis thereon, and the clamping jaw seat is axially confined in institute
State in rotation axis；And
Opposite opened clamping jaw, arranged on the top of the clamping jaw seat；
Wherein, one end of the kidney-shaped axis hole has a kidney slot, and the side of the kidney slot has a rack, in the rotation axis
Equipped with the gear coordinated with the rack, the clamping jaw seat is equipped with spacing inserted link, and the bearing is equipped with and the spacing inserted link
The limiting slot of cooperation, and the one side wall of the limiting slot is higher than another side wall, so that the clamping jaw seat is somebody's turn to do when turning to contact pin station
Limiting slot limits being rotated further for the clamping jaw seat by limiting the position of the spacing inserted link, the rack be located at it is described
The opposite side of the upper side wall of limiting slot, the clamping jaw seat are equipped with the rotation axis elastic compression in the kidney-shaped axis hole
Bottom pressure mechanism.
Preferably, the both ends of the gear are equipped with pressure mechanism.
Preferably, the pressure mechanism is spring pressure bar structure, including rotatably be arranged on the rotation axis on bar and
The spring being sheathed on the bar and the postive stop baffle coordinated with the bar and spring, postive stop baffle are arranged on the clamping jaw seat.
Preferably, the bar is arranged in the rotation axis by rolling bearing.
Preferably, the pressure mechanism is gas spring supporting rod or air pressure bracing stick, hydraulic pressure support bar.
Preferably, either both ends are equipped with fillet or chamfering for one end of the kidney-shaped axis hole.Preferably, the kidney slot
Oral area is equipped with fillet or chamfering.
Preferably, the top of the side wall of the relatively low side of the limiting slot uses round-corner transition.
In addition, the utility model further relates to a kind of contact pin apparatus using above-mentioned manipulator.
Set in addition, the utility model further relates to a kind of blood taking needle assembling using above-mentioned blood taking needle needle point angle positioning device
It is standby.
Relative to above-mentioned background technology, the beneficial effects of the utility model approximately as.
1. a kind of manipulator that the utility model is related to, including bearing and rotation axis, clamping jaw seat, opposite opened clamping jaw, described
Rotation axis is rotatably installed on the bearing；There is the kidney-shaped axis being slidably matched with the rotation axis on the clamping jaw seat
Hole, and the clamping jaw seat is axially confined in the rotation axis；The opposite opened clamping jaw is arranged on the top of the clamping jaw seat；Wherein,
One end of the kidney-shaped axis hole has kidney slot, and the side of the kidney slot has rack, and the rotation axis is equipped with and the rack
The gear of cooperation, the clamping jaw seat are equipped with spacing inserted link, and the bearing is equipped with the limiting slot coordinated with the spacing inserted link,
And the one side wall of the limiting slot is higher than another side wall, so that the limiting slot passes through restriction when the clamping jaw seat turns to contact pin station
The position of the spacing inserted link and limit being rotated further for the clamping jaw seat, the rack is positioned at upper side with the limiting slot
The opposite side of wall, the clamping jaw seat are equipped with the rotation axis elastic compression in the forcing press of the bottom of the kidney-shaped axis hole
Structure.So that only needing to control the rotation and lifting of the i.e. controllable clamping jaw seat of rotation of rotation axis, i.e., only need to control rotation axis
Rotate the movement for the multiple directions that can control clamping jaw seat and clamping jaw.
2. a kind of contact pin apparatus that the utility model is related to, by with above-mentioned manipulator and its workflow very
It is short, and operate and/or control and is very simple, reliable.
Purpose, characteristic and the technical solution of each utility model claimed can it is common in any combination or
Independently apply.It is not necessarily required to combine all purposes or features in each technical solution.
Brief description of the drawings
Embodiment or technical solution of the prior art in order to illustrate more clearly of utility model claimed, under
Face will be briefly described attached drawing required for describing the embodiments or the prior art, it should be apparent that, describe below
In attached drawing be only some of which utility model some embodiments, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is a kind of schematic perspective view of alternative embodiment of contact pin apparatus provided herein, which illustrates its machine
Tool hand is in the state for taking pin station.
Fig. 2 is a kind of schematic perspective view of alternative embodiment of manipulator provided herein, which illustrates the machinery
Hand is in the state above contact pin station.
Fig. 3 is a kind of schematic perspective view of alternative embodiment of manipulator provided herein, which illustrates the machinery
Hand is in state during contact pin.
Fig. 4 is the partially laterally schematic diagram of the manipulator in Fig. 3.
Fig. 5 is the A-A partial cutaway schematics in Fig. 4.
Embodiment
In order to make those skilled in the art more fully understand each technical solution involved by utility model, with reference to attached
Figure and specific embodiment are described in further detail each utility model.It should be noted that in the case where there is no conflict, this
Each particular technique feature described in embodiment and embodiment in application can carry out group by any suitable means
Close；In order to avoid unnecessary repetition, various combinations of possible ways are no longer separately illustrated in the application, if its without prejudice to
The thought of utility model, it should equally be considered as content disclosed in the present application.
Shown in please referring to Fig.1, Fig. 1 is a kind of three-dimensional signal of alternative embodiment of contact pin apparatus provided herein
Figure, which illustrates its manipulator and is in the state for taking pin station.
In a kind of specific embodiment, as shown in Figure 1, there is provided a kind of contact pin apparatus, including fulcrum bearing 1 and point
Pin mechanism, manipulator, the minute hand mechanism include minute hand mounting base 1 and widening bucket 2 and minute hand disk 3, and minute hand mounting base 1 is solid
Surely it is arranged in fulcrum bearing 1, minute hand disk 3 is rotatably arranged in minute hand mounting base 1, and widening bucket 2 is fixed at minute hand mounting base
On 1, widening bucket 2 includes bucket body 21 and the backgauge arc plate 22 exported arranged on bucket body 21, spacing tiltedly splits 23；
As shown in Figure 1, it is horizontal direction that minute hand disk 3, which has a pair of parallel minute hand disk 31 and rotary centerline, this point
Multiple receiving syringe needles are evenly equipped with the circumference 32 of pin disk 31 and section is in the appearance needle tray 33 of circular arc, backgauge arc plate 22 is in bucket body 21
The center of circle of interior arc surface is overlapped with the center of rotation of minute hand disk 31, and widening bucket 2 is equipped with a pair and coordinates with minute hand disk 31
Groove 24 extend in widening bucket 2 so as to hold needle tray 33 and syringe needle can be obtained.
In work, the syringe needle in widening bucket 2 is separated into single and supplies by the minute hand disk 3 of the minute hand mechanism, it
The syringe needle separated is transferred to contact pin station progress contact pin by the manipulator that the application provides afterwards to operate.Obviously, carry above
The minute hand mechanism of confession is a kind of preferred advantageous schedule, in addition can also supply pin by current the various of prior art offer
Mechanism either minute hand mechanism replace such as feeding distribution mechanism or delivery tip conveyer belt, syringe needle dressing mechanism, feeding machanism.
Namely specifically using the mechanism of which kind of offer syringe needle with associating for manipulator provided herein it is not very big.Its attached drawing is provided
And the main purpose of explanation is to preferably help understand manipulator provided herein.
The manipulator that the application provides, please refers to Fig.2 to shown in Fig. 5, Fig. 2 is one kind of manipulator provided herein
The schematic perspective view of alternative embodiment, which illustrates the state that the manipulator is in above contact pin station；Fig. 3 is carried by the application
A kind of schematic perspective view of alternative embodiment of the manipulator of confession, which illustrates the state when manipulator is in contact pin；Fig. 4 is
The partially laterally schematic diagram of manipulator in Fig. 3；Fig. 5 is the A-A partial cutaway schematics in Fig. 4.
In a kind of specific embodiment, as shown in Figures 1 to 5, there is provided a kind of manipulator, including bearing 4 and rotate
Axis 5, clamping jaw seat 6, opposite opened clamping jaw 7, rotation axis 5 are rotatably installed on bearing 4, are had on clamping jaw seat 6 and are slided with rotation axis 5
The dynamic kidney-shaped axis hole 61 coordinated, and the clamping jaw seat 6 is axially confined in rotation axis 5, opposite opened clamping jaw 7 is arranged on the top of clamping jaw seat 6
Portion.
Further, as shown in Figures 1 to 5, one end of kidney-shaped axis hole 61 has kidney slot 62, the side of the kidney slot 62
With rack 63, rotation axis 5 is equipped with the gear 51 coordinated with the rack 63, and clamping jaw seat 6 is equipped with spacing inserted link 64, bearing 4
The limiting slot 41 coordinated with spacing inserted link 64 is equipped with, and the one side wall 42 of the limiting slot 41 is higher than another side wall 43, so that folder
When pawl seat 6 turns to contact pin station the limiting slot 41 by limit the position of spacing inserted link 64 limit clamping jaw seat 6 continue turn
Dynamic, rack 63 is located at the side opposite with the upper side wall 42 of limiting slot 41, and clamping jaw seat 6 is equipped with 5 elastic compression of rotation axis
Pressure mechanism 8 in the bottom of kidney-shaped axis hole 61.
The course of work of the manipulator is that rotation axis 5 drives clamping jaw seat 6, and towards taking the working position of pin to rotate, opposite opened presss from both sides
Pawl 7 grips syringe needle, and the revolution of rotation axis 5 drives clamping jaw seat 6 and opposite opened clamping jaw 7 thereon to turn to vertical direction, spacing at this time
The side of inserted link 64 contacts with the higher side wall 42 of limiting slot 41 and stops clamping jaw seat 6 and be rotated further；Rotation axis 5 continues to turn
It is dynamic, gear 51 with respect to rack 63 be rotated further and force clamping jaw seat 6 relative to rotation axis 5 along kidney-shaped axis hole 61 move downward with
Contact pin operation is completed, the pressure mechanism 8 of elastic compression is compressed at this time, spacing inserted link 64 is inserted in limiting slot 41；Complete to insert
Opposite opened clamping jaw 7 opens after pin operation, and rotation axis 5 rotates backward, the relatively low sidewall 43 of limiting slot 41 limit spacing inserted link 64 and
Clamping jaw seat 6 is set only to increase, when the bottom of rotation axis 5 and the kidney-shaped axis hole 61 of clamping jaw seat 6 coordinates, the bottom of spacing inserted link 64 is firm
The relatively low sidewall 43 of limiting slot 41 is left well, and pressure mechanism 8 recovers initial impaction state at this time, can keep at rotation axis 5
In the bottom of kidney-shaped axis hole 61；Hereafter rotation axis 5, which is rotated further, just drives clamping jaw seat 6 and opposite opened clamping jaw 7 thereon to turn to
Take pin working position.Reciprocation cycle can continuous firing.
It is exactly for simplification：Rotation axis 5 drives clamping jaw seat 6 to rotate synchronously to pin working position is taken, and then drives clamping jaw seat 6 same
After step turns to vertical direction, clamping jaw seat 6 is forced only to move downward without rotating with limiting slot 4 and spacing inserted link 64；
After completing contact pin work, the revolution of the preceding part of rotation axis 5 is clamping jaw seat 6 is moved upwards, treats spacing inserted link 64 and limiting slot 4
Relatively low side wall 43 depart from after 5 ability synchronous drive clamping jaw seat 6 of rotation axis turn round.That is, clamping jaw seat 6 is towards vertical rotating, vertically
After move downward and carry out contact pin operation, contact pin completes rear clip-claw seat 6 and first rises, just rotates afterwards, and is only needed during this
Control the rotation of rotation axis 5.
It should be noted that obviously, the manipulator except it is described can complete the function of contact pin in addition to, can be with complete
The function of such a transfer action pattern is also needed into other.As for the concrete structure axially confined of foregoing description, this area
Technical staff is easily achieved, and existing various technologies can also refer to, and to save length, is repeated no more in the application.In addition, figure
The local exposed part of rotation axis 5 in 1 to Fig. 5 is primarily to be easy to observe, bearing, gear in actual upper rotary shaft 5
51 grades need to seal under normal circumstances, other concrete structures of rotation axis 5 can also do various accommodations, this is signal side
Just, those skilled in the art in the application such as its concrete structure it should be readily appreciated that repeat no more.
In an advantageous embodiment, 2 to Fig. 4 are refer to, for gear 51, its both ends is equipped with pressure mechanism
8.So can be so that the relative position of clamping jaw seat 6 and rotation axis 5 be more stablized.
In an advantageous embodiment, as shown in Figures 1 to 5, pressure mechanism 8 is spring pressure bar structure, including rotatable
The bar 81 being arranged in rotation axis 5 and the spring 82 that is sheathed on the bar 81 and the postive stop baffle 83 on clamping jaw seat 6,
Bar 81 is butted on postive stop baffle 83 through the limiting through hole on postive stop baffle 83, spring 82.
In an advantageous embodiment, referring to figs. 1 to shown in Fig. 5, bar 81 is arranged in rotation axis 5 by rolling bearing.
In some unshowned preferred embodiments, pressure mechanism 8 can also use gas spring supporting rod or air pressure branch
The various suitable mechanisms such as strut, hydraulic pressure support bar, as long as it can provide the kidney-shaped axis hole 61 of retaining clip pawl seat 6 and rotation axis 5
Relative position elastic pretension and compression can be continued.
In some unshowned preferred embodiments, either both ends are equipped with fillet or chamfering for one end of kidney-shaped axis hole 61.
Preferably, the oral area of kidney slot 62 is equipped with fillet or chamfering.
In an advantageous embodiment, referring to figs. 1 to shown in Fig. 5, the top of the side wall 43 of the relatively low side of limiting slot 41
Using round-corner transition.
In addition, the utility model additionally provides a kind of contact pin apparatus using above-mentioned manipulator.Specific embodiment refer to
The above, and related art can be combined to obtain its specific embodiment, repeated no more in the application.
In addition, the utility model also provide it is a kind of using the blood taking needle of above-mentioned contact pin apparatus or manipulator assemble equipment.
Specific embodiment refer to the above, and can combine related art to obtain its specific embodiment, in the application no longer
Repeat.
The description of the above-mentioned relevant function to each utility model either effect refers to that it has the function of this or effect,
It is possible to also have the function of other or effect, therefore, is not construed as carrying out it improper restriction of function or effect.
The contact pin apparatus of the manipulator that is provided above utility model claimed and the application manipulator and
Blood taking needle assembling equipment etc. is described in detail.Original of the specific case to utility model claimed used herein
Reason and embodiment are set forth, and the explanation of above example is only intended to help to understand utility model claimed
Method and its core concept.It should be pointed out that although the better model for performing utility model claimed is carried out
Description in detail, but on the premise of utility model principle claimed is not departed from, those skilled in the art can learn
The many alternative designs and embodiment that are used for implementing utility model claimed within the scope of the appended claims.
Claims (10)
- A kind of 1. manipulator, it is characterised in that including：Bearing；Rotation axis, is rotatably installed on the bearing；Clamping jaw seat, has the kidney-shaped axis hole being slidably matched with the rotation axis thereon, and the clamping jaw seat is axially confined in described turn On moving axis；AndOpposite opened clamping jaw, arranged on the top of the clamping jaw seat；Wherein, one end of the kidney-shaped axis hole has kidney slot, and the side of the kidney slot has rack, and the rotation axis is equipped with The gear coordinated with the rack, the clamping jaw seat are equipped with spacing inserted link, and the bearing is equipped with to be coordinated with the spacing inserted link Limiting slot, and the one side wall of the limiting slot is higher than another side wall, so that this is spacing when the clamping jaw seat turns to contact pin station Groove limits being rotated further for the clamping jaw seat by limiting the position of the spacing inserted link, the rack be located at it is described spacing The opposite side of the upper side wall of groove, the clamping jaw seat are equipped with the rotation axis elastic compression in the bottom of the kidney-shaped axis hole The pressure mechanism in portion.
- 2. manipulator according to claim 1, it is characterised in that the both ends of the gear are equipped with pressure mechanism.
- 3. manipulator according to claim 1, it is characterised in that the pressure mechanism is spring pressure bar structure, including can The bar being arranged in the rotation axis rotated and the spring being sheathed on the bar and the limit coordinated with the bar and the spring Position baffle, postive stop baffle are arranged on the clamping jaw seat.
- 4. manipulator according to claim 3, it is characterised in that the bar is arranged on the rotation axis by rolling bearing On.
- 5. manipulator according to claim 1, it is characterised in that the pressure mechanism is gas spring supporting rod or air pressure Supporting rod, hydraulic pressure support bar.
- 6. manipulator according to any one of claim 1 to 5, it is characterised in that one end of the kidney-shaped axis hole or Both ends are equipped with fillet or chamfering.
- 7. manipulator according to any one of claim 1 to 5, it is characterised in that the oral area of the kidney slot is equipped with circle Angle or chamfering.
- 8. manipulator according to any one of claim 1 to 5, it is characterised in that the relatively low side of the limiting slot The top of side wall uses round-corner transition.
- 9. a kind of contact pin apparatus, including manipulator, it is characterised in that the manipulator is any one of claim 1 to 8 Manipulator.
- 10. a kind of blood taking needle assembles equipment, including contact pin apparatus or manipulator, it is characterised in that the contact pin apparatus is power Profit requires the contact pin apparatus described in 9, and the manipulator is manipulator described in any item of the claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721405480.5U CN207327014U (en) | 2017-10-29 | 2017-10-29 | A kind of manipulator and contact pin apparatus, blood taking needle assembling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721405480.5U CN207327014U (en) | 2017-10-29 | 2017-10-29 | A kind of manipulator and contact pin apparatus, blood taking needle assembling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207327014U true CN207327014U (en) | 2018-05-08 |
Family
ID=62363793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721405480.5U Expired - Fee Related CN207327014U (en) | 2017-10-29 | 2017-10-29 | A kind of manipulator and contact pin apparatus, blood taking needle assembling equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207327014U (en) |
-
2017
- 2017-10-29 CN CN201721405480.5U patent/CN207327014U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180508 |