CN217024404U - Snatch and annotate integrative gripper of liquid - Google Patents
Snatch and annotate integrative gripper of liquid Download PDFInfo
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- CN217024404U CN217024404U CN202221434169.4U CN202221434169U CN217024404U CN 217024404 U CN217024404 U CN 217024404U CN 202221434169 U CN202221434169 U CN 202221434169U CN 217024404 U CN217024404 U CN 217024404U
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- gripper
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Abstract
The utility model provides a grabbing and liquid injection integrated mechanical claw which comprises a mounting frame, a grabbing component and a liquid injection component. The mounting frame is provided with a first driving structure and a second driving structure, and a first direction extending towards the direction far away from the mounting frame is arranged on the mounting frame; the grabbing component is arranged on the mounting rack in a sliding mode and used for grabbing reagent bottles and opening and closing bottle caps of the reagent bottles, and the first driving structure is used for driving the grabbing component to slide along a first direction; annotate the liquid subassembly and slide and set up in on the mounting bracket for pour into reagent into to the reagent bottle, second drive structure is used for driving annotate the liquid subassembly and also slide along first direction. The utility model provides a grabbing and liquid injection integrated mechanical claw, and aims to solve the problem that the mechanical claw in an automatic production line in the prior art can only perform one process and is low in operation efficiency.
Description
Technical Field
The utility model belongs to the technical field of automation equipment, and particularly relates to a grabbing and liquid injection integrated mechanical claw.
Background
At present, in the automatic production process of medicines, the processes of opening and closing a bottle cap of a reagent bottle and injecting liquid into the reagent bottle or a test tube need to be finished by using a mechanical claw, and some processes are finished manually. The mechanical claw is a novel device developed in a mechanical and automatic production process. In the modern production process, the mechanical claw is widely applied to the automatic production line of the medicines, and can better realize the organic combination with mechanization and automation. The mechanical claw has the characteristic of continuous repeated work and labor, so that the mechanical claw is more and more widely applied. However, the gripper in the conventional automatic pharmaceutical production line can only perform one process, and generally needs to use a plurality of grippers to perform a plurality of processes, which results in low working efficiency and poor practicability of the automatic pharmaceutical production line.
SUMMERY OF THE UTILITY MODEL
The utility model provides a grabbing and liquid injection integrated mechanical claw, and aims to solve the problem that in the prior art, the mechanical claw in an automatic production line can only perform one process, and the operation efficiency is low.
In order to achieve the purpose, the utility model adopts the technical scheme that: provided is a grabbing and liquid injection integrated mechanical claw, comprising:
the mounting frame is provided with a first driving structure and a second driving structure and is provided with a first direction extending towards the direction far away from the mounting frame;
the grabbing component is arranged on the mounting rack in a sliding mode and used for grabbing reagent bottles and opening and closing bottle caps of the reagent bottles, and the first driving structure is used for driving the grabbing component to slide along a first direction; and
the liquid injection assembly is arranged on the mounting frame in a sliding mode and used for injecting a reagent into the reagent bottle, and the second driving structure is used for driving the liquid injection assembly to slide along the first direction;
the grabbing assembly and the liquid injection assembly do not interfere with each other in the working process.
In one possible implementation manner, the first driving structure includes a first motor and a first screw rod; the first motor is arranged on the mounting frame and is provided with a power output end; the first lead screw is connected with a power output end of the first motor, the first lead screw is arranged along the first direction, and the first lead screw is rotatably arranged on the mounting frame.
In one possible implementation, the gripping assembly comprises a first slide block, a base frame and a working claw; the first sliding block is arranged on the mounting frame in a sliding mode along a first direction, and the first screw rod penetrates through the first sliding block and is in threaded connection with the first sliding block; the base frame is arranged on the side surface of the first sliding block; the working claw is rotationally connected with the base frame and used for grabbing reagent bottles and opening and closing bottle caps of the reagent bottles.
In a possible implementation manner, the base frame includes a substrate and an installation cylinder, and the substrate is fixedly connected with the first sliding block; the mounting cylinder is arranged on the side face of the first sliding block and arranged along the first direction, the base plate is arranged between the mounting cylinder and the first sliding block, and the working claw is rotatably arranged at the end of the mounting cylinder.
In a possible implementation manner, the grabbing and liquid injection integrated mechanical claw further comprises a third motor, the third motor is arranged on the installation cylinder, and a power output end of the third motor is connected with the working claw.
In a possible implementation manner, the second driving structure includes a second motor and a second lead screw; the second motor is arranged on the mounting frame and provided with a power output end; the second screw rod is connected with the power output end of the second motor, the second screw rod is also arranged along the first direction, and the second screw rod is rotatably arranged on the mounting frame.
In one possible implementation manner, the liquid injection assembly comprises a second sliding block, a liquid injection pipe bracket and a liquid injection pipe; the second sliding block is arranged on the mounting frame in a sliding mode along a first direction, and the second screw rod penetrates through the second sliding block and is in threaded connection with the second sliding block; the liquid injection pipe bracket is arranged on the side surface of the second sliding block; the liquid injection pipe is arranged on the liquid injection pipe bracket and is used for injecting reagent into the reagent bottle.
The grabbing and liquid injection integrated mechanical claw provided by the utility model has the beneficial effects that: compared with the prior art, snatch the subassembly and annotate the liquid subassembly and all set up on the mounting bracket to reagent bottle snatch, reagent bottle's bottle lid switch and pour into reagent into to the reagent bottle, all can accomplish through snatching and annotating the integrative gripper of liquid, and then the space that saving equipment occupy. Snatch the subassembly work through first drive structure drive, the subassembly work is annotated in the drive of second drive structure to snatch the subassembly and annotate the liquid subassembly and can carry out work respectively, both's working process does not influence each other, thereby improves work efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a grabbing and liquid injection integrated mechanical claw provided by an embodiment of the utility model;
fig. 2 is a schematic structural diagram of the cooperation of the integrated gripping and liquid injection mechanical claw and the mechanical arm provided by the embodiment of the utility model.
Description of reference numerals:
10. a mounting frame; 11. a first lead screw; 12. a second motor; 13. a second lead screw; 14. a first motor; 20. grabbing the assembly; 21. a first slider; 22. a base frame; 221. a substrate; 222. mounting the cylinder; 23. a working claw; 30. a liquid injection assembly; 31. a second slider; 32. a liquid injection pipe bracket; 33. a liquid injection pipe; 40. a third motor; 50. a robotic arm.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
It should be noted that the terms "length," "width," "height," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," "tail," and the like, are used in an orientation or positional relationship indicated in the drawings for convenience in describing the utility model and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the utility model.
It is also noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," "disposed," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the two elements may be connected directly or indirectly through an intermediate medium, or the two elements may be connected through an intermediate medium or may be in an interactive relationship with each other. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Further, "plurality" or "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 and 2, the gripping and injecting integrated gripper according to the present invention will be described. The grabbing and liquid injection integrated mechanical claw comprises a mounting frame 10, a grabbing component 20 and a liquid injection component 30. The mounting frame 10 is provided with a first driving structure and a second driving structure. The mounting 10 has a first direction extending away from the mounting 10. The grabbing component 20 is slidably arranged on the mounting rack 10 and used for grabbing reagent bottles and opening and closing bottle caps of the reagent bottles. The first drive structure is used to drive the gripper assembly 20 to slide in a first direction. Annotate liquid subassembly 30 and slide and set up on mounting bracket 10 for pour into reagent into to the reagent bottle, the second drive structure is used for driving annotating liquid subassembly 30 and slides along first direction. The working processes of the grabbing component 20 and the liquid injection component 30 are not interfered with each other.
Compared with the prior art, the grabbing component and the liquid injection component are both arranged on the mounting frame, so that grabbing of a reagent bottle, opening and closing of a bottle cap of the reagent bottle and injection of a reagent into the reagent bottle can be completed through the grabbing and liquid injection integrated mechanical claw, and the space occupied by equipment is saved. Snatch subassembly work through first drive structure drive, the liquid subassembly work is annotated in the drive of second drive structure to snatch the subassembly and annotate the liquid subassembly and can carry out work respectively, the working process of both each other does not influence, thereby improves work efficiency.
In some embodiments, referring to fig. 1, the first driving structure includes a first motor 14 and a first lead screw 11. The first motor 14 is provided on the mounting frame 10. The first electric machine 14 has a power take-off. The first lead screw 11 is connected with a power output end of a first motor 14, and the first lead screw 11 is arranged along a first direction. The first lead screw 11 is rotatably arranged on the mounting frame 10. In this embodiment, the first lead screw 11 is connected to a power output end of the first motor 14, and the first lead screw 11 is disposed along the first direction, so that the first lead screw 11 is driven by the first motor 14 to rotate, and the grabbing assembly 20 slides along the first direction.
In some embodiments, referring to fig. 1, the grabbing assembly 20 includes a first slider 21, a base frame 22, and a working claw 23. The first sliding block 21 is slidably disposed on the mounting frame 10 along a first direction, and the first lead screw 11 penetrates through the first sliding block 21 and is in threaded connection with the first sliding block 21. The base frame 22 is provided on a side surface of the first slider 21. The working claw 23 is rotatably connected with the base frame 22, and the working claw 23 is used for grabbing reagent bottles and opening and closing bottle caps of the reagent bottles. In this embodiment, the first lead screw 11 penetrates through the first slider 21 and is in threaded connection with the first slider 21, so that the first lead screw 11 rotates to drive the first slider 21 to move along the first direction, and the first slider 21 drives the working claw 23 to move along the first direction, so as to realize the grabbing of the reagent bottle by the working claw 23. The working claw 23 is rotatably connected with the base frame 22, so that the opening and closing of the reagent bottle cap can be realized through the rotation of the working claw 23.
In some embodiments, referring to fig. 1, the base frame 22 includes a base plate 221 and a mounting cylinder 222. The mounting cylinder 222 is disposed on a side surface of the first slider 21 and along the first direction. The substrate 221 is disposed between the mounting cylinder 222 and the first slider 21. The operating pawl 23 is rotatably disposed at an end of the mounting cylinder 222.
In some embodiments, referring to fig. 1, the gripping and liquid injection integrated gripper provided by the embodiment of the present invention further includes a third motor 40. The third motor 40 is provided on the mounting cylinder 222. The power output end of the third motor 40 is connected with the working claw 23. Alternatively, the third motor 40 and the working claw 23 are provided at both end portions of the mounting cylinder 222, respectively. In this embodiment, the power output end of the third motor 40 is connected to the working claw 23, so that the third motor 40 drives the working claw 23 to rotate, thereby opening and closing the reagent bottle cap.
In some embodiments, referring to fig. 1, the second driving structure includes a second motor 12 and a second lead screw 13. A second motor 12 is provided on the mounting frame 10, the second motor 12 having a power output. The second screw 13 is connected with the power output end of the second motor 12. The second lead screw 13 is arranged along the first direction, and the second lead screw 13 is rotatably arranged on the mounting rack 10. In this embodiment, the second lead screw 13 is connected to a power output end of the second motor 12, and the second lead screw 13 is disposed along the first direction, so that the second lead screw 13 is driven by the second motor 12 to rotate, thereby enabling the liquid injection assembly 30 to slide along the first direction.
In some embodiments, referring to FIG. 1, the injection assembly 30 includes a second slide 31, an injection tube holder 32, and an injection tube 33. The second slider 31 is slidably disposed on the mounting frame 10 along a first direction, and the second lead screw 13 penetrates through the second slider 31 and is in threaded connection with the second slider 31. The pour-spout holder 32 is provided on the side surface of the second slider 31. The liquid pouring spout 33 is attached to the liquid pouring spout holder 32, and the liquid pouring spout 33 is used for pouring a reagent into a reagent bottle. In this embodiment, the second screw 13 penetrates through the second slider 31 and is in threaded connection with the second slider 31, so that the second screw 13 rotates to drive the second slider 31 to move along the first direction, and the second slider 31 drives the injection tube 33 to move along the first direction, so as to inject a reagent into a reagent bottle or suck a reagent from the reagent bottle through the injection tube 33.
In some embodiments, referring to fig. 2, the integrated gripping and filling gripper is mounted on a mechanical arm 50, and the integrated gripping and filling gripper is moved to a position of a designated test tube or reagent bottle by the movement of the mechanical arm 50.
In some embodiments, the grabbing and liquid injection integrated gripper provided by the embodiment of the present invention further includes a controller, and the controller is electrically connected to the first motor 14 and the second motor 12, so as to implement an automatic working process of the grabbing and liquid injection integrated gripper, and improve working efficiency.
In some embodiments, the grabbing and liquid injection integrated mechanical claw provided by the embodiment of the utility model further comprises a camera, and the position of grabbing, injecting and sucking liquid is positioned by using the camera, so that the accuracy and reliability of the working process are ensured.
In some embodiments, the mounting rack 10 includes a connecting seat and a mounting plate, the grabbing component 20 and the liquid injection component 30 are both slidably disposed on the mounting plate, the mounting plate is rotatably connected to the connecting seat, and the positions of the grabbing component 20 and the liquid injection component 30 can be adjusted by rotating the mounting plate, so as to perform operations of different procedures on reagent bottles at different positions.
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 and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. Snatch and annotate integrative gripper of liquid, its characterized in that includes:
the mounting frame is provided with a first driving structure and a second driving structure and is provided with a first direction extending towards the direction far away from the mounting frame;
the grabbing component is arranged on the mounting rack in a sliding mode and used for grabbing reagent bottles and opening and closing bottle caps of the reagent bottles, and the first driving structure is used for driving the grabbing component to slide along a first direction; and
the liquid injection assembly is arranged on the mounting frame in a sliding mode and used for injecting a reagent into the reagent bottle, and the second driving structure is used for driving the liquid injection assembly to slide along the first direction;
the grabbing assembly and the liquid injection assembly do not interfere with each other in the working process.
2. The integrated gripper for grabbing and injecting liquid of claim 1, wherein the first driving mechanism comprises a first motor and a first lead screw; the first motor is arranged on the mounting frame and is provided with a power output end; the first screw rod is connected with a power output end of the first motor, the first screw rod is arranged along the first direction, and the first screw rod is rotatably arranged on the mounting frame.
3. The integrated gripper and liquid injection gripper as recited in claim 2, wherein the gripper assembly comprises a first slide block, a base frame, and a working gripper; the first sliding block is arranged on the mounting frame in a sliding mode along a first direction, and the first screw rod penetrates through the first sliding block and is in threaded connection with the first sliding block; the base frame is arranged on the side surface of the first sliding block; the working claw is rotationally connected with the base frame and used for grabbing reagent bottles and opening and closing bottle caps of the reagent bottles.
4. The integrated gripper for gripping and injecting liquid as claimed in claim 3, wherein the base frame comprises a base plate and a mounting cylinder, the base plate is fixedly connected with the first sliding block; the mounting cylinder is arranged on the side face of the first sliding block and arranged along the first direction, the base plate is arranged between the mounting cylinder and the first sliding block, and the working claw is rotatably arranged at the end of the mounting cylinder.
5. The integrated gripper for grabbing and injecting liquid of claim 4, further comprising a third motor, wherein the third motor is disposed on the mounting cylinder, and a power output end of the third motor is connected to the working gripper.
6. The integrated gripper of claim 1, wherein the second driving mechanism comprises a second motor and a second lead screw; the second motor is arranged on the mounting frame and is provided with a power output end; the second screw rod is connected with the power output end of the second motor, the second screw rod is also arranged along the first direction, and the second screw rod is rotatably arranged on the mounting frame.
7. The integrated gripper for gripping and injecting liquid as claimed in claim 6, wherein the injecting assembly comprises a second slide block, an injecting tube holder and an injecting tube; the second sliding block is arranged on the mounting frame in a sliding mode along a first direction, and the second screw rod penetrates through the second sliding block and is in threaded connection with the second sliding block; the liquid injection pipe bracket is arranged on the side surface of the second sliding block; the liquid injection pipe is arranged on the liquid injection pipe bracket and is used for injecting reagent into the reagent bottle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221434169.4U CN217024404U (en) | 2022-06-10 | 2022-06-10 | Snatch and annotate integrative gripper of liquid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221434169.4U CN217024404U (en) | 2022-06-10 | 2022-06-10 | Snatch and annotate integrative gripper of liquid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217024404U true CN217024404U (en) | 2022-07-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221434169.4U Active CN217024404U (en) | 2022-06-10 | 2022-06-10 | Snatch and annotate integrative gripper of liquid |
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| Country | Link |
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| CN (1) | CN217024404U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115302490A (en) * | 2022-10-08 | 2022-11-08 | 中国科学院沈阳自动化研究所 | Manipulator with liquid function is given in rigid-flexible coupling |
-
2022
- 2022-06-10 CN CN202221434169.4U patent/CN217024404U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115302490A (en) * | 2022-10-08 | 2022-11-08 | 中国科学院沈阳自动化研究所 | Manipulator with liquid function is given in rigid-flexible coupling |
| CN115302490B (en) * | 2022-10-08 | 2022-12-13 | 中国科学院沈阳自动化研究所 | Manipulator with liquid function is given in hard and soft coupling |
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