CN214772053U - Gripper device based on cam driving mechanism - Google Patents
Gripper device based on cam driving mechanism Download PDFInfo
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- CN214772053U CN214772053U CN202120324121.7U CN202120324121U CN214772053U CN 214772053 U CN214772053 U CN 214772053U CN 202120324121 U CN202120324121 U CN 202120324121U CN 214772053 U CN214772053 U CN 214772053U
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Abstract
The utility model discloses a gripper device based on a cam driving mechanism, which comprises a motor (1), a base (13), a cam (5), a power arm (6) and a clamping piece (7); the motor is arranged on the base; the cam is arranged on a rotating shaft (10) of the motor; the base is provided with guide rails (15), two power arms are arranged perpendicular to the rotating shaft, and each power arm is fixed with one clamping piece (7); the side part of the cam is in lateral contact with the inner side of the power arm; when the motor drives the cam to rotate, the opening and closing actions of the power arm can be controlled, so that the cup grabbing and placing operations are realized, and the cup is a reaction cup for biochemical detection. This tongs device based on cam actuating mechanism compact structure, easy to carry out, the function is abundant.
Description
Technical Field
The utility model belongs to the field of medical equipment, a tongs device based on cam actuating mechanism is related to, is applied to chemiluminescence analysis appearance.
Background
At present, the existing reaction cup clamping and grabbing devices for the chemiluminescence medical instrument have various structures, such as a pneumatic type, which needs to be provided with an air compressor, and has the disadvantages of high cost, inconvenient maintenance, complex structure and difficult implementation.
In addition, some schemes utilize the cam to open and close or the mechanism of the electromagnet for controlling the rotation of the rotating shaft to generate scraps to enter the reaction cup due to the abrasion of the rotating motion, thereby influencing the detection result.
The prior art has two main defects
1) Inconvenient maintenance
2) The friction of the rotating shaft and chip falling affect the object to be detected
3) The reaction cups which are not grabbed can not be identified mostly, the operation of the whole machine is influenced, and the detection efficiency is reduced.
Therefore, it is necessary to design a gripper.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a grab handle device based on cam actuating mechanism is provided, this grab handle device based on cam actuating mechanism compact structure, easy to carry out.
The technical solution of the utility model is as follows:
a gripper device based on a cam driving mechanism is characterized by comprising a motor (1), a base (13), a cam (5), a power arm (6) and a clamping piece (7);
the motor is arranged on the base; the cam is arranged on a rotating shaft (10) of the motor;
the base is provided with guide rails (15), two power arms are arranged perpendicular to the rotating shaft, and each power arm is fixed with one clamping piece (7); the power arm is mounted in any one of the following two ways:
mode 1: the two power arms are both arranged on the guide rail through a sliding block (11) and can slide along with the guide rail; the two power arms are both connected with a spring (12) for resetting;
mode 2: one power arm is arranged on the guide rail through a sliding block (11) and can slide along with the guide rail, and the power arm is connected with a spring for resetting; the other power arm is fixed on the base; one end of the spring is connected with the power arm, and the other end of the spring is connected to the base.
The side part of the cam is in lateral contact with the inner side of the power arm; when the motor drives the cam to rotate, the opening and closing actions of the power arm can be controlled, so that the cup grabbing and placing operations are realized, and the cup is a reaction cup for biochemical detection.
The cam is a rhombic cam, an elliptical cam or a kidney-shaped cam (also called a kidney-shaped cam or a runway-shaped cam).
The most convex end (one or two most convex ends) of the cam is provided with a pulley (8). The sliding friction is changed into rolling friction, so that the pollution of scraps on reaction liquid can be avoided. The operation is smoother.
The inner side of the power arm is provided with an arc-shaped recess (9) matched with the cam.
The gripper device based on the cam driving mechanism further comprises a cup grabbing detection unit, and the cup grabbing detection unit comprises a cup grabbing sensor (3) and a cup grabbing separation blade (4); the cup grabbing sensor is fixed on the base; the cup catching retaining sheet is fixed on the cam or the rotating shaft.
The gripper device based on the cam driving mechanism further comprises an empty cup detection unit, and the empty cup detection unit comprises an empty cup sensor (16) and an empty cup blocking piece (17); the empty cup sensor is fixed on the base; the cup catching baffle is fixed on the movable power arm.
The motor is installed on the mount pad, and the mount pad is fixed on the base.
The gripper device based on the cam driving mechanism further comprises an MCU, the motor is controlled by the MCU, and the cup grabbing sensor is connected with the MCU.
The gripper device based on the cam driving mechanism further comprises an MCU, the motor is controlled by the MCU, and the empty cup sensor is connected with the MCU.
The motor is arranged above the cam, and the rotating shaft is downward; the clip is located below the cam.
Has the advantages that:
the utility model discloses a tongs device based on cam actuating mechanism has following characteristics:
1) make the structure simple and easy to maintain
2) It is tried to avoid the friction and chip dropping from affecting the object to be detected and other components
3) Can initiatively discern not snatching the reaction cup, reduce the fault rate.
The method has the advantages that: easy maintenance, the not reaction cup of snatching is initiatively discerned (the clamping jaw does not grab the reaction cup, has feedback signal).
The method has the advantages that: the friction is fallen the bits and is accomodate, prevents that the friction from falling the bits and getting into the reaction cup, influences the reaction system.
The utility model discloses a technical key point:
1) and a double-spring guide rail mechanism is adopted, so that the movement is more accurate and stable, and the maintenance is convenient.
2) The metal plate is arranged to store friction and scrap, so that scrap falling is avoided and the scrap is prevented from entering the reaction cup.
3) And a double sensor is arranged, so that whether the gripper grabs the reaction cup can be identified.
Drawings
FIG. 1 is a general structural diagram of a gripper device based on a cam driving mechanism;
FIG. 2 is a schematic structural view of a cam driving mechanism;
FIG. 3 is a schematic view of two arrangements based on a flap and a sensor (photosensor);
fig. 4 is a schematic diagram of a cam driven power arm.
Description of reference numerals:
the device comprises a motor 1, a motor 2, a motor mounting seat 3, a cup grabbing sensor 4, a cup grabbing catch, a cam 5, a power arm 6, a clamping piece 7, a pulley 8, an arc-shaped recess 9, a rotating shaft 10, a sliding block 11, a spring 12, a mounting base 13, a spring connecting sheet 14 and a guide rail 15. 16-empty cup sensor, 17-empty cup blocking piece.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific embodiments:
example 1: referring to fig. 1-4, a gripper device based on a cam driving mechanism comprises a motor 1, a base 13, a cam 5, a power arm 6 and a clamping piece 7;
the motor is arranged on the base; the cam is arranged on a rotating shaft 10 of the motor;
the base is provided with guide rails 15, two power arms are arranged perpendicular to the rotating shaft, and each power arm is fixed with one clamping piece 7; the power arm is mounted in any one of the following two ways:
mode 1: the two power arms are both arranged on the guide rail through a sliding block 11 and can slide along the guide rail; the two power arms are connected with springs 12 for resetting;
mode 2: one power arm is arranged on the guide rail through a sliding block 11 and can slide along with the guide rail, and the power arm is connected with a spring for resetting; the other power arm is fixed on the base; one end of the spring is connected with the power arm, and the other end of the spring is connected to the base.
The side part of the cam is in lateral contact with the inner side of the power arm; when the motor drives the cam to rotate, the opening and closing actions of the power arm can be controlled, so that the cup grabbing and placing operations are realized, and the cup is a reaction cup for biochemical detection.
The cam is a rhombic cam, an elliptical cam or a kidney-shaped cam (also called a kidney-shaped cam or a runway-shaped cam).
A pulley 8 is provided at the most convex end (one or both of the most convex ends) of the cam. The sliding friction is changed into rolling friction, so that the pollution of scraps on reaction liquid can be avoided. The operation is smoother.
The inner side of the power arm has an arc-shaped recess 9 which cooperates with the cam.
The gripper device based on the cam driving mechanism further comprises a cup grabbing detection unit, and the cup grabbing detection unit comprises a cup grabbing sensor 3 and a cup grabbing separation blade 4; the cup grabbing sensor is fixed on the base; the cup catching retaining sheet is fixed on the cam or the rotating shaft.
The gripper device based on the cam driving mechanism further comprises an empty cup detection unit, wherein the empty cup detection unit comprises an empty cup sensor 16 and an empty cup blocking piece 17; the empty cup sensor is fixed on the base; the cup catching baffle is fixed on the movable power arm.
The motor is installed on the mount pad, and the mount pad is fixed on the base.
The gripper device based on the cam driving mechanism further comprises an MCU, the motor is controlled by the MCU, and the cup grabbing sensor is connected with the MCU.
The gripper device based on the cam driving mechanism further comprises an MCU, the motor is controlled by the MCU, and the empty cup sensor is connected with the MCU.
The motor is arranged above the cam, and the rotating shaft is downward; the clip is located below the cam.
The utility model provides a reaction cup centre gripping grabbing device specifically includes: the device comprises a motor mounting seat which is used for fixing and supporting the whole machine, a rotating shaft which is connected with a motor, and two sides of the rotating shaft are provided with a replacing wheel (also called a bearing); the bearing and the rotating shaft pass through the rotating shaft, the upper part of the rotating shaft is T-shaped, the lower part of the rotating shaft is provided with a notch installation clamp spring which is connected with two symmetrical sides of the rotating shaft and respectively provided with two power arms which are installed on the guide rail sliding block, and the guide rail sliding rail is installed on the lower plate of the motor installation seat.
The arc surface of power arm is tangent with pivot upper bearing, and the spring coupling board is respectively installed near the pivot side in both sides power arm below, and U type panel beating is installed to motor fixed plate hypoplastron edge side, is connected with compression spring between spring coupling board and the both sides U type panel beating.
When the motor controls the rotating shaft to rotate, the opening and closing distance between the power arms at two sides is controlled, so that the actions of clamping and placing the cup are realized.
A cup catching baffle is arranged above the cam and is responsible for controlling the motor to drive the cam to rotate. And an empty cup blocking sheet is arranged on the power arm on the left side and is responsible for feeding back when the gripper does not clamp the cup.
The motor mount pad is provided with the sensor and connects the panel beating, installs two photoelectric sensor on the sensor connects the panel beating, is used for triggering respectively to grab the cup action of opening and shutting and detect the condition of not grabbing the cup. The motor is installed on the motor mount pad, and the motor shaft has the notch with below cam rigid connection, and there is the notch cam both sides part, installs the bearing, and the effect of bearing replaces cam and both sides power arm contact, reduces the friction, makes motion more stable reduce simultaneously because of the bits that fall that the friction produced, and does benefit to the maintenance of motor.
The motor mounting seat is divided into an upper plate and a lower plate, the upper plate is mainly used for fixing the motor and reserving an assembly hole position, the lower plate is used for mounting a guide rail slide rail to support the whole assembly, and a U-shaped metal plate is mounted on the side face of the lower plate to form a chip falling and accommodating groove.
Two clamping pieces (the two clamping pieces form a gripper) are respectively arranged at the front ends of the power arms at the two sides, when a motor receives a cup grabbing command, the motor drives the cam to rotate clockwise by 45 degrees, the power arms at the two sides are expanded to the maximum opening and closing distance, the springs at the two sides are compressed at the moment, then the motor rotates to drive the cam to rotate, the force arms at the two sides are closed by the elasticity of the compression springs at the two sides, and the gripper and the power arms at the two sides are closed together to realize the action of grabbing and placing the cup.
The lower parts of the power arms on the two sides are respectively connected with a guide rail, and the guide rails play a supporting role and a balancing role on the power arms; meanwhile, the power arms on the two sides move more accurately when being opened and closed, and the interference of friction force is eliminated.
The U-shaped metal plate is arranged around a lower plate (namely a base) of the motor mounting seat, surrounds three surfaces of the lower plate and is used for accommodating chips generated by friction of the cam and the power arm twice and preventing the chips from entering the reaction cup; and meanwhile, the U-shaped metal plate is provided with an M3 threaded hole superposed with the threaded holes above and below the spring connecting metal plate, and M3 screws arranged on the U-shaped metal plate and the spring connecting metal plate play a role in fixing and supporting the spring.
The upper parts of the power arms at the two sides are provided with arc groove surfaces, bearings at the two sides of the cam are respectively tangent with the arc groove surfaces of the power arms at the two sides, when the cup is grabbed, the motor drives the cam to rotate to a parallel state, the power arms at the two sides tangent with the bearings are unfolded to the maximum distance, and meanwhile, the compression springs are compressed by the power arms at the two sides; then the motor rotates reversely to drive the cam to rotate to the initial position angle, and the compression springs on the two sides recover to the original length and push the power arm to fold.
The power arms are provided with empty cup blocking pieces to detect whether the reaction cup is grabbed or not, the specific process is that when the power arms on the two sides normally open and close to grab or place the cup, the range of the empty cup blocking pieces entering the photoelectric sensor is insufficient to trigger the sensor, when the grabbing fails, the power arms on the two sides can continue to fold until the range of the empty cup blocking pieces on the power arms entering the photoelectric sensor is sufficient to trigger the sensor, and signals are fed back to the system. The mounting hole design is waist hole on the empty cup separation blade to carry out slight distance adjustment, empty cup separation blade below sets up the packing ring, collides with the power arm during the prevention motion.
Claims (10)
1. A gripper device based on a cam driving mechanism is characterized by comprising a motor (1), a base (13), a cam (5), a power arm (6) and a clamping piece (7);
the motor is arranged on the base; the cam is arranged on a rotating shaft (10) of the motor;
the base is provided with guide rails (15), two power arms are arranged perpendicular to the rotating shaft, and each power arm is fixed with one clamping piece (7); the power arm is mounted in any one of the following two ways:
mode 1: the two power arms are both arranged on the guide rail through a sliding block (11) and can slide along with the guide rail; the two power arms are both connected with a spring (12) for resetting;
mode 2: one power arm is arranged on the guide rail through a sliding block (11) and can slide along with the guide rail, and the power arm is connected with a spring for resetting; the other power arm is fixed on the base;
the side part of the cam is in lateral contact with the inner side of the power arm; when the motor drives the cam to rotate, the opening and closing actions of the power arm can be controlled.
2. The cam-drive mechanism based gripper device of claim 1, wherein said cam is a diamond cam, an oval cam or a kidney cam.
3. A gripper arrangement based on a cam-actuated mechanism according to claim 1, characterized in that the cam is provided with a pulley (8) at its most convex end.
4. A cam actuation mechanism based gripper device according to claim 1, wherein the power arm has an arc shaped recess (9) on the inside that fits the cam.
5. The cam driving mechanism-based gripper device according to claim 1, further comprising a cup gripping detection unit, wherein the cup gripping detection unit comprises a cup gripping sensor (3) and a cup gripping stopper (4); the cup grabbing sensor is fixed on the base; the cup catching retaining sheet is fixed on the cam or the rotating shaft.
6. The cam-drive-mechanism-based gripper device according to claim 1, further comprising an empty cup detection unit, wherein the empty cup detection unit comprises an empty cup sensor (16) and an empty cup stopper (17); the empty cup sensor is fixed on the base; the cup catching baffle is fixed on the movable power arm.
7. The cam-drive based gripper unit of claim 1, wherein the motor is mounted on a mounting block, the mounting block being fixed to the base.
8. The cam-drive-mechanism-based gripper device according to claim 5, further comprising an MCU, wherein the motor is controlled by the MCU, and the gripper cup sensor is connected with the MCU.
9. The cam-drive-mechanism-based gripper device according to claim 6, further comprising an MCU, wherein the motor is controlled by the MCU, and the empty cup sensor is connected with the MCU.
10. The cam-drive mechanism based gripper device according to any one of claims 1 to 9, wherein the motor is disposed above the cam with the rotation shaft facing downward; the clip is located below the cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120324121.7U CN214772053U (en) | 2021-02-03 | 2021-02-03 | Gripper device based on cam driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120324121.7U CN214772053U (en) | 2021-02-03 | 2021-02-03 | Gripper device based on cam driving mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN214772053U true CN214772053U (en) | 2021-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120324121.7U Active CN214772053U (en) | 2021-02-03 | 2021-02-03 | Gripper device based on cam driving mechanism |
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| Country | Link |
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| CN (1) | CN214772053U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114523491A (en) * | 2022-03-10 | 2022-05-24 | 苏州检易生物科技有限公司 | Mechanical arm |
-
2021
- 2021-02-03 CN CN202120324121.7U patent/CN214772053U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114523491A (en) * | 2022-03-10 | 2022-05-24 | 苏州检易生物科技有限公司 | Mechanical arm |
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