CN215591975U

CN215591975U - Automatic grabbing device

Info

Publication number: CN215591975U
Application number: CN202122004646.5U
Authority: CN
Inventors: 张力伟; 陈进; 臧昱翔; 翟维利
Original assignee: Orange Cloud Internet Design Co ltd
Current assignee: Orange Cloud Internet Design Co ltd
Priority date: 2021-08-24
Filing date: 2021-08-24
Publication date: 2022-01-21
Anticipated expiration: 2031-08-24

Abstract

The utility model relates to an automatic grabbing device which comprises a reaction tube grabbing mechanism, wherein the reaction tube grabbing mechanism comprises a reaction tube claw and a driving mechanism for driving the reaction tube claw to move, the reaction tube claw is connected with the driving end of the driving mechanism through a claw mounting plate, the reaction tube claw comprises a plurality of claw teeth which are arranged in parallel, and a positioning notch matched with the tube diameter of a reaction tube is arranged between the claw teeth. The claw teeth are inserted between the tube bodies of the reaction tubes, the reaction tubes are grabbed through the insertion and matching of the claw teeth and the reaction tubes, then the reaction tubes can be automatically transferred through the driving mechanism, and the positioning of the claw and the reaction tubes is stable in the transferring process. The automatic gripping and transferring device has the advantages of simple structure, convenience in operation, no need of manual participation, reduction in labor cost and capability of automatically and accurately gripping, transferring and placing the reaction tube, thereby meeting the requirements of high speed and high efficiency in the detection process.

Description

Automatic grabbing device

Technical Field

The utility model relates to an automatic grabbing device, and belongs to the technical field of automatic movement.

Background

The reaction tube is a combination body formed by eight tube bodies with similar cylindrical shapes, the existing eight tube bodies are mainly used for storing chemical reagents, liquid or liquid drops stored in the eight tube bodies are subjected to closed sampling or fluorescence detection, the existing eight tube bodies are mostly operated manually, the labor cost is high, the manual transfer is low in operation and transfer efficiency, time and labor are wasted, the manual transfer is not matched with automatic detection, and some occasions are not suitable for manual operation, such as radiation, viruses and other environments, and harm can be brought to human bodies if the eight tube bodies are in the environments for a long time, so that an automatic grabbing and transferring tool capable of quickly realizing grabbing and transferring of the eight tube bodies is needed in order to adapt to some detection and analysis occasions with high speed and high beat.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model provides the automatic grabbing device which is simple in structure, convenient to operate and capable of quickly grabbing and transferring the parts.

The technical scheme for solving the technical problems is as follows: the utility model provides an automatic grabbing device, snatchs the mechanism including the reaction tube, the reaction tube snatchs the actuating mechanism that the mechanism includes the reaction tube hook and is used for driving the reaction tube hook to remove, the reaction tube hook pass through the hook mounting panel with actuating mechanism's drive end is connected, a plurality of parallel claw teeth that set up that the reaction tube hook includes, be equipped with between the claw tooth with the location notch of the pipe diameter looks adaptation of reaction tube.

The utility model has the beneficial effects that: the claw teeth are inserted between the tube bodies of the reaction tubes, the grabbing of the reaction tubes is realized through the insertion fit between the claw teeth and the reaction tubes, then the automatic transfer of the reaction tubes can be realized through the driving mechanism, and the positioning of the claw and the reaction tubes in the transfer process is stable. The automatic gripping and transferring device has the advantages of simple structure, convenience in operation, no need of manual participation, reduction in labor cost and capability of automatically and accurately gripping, transferring and placing the reaction tube, thereby meeting the requirements of high speed and high efficiency in the detection process.

On the basis of the technical scheme, the utility model can be further improved as follows.

Further, still include unloading complementary unit, unloading complementary unit is including upset slope cylinder, upset slope cylinder sets up on the hook mounting panel, the hook with the hook mounting panel is articulated, the piston rod of upset slope cylinder pass through the linking arm with the hook is connected.

The technical scheme has the advantages that the hook claw is connected with the hook claw mounting plate through the bearing, the overturning inclined cylinder is hinged with one end of the connecting arm, the other end of the connecting arm is fixedly connected with the hook claw, and the overturning inclined cylinder acts to realize the inclined overturning of the hook claw by taking the bearing as a rotating fulcrum; after the reaction tube is turned over and inclined to a certain angle, the reaction tube can be separated from the hook claw through self gravity, so that the used reaction tube is discarded into the garbage can.

Furthermore, a telescopic transplanting cylinder is further arranged between the claw mounting plate and the driving end of the driving mechanism.

Adopt above-mentioned further scheme's beneficial effect is, transplant the height of cylinder adjustable hook through flexible, avoid the different clamping jaws that snatch the mechanism because too concentrate between appearing disturbing.

The liquid transfer device grabbing mechanism comprises a liquid transfer device mounting plate, a liquid transfer device arranged on the liquid transfer device mounting plate, a first air cylinder and a second air cylinder, the liquid transfer device mounting plate is connected with the driving end of the driving mechanism, a gun head control button and a volume adjusting button are arranged on the liquid transfer device, the first air cylinder is used for controlling the gun head control button, and the second air cylinder is used for controlling the volume adjusting button.

The beneficial effects of adopting above-mentioned further scheme are that, first cylinder acts on the rifle head control button of pipettor, realizes the automatic rejection of pipettor automatic installation rifle head and rifle head, and the volume adjustment button that the second cylinder acts on the pipettor can realize the automatic imbibition and the flowing back of pipettor, and a plurality of independent control snatch the mechanism and the actuating system that corresponds, lead to grabbing device structure complicacy, can place a plurality of mechanisms of snatching on a actuating system, realize a plurality of actions of snatching the mechanism in three-dimensional space, practice thrift grabbing device's installation space.

Further, still include vacuum pump and blender and snatch the mechanism, vacuum pump and blender snatch the mechanism including the pneumatic clamping jaw that is used for snatching vacuum pump and blender, pneumatic clamping jaw pass through the clamping jaw mounting panel with actuating mechanism's drive end is connected, pneumatic clamping jaw includes a pair of clamping jaw and is used for driving the clamping jaw cylinder that a pair of clamping jaw opened and shut, the clamping jaw cylinder sets up on the clamping jaw mounting panel.

The vacuum pump mixer has the advantages that the driving mechanism is also provided with a grabbing mechanism for clamping other components, specifically, the vacuum pump mixer can be grabbed, grabbing and transferring of the vacuum pump mixer can be achieved through the pneumatic clamping jaws, the pneumatic clamping jaws grab the vacuum pump or the mixer, and then the vacuum pump or the mixer can be moved to a position required to be transferred under the action of the driving mechanism. The driving of a plurality of grabbing mechanisms is realized through one driving mechanism, and the installation space of the equipment is fully utilized.

Furthermore, the clamping jaw mounting plate is connected with the driving end of the driving mechanism through a servo motor, and one side of the clamping jaw is provided with a profiling groove matched with the outer contour of the mixer when the clamping jaw is closed.

Adopt above-mentioned further scheme's beneficial effect is, the switch of current blender adopts manual operation completely, workman intensity of labour is big on the one hand, it is great to be influenced by human factor, often it is difficult to satisfy technical requirement to screw up the moment, in order to satisfy automatic requirement, the event has increased the automatic structure of screwing up or unscrewing of blender, when the blender need be unscrewed, the tight blender of clamping jaw closure clamp, utilize its one side to have the profile groove with blender profile phase adaptation, can rotate the opening blender that can relax under servo motor's effect, it is more stable, be convenient for get liquid from the blender, and the opposite side of clamping jaw then is used for pressing from both sides and gets the vacuum pump, a clamping jaw is dual-purpose, the structure is compacter, practice thrift and snatch the space that the mechanism occupied. The servo motor can accurately control the number of rotation turns; the vertical movement controlled by the driving mechanism in the Z direction realizes the simultaneous action of the rotary movement and the vertical movement; through the different speed matching of rotation speed and up-and-down motion, satisfy the screw motion of blender pitch, realize twisting out of the wrong income of blender, a clamping jaw both can be used for shifting the vacuum pump, can also be used for shifting the blender and realize that the blender is unscrewed and is screwed up the operation, and simple structure is compact, and rational arrangement makes full use of space in the box.

Furthermore, the servo motor is connected with the clamping jaw mounting plate through a pneumatic rotary joint.

The pneumatic clamping jaw mechanism has the advantages that the servo motor is connected with the driving end of the driving mechanism through the mounting plate, the pneumatic rotating joint can be fixed on the mounting plate and is connected with the output shaft of the servo motor through the coupler, the pneumatic clamping jaw is mounted at the rotating end of the pneumatic rotating joint, and transition connection of gas media of the pneumatic clamping jaw from a static system to a dynamic rotating system is achieved through the pneumatic rotating joint.

Further, the pipettor is arranged on the pipettor mounting plate through a clamping block.

The beneficial effect who adopts above-mentioned further scheme is, realizes the installation location of pipettor, is convenient for accurate realization to the control of the button on the pipettor.

Furthermore, actuating mechanism adopts the triaxial module, the triaxial module includes that X moves the module, Y to moving module and Z to moving the module.

The beneficial effect who adopts above-mentioned further scheme is that, can realize through the triaxial module that each snatchs horizontal action, vertical action and the vertical lift action of mechanism to the clamp of each part is got and is shifted.

And furthermore, the X-direction moving module is parallel to the guide rail, one end of the Y-direction moving module is supported on the X-direction moving module, and the bottom of the other end of the Y-direction moving module is provided with a sliding block matched with the guide rail.

The beneficial effect who adopts above-mentioned further scheme is, can guide each action of snatching the mechanism, further ensures the stability of the removal of each snatching the mechanism.

Drawings

FIG. 1 is a schematic structural view of a reaction tube grasping mechanism of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a schematic view of the construction of the finger of the present invention;

fig. 4 is a schematic structural view of a pipette grasping mechanism of the present invention;

FIG. 5 is a schematic structural view of a vacuum pump mixer grasping mechanism of the present invention;

FIG. 6 is a schematic view of the jaw configuration of the present invention;

FIG. 7 is a schematic front view of the gripping mechanisms of the present invention mounted on a drive mechanism;

FIG. 8 is a rear view of the gripping mechanisms of the present invention mounted on a drive mechanism;

FIG. 9 is a schematic perspective view of the gripping mechanisms of the present invention mounted on a drive mechanism;

in the figure, 1, a reaction tube hook; 101. claw teeth; 102. a positioning notch; 2. a tilting cylinder is turned over; 3. a hook mounting plate; 4. a telescopic transplanting cylinder; 5. a pipettor mounting plate; 6. a pipettor; 7. a first cylinder; 8. a second cylinder; 9. a gun head control button; 10. a volume adjustment button; 11. a clamping jaw; 110. profiling grooves; 12. a clamping jaw mounting plate; 13. a clamping jaw cylinder; 14. a servo motor; 15. a speed reducer; 16. a coupling; 17. a pneumatic rotary joint; 18. a clamping block; 19. an X-direction moving module; 20. a Y-direction moving module; 21. a Z-direction moving module; 22. a guide rail; 23. a slider; 24. a reaction tube; 25. a gun head; 26. a mixer.

Detailed Description

The principles and features of this invention are described below in conjunction with examples, which are set forth to illustrate, but are not to be construed to limit the scope of the utility model.

As shown in fig. 1 to 9, an automatic gripping device includes a reaction tube gripping mechanism, the reaction tube gripping mechanism includes a reaction tube claw 1 and a driving mechanism for driving the reaction tube claw 1 to move, the reaction tube claw 1 is connected to a driving end of the driving mechanism through a claw mounting plate 3, the reaction tube claw 1 includes a plurality of claw teeth 101 arranged in parallel, and a positioning notch 102 adapted to a tube diameter of the reaction tube is disposed between the claw teeth 101. The hook claw is matched with the reaction tube. The reaction tubes are arranged in parallel, such as eight connecting tubes, and the number of the claw teeth corresponds to that of the eight connecting tubes.

Still include unloading complementary unit, unloading complementary unit is including upset slope cylinder 2, upset slope cylinder 2 sets up on the hook mounting panel 3, the hook with the hook mounting panel is articulated, the piston rod of upset slope cylinder pass through the linking arm with the hook is connected. The hook claw is connected with the hook claw mounting plate through a bearing, the overturning and inclining cylinder is hinged with one end of the connecting arm, the other end of the connecting arm is fixedly connected with the hook claw, and the overturning and inclining cylinder acts to realize the inclining and overturning of the hook claw by taking the bearing as a rotating fulcrum; after the certain angle is leaned on in the upset, the reaction tube can be deviate from the claw through self gravity to the reaction tube after will using is abandoned to retrieve in the garbage bin.

And a telescopic transplanting cylinder 4 is also arranged between the claw mounting plate 3 and the driving end of the driving mechanism. The height of the hook claw can be adjusted through the telescopic transplanting cylinder 4, and interference between clamping jaws 25 of different grabbing mechanisms due to over concentration is avoided.

Still include the pipettor and snatch the mechanism, the pipettor snatchs the mechanism and includes pipettor mounting panel 5, set up pipettor 6, first cylinder 7 and second cylinder 8 on pipettor mounting panel 5, pipettor mounting panel 5 with actuating mechanism's drive end is connected, be equipped with rifle head control button 9 and volume adjustment button 10 on the pipettor 6, first cylinder 7 is used for control rifle head control button 9, second cylinder 8 is used for control volume adjustment button 10. First cylinder 7 acts on rifle head control button 9 of pipettor 6, realizes the automatic rejection of pipettor 6 automatic installation rifle head and rifle head, and second cylinder 8 acts on the volume adjustment button 10 of pipettor 6, can realize the automatic imbibition and the flowing back of pipettor 6, a plurality of independent control snatch the mechanism and the actuating system who corresponds, lead to the grabbing device structure complicated, can place a plurality of mechanisms of snatching on an actuating system, realize a plurality of actions of snatching the mechanism in three-dimensional space, practice thrift grabbing device's installation space.

Still include vacuum pump and blender and snatch the mechanism, vacuum pump and blender snatch the mechanism including the pneumatic clamping jaw 11 that is used for snatching vacuum pump and blender, pneumatic clamping jaw 11 through clamping jaw mounting panel 12 with actuating mechanism's drive end is connected, pneumatic clamping jaw 11 includes a pair of clamping jaw 11 and is used for driving clamping jaw 11 clamping jaw cylinder 13 that opens and shuts, clamping jaw cylinder 13 sets up on the clamping jaw mounting panel 12. The driving mechanism is also provided with a grabbing mechanism for clamping other parts, in particular to a grabbing vacuum pump and a mixer, the grabbing and the transferring of the vacuum pump and the mixer are realized through the pneumatic clamping jaws 11, and the pneumatic clamping jaws 11 grab the vacuum pump or the mixer and can be moved to the position required to be transferred under the action of the driving mechanism. The driving of a plurality of grabbing mechanisms is realized through one driving mechanism, and the installation space of the equipment is fully utilized.

The clamping jaw mounting plate 12 is connected with the driving end of the driving mechanism through a servo motor 14 and a speed reducer 15, and when the clamping jaws 11 are closed, one side of each clamping jaw forms an imitated groove 110 matched with the outer contour of the mixer. The existing mixer is unscrewed or screwed completely by manual operation, on one hand, the labor intensity of workers is high, the influence of human factors is large, the screwing torque is difficult to meet the technical requirements, in order to meet the requirements of automation, the automatic screwing or unscrewing structure of the mixer is added, when the mixer needs to be unscrewed, the clamping jaw 11 is closed to clamp the mixer, the mixer can be easily opened by rotating under the action of the servo motor 14 by utilizing the contour groove 110 matched with the contour of the mixer, and liquid can be conveniently taken from the mixer. The servo motor 14 can accurately control the number of rotation turns; the vertical movement controlled by the driving mechanism in the Z direction realizes the simultaneous action of the rotary movement and the vertical movement; through the different speed matching of rotation speed and up-and-down motion, satisfy the helical motion of blender pitch, realize the switch of blender, a clamping jaw both can be used for shifting the vacuum pump, can also be used for shifting the blender and realize that the blender is unscrewed and is screwed up the operation, and simple structure is compact, and rational arrangement makes full use of space in the box.

The servo motor 14 is connected to the jaw mounting plate 12 by a pneumatic rotary joint 17. The servo motor 14 is connected with the driving end of the driving mechanism through a mounting plate, the pneumatic rotary joint 17 can be fixed on the mounting plate and is connected with the output shaft of the servo motor 14 through the coupler 16, the pneumatic clamping jaw 11 is installed at the rotary end of the pneumatic rotary joint 17, and transitional connection of gas media of the pneumatic clamping jaw 11 from a static system to a dynamic rotary system is achieved through the pneumatic rotary joint 17.

The pipettes 6 are arranged on the pipettor mounting plate 5 by means of a clamping block 18. Realize pipettor 6's installation location, the accurate control of realizing the button on the pipettor 6 of being convenient for.

The driving mechanism adopts a three-axis module, and the three-axis module comprises an X-direction moving module 19, a Y-direction moving module 20 and a Z-direction moving module 21. The transverse action, the longitudinal action and the vertical lifting action of each grabbing mechanism can be realized through the three-axis module, so that the clamping and transferring of each component are realized.

The X-direction moving module 19 is parallel to the guide rail 22, one end of the Y-direction moving module 20 is supported on the X-direction moving module 19, and the bottom of the other end of the Y-direction moving module is provided with a sliding block 23 matched with the guide rail 22. The movement of each grabbing mechanism can be guided, and the stability of the movement of each grabbing mechanism is further ensured.

The claw tooth inserts between the body of reaction tube 24, the snatching of reaction tube is realized through the cartridge cooperation between claw tooth and the reaction tube, then the automatic transfer of reaction tube in three-dimensional space is realized to accessible triaxial module, the transfer process claw is stable with the reaction tube location, the body of reaction tube after the reaction tube of accessible target in place is then inserted the constant head tank to the breaking away from of reaction tube, the claw then reverse take out can, when the reaction tube after needs will use is lost into the collection box, then accessible upset slope cylinder extension, the upset of drive claw, the reaction tube then breaks away from the claw tooth and takes off from the constant head tank mouth and fall into in the collection box. When the vacuum pump needs to be grabbed, the pneumatic clamping jaws clamp the vacuum pump, the vacuum pump can be transferred in a three-dimensional space under the action of the three-axis module until the vacuum pump reaches a required position, when the mixer needs to be grabbed, the mixer 26 is grabbed by using the profile groove of the mixer, the transfer of the mixer is realized, when the mixer needs to be opened, the mixer can be opened by the rotation of the servo motor in cooperation with the Z-direction action, so that the liquid in the mixer is sucked by using a liquid shifter and transferred to the required position such as a reaction tube, the gun head is grabbed by using the specific liquid shifter, the liquid in the mixer is sucked by the opened mixer through the liquid feeding and discharging cylinder, the sucked liquid is transferred to and discharged to the eight connecting tubes which are opened, the eight connecting tubes are eight tubes in total, the eight times need to be fetched, in order to ensure that the liquid fetching is not influenced by other times, the gun head 25 needs to be fetched and then the liquid is fetched, then throw the rifle head in the consumptive material collection box through pipettor automatic control device. The grabbing mechanism is used for grabbing, transferring and placing the grabbing mechanisms in a three-dimensional space, grabbing and transferring are automated, the driving structure is simple, and the internal space of the equipment can be effectively utilized to meet the requirement of detection equipment.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides an automatic grabbing device, its characterized in that snatchs the mechanism including the reaction tube, the reaction tube snatchs the actuating mechanism that the mechanism includes reaction tube hook and is used for driving reaction tube hook to remove, the reaction tube hook pass through the hook mounting panel with actuating mechanism's drive end is connected, a plurality of parallel claw teeth that set up that the reaction tube hook includes, be equipped with between the claw tooth with the location notch of the pipe diameter looks adaptation of reaction tube.

2. The automatic grabbing device according to claim 1, further comprising a blanking assisting mechanism, wherein the blanking assisting mechanism comprises a turnover tilting cylinder, the turnover tilting cylinder is arranged on the claw mounting plate, the claw is hinged to the claw mounting plate, and a piston rod of the turnover tilting cylinder is connected with the claw through a connecting arm.

3. The automatic gripping device according to claim 2, wherein a telescopic transplanting cylinder is further arranged between the claw mounting plate and the driving end of the driving mechanism.

4. The automatic gripping device according to claim 1, further comprising a pipette gripping mechanism, wherein the pipette gripping mechanism comprises a pipette mounting plate, a pipette arranged on the pipette mounting plate, a first cylinder and a second cylinder, the pipette mounting plate is connected with the driving end of the driving mechanism, the pipette is provided with a gun head control button and a volume adjusting button, the first cylinder is used for controlling the gun head control button, and the second cylinder is used for controlling the volume adjusting button.

5. The automatic gripping device according to any one of claims 1 to 4, further comprising a vacuum pump and mixer gripping mechanism, wherein the vacuum pump and mixer gripping mechanism comprises a pneumatic clamping jaw for gripping the vacuum pump and the mixer, the pneumatic clamping jaw is connected with the driving end of the driving mechanism through a clamping jaw mounting plate, the pneumatic clamping jaw comprises a pair of clamping jaws and a clamping jaw air cylinder for driving the pair of clamping jaws to open and close, and the clamping jaw air cylinder is arranged on the clamping jaw mounting plate.

6. The automatic gripping device according to claim 5, wherein the jaw mounting plate is connected to the driving end of the driving mechanism by a servo motor, and a pair of the jaws close one side thereof to form a contour groove adapted to the outer profile of the mixer.

7. The automated grasping apparatus according to claim 6, wherein the servo motor is connected to the jaw mounting plate by a pneumatic rotary joint.

8. The automated grasping device according to claim 4, wherein the pipette is disposed on the pipette mounting plate by a gripper block.

9. The automated gripping apparatus of claim 1, 2, 3, or 4, wherein the drive mechanism employs a three-axis module comprising an X-direction moving module, a Y-direction moving module, and a Z-direction moving module.

10. The automatic grabbing device of claim 9, further comprising a guide rail parallel to the X-direction moving module, wherein one end of the Y-direction moving module is supported on the X-direction moving module, and a slide block matched with the guide rail is arranged at the bottom of the other end of the Y-direction moving module.