CN215942923U - Novel tongs device - Google Patents
Novel tongs device Download PDFInfo
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- CN215942923U CN215942923U CN202121847029.5U CN202121847029U CN215942923U CN 215942923 U CN215942923 U CN 215942923U CN 202121847029 U CN202121847029 U CN 202121847029U CN 215942923 U CN215942923 U CN 215942923U
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- clamping
- clamping mechanism
- rotating shaft
- rotary motion
- centrifugal cup
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Abstract
The utility model discloses a novel gripper device which comprises a rotary motion mechanism, a clamping mechanism and clamping jaws, wherein the clamping mechanism is connected with a rotating shaft, the clamping mechanism is connected with the rotary motion mechanism through the rotating shaft, a contracting brake device is sleeved on the rotating shaft, the clamping jaws are arranged on the clamping mechanism, the clamping mechanism drives the clamping jaws to open and close, the clamping jaws comprise two clamping pieces symmetrically arranged on the clamping mechanism, and bosses are arranged on the clamping pieces. When snatching centrifugal cup, two clamping pieces are close to each other and press from both sides the connecting rod on the tight centrifugal cup under clamping mechanism's effect, the support column that relies on two bosss on the clamping piece to hold the connecting rod snatchs centrifugal cup, compare the mode that relies on the frictional force among the prior art, this scheme can more stable centre gripping, at this moment, the band-type brake can the circular telegram start, and hold the pivot tightly, make the pivot unable rotation, guarantee that centrifugal cup can not change at removal in-process position, when the band-type brake does not circular telegram, but the pivot free rotation, rotary motion mechanism drives clamping mechanism through the pivot and rotates.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a novel gripper device.
Background
In order to improve the working efficiency of clinical examination, Laboratory Automation Systems (LAS) have been paid attention and developed worldwide. For adapting to the needs of experimental flow automation, need snatch the transfer to the test tube, and discern bar code information on the test tube, need realize automatic the connection in the transfer process after carrying out centrifugal processing and sample centrifugation completion to the sample, the centrifugation cup that will load the sample test tube snatchs from the assigned position, put into the centrifuge, centrifuge centrifugalizes the sample test tube, accomplish after the centrifugation, take out the centrifugation cup again, place in the assigned position, carry out follow-up experiment again, the transfer that needs the centrifugation cup at this in-process, and simultaneously, still need shift the test tube, scanning etc.
Because the test tube and the centrifuge cup have different weights, different grippers are usually adopted to grab the test tube and the centrifuge cup respectively, the gripper for grabbing the test tube usually needs to have rotational freedom, after the test tube is grabbed, the bar code position of the test tube is rotated to correspond to the scanning device through rotational rotation so as to be convenient for information identification and reading, therefore, synchronous belt driving or gear meshing driving is usually adopted, as the centrifuge cup is heavy and has large inertia, the holding force of the synchronous belt or gear meshing of the synchronous wheel is insufficient, the centrifuge cup can rotate in the moving process, the state of the centrifuge cup can be changed, the position of the sample tube in the centrifuge cup is changed, the centrifuge cup cannot be accurately placed into the centrifuge or cannot be placed back to the original position after the centrifugation is completed, the gripper cannot be suitable for grabbing the centrifuge cup, and an independent gripper needs to grab the centrifuge cup, the test tube and the centrifugal cup use different grippers, so that the structure load of the gripper arms can be generally caused, the cost is high, the gripper occupies a certain space, the stroke of the gripper can be limited, the same table top is caused, samples which can be placed are fewer, and the efficiency and the utilization rate of the full-automatic sample processing system are influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a novel gripper device for overcoming the defects in the prior art.
The utility model is realized by the following technical scheme:
the utility model provides a novel tongs device, includes rotary motion mechanism, clamping mechanism and clamping jaw, the last pivot that is connected with of clamping mechanism, clamping mechanism is connected with rotary motion mechanism through the pivot, the cover is equipped with contracting brake ware in the pivot, the clamping jaw is installed clamping mechanism is last, clamping mechanism is used for the drive opening and the closure of clamping jaw. When the contracting brake is started through electrifying control of the contracting brake, the rotating shaft is tightly embraced by the contracting brake and cannot rotate, so that the rotation and the shaking of the clamping mechanism are limited; when the brake is not electrified, the rotating shaft can rotate freely, so that the rotating motion mechanism drives the clamping mechanism to rotate through the rotating shaft.
Further, the clamping jaw includes two clamping pieces that the symmetry was installed on clamping mechanism, the clamping piece includes main part and fingertip, be provided with the boss in the main part. When needs snatch centrifugal cup, two clamping pieces are close to each other and press from both sides the connecting rod on the tight centrifugal cup under clamping mechanism's effect, at this moment, support column on the connecting rod is held by two bosss, because it holds the support column on the connecting rod and then snatchs centrifugal cup to rely on two bosss on the clamping piece, compare the mode that relies on the frictional force among the prior art, this scheme can more stable centre gripping, it is irrelevant with the change of frictional force, can be in care of preventing dropping, and, at this moment, the band-type brake ware can the circular telegram start, and hold the pivot tightly, make the pivot unable rotation, guarantee that centrifugal cup can not change at removal in-process position.
Further, the sawtooth shape is personally submitted to the inboard of the fingertip of clamping piece, prevents to appear the condition of skidding at centre gripping test tube or centrifugal cup in-process for the centre gripping is more steady effective, and at this moment, the band-type brake does not switch on, and rotary motion mechanism drives clamping jaw that clamping mechanism rotated through the pivot and rotates, and then drives the rotation of its test tube that snatchs, and it is rotatory to correspond the bar code position of test tube to with scanning device so that carry out information identification and read through rotatory rotation.
Consequently, this tongs scheme will snatch the function collection in an organic whole of centrifugal cup and test tube, on the one hand, can realize the rotational motion degree of freedom after the test tube snatchs, on the other hand, it gets to the bearing formula clamp of centrifugal cup to realize through setting up the boss on the clamping jaw, and through the setting of band-type brake ware, when snatching centrifugal cup, it locks the pivot enclasping tightly to switch on through the band-type brake ware, avoid centrifugal cup to rotate can take place at the removal in-process, it is heavier about centrifugal cup among the solution prior art, inertia is great, synchronizing wheel hold-in range or gear engagement's holding power is not enough, centrifugal cup can take place to rotate at the removal in-process, the state that can lead to centrifugal cup changes, thereby lead to the position change of sample pipe in the centrifugal cup, cause can't put centrifugal cup accuracy into centrifuge or the problem that can't put back the normal position after the centrifugation is accomplished. The test tube and the centrifugal cup can be grabbed by the same gripper, so that the structure of the mechanical arm is simpler, and the improvement on the working efficiency of an instrument and the reduction in cost are facilitated.
Furthermore, the inner side surfaces of the bosses and the finger tips are in arc-shaped structures. The center of the test tube or the centrifugal cup is favorably positioned.
The device further comprises a fixed seat, the rotary motion mechanism is fixed on the fixed seat, a Hall detection plate is fixed on the fixed seat, and a magnet is fixed on the clamping mechanism. When the magnet on the clamping mechanism enters the induction range of the Hall detection plate, the rotation origin state is determined.
Furthermore, the rotary motion mechanism comprises a rotary driving motor, a driving wheel, a driven wheel and a synchronous belt, the driving wheel is connected to an output shaft of the rotary driving motor, the driving wheel is connected with the driven wheel through the synchronous belt, one end of the rotating shaft is connected with the driven wheel, and the other end of the rotating shaft is connected with the clamping mechanism.
Furthermore, the novel gripper device is applied to a full-automatic sample processing system.
The novel gripper device comprises a rotary motion mechanism, a clamping mechanism and a clamping jaw, wherein the clamping mechanism is connected with a rotating shaft, the clamping mechanism is connected with the rotary motion mechanism through the rotating shaft, a brake contracting device is sleeved on the rotating shaft, the clamping jaw is installed on the clamping mechanism, the clamping mechanism drives the clamping jaw to open and close, the clamping jaw comprises two clamping pieces symmetrically installed on the clamping mechanism, and bosses are arranged on the clamping pieces. When snatching centrifugal cup, two clamping pieces are close to each other and press from both sides the connecting rod on the tight centrifugal cup under clamping mechanism's effect, the support column that relies on two bosss on the clamping piece to hold the connecting rod snatchs centrifugal cup, compare the mode that relies on the frictional force among the prior art, this scheme can more stable centre gripping, at this moment, the band-type brake can the circular telegram start, and hold the pivot tightly, make the pivot unable rotation, guarantee that centrifugal cup can not change at removal in-process position, when the band-type brake does not circular telegram, but the pivot free rotation, rotary motion mechanism drives clamping mechanism through the pivot and rotates.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic structural view of a novel gripper according to the present invention.
Fig. 2 is a schematic diagram of a state that the novel gripper provided by the utility model grips a centrifugal cup.
Fig. 3 is a schematic structural view of the clip according to the present invention.
The device comprises a 100-rotary motion mechanism, a 200-clamping mechanism, a 300-clamping jaw, a 310-clamping piece, a 311-main body, 312-fingertips, 313-bosses, a 400-rotating shaft, a 500-contracting brake device, a 600-centrifugal cup, a 610-connecting rod, a 611-supporting column, a 700-fixed seat, a 800-Hall detection plate and a 900-magnet.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the utility model, and not restrictive of the full scope of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, if the specific posture changes, the directional indicator changes accordingly.
As shown in fig. 1 and 2, the novel gripper device comprises a rotary motion mechanism 100, a clamping mechanism 200 and a clamping jaw 300, wherein a rotating shaft 400 is connected to the clamping mechanism 200, the clamping mechanism 200 is connected to the rotary motion mechanism 100 through the rotating shaft 400, a contracting brake 500 is sleeved on the rotating shaft 400, the clamping jaw 300 is installed on the clamping mechanism 200, and the clamping mechanism 200 is used for driving the clamping jaw 300 to open and close. In this embodiment, the rotary motion mechanism includes a rotary driving motor, a driving wheel, a driven wheel and a synchronous belt (not shown), the driving wheel is connected to an output shaft of the rotary driving motor, the driving wheel is connected to the driven wheel through the synchronous belt, one end of the rotating shaft is connected to the driven wheel, and the other end of the rotating shaft is connected to the clamping mechanism.
As shown in fig. 3, in an embodiment, the clamping jaw 300 includes two clamping pieces 310 symmetrically mounted on the clamping mechanism, the clamping piece 310 includes a main body 311 and fingertips 312, a boss 313 is disposed on the main body 311, an inner side surface of the fingertips 312 of the clamping piece 310 is in a sawtooth shape, and inner side surfaces of the boss 313 and the fingertips 312 are both in an arc-shaped structure.
When a centrifugal cup needs to be grabbed, the two clamping pieces 310 approach to each other under the action of the clamping mechanism 200 and clamp the connecting rod 610 on the centrifugal cup 600, at the moment, the supporting column 611 on the connecting rod 610 is supported by the two bosses 313, and the supporting column on the connecting rod is supported by the two bosses on the clamping pieces so as to grab the centrifugal cup, so that compared with a friction-dependent mode in the prior art, the scheme can stably clamp the centrifugal cup, is irrelevant to the change of friction force, can prevent the centrifugal cup from falling off in precaution, and at the moment, the brake can be powered on to start and clasp the rotating shaft, so that the rotating shaft cannot rotate, the rotation and shaking of the clamping mechanism are limited, and the position of the centrifugal cup cannot be changed in the moving process; when a test tube needs to be grabbed, the inner side surface of the fingertip 312 is in a sawtooth shape, so that the slipping condition in the test tube clamping process can be prevented, the clamping is more stable and effective, at the moment, the band-type brake is not powered on, the rotating shaft can rotate freely, the rotating motion mechanism drives the clamping jaw on the rotating clamping mechanism to rotate through the rotating shaft, the grabbed test tube is further driven to rotate, and the barcode position of the test tube is rotated to correspond to the scanning device through the rotating rotation so as to facilitate information identification and reading; and the inner side surfaces of the bosses 313 and the finger tips 312 are arc-shaped structures, so that the test tube or the centrifugal cup can be positioned by the hand in the process of grabbing the test tube or the centrifugal cup.
As shown in fig. 1, in another embodiment, the hall sensor further comprises a fixing base 700, the rotary motion mechanism 100 is fixed to the fixing base 700, a hall sensing plate 800 is fixed to the fixing base 700, and a magnet 900 is fixed to the clamping mechanism, and when the magnet on the clamping mechanism enters the sensing range of the hall sensing plate, the rotation origin state is determined.
The novel gripper device is applied to a full-automatic sample processing system.
The applicant asserts that the above-described embodiments merely represent the basic principles, principal features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the utility model, and that various changes and modifications can be made by one skilled in the art without departing from the spirit and scope of the utility model, which will fall within the scope of the utility model as claimed.
The present invention is not limited to the above embodiments, and all embodiments adopting the similar structure and method to achieve the object of the present invention are within the protection scope of the present invention.
Claims (8)
1. The utility model provides a novel tongs device, includes rotary motion mechanism, clamping mechanism and clamping jaw, its characterized in that: the clamping mechanism is connected with a rotating shaft, the clamping mechanism is connected with a rotary motion mechanism through the rotating shaft, a contracting brake device is sleeved on the rotating shaft, the clamping jaw is installed on the clamping mechanism, and the clamping mechanism is used for driving the clamping jaw to open and close.
2. The novel gripper of claim 1, wherein: the clamping jaw comprises two clamping pieces symmetrically arranged on the clamping mechanism, the clamping pieces comprise a main body and finger tips, and bosses are arranged on the main body.
3. The novel gripper of claim 2, wherein: the inner side surfaces of the fingertips of the clamping pieces are in a sawtooth shape.
4. The novel gripper of claim 2, wherein: the inner side surface of the boss is in an arc-shaped structure.
5. The novel gripper of claim 3, wherein: the inner side surface of the fingertip is in an arc-shaped structure.
6. The novel gripper of claim 1, wherein: the rotary motion mechanism is fixed on the fixed seat, a Hall detection plate is fixed on the fixed seat, and a magnet is fixed on the clamping mechanism.
7. The novel gripper of claim 1, wherein: the rotary motion mechanism comprises a rotary driving motor, a driving wheel, a driven wheel and a synchronous belt, the driving wheel is connected to an output shaft of the rotary driving motor, the driving wheel is connected with the driven wheel through the synchronous belt, one end of the rotating shaft is connected with the driven wheel, and the other end of the rotating shaft is connected with the clamping mechanism.
8. The novel gripper device of any one of claims 1-7 is applied to a fully automatic sample processing system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121847029.5U CN215942923U (en) | 2021-08-09 | 2021-08-09 | Novel tongs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121847029.5U CN215942923U (en) | 2021-08-09 | 2021-08-09 | Novel tongs device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215942923U true CN215942923U (en) | 2022-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121847029.5U Active CN215942923U (en) | 2021-08-09 | 2021-08-09 | Novel tongs device |
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| CN (1) | CN215942923U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115402989A (en) * | 2022-08-31 | 2022-11-29 | 中元汇吉生物技术股份有限公司 | Embrace and press from both sides mechanism, closing cap device and laboratory automation system |
-
2021
- 2021-08-09 CN CN202121847029.5U patent/CN215942923U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115402989A (en) * | 2022-08-31 | 2022-11-29 | 中元汇吉生物技术股份有限公司 | Embrace and press from both sides mechanism, closing cap device and laboratory automation system |
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