CN216940743U - Electric rotary sucker device - Google Patents

Abstract

The utility model relates to an electric rotary sucker device which comprises a control computer, an air suction grabbing module, a pressure judging module and an electric rotary module, wherein the air suction grabbing module comprises an air circuit multi-manifold base plate, a vacuum pump, a pressure sensor, a fixing frame, an electromagnetic valve group and a sucker, the electromagnetic valve group comprises an electromagnetic valve I and an electromagnetic valve II, the electric rotary module comprises a holder motor and a protective shell, a rotary shaft is further arranged on the side surface of the sucker, the pressure judging module comprises a slide rail fixing block, a micro photoelectric switch, a spring, an optical shaft and a fixing seat, a stand column is further arranged on the fixing seat, and the stand column is abutted against the bottom of the micro photoelectric switch.

Description

Electric rotary sucker device

Technical Field

The utility model relates to the technical field of medical detection devices, in particular to an electric rotary sucker device.

Background

The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. The manipulator is the earliest appearing industrial robot and the earliest appearing modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of medical detection, mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The manipulator sucker assembly is an important part of a manipulator, a general sucker has poor flexibility and a complex structure, and the adsorption force of the sucker cannot meet the requirement; the manipulator in the existing medical detection equipment has the following defects: purely motorized mechanical grippers are not able to grip thin and fragile components such as slides, test cards, and the like; the pneumatic sucker can not realize rotation in the vertical direction, the existence of the pneumatic sucker can not be judged before sucking the component, and the sucker has insufficient suction force, so that the pneumatic sucker can be separated in the moving process.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an electric rotary sucker device which can realize automatic discrimination of a glass slide, a test tube, a reaction cup, a test card and the like in medical detection, stably suck and grab by air and rotate a component.

In order to achieve the above purpose, the following technical scheme is provided:

an electric rotary sucker device comprises a control computer, an air suction grabbing module, a pressure discrimination module and an electric rotary module, wherein the air suction grabbing module is positioned above the pressure discrimination module, the pressure discrimination module is positioned above the electric rotary module, the air suction grabbing module comprises an air path multi-manifold base plate, a vacuum pump, a pressure sensor, a fixing frame, an electromagnetic valve group and a sucker, the electromagnetic valve group, the vacuum pump and the pressure sensor are fixedly connected to the air path multi-manifold base plate and are electrically connected with the control computer, the electromagnetic valve group comprises an electromagnetic valve I and an electromagnetic valve II, the input end of the electromagnetic valve I is connected with the input end of the vacuum pump through the air path multi-manifold base plate, the input end of the electromagnetic valve II is connected with the output end of the vacuum pump through the air path multi-manifold base plate, and the sucker is connected with the electromagnetic valve I through the air path multi-manifold base plate, the pressure sensor is connected with the first electromagnetic valve and the second electromagnetic valve through the gas circuit multi-branch circuit substrate, the fixing frame is fixedly connected to the bottom of the electromagnetic valve group, the electric rotating module comprises a tripod head motor, a sucker and a protective shell, the upper portion of the protective shell is fixedly connected with the side face of the fixing frame, the tripod head motor is positioned in the protective shell and is electrically connected with the control computer, the fixed end of the tripod head motor is fixedly connected with the inner side of the protective shell, the rotating end of the tripod head motor is fixedly connected with the sucker, the side face of the sucker is also provided with a rotating shaft, the rotating shaft is rotatably connected with the protective shell, the pressure judging module comprises a sliding rail fixing block, a micro photoelectric switch, a spring, an optical shaft and a fixing seat, the sliding rail fixing block is positioned below the fixing frame and is matched and abutted against the fixing frame, the micro photoelectric switch is fixedly connected to the bottom of the sliding rail fixing block, and the number of the optical shafts is two, all be located between slide rail fixed block and the fixing base, and be located miniature photoelectric switch's both sides respectively, the cover has the spring on the optical axis, and its other end of optical axis one end run through slide rail fixed block runs through the fixing base to with fixing base, slide rail fixed block relative slip, the both sides fixed connection of fixing base just is located the top of cloud platform motor on the protective housing, still be equipped with a stand on the fixing base, stand and miniature photoelectric switch bottom butt.

Preferably, the length of the optical axis is smaller than the sum of the lengths of the fixing seat, the spring and the sliding rail fixing block.

Preferably, the first electromagnetic valve and the second electromagnetic valve are both two-position three-way electromagnetic valves.

Preferably, the fixing frame is provided with a recess, the sliding rail fixing block is provided with a protrusion, and the protrusion is just positioned in the recess, so that the sliding rail fixing block is abutted to the fixing frame in a matching manner.

The utility model has the beneficial effects that:

the utility model overcomes the defects of pure electric grippers and pneumatic sucker type grippers in the existing medical detection equipment, adopts a pneumatic and electric combination mode, combines a control computer, and realizes the automatic discrimination of components such as glass slides, test tubes, reaction cups, test cards and the like in the medical detection through a pressure discrimination module; the component is sucked, grabbed and rotated through the air suction grabbing module and the electric rotating module, manual intervention is not needed in the whole process, and the component is not polluted.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is an enlarged schematic view of FIG. 2 at A;

FIG. 4 is a system diagram of the present invention;

the reference symbols shown in the figures are: the air channel multi-manifold structure comprises a 1-air channel multi-manifold substrate, a 2-vacuum pump, a 3-pressure sensor, a 4-fixing frame, a 5-first electromagnetic valve, a 6-sliding rail fixing block, a 7-switch, a 8-spring, a 9-fixing seat, a 10-protecting shell, a 11-tripod head motor, a 12-sucker, a 13-optical axis, a 14-rotating shaft, a 15-second electromagnetic valve, a 16-upright post, a 401-recess, a 601-protrusion, a 1101-rotating end and a 1102-fixing end.

Detailed Description

The following describes the design in detail with reference to the drawings.

As shown in fig. 1 to 4, an electric rotary chuck device comprises a control computer, an air suction grabbing module, a pressure discrimination module and an electric rotary module, wherein the air suction grabbing module is located above the pressure discrimination module, the pressure discrimination module is located above the electric rotary module, the air suction grabbing module comprises an air path multi-manifold base plate 1, a vacuum pump 2, a pressure sensor 3, a fixing frame 4, an electromagnetic valve set and a chuck 12, the electromagnetic valve set, the vacuum pump 2 and the pressure sensor 3 are fixedly connected to the air path multi-manifold base plate 1 and electrically connected to the control computer, the control computer is used for controlling the electromagnetic valve set, opening and closing of the vacuum pump 2 and receiving electric signals of the pressure sensor 3, the electromagnetic valve set comprises an electromagnetic valve I5 and an electromagnetic valve II 15, an input end of the electromagnetic valve I5 is connected to an input end of the vacuum pump 2 through the air path multi-manifold base plate 1, an input end of the electromagnetic valve II 15 is connected to an output end of the vacuum pump 2 through the air path multi-manifold base plate 1, the suction cup 12 is connected with the first electromagnetic valve 5 through the gas circuit multi-manifold circuit substrate 1, the pressure sensor 9 is connected with the first electromagnetic valve 5 and the second electromagnetic valve 15 through the gas circuit multi-manifold circuit substrate 1, the first electromagnetic valve 5 and the second electromagnetic valve 15 are two-position three-way electromagnetic valves, the fixing frame 4 is fixedly connected to the bottom of the electromagnetic valve group, the electric rotating module comprises a pan-tilt motor 11, the suction cup 12 and a protective shell 10, the upper portion of the protective shell 10 is fixedly connected with the side face of the fixing frame 4, the pan-tilt motor 11 is located in the protective shell 10 and is electrically connected with a control computer and used for controlling the on-off and running speed of the pan-tilt motor 11, a fixed end 1102 of the pan-tilt motor 11 is fixedly connected with the inner side of the protective shell 10, a rotating end 1101 of the pan-tilt motor is fixedly connected with the suction cup 12, a rotating shaft 14 is further arranged on the side face of the suction cup 12 and rotatably connected with the protective shell 10, and the pressure judging module comprises a sliding rail fixing block 6, The miniature photoelectric switch 7, the spring 8, the optical axis 13 and the fixed seat 9, the slide rail fixed block 6 is positioned below the fixed seat 4, the fixed seat 4 is provided with a recess 401, the slide rail fixed block 6 is provided with a protrusion 601, the protrusion 601 is just positioned in the recess 401, so that the slide rail fixed block 6 is matched and abutted with the fixed seat 4, the miniature photoelectric switch 7 is fixedly connected with the bottom of the slide rail fixed block 6, two optical axes 13 are arranged, are positioned between the slide rail fixed block 6 and the fixed seat 9 and respectively positioned at two sides of the miniature photoelectric switch 7, the spring 8 is sleeved on the optical axis 13, one end of the optical axis 13 penetrates through the slide rail fixed block 6, the other end of the optical axis 13 penetrates through the fixed seat 9 and slides relative to the slide rail fixed block 6, the length of the optical axis 13 is less than the sum of the fixed seat 9, the spring 8 and the slide rail fixed block 6, and two sides of the fixed seat 9 are fixedly connected on the protective shell 10, and is located the top of cloud platform motor 11, still is equipped with an upright 16 on the fixing base 9, and upright 16 and miniature photoelectric switch 7 bottom butt.

Examples

As shown in fig. 1-4, an external manipulator clamps a slide rail fixing block 6, the manipulator moves an electric rotary suction cup device at a predetermined position to abut against a slide to be moved, so that a suction cup 12 is aligned with the slide and descends to a certain height to drive devices except a micro photoelectric switch 7 and the slide rail fixing block 6 to move upwards, a spring 8 is compressed, a protrusion 16 triggers the photoelectric switch, the micro photoelectric switch 7 sends a trigger signal to a control computer, the control computer controls a first electromagnetic valve 5 and a vacuum pump 2 to be opened to suck air in the suction cup 12, meanwhile, a second electromagnetic valve 15 is controlled to be opened to release the air sucked by the vacuum pump 2 into the atmosphere, a pressure sensor 3 detects the pressure in the suction cup 12 in real time and feeds back the pressure to the control computer, when the pressure value reaches a set value, the slide is sucked onto the suction cup 12, the control computer controls the vacuum pump 2, The first electromagnetic valve 5 and the second electromagnetic valve 15 are closed, the holder motor 11 is controlled to rotate to drive the slide glass to rotate and move to a detection position, the first electromagnetic valve 5 and the vacuum pump 2 are controlled to be opened by the control computer to suck air in the atmosphere, the air in the atmosphere enters the suction disc 12, the second electromagnetic valve 15 is controlled to be opened at the same time and is communicated with the pressure sensor 3, the pressure sensor 3 detects the pressure in the suction disc 12 in real time and feeds the pressure back to the control computer, when the pressure value is the same as the atmospheric pressure, the slide glass is put down, and the moving operation is finished.

Claims (4)

1. An electric rotary sucker device is characterized by comprising a control computer, an air suction grabbing module, a pressure judging module and an electric rotary module, wherein the air suction grabbing module is positioned above the pressure judging module, the pressure judging module is positioned above the electric rotary module, the air suction grabbing module comprises an air path multi-manifold base plate, a vacuum pump, a pressure sensor, a fixing frame, an electromagnetic valve set and a sucker, the electromagnetic valve set, the vacuum pump and the pressure sensor are fixedly connected to the air path multi-manifold base plate and are electrically connected with the control computer, the electromagnetic valve set comprises an electromagnetic valve I and an electromagnetic valve II, the input end of the electromagnetic valve I is connected with the input end of the vacuum pump through the air path multi-manifold base plate, the input end of the electromagnetic valve II is connected with the output end of the vacuum pump through the air path multi-manifold base plate, and the sucker is connected with the electromagnetic valve I through the air path multi-manifold base plate, the pressure sensor is connected with the first electromagnetic valve and the second electromagnetic valve through the gas circuit multi-branch pipeline substrate, the fixing frame is fixedly connected with the bottom of the electromagnetic valve group, the electric rotating module comprises a tripod head motor, a sucker and a protective shell, the upper part of the protective shell is fixedly connected with the side surface of the fixing frame, the tripod head motor is positioned in the protective shell and is electrically connected with the control computer, the fixed end of the tripod head motor is fixedly connected with the inner side of the protective shell, the rotating end of the tripod head motor is fixedly connected with the sucker, the side surface of the sucker is also provided with a rotating shaft, the rotating shaft is rotatably connected with the protective shell, the pressure judging module comprises a sliding rail fixing block, a miniature photoelectric switch, a spring, an optical shaft and a fixing seat, the sliding rail fixing block is positioned below the fixing frame and is matched and abutted against the fixing frame, the miniature photoelectric switch is fixedly connected with the bottom of the sliding rail fixing block, and the number of the optical shafts is two, all be located between slide rail fixed block and the fixing base, and be located miniature photoelectric switch's both sides respectively, the cover has the spring on the optical axis, and its other end of optical axis one end run through slide rail fixed block runs through the fixing base to with fixing base, slide rail fixed block relative slip, the both sides fixed connection of fixing base is on the protective housing, and is located the top of cloud platform motor, still be equipped with a stand on the fixing base, stand and miniature photoelectric switch bottom butt.

2. An electric rotary suction cup device according to claim 1, wherein the length of the optical axis is smaller than the sum of the lengths of the fixing base, the spring and the slide rail fixing block.

3. An electric rotary suction cup device according to claim 1, wherein the first solenoid valve and the second solenoid valve are two-position three-way solenoid valves.

4. The electric rotary suction cup device according to claim 1, wherein the fixing frame is provided with a recess, and the slide rail fixing block is provided with a protrusion, and the protrusion is just positioned in the recess, so that the slide rail fixing block is in fit abutment with the fixing frame.

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