CN213101912U

CN213101912U - Shake even manipulator

Info

Publication number: CN213101912U
Application number: CN202021530034.9U
Authority: CN
Inventors: 王海霞; 王中成
Original assignee: First Affiliated Hospital of Chongqing Medical University; CCTEG Chongqing Engineering Group Co Ltd
Current assignee: First Affiliated Hospital of Chongqing Medical University; CCTEG Chongqing Engineering Group Co Ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-05-04
Anticipated expiration: 2030-07-29

Abstract

The utility model discloses a shake even manipulator, including elevating system and gripper, the vertical setting of elevating system, the gripper level sets up and installs through rotary driving piece elevating system's lift end, elevating system is used for the drive the gripper reciprocates, rotary driving piece is used for the drive the gripper rotates. The lifting mechanical gripper is simple in structure, an object filled with liquid is grabbed by the mechanical gripper, the lifting mechanism extracts the mechanical gripper, and the rotary driving piece drives the mechanical gripper to rotate so as to swing and evenly swing the object.

Description

Shake even manipulator

Technical Field

The utility model belongs to the automation equipment field especially relates to a shake even manipulator.

Background

In the blood analysis or biochemical experiment of a hospital, various reagents are required to be shaken up frequently, but in the case of a large sample amount, manual shaking up not only greatly increases the labor intensity of workers, but also possibly delays the shaking up time. Shaking equipment on the market at present mainly is that the simulation arm shakes even action or the level and rocks, and the simulation arm shakes even and has attached unnecessary action and lead to efficiency not high and shake occupation space when even big, and the level is rocked and is shaken even mode and not conform to the industry standard and make it shake even effect relatively poor.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, an object of the utility model is to provide a simple structure can be used to shake even manipulator of shaking even liquid.

In order to achieve the above purpose, the technical solution of the present invention is as follows: the utility model provides a shake even manipulator, includes elevating system and gripper, the vertical setting of elevating system, the gripper level sets up and installs through the rotary driving spare elevating system's lift end, elevating system is used for the drive the gripper reciprocates, the rotary driving spare is used for the drive the gripper rotates.

The beneficial effects of the above technical scheme are that: so can pick the article that is equipped with liquid by the gripper, draw the gripper again by elevating system and rotate in order to realize rocking and shaking evenly the article by the rotatory driving piece drive gripper, its degree of automation is high, uses manpower sparingly, and shakes even effectual.

In the technical scheme, the lifting mechanism comprises a first slide rail, a first slide block and a first driving piece, the first slide rail is vertically arranged, the first slide block is installed on the first slide rail, the first driving piece is used for driving the first slide block to slide up and down on the first slide rail, the first slide block forms a lifting end of the lifting mechanism, and the mechanical claw is horizontally installed on the first slide block through the rotary driving piece.

The beneficial effects of the above technical scheme are that: therefore, the first sliding block can be driven by the first driving piece to slide up and down along the first sliding rail so as to drive the rotary driving piece and the mechanical claw to lift, and the mechanical claw can take and place articles.

In the above technical scheme, the rotary driving member is a motor, the rotary driving member is fixedly mounted on the first sliding block, a driving shaft of the rotary driving member is horizontally arranged, and the mechanical claw is mounted on the driving shaft of the rotary driving member.

The beneficial effects of the above technical scheme are that: the structure is simple, and the driving is convenient.

Still include among the above-mentioned technical scheme second driving piece and the second slide rail that sets up along left right direction level, the upper end or the lower extreme of first slide rail with the sliding connection of second slide rail, the second driving piece is used for driving elevating system follows second slide rail horizontal migration.

The beneficial effects of the above technical scheme are that: therefore, the first sliding block can move in two dimensions in a vertical plane, and the moving range of the first sliding block is wider.

In the technical scheme, the first driving part and the second driving part are both telescopic electric cylinders or telescopic air cylinders.

The beneficial effects of the above technical scheme are that: it is flexible convenient, so can drive the nimble removal of first slide rail and slider.

Drawings

FIG. 1 is a schematic structural diagram of a shake-up manipulator according to an embodiment of the present invention;

fig. 2 is another schematic diagram of the shaking manipulator according to the embodiment of the present invention.

In the figure: 1 lifting mechanism, 11 first slide rail, 12 first slide block, 13 first driving piece, 2 mechanical claw, 3 rotary driving piece, 4 second driving piece and 5 second slide rail.

Detailed Description

The principles and features of the present invention are described below in conjunction with the drawings and the embodiments, which are set forth for the purpose of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1, the present embodiment provides a shake manipulator, which includes an elevating mechanism 1 and a gripper 2, where the elevating mechanism 1 is vertically disposed, the gripper 2 is horizontally disposed and installed at a lifting end of the elevating mechanism 1 through a rotary driving member 3, the elevating mechanism 1 is configured to drive the gripper 2 to move up and down, and the rotary driving member 3 is configured to drive the gripper 2 to rotate. The lifting mechanical gripper is simple in structure, an object filled with liquid is grabbed by the mechanical gripper, the lifting mechanism extracts the mechanical gripper, and the rotary driving piece drives the mechanical gripper to rotate so as to swing and evenly swing the object.

Wherein, among the above-mentioned technical scheme elevating system 11 includes first slide rail 11, first slider 12 and first driving piece 13, first slide rail 11 is vertical to be set up, first slider 12 is installed on first slide rail 11, first driving piece 13 is used for driving first slider 12 is in slide from top to bottom on first slide rail 11, first slider 12 constitutes elevating system 1's lift end, gripper 2 passes through rotary driving piece 3 horizontal installation on first slider 12. The structure is simple, and the first driving piece drives the first sliding block to slide up and down along the first sliding rail so as to drive the rotary driving piece and the mechanical claw to lift.

In the above technical solution, the rotary driving member 3 is a motor, the rotary driving member 3 is fixedly mounted on the first sliding block 12, a driving shaft thereof is horizontally arranged, and the gripper 2 is mounted on the driving shaft of the rotary driving member 3. The structure is simple. Preferably, the motor is a tubular shaft motor (the driving shaft of the motor is tubular), so that the gripper is mounted on the driving shaft, the lead of the gripper can pass through the inner hole of the driving shaft, the lead of the gripper is provided with a conductive slip ring, one end of the conductive slip ring is fixedly mounted on the first sliding block, and the other end of the conductive slip ring is coaxially and fixedly mounted on the driving shaft, so that when the motor rotates, the lead of the gripper cannot be wound. Of course, the gripper can also be rotated clockwise and counterclockwise alternately, for example, the rotary driving member drives the gripper to rotate forward three times, then rotate backward three times, and alternate, but it can also be selected first, then pause for several seconds, then continue to rotate and repeat for many times, so that the shaking effect is better.

The preferred grabbing part when the manipulator grabs the object is the middle part of the object, so that the radius of the rotating range of the object during rotation can be reduced, and the occupied space during rotation is small.

As shown in fig. 2, the above technical solution further includes a second driving element 4 and a second slide rail 5 horizontally disposed along the left-right direction, the upper end or the lower end of the first slide rail 11 is slidably connected to the second slide rail 5, and the second driving element 4 is configured to drive the lifting mechanism 1 to horizontally move along the second slide rail 5, so that the first sliding block can two-dimensionally move in a vertical plane, and the moving range of the first sliding block is wider.

Preferably, in the above technical solution, the first driving member 13 and the second driving member 4 are both telescopic electric cylinders.

Of course, the lifting mechanism can also be directly replaced by a sliding table cylinder, and the first sliding block can be mentioned by the telescopic end of the lifting mechanism.

Preferably, the mechanical gripper may adopt a structure consistent with that of a test tube clamping device disclosed in the document No. CN106622432A, wherein a mounting handle of the test tube clamping device is fixed to or integrally formed with a rotating shaft of the motor in a coaxial connection manner and is hollow and tubular, and a lead of a pressure sensor module of the mechanical gripper is threaded through an inner hole of the rotating shaft of the motor to be electrically connected with the electronic slip ring.

Taking a hospital shake-up blood sample as an example, compared with the prior art, the shaking-up action of the present embodiment is more in line with the industry standard specification, for example, the blood collection tube is repeatedly shaken upside down, and the shaking-up effect is better, wherein the blood collection tube containing the additive is required to be gently turned upside down and mixed evenly immediately after the blood collection is completed according to the regulation in section 5.9.7 in the standard of venous blood collection (WS/T661-2020), therefore, preferably, the motor used in the present application is preferably a speed reduction motor, the rotation speed of the motor is preferably controlled to be 30-100r/min, and if the rotation speed is too fast, hemolysis of the blood sample in the blood collection tube may be caused.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides a shake even manipulator, its characterized in that includes elevating system (1) and gripper (2), elevating system (1) vertical setting, gripper (2) level sets up and installs through rotary driving spare (3) the lift end of elevating system (1), elevating system (1) is used for the drive gripper (2) reciprocate, rotary driving spare (3) are used for the drive gripper (2) rotate.

2. The shake manipulator according to claim 1, wherein the lifting mechanism (1) includes a first slide rail (11), a first slider (12), and a first driving member (13), the first slide rail (11) is vertically disposed, the first slider (12) is mounted on the first slide rail (11), the first driving member (13) is configured to drive the first slider (12) to slide up and down on the first slide rail (11), the first slider (12) constitutes a lifting end of the lifting mechanism (1), and the gripper (2) is horizontally mounted on the first slider (12) through the rotating driving member (3).

3. Shaking manipulator according to claim 2, characterised in that the rotary drive (3) is an electric motor, that the rotary drive (3) is fixedly mounted on the first slide (12) with its drive shaft arranged horizontally, and that the gripper (2) is mounted on the drive shaft of the rotary drive (3).

4. The shake manipulator according to claim 3, further comprising a second driving member (4) and a second slide rail (5) horizontally disposed along the left-right direction, wherein the upper end or the lower end of the first slide rail (11) is slidably connected to the second slide rail (5), and the second driving member (4) is configured to drive the lifting mechanism (1) to horizontally move along the second slide rail (5).

5. Shake hand according to claim 4, characterised in that the first drive element (13) and the second drive element (4) are both telescopic electric cylinders or telescopic air cylinders.