CN215325495U

CN215325495U - Plate moving manipulator

Info

Publication number: CN215325495U
Application number: CN202120030608.4U
Authority: CN
Inventors: 徐益峰
Original assignee: HANGZHOU ALLSHENG INSTRUMENTS CO Ltd
Current assignee: HANGZHOU ALLSHENG INSTRUMENTS CO Ltd
Priority date: 2021-01-05
Filing date: 2021-01-05
Publication date: 2021-12-28
Anticipated expiration: 2031-01-05

Abstract

The utility model relates to a plate moving manipulator, which overcomes the defect that biomedical modules are taken and placed manually in the prior art, and adopts the following technical scheme: the clamping device comprises a base, a motor arranged on the base, an opening and closing linkage assembly and a clamping jaw, wherein an output shaft of the motor is matched with the opening and closing linkage assembly, the clamping jaw is matched with the opening and closing linkage assembly, and the opening and closing linkage assembly enables the clamping jaw to perform opening and clamping actions. The method has the following effects: the automatic picking and conveying device is used for picking and conveying the biomedical modules such as the pore plate or the support (the biomedical modules are suitable for automatic products in the biomedical engineering field such as a blending instrument and a nucleic acid extraction instrument), avoids the occurrence of personal safety hazards caused by direct picking operation of hands, improves the manual safety of biomedical engineering operation, also improves the efficiency of picking and placing the biomedical modules, and is more stable and reliable in picking and placing work.

Description

Plate moving manipulator

Technical Field

The utility model relates to a manipulator applied to automatic products in the field of biomedical engineering, in particular to a plate moving manipulator for grabbing and carrying biomedical modules such as pore plates or supports.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot is characterized in that various expected operations can be completed through programming, and the robot has the advantages of both human and mechanical arm machines in structure and performance; can be operated in a harmful environment, and avoids direct operation of people to protect personal safety. However, the existing automated products (such as a blending machine and a nucleic acid extractor) used in the biomedical engineering field still adopt a manual operation mode to manually grab and carry biomedical modules such as pore plates or brackets, and personal safety hazards exist.

Disclosure of Invention

The utility model aims to solve the problems in the prior art and provides a plate moving manipulator which is used for grabbing and carrying biomedical modules such as pore plates or supports (the biomedical modules are suitable for automatic products in the biomedical engineering field such as a blending instrument and a nucleic acid extraction instrument), avoids the occurrence of personal safety hidden danger caused by direct grabbing operation by hands, improves the manual safety of biomedical engineering operation, improves the efficiency of fetching and placing the biomedical modules, and is more stable and reliable in fetching and placing work.

The technical purpose of the utility model is mainly solved by the following technical scheme: the plate moving manipulator is characterized by comprising a base, a motor, an opening and closing linkage assembly and a clamping jaw, wherein the motor, the opening and closing linkage assembly and the clamping jaw are arranged on the base, an output shaft of the motor is matched with the opening and closing linkage assembly, the clamping jaw is matched with the opening and closing linkage assembly, and the opening and closing linkage assembly enables the clamping jaw to perform opening and clamping actions. The device is used for grabbing and carrying the biomedical modules such as the pore plate or the bracket (the biomedical modules are suitable for automatic products in the biomedical engineering field such as a blending instrument and a nucleic acid extraction instrument), avoids the occurrence of personal safety hidden danger caused by direct grabbing operation by hands, and improves the manual safety of biomedical engineering operation.

As a further improvement and supplement to the above technical solution, the present invention adopts the following technical measures:

the opening and closing linkage assembly comprises two sliding blocks and a driving piece matched with the two sliding blocks, the driving piece is arranged on an output shaft of the motor, the driving piece enables the two sliding blocks to be separated, a spring is arranged on the guide shaft and matched with the sliding blocks, and the force released by the spring is used for enabling the two sliding blocks to be closed. The spring force released by the spring can support the force required by the clamping jaws to clamp the biomedical module.

The machine base is provided with a guide shaft, and the guide shaft is matched with the sliding block. The guide shaft is arranged to enable the sliding block to move linearly, so that the clamping jaw can stably grab and convey the biomedical module to a specific position, and then the biomedical module can be stably placed.

Wherein, a technical scheme who opens and shuts the interlock subassembly does: the motor is a rotating motor, the driving piece is a turntable, two arc-shaped guide grooves are formed in the turntable, each guide groove is internally penetrated by a guide shaft, and two ends of each guide shaft are fixed on the corresponding sliding block. The guide shaft drives the sliding block to move in a translation manner by rotating the rotary table, so that the biomedical module is grabbed and released.

Particularly, preferably, the two guide grooves are arranged in a central symmetry manner, and the radian of each guide groove is arranged in an involute manner, namely one end of each guide groove is radially close to the central position of the turntable, and the other end of each guide groove is radially far away from the central position of the turntable.

Each guide groove is in the shape of an Archimedes spiral.

The two sliders are respectively provided with a rotary disc insertion groove, the two rotary disc insertion grooves are oppositely and symmetrically arranged, two sides of the rotary disc are respectively inserted into the corresponding rotary disc insertion grooves, and two ends of the guide shaft are respectively fixed on two walls of the rotary disc insertion grooves.

Another technical scheme of the opening and closing linkage assembly is as follows: the driving part is at least provided with two driving inclined planes, the two driving inclined planes are gradually inclined towards the axis direction of the output shaft of the motor from top to bottom, the two sliding blocks are respectively provided with driven inclined planes, the two driven inclined planes are gradually inclined towards the axis direction of the output shaft of the motor from top to bottom, the driving inclined planes are matched with the driven inclined planes in a fit manner, the motor is a linear motor, and the motor drives the driving part to do telescopic motion. When the motor drives the driving piece to extend, the driving piece pushes the two sliding blocks to be separated towards the directions of the two ends by taking the output shaft of the motor as a center line, so that the clamping jaws are separated, and the aim of releasing the biomedical module or the aim of grabbing the biomedical module is fulfilled. When the motor drives the driving piece to retract, the clamping jaws reasonably hold the biomedical module under the action of the spring by the two sliding blocks.

Specifically, preferably, the driving member is in a frustum shape, one end of the driving member facing the motor is a large-diameter end, and one end of the driving member facing the direction of the clamping jaw is a small-diameter end.

The guide shaft includes long guide shaft and short guide shaft, long guide shaft with short guide shaft parallel arrangement, and all with the output shaft of motor is perpendicular, short guide shaft set up in the motor with between the long guide shaft, set up on the slider and run through passageway and blind hole passageway, long guide shaft runs through two in proper order on the slider run through the passageway, short guide shaft one-to-one insert the correspondence blind hole passageway on the slider, set up in the blind hole passageway the spring, the spring respectively with the inner cooperation of short guide shaft, with the outer end cooperation of long guide shaft, be located long guide shaft outer end the outer end of spring is contradicted on the inner wall of frame, the spring is used for making two the slider draws close, makes the clamping jaw is in the tight state of clamp.

The utility model has the following beneficial effects: 1. the automatic picking and conveying device is used for picking and conveying the biomedical modules such as the pore plate or the support (the biomedical modules are suitable for automatic products in the biomedical engineering field such as a blending instrument and a nucleic acid extraction instrument), avoids the occurrence of personal safety hazards caused by direct picking operation of hands, improves the manual safety of biomedical engineering operation, also improves the efficiency of picking and placing the biomedical modules, and is more stable and reliable in picking and placing work. 2. The rotary motor is adopted to realize the rotation of the rotary table, and because the guide shaft on the sliding block moves in the gradually changed guide groove of the rotary table, the opening size of the clamping jaw arranged on the sliding block can be increased and decreased under the guide action of the guide shaft (guide rod); when grabbing, the elastic force of the springs on the two sides is used for clamping, and therefore stable grabbing, safety and reliability are achieved. 3. A linear motor is adopted to realize that the conical top pushes the sliding block, and when the clamping jaw is opened; when grabbing, the orifice plate is clamped by the elastic force of the springs at the two sides, and the grabbing is stable, safe and reliable.

Drawings

Fig. 1 is a perspective view showing an opened state of the jaws according to embodiment 1 of the present invention.

Fig. 2 is a schematic top view of the structure of fig. 1.

Fig. 3 is a schematic sectional structure view of fig. 1.

Fig. 4 is a perspective view showing a closed state of the jaws according to embodiment 1 of the present invention.

Fig. 5 is a schematic cross-sectional structure of fig. 4.

Fig. 6 is a perspective view showing the opened state of the jaws in embodiment 2 of the present invention.

Fig. 7 is a schematic top view of the structure of fig. 6.

Fig. 8 is a schematic cross-sectional structure of fig. 6.

Fig. 9 is a perspective view showing a closed state of the jaws according to embodiment 1 of the present invention.

Fig. 10 is a schematic cross-sectional structure of fig. 9.

Detailed Description

The technical scheme of the utility model is further specifically described by the following embodiments and the accompanying drawings.

Example 1: as shown in fig. 1-5, the plate moving manipulator comprises a base 1, a motor 2, an opening and closing linkage assembly and a clamping jaw 3, wherein the motor 2, the opening and closing linkage assembly and the clamping jaw 3 are arranged on the base, an output shaft of the motor is matched with the opening and closing linkage assembly, the clamping jaw is matched with the opening and closing linkage assembly, and the opening and closing linkage assembly enables the clamping jaw to perform opening and clamping actions. The device is used for grabbing and carrying biomedical modules such as pore plates or supports (the biomedical modules are suitable for automatic products in the biomedical engineering field such as blending instruments and nucleic acid extraction instruments, such as pore plates and supports), avoids the occurrence of personal safety hazards in the direct grabbing operation of hands, and improves the manual safety of the biomedical engineering operation.

The opening and closing linkage assembly comprises two sliding blocks 4 and a driving piece 5 matched with the two sliding blocks, the driving piece is arranged on an output shaft of the motor, the two sliding blocks are separated by the driving piece, a spring 6 is arranged on the guide shaft and matched with the sliding blocks, and the force released by the spring is used for enabling the two sliding blocks to be closed. The spring force released by the spring can support the force required by the clamping jaws to clamp the biomedical module.

The machine base is provided with a guide shaft 7, and the guide shaft is matched with the sliding block. The guide shaft is arranged to enable the sliding block to move linearly, so that the clamping jaw can stably grab and convey the biomedical module to a specific position, and then the biomedical module can be stably placed.

The motor is a rotating motor, the driving piece is a turntable, two arc-shaped guide grooves 9 are formed in the turntable, each guide groove is internally penetrated by a guide shaft 8, and two ends of each guide shaft are fixed on the corresponding sliding block. The guide shaft drives the sliding block to move in a translation manner by rotating the rotary table, so that the biomedical module is grabbed and released. The two arc-shaped guide grooves are arranged in a 180-degree difference mode, namely any point on each arc-shaped guide groove is in central symmetry.

Specifically, preferably, the two guide grooves are arranged in a centrosymmetric manner, and the radian of each guide groove 9 is arranged in an involute manner, that is, one end of each guide groove is radially close to the central position of the turntable, and the other end of each guide groove is radially far away from the central position of the turntable. The radian of each guide groove is gradually opened, so that the sliding blocks can be smoothly separated and folded. The rotating motor rotates, and when the guide shaft gradually moves towards the peripheral direction of the turntable from the central position close to the turntable, the two sliding blocks can be smoothly separated, so that the clamping jaws can be smoothly separated. On the contrary, when the guide shaft gradually moves towards the center direction of the rotary table from the peripheral position of the rotary table, the two sliding blocks can be smoothly folded by the sliding blocks under the acting force of the spring, so that the clamping jaw can smoothly grab the biomedical module. After the clamping jaw grabs the biomedical module, the rotating motor cuts off the power supply, because the slider receives the effect of both sides spring to middle elastic force, can keep the clamping state, transport the biomedical module after the special position with the biomedical module, the clamping jaw opens, releases the biomedical module, and the operation of snatching, carrying is accomplished to the biomedical module like this.

Preferably, each of the guide grooves 9 has an archimedean spiral shape. The guide groove limits the motion interval of the guide shaft, and in the motion interval, when the rotating motor rotates at a uniform angular speed, the sliding block can move linearly at a uniform speed, so that the aim of stably grabbing the biomedical module is fulfilled.

The two sliders 4 are respectively provided with a rotary disc insertion groove 10, the two rotary disc insertion grooves are oppositely and symmetrically arranged, two sides of the rotary disc are respectively inserted into the corresponding rotary disc insertion grooves, two ends of the guide shaft 8 are respectively fixed on two walls of the rotary disc insertion grooves, and the guide shaft penetrates through the sliders for convenient installation.

The specific process is as follows:

firstly, before a biomedical module (such as a pore plate) is grabbed, a rotating motor rotates, and when a guide shaft moves from the center of a turntable to the peripheral direction of the turntable gradually (namely the radius changes from small to large), two sliding blocks respectively move to two sides under the guiding action of the guide shaft (guide rod), so that a clamping jaw arranged on the sliding blocks is opened, and the opening size of the clamping jaw is larger than that of the pore plate;

and secondly, moving the plate moving manipulator to the position above the hole plate, descending to a grabbing position, rotating the rotating motor, and moving the guide shaft from the periphery of the turntable to the center direction of the turntable gradually (namely, the radius is changed from large to small), wherein the two sliding blocks simultaneously move towards the middle, and the opening size of the clamping jaw is reduced. When the clamping jaw clamps the pore plate, the rotating motor is rotated to be powered off, and the clamping state can be kept due to the action of the elastic force from the springs at the two sides to the middle of the sliding block, so that the clamping action is finished;

the plate moving manipulator rises, then moves to the position above the placing position of the pore plate, when the pore plate is descended to contact with the table board of the placing position, the rotating motor rotates, the guide shaft moves from the center of the turntable to the peripheral direction of the turntable gradually (namely the radius changes from small to large), at the moment, the two sliding blocks move to two sides respectively under the guide effect of the guide shaft (guide rod), so that the clamping jaw arranged on the sliding block is opened, the opening size of the clamping jaw is larger than that of the pore plate, and the pore plate is released;

fourthly, the plate moving manipulator ascends to complete the tasks of grabbing and carrying the orifice plate, and can return to the waiting working position or perform the next task, and the steps are repeated.

Example 2: as shown in fig. 6 to 10, example 1 and example 2 differ in that: the different structure of opening and shutting the interlock subassembly, the type of motor is different, can realize the function that the slider separates and folds under the effect of motor, specifically:

the driving part 5 is at least provided with two driving inclined planes 51, the two driving inclined planes are gradually inclined towards the axis direction of the output shaft of the motor from top to bottom, the two sliding blocks are respectively provided with driven inclined planes 41, the two driven inclined planes are gradually inclined towards the axis direction of the output shaft of the motor from top to bottom, the driving inclined planes and the corresponding driven inclined planes are fitted and matched, the motor 2 is a linear motor, and the motor drives the driving part to do telescopic motion. When the motor drives the driving piece to extend, the driving piece pushes the two sliding blocks to be separated towards the directions of the two ends by taking the output shaft of the motor as a center line, so that the clamping jaws are separated, and the aim of releasing the biomedical module or the aim of grabbing the biomedical module is fulfilled. When the motor drives the driving piece to retract, the clamping jaws reasonably hold the biomedical module under the action of the spring by the two sliding blocks.

The driving piece (such as a cone top) is arranged at the top end of the screw rod of the linear motor and can perform telescopic action; when the cone top extends out, the conical surface of the cone top acts on the inclined surface of the sliding block, the two sliding blocks respectively move towards two sides under the guiding action of the guiding shaft (namely the guide rod), and thus the clamping jaw arranged on the sliding blocks is opened; but the slide blocks are acted by the elastic force from the springs at the two sides to the middle, so when the linear motor retracts, the two slide blocks simultaneously move to the middle, the opening size of the clamping jaw is reduced, and the orifice plate can be grabbed; after the plate moving hand moves to the carrying position, the clamping jaw is opened, the hole plate is released, and therefore the hole plate is grabbed and carried.

Specifically, it is preferable that the driving member 5 has a frustum shape, one end of the driving member facing the motor is a large diameter end, and one end of the driving member facing the direction of the clamping jaw is a small diameter end.

The guide shaft 7 comprises a long guide shaft 72 and a short guide shaft 71, the long guide shaft and the short guide shaft are arranged in parallel and are perpendicular to an output shaft of the motor, the short guide shaft is arranged between the motor and the long guide shaft, a through channel and a blind hole channel are arranged on the slider, the long guide shaft penetrates through the through channel on the slider in sequence, the short guide shafts are correspondingly inserted into the blind hole channels on the slider one by one, the springs 6 are arranged in the blind hole channels, the springs are respectively matched with the inner ends of the short guide shafts and the outer ends of the long guide shafts, the springs are positioned at the outer ends of the long guide shafts and abutted against the inner wall of the machine base, and the springs are used for enabling the two sliders to be drawn close and enabling the clamping jaws to be in a clamping state.

The long guide shaft 72 is positioned with sufficient space to clear the driving member, i.e., when the driving member is withdrawn by the linear motor, pushing the two sliders apart to the maximum separation distance, the driving member does not contact the long guide shaft.

The specific process is as follows:

fifthly, the plate moving manipulator extends out of the hole plate before grabbing the hole plate, a driving piece (a frustum or a cone top) pushes a sliding block, and a clamping jaw is required to be larger than the hole plate when being opened to an opening size;

sixthly, the plate moving manipulator moves above the hole plate and descends to a grabbing position, the linear motor retracts out, the springs respectively provide force corresponding to the movement of the sliding blocks towards the middle, and the opening size of the clamping jaw is reduced; when the driving piece is not in contact with the inclined plane of the sliding block, the grabbing action is finished;

seventhly, the plate moving mechanical arm rises and then moves to the position above the placing position of the orifice plate, when the orifice plate descends to contact with the table top of the placing position, the linear motor extends out, the driving piece pushes the sliding block, and the clamping jaw is required to be larger than the orifice plate when being opened to the opening size;

and (8) lifting the plate moving manipulator to complete the tasks of grabbing and carrying the orifice plate, returning to the position to be worked or carrying out the next task, and repeating the steps.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. In the above embodiments, the present invention may be variously modified and changed. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The plate moving manipulator is characterized by comprising a base, a motor, an opening and closing linkage assembly and a clamping jaw, wherein the motor, the opening and closing linkage assembly and the clamping jaw are arranged on the base, an output shaft of the motor is matched with the opening and closing linkage assembly, the clamping jaw is matched with the opening and closing linkage assembly, and the opening and closing linkage assembly enables the clamping jaw to perform opening and clamping actions.

2. The plate moving manipulator according to claim 1, wherein the opening and closing linkage assembly includes two sliding blocks, and a driving member engaged with the two sliding blocks, the driving member is disposed on an output shaft of the motor, the driving member separates the two sliding blocks, a spring is disposed on the guide shaft, the spring is engaged with the sliding blocks, and a force released by the spring is used to close the two sliding blocks.

3. The plate moving manipulator according to claim 2, wherein a guide shaft is provided on the base, the guide shaft is engaged with the slide block, and the guide shaft is used for linearly moving the slide block.

4. The plate moving manipulator according to claim 2 or 3, wherein the motor is a rotating motor, the driving member is a turntable, two arc-shaped guide grooves are formed in the turntable, a guide shaft penetrates through each guide groove, and two ends of each guide shaft are fixed to the corresponding sliding blocks.

5. The plate moving manipulator according to claim 4, wherein the two guide grooves are arranged in a central symmetry manner, and the radian of each guide groove is gradually opened, namely one end of each guide groove is radially close to the central position of the rotating disc, and the other end of each guide groove is radially far away from the central position of the rotating disc.

6. The plate moving manipulator according to claim 5, wherein each guide groove is shaped like an Archimedes spiral.

7. The plate moving manipulator according to claim 6, wherein the two sliders are respectively provided with a turntable insertion slot therein, the two turntable insertion slots are symmetrically arranged in opposite directions, both sides of the turntable are respectively inserted into the corresponding turntable insertion slots, and both ends of the guide shaft are respectively fixed to both walls of the turntable insertion slots.

8. The plate moving manipulator according to claim 2 or 3, wherein the driving member has at least two driving inclined surfaces, the two driving inclined surfaces are inclined from top to bottom toward an axis of the output shaft of the motor, the two sliding blocks are respectively provided with driven inclined surfaces, the two driven inclined surfaces are inclined from top to bottom toward an axis of the output shaft of the motor, the driving inclined surfaces are in fit with the corresponding driven inclined surfaces, the motor is a linear motor, and the motor drives the driving member to perform telescopic motion.

9. The plate moving manipulator according to claim 8, wherein the driving member is frustum-shaped, the end of the driving member facing the motor is a large diameter end, and the end of the driving member facing the direction of the clamping jaw is a small diameter end.

10. The plate moving manipulator according to claim 9, wherein the guide shafts include a long guide shaft and a short guide shaft, the long guide shaft and the short guide shaft are arranged in parallel, and are all vertical to the output shaft of the motor, the short guide shaft is arranged between the motor and the long guide shaft, the sliding blocks are provided with through channels and blind hole channels, the long guide shafts sequentially penetrate through the through channels on the two sliding blocks, the short guide shafts are inserted into the corresponding blind hole channels on the sliding blocks one by one, the springs are arranged in the blind hole channels, the spring is respectively matched with the inner end of the short guide shaft and the outer end of the long guide shaft, the outer end of the spring positioned at the outer end of the long guide shaft is abutted against the inner wall of the machine base, and the spring is used for enabling the two sliding blocks to be close to each other and enabling the clamping jaw to be in a clamping state.