CN218965451U - Tray clamping jaw and experimental equipment - Google Patents

Abstract

The tray clamping jaw comprises a base, a driving piece, a sliding mechanism and a driving piece, wherein the driving piece is arranged on the base, the sliding mechanism is in sliding connection with the base, and one end of the sliding mechanism is connected with the driving piece; the clamping piece is connected with one end of the sliding mechanism, which is opposite to the driving piece, the clamping piece extends out of the base in the direction opposite to the driving piece, and the clamping piece and the base jointly define a clamping space for accommodating the tray. The clamping piece stretches out of the base and jointly defines a clamping space with the base, the driving piece can drive the clamping piece to move relative to the base through the sliding mechanism so as to change the size of the clamping space, the clamping piece can move relative to the base to clamp the tray when clamping the tray, the structure is small and compact, the occupied space is small, the position of required movement is small, and clamping can be carried out on the condition of small space or dense placement.

Description

Tray clamping jaw and experimental equipment

Technical Field

The utility model relates to the technical field of experimental equipment, in particular to a tray clamping jaw and experimental equipment.

Background

With the development of technology, industries such as biology, chemistry and the like gradually develop towards experimental automation, so that experimental staff are liberated from a large number of repeated labor. The current experimental equipment generally needs to perform operations such as material storage, transfer and the like when performing experiments, and needs to move materials. It is common today to place the substance in a tray and to use the gripping jaw to grip the movement of the tray to effect the movement of the substance.

The current clamping jaw is usually designed to clamp the two sides of the tray when clamping the tray, and the tray is fixed through the relative pressure and friction force of the two sides, so that the size of the clamping jaw is large, the occupied space is large, the movable position of the clamping jaw is reserved in the storage space of the tray, and the clamping is not facilitated under the condition of small space or dense placement.

Disclosure of Invention

The utility model aims to provide a tray clamping jaw and experimental equipment, which solve the problem that the conventional tray is difficult to clamp in a small space or densely arranged.

In order to achieve the purpose of the utility model, the utility model provides the following technical scheme:

in a first aspect, the present utility model provides a pallet clamping jaw comprising: a base; a driving member mounted to the base; the sliding mechanism is in sliding connection with the base, and one end of the sliding mechanism is connected with the driving piece; the clamping piece is connected with one end of the sliding mechanism, which is opposite to the driving piece, and extends out of the base in the direction opposite to the driving piece, and the clamping piece and the base jointly define a clamping space for accommodating the tray.

In one embodiment, the sliding mechanism includes: the first sliding block is connected with the base in a sliding manner and is connected with the driving piece; the second sliding block is in sliding connection with the base and is positioned at one side of the first sliding block, which is away from the driving piece; the elastic connecting assembly is elastically connected with the first sliding block and the second sliding block, and is elastically deformed when the first sliding block and the second sliding block are gradually far away.

In one embodiment, the elastic connection assembly comprises a connection piece and an elastic piece, wherein the connection piece is fixedly connected with the first sliding block, and the elastic piece elastically abuts against the second sliding block and the connection piece.

In an implementation mode, the mounting hole has been seted up to the second slider, the through-hole that runs through has been seted up to the diapire of mounting hole, the connecting piece includes main part and bellying, main part stretches into the mounting hole and pass the through-hole with first slider is connected fixedly, the bellying is connected the main part is kept away from the periphery of the one end of first slider, the bellying holding in the mounting hole, the elastic component cover is established the periphery of main part, just the one end of elastic component with the diapire butt of mounting hole, the other end with bellying butt first slider with when the second slider is kept away from gradually, the elastic component is compressed.

In one embodiment, the elastic member is in a compressed state when the first slider and the second slider are in contact; the elastic member is further compressed in a case where the first slider and the second slider relatively slide and gradually move apart with a distance therebetween.

In one embodiment, the clamping member comprises a supporting plate and a stop block, one end of the supporting plate is connected with the second sliding block, the stop block is arranged at one end, away from the second sliding block, of the supporting plate and protrudes out of the surface of the supporting plate, and the supporting plate, the stop block and the base jointly define the clamping space.

In one embodiment, the surface of the stop facing the base is provided with a flexible contact surface.

In one embodiment, the base comprises a base and a blocking member, the driving member is mounted on one side of the base, the blocking member is connected with the base and extends to one side of the base, which faces away from the driving member, and the clamping member and the blocking member jointly define the clamping space.

In one embodiment, the base comprises a sliding rail, and the first sliding block and the second sliding block are in sliding connection with the sliding rail.

In one embodiment, the first slider is slidably connected to the slide rail through a first adapter block, and the second slider is slidably connected to the slide rail through a second adapter block.

In one embodiment, the base further comprises a connecting seat, wherein the connecting seat is connected with the base, and the connecting seat is used for being connected with a carrying device, so that the carrying device drives the tray clamping jaw to move.

In one embodiment, the connecting seat is provided with a matching groove, and the matching groove is used for matching with the supporting frame so as to place the tray clamping jaw on the supporting frame.

In one embodiment, the connecting seat is provided with a mating piece, and the mating piece is used for being fixedly connected with the carrying device.

In one embodiment, the tray clamping jaw further comprises a detecting member, wherein the detecting member is connected with the base, and the detecting member is used for detecting whether the tray exists.

In one embodiment, the pallet clamping jaw further comprises an identification member for identifying information of the pallet.

In a second aspect, the utility model further provides an experimental facility, which comprises a carrying device and a tray clamping jaw in any one of the various embodiments of the first aspect, wherein the carrying device is connected with the tray clamping jaw, and the carrying device is used for driving the tray clamping jaw to move.

In one embodiment, the handling device is detachably connected to the pallet clamping jaw; the experimental facilities still includes the support frame, the support frame is used for placing the tray clamping jaw, handling device follows get on the support frame and put the tray clamping jaw.

In a third aspect, the present utility model also provides a tray gripping method, which is applied to the experimental apparatus of any one of the various embodiments of the second aspect, the tray gripping method comprising:

and (3) butt joint: controlling the carrying device to drive the tray clamping jaw to move until the base and the stop block of the tray clamping jaw are respectively positioned on two opposite sides of the tray to be clamped; wherein, the clamping space defined by the base and the clamping piece is larger than the corresponding size of the tray;

and (3) a clamping step: the driving piece for controlling the tray clamping jaw drives the clamping piece to move to one side of the base until the stop block and the base are respectively clamped with two sides of the tray; or controlling the carrying device to drive the tray clamping jaw to move towards the direction of the base pointing to the stop block until the base is clamped with one side of the tray, and controlling the driving piece to drive the clamping piece to move towards one side of the base until the stop block is also clamped with the other side of the tray;

and (3) clamping: and controlling the driving piece to continuously move towards the direction of the stop block pointing to the base, and applying a clamping force for clamping the tray to the base and the stop block.

In one embodiment, the engaging step includes:

the driving piece for controlling the tray clamping jaw drives the clamping piece to move a first distance L1 to one side of the base until the stop block and the base are respectively clamped with two opposite sides of the tray;

or controlling the carrying device to drive the tray clamping jaw to move a second distance L2 towards the direction of the base pointing to the stop block until the base is clamped with one side of the tray, and controlling the driving piece to drive the clamping piece to move a third distance L3 towards one side of the base until the stop block is also clamped with the other side of the tray;

the second distance L2 is a distance between the base and the tray after the docking step is completed; the first distance L1 is equal to the third distance L3, l1=l3=l2+l4, and L4 is the distance between the stopper and the tray after the docking step is completed.

In one embodiment, the clamping step includes:

the driving piece is controlled to drive the first sliding block and the connecting piece to continuously move for the pre-tightening displacement X towards the direction of the stop block pointing to the base, so that the connecting piece moves relative to the second sliding block, the compression amount of the elastic piece increases for the pre-tightening displacement X, and the clamping force for clamping the tray is applied to the base and the stop block.

In one embodiment, the clamping step further comprises, after:

a releasing step: when the carrying device moves the tray to a target position, the driving piece is controlled to drive the clamping piece to move towards the direction of the base pointing to the stop block so as to release the clamping force of the base and the stop block on the tray;

and (3) loosening: the driving piece is controlled to continuously drive the clamping piece to move towards the direction of the base pointing to the stop block, and the stop block is driven to be far away from the tray;

a disengaging step: and controlling the carrying device to drive the tray clamping jaw to move so that the tray clamping jaw is separated from the tray.

According to the pallet clamping jaw, the clamping piece is arranged to extend out of the base and jointly define the clamping space with the base, the driving piece can drive the clamping piece to move relative to the base through the sliding mechanism so as to change the size of the clamping space, the clamping piece can move relative to the base to clamp the pallet when clamping the pallet, the pallet clamping jaw is small and compact in structure, small in occupied space and small in required movable position, and clamping can be performed under the condition of small space or dense arrangement.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a tray jaw of an embodiment;

FIG. 2 is a top view of a pallet clamp jaw of an embodiment;

FIG. 3 is a cross-sectional view taken along the direction A-A in FIG. 2;

FIG. 4 is a partial enlarged view at B in FIG. 2;

FIG. 5 is a perspective view of a support bracket of an embodiment;

fig. 6 is a flowchart of a tray gripping method of an embodiment.

Reference numerals illustrate:

10-base, 11-base, 111-bottom plate, 112-end plate, 113-side plate, 114-slide rail, 12-connecting seat, 121-mating groove, 122-mating piece, 13-blocking piece, 131-mounting portion, 132-blocking portion;

20-driving piece, 21-driving shaft, 30-first slider, 35-first adapter block, 40-second slider, 41-mounting hole, 45-second adapter block, 50-elastic connection assembly, 51-connecting piece, 511-main body part, 512-protruding part, 52-elastic piece, 60-clamping piece, 61-supporting plate, 611-step surface, 62-stopper, 621-flexible contact surface, 63-mounting gap, 65-clamping space, 70-detecting piece, 80-identifying piece, 81-mounting bracket, 90-supporting frame, 91-pillar, 92-roof, 93-supporting arm, 94-receiving opening.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present utility model are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1 to 3, an embodiment of the utility model provides a pallet clamping jaw, which comprises a base 10, a driving member 20, a sliding mechanism and a clamping member 60.

The structure of the base 10 is not limited, and the base 10 is used as a supporting foundation for other structures. The base 10 is also used for being connected with a carrying device (not shown), and the carrying device can drive the base 10 to move so as to drive the whole tray clamping jaw to move. The handling device may be a mechanical arm or a moving mechanism with at least one degree of freedom in one direction, and specifically, the handling device may be a mechanical arm with multiple degrees of freedom (such as a four-axis mechanical arm, a six-axis mechanical arm, etc.), or may be an XYZ three-axis linear moving mechanism.

The carrying device drives the tray clamping jaw to move to a position where the tray (not shown) is stored, and clamps the tray to move to a target position through the tray clamping jaw. The tray clamping jaw is used for stably clamping the tray. The tray is used for containing substances, and the substances can be biological reagents, chemical reagents, consumable materials and the like without limitation. The material is typically contained in a container (not shown) such as a test tube, solvent bottle, slide, silicon tray, or the like, which is placed on a tray. Of course, some substances may not be contained in the container, but may be packaged independently or unpackaged, and the independent package such as plastic package, aluminum foil package, etc. is not limited. The embodiment of the utility model does not limit the structures of the container and the tray. It will be appreciated that the pallet clamping jaw may be used to clamp other materials, such as frames, plates, etc., in addition to pallets, and is not limited thereto.

The driving member 20 is mounted to the base 10. The driving member 20 may be a motor, an oil cylinder, an air cylinder, etc., without limitation. The driving member 20 has a driving shaft 21, and the driving shaft 21 is linearly movable when the driving member 20 is operated. For example, when the driving member 20 is a motor, the motor is a linear motor or a screw motor, and the driving shaft 21 thereof can be linearly moved; for example, when the driving element 20 is an oil cylinder or an air cylinder, the driving shaft 21 is a piston rod, and can perform linear expansion and contraction movement.

The sliding mechanism is slidably connected to the base 10, and one end of the sliding mechanism is connected to the driving member 20.

The clamping piece 60 is connected with one end of the sliding mechanism, which is opposite to the driving piece 20, the clamping piece 60 extends out of the base 10 towards the direction opposite to the driving piece 20, and the clamping piece 60 and the base 10 jointly define a clamping space 65, and the clamping space 65 is used for accommodating a tray.

In one embodiment, the clamping member 60 may include a support plate 61 and a stopper 62, one end of the support plate 61 is connected to the sliding mechanism, the stopper 62 is disposed at an end of the support plate 61 away from the sliding mechanism and protrudes from a surface of the support plate 61, and the support plate 61, the stopper 62 and the base 10 together define a clamping space 65.

When the tray is clamped, the clamping piece 60 is moved to one side of the tray facing the ground, namely, the clamping jaw of the tray is stretched into and moved from the lower part of the tray so that the tray is accommodated in the clamping space 65, the clamping piece 60 plays a supporting role on the tray so as to overcome the gravity of the tray and the substances contained in the tray, and then the driving piece drives the sliding mechanism to slide so as to drive the clamping piece 60 to retract into the base, and the clamping space 65 is reduced until the clamping piece 60 and the base 10 are equal to each other in corresponding size of the tray, so that the tray is clamped together.

Existing jaws typically apply a clamping force only on opposite sides of the pallet, and the jaws need to apply a greater clamping force to overcome the force of gravity, i.e., sufficient friction is provided to the pallet by the greater clamping force to overcome the weight of the pallet. The clamping jaw needs to be large in size, occupies a large space, needs to reserve a large movable position of the clamping jaw in the storage space of the tray, and is unfavorable for clamping under the condition of small space or dense placement.

The clamping member 60 of the pallet clamping jaw of the embodiment of the utility model can support and clamp the pallet, and besides the clamping force applied to the two opposite sides of the pallet, the supporting force is also provided to overcome the gravity, so that the clamping force does not need to overcome the gravity of the pallet, the structure can be designed to be small and compact, the occupied space is small, the required movable position is small, and the clamping can be carried out under the condition of small space or dense placement.

Therefore, the tray clamping jaw provided by the embodiment of the utility model extends out of the base 10 through the clamping piece 60 and defines the clamping space 65 together with the base 10, and the driving piece 20 can drive the clamping piece 60 to move relative to the base 10 through the sliding mechanism so as to change the size of the clamping space 65, when the tray is clamped, the clamping piece 60 can support and clamp the tray, and the tray clamping jaw has the advantages of small and compact structure, small occupied space, small required movable position and capability of clamping under the condition of small space or dense arrangement.

It will be appreciated that the clamping member 60 may also be moved to the side of the pallet facing away from the ground, i.e. extend into and move the pallet clamping jaw downwardly from above the pallet to locate the pallet in the clamping space 65 to effect clamping of the pallet. That is, the tray clamping jaw in the embodiment of the application may approach the tray from the height direction in which the tray is located, so as to achieve clamping of the tray.

In one embodiment, referring to fig. 3, the slide rail mechanism includes a first slider 30, a second slider 40, and an elastic connection assembly 50.

The first slider 30 is slidably connected to the base 10 and to the driving member 20. The first slider 30 may have a block shape, for example, a rectangular parallelepiped shape, or may have another shape without limitation. The driving shaft 21 of the driving member 20 is connected to the first slider 30, and after the driving member 20 is started, the driving shaft 21 drives the first slider 30 to slide on the base 10 along a straight line. Alternatively, the driving member 20 is directly connected to the first slider 30. Optionally, other transmission mechanisms may be further disposed between the driving member 20 and the first slider 30, where the driving member 20 may be connected to the first slider 30 through a transmission mechanism, and the transmission mechanism may be a link mechanism, a cam mechanism, or the like, which is not limited.

The second slider 40 is slidably connected to the base 10, and is located on a side of the first slider 30 facing away from the driving member 20. The second slider 40 may have a block shape, for example, a rectangular parallelepiped shape, or may have another shape without limitation. The second slider 40 can exert a force with the first slider 30, see later.

The elastic connection assembly 50 elastically connects the first slider 30 and the second slider 40, and the elastic connection assembly 50 elastically deforms as the first slider 30 and the second slider 40 gradually move away from each other. The structure of the elastic connection assembly 50 is not limited. Since the second slider 40 is disposed on the side of the first slider 30 facing away from the driving member 20, when the driving shaft 21 of the driving member 20 is extended to push the first slider 30 to move toward the second slider 40, the first slider 30 and the second slider 40 move close to each other until they are in contact; when the driving shaft 21 of the driving member 20 is retracted to pull the first slider 30 gradually away from the second slider 40, the first slider 30 and the second slider 40 do a gradually away movement, and the first slider 30 and the second slider 40 are gradually separated from each other. In the case where the first slider 30 and the second slider 40 are in contact, the elastic connection member 50 may have an initial deformation amount or no deformation amount, and in the case where the first slider 30 and the second slider 40 are separated, the elastic connection member 50 may have a larger deformation amount from the initial deformation amount or may have a deformation amount from the no deformation amount. The elastic deformation of the elastic connection assembly 50 provides the second slider 40 with a buffering force such that the second slider 40 corresponds to an elastic connection with the driving member 20.

The clamping piece 60 is connected with the second sliding block 40, the clamping piece 60 extends out of the base 10 towards the direction opposite to the first sliding block 30, and the clamping piece 60 and the base 10 jointly define a clamping space 65, and the clamping space 65 is used for accommodating a tray. The structure of the holder 60 is not limited. When the driving member 20 is started to drive the first slider 30 to move towards one side of the driving member 20, the first slider 30 drives the second slider 40 to move towards one side of the driving member 20 through the elastic connecting assembly 50, and the second slider 40 drives the clamping member 60 to move, so that the clamping space 65 is gradually reduced, and the clamping member 60 and the base 10 jointly clamp the tray until the size of the clamping space 65 is the same as that of the tray. When the driving member 20 continues to pull the first slider 30, the second slider 40 does not move any more, but the elastic connection assembly 50 elastically deforms, so that the first slider 30 and the second slider 40 gradually move away from each other, and the driving member 20 stops after enough clamping force to the tray is provided. Therefore, after the clamping member 60 and the base 10 jointly clamp the tray, the driving member 20 can further pull the first slider 30 to move a distance, and the elastic connection assembly 50 plays a role of buffering, that is, the driving member 20 and the second slider 40 are flexibly connected. In one aspect, the second slider 40 may apply a greater force to the clamp 60 such that the clamp 60 and the base 10 together clamp the pallet more tightly; on the other hand, the driving shaft 21 of the driving member 20 can further move a distance after clamping the tray, so as to avoid the driving member 20 from being damaged due to the rigid stopping of the driving shaft 21 of the driving member 20.

Referring to fig. 3, a method of using the tray jaw according to an embodiment of the present utility model will be described by taking the length L of the clamping space 65 and the corresponding length or width W of the tray as an example.

In the initial state, the driving member 20 is not started, and L is greater than W; the carrying device is connected with the base 10, drives the tray clamping jaw to move to one side of the tray facing the ground, and enables the tray to be accommodated in the clamping space 65; the driving piece 20 is started to drive the first sliding block 30 to move towards one side of the driving piece 20, the first sliding block 30 drives the second sliding block 40 to move through the elastic connecting component 50, the second sliding block 40 drives the clamping piece 60 to move, L starts to shrink until the L is equal to W, and in the process, the first sliding block 30 and the second sliding block 40 can be in a contact state or always have the same distance; the driving member 20 continues to pull the first slider 30, and since L cannot be reduced any more, the second slider 40 and the clamping member 60 remain motionless, the first slider 30 and the second slider 40 are separated from each other by the contact state, or the previous interval is changed to a larger interval, the elastic connection assembly 50 is elastically deformed to apply a larger pulling force to the second slider 40 and the clamping member 60, so that the clamping member 60 and the base 10 apply a larger clamping force to the tray together, and then the driving member 20 is stopped to maintain the clamping state; after the carrying device drives the tray clamping jaw to move to the target position, the driving piece 20 starts again and pushes the first sliding block 30 forwards, so that the first sliding block 30 moves away from the driving piece 20, the distance between the first sliding block 30 and the second sliding block 40 gradually reduces until the first sliding block 30 and the second sliding block 40 are contacted, after the first sliding block 30 pushes the second sliding block 40 to move forwards after the first sliding block contacts with the second sliding block, the clamping piece 60 is driven to extend out of the base 10, L is increased, L is larger than W, the tray is loosened, and the tray is placed to the target position; the carrying device is separated from the tray clamping jaw, and the tray clamping jaw returns to the initial state. Wherein, L is the same size when the operation of moving the tray is finished to return to the initial state each time by calibrating the size of L in the initial state and controlling the driving piece 20; of course, it is not necessary to set L to the same size each time the state is returned to the initial state, and L is larger than W.

According to the pallet clamping jaw provided by the embodiment of the utility model, the first sliding block 30, the second sliding block 40 and the elastic connecting assembly 50 are arranged, when the first sliding block 30 and the second sliding block 40 are gradually far away, the elastic connecting assembly 50 is elastically deformed, so that the driving piece 20 drives the first sliding block 30 to move towards the driving piece 20 and drives the clamping piece 60 and the base 10 to clamp a pallet, after the second sliding block 40 is stopped, the first sliding block 30 can move for a certain distance relative to the second sliding block 40, and flexible connection between the driving piece 20 and the second sliding block 40 is realized, the damage caused by the rigid stopping of the driving piece 20 is avoided, the pallet clamping jaw is reasonable in structure and not easy to damage.

In one embodiment, referring to fig. 3, the elastic connection assembly 50 includes a connection member 51 and an elastic member 52, the connection member 51 is fixedly connected to the first slider 30, and the elastic member 52 elastically abuts against the second slider 40 and the connection member 51. The connecting member 51 may be rod-shaped, the elastic member 52 may be a spring, and the spring may be sleeved on the outer periphery of the connecting member 51. The connection between the connecting piece 51 and the first slider 30 is a detachable connection, such as a screw connection, a clamping connection, etc. The connecting piece 51 and the second sliding block 40 have no direct connection relation, but are elastically abutted against the connecting piece 51 and the second sliding block 40 through the elastic piece 52, so that when the driving piece 20 drives the first sliding block 30 and the second sliding block 40 to gradually move away from each other, the elastic piece 52 is compressed; when the tray has been taken out of the holding space 65 and placed to the target position, the driving member 20 may be stopped, and the tension of the elastic member 52 pushes the first slider 30 and the second slider 40 to approach each other and return to the original state. Therefore, the elastic connection assembly 50 is provided to include the connection member 51 and the elastic member 52, and has a simple structure and easily performs a desired function.

Alternatively, referring to fig. 1 and 3, the second slider 40 is provided with a mounting hole 41, the mounting hole 41 is a blind hole, and the opening direction of the mounting hole 41 faces away from the first slider 30. The through hole that runs through has been seted up to the diapire of mounting hole 41, and connecting piece 51 includes main part 511 and bellying 512, and main part 511 stretches into mounting hole 41 and pass the through-hole and be connected fixedly with first slider 30, and bellying 512 is connected in the periphery of main part 511 one end of keeping away from first slider 30, bellying 512 holding in mounting hole 41. The elastic member 52 is fitted around the outer periphery of the main body 511, and one end of the elastic member 52 abuts against the bottom wall of the mounting hole 41 and the other end abuts against the boss 512. The elastic member 52 is compressed as the first slider 30 and the second slider 40 gradually move away from each other.

The connecting member 51 may be a screw structure, one end of which has a thread for screwing with the first slider 30, and the other end of which has a nut constituting a boss 512 for abutting with the elastic member 52. The surface of the first slider 30 facing the second slider 40 may be provided with a screw hole, and the connecting piece 51 may be screwed with the screw hole. The end surface of the connecting member 51 facing away from the first slider 30 may be provided with an operation portion (not shown), for example, a protrusion or a groove, and the shape of the operation portion may be a "ten", "one", a hexagonal shape, etc., for being engaged with a tool such as a wrench or a screwdriver, etc., to connect and fix the connecting member 51 with the first slider 30. The main body 511 has a rod shape with a diameter smaller than that of the elastic member 52, so that the elastic member 52 can be sleeved on the main body 511; the diameter of the through hole is smaller than that of the elastic member 52, so that one end of the elastic member 52 can abut against the bottom wall of the mounting hole 41 without passing through the through hole; the diameter of the boss 512 is larger than the diameter of the elastic member 52 so that the boss 512 can abut against the other end of the elastic member 52. When the elastic member 52 is first sleeved on the outer periphery of the main body 511, then the connecting member 51 and the elastic member 52 are inserted into the mounting hole 41 together, the connecting member 51 is continuously inserted through the through hole of the bottom wall of the mounting hole 41, the connecting member 51 is connected and fixed with the first sliding block 30 by a tool, and at this time, the elastic member 52 is abutted against the bottom wall of the mounting hole 41 and the protruding portion 512.

The second slider 40 is provided with the mounting hole 41 and the through hole, the connecting piece 51 penetrates through the through hole to be connected with the first slider 30, the structure is simple, and the connecting piece 51 and the elastic piece 52 do not occupy extra external space, so that the structure is compact, and the miniaturization structural design is facilitated. Alternatively, the mounting hole 41 may be a stepped hole, and one end of the elastic member 52 abuts against a stepped surface of the stepped hole, and the other end abuts against the boss 512.

Alternatively, the elastic member 52 is in a compressed state in the case where the first slider 30 and the second slider 40 are in contact; in the case where the first slider 30 and the second slider 40 relatively slide and gradually move apart with a spacing distance, the elastic member 52 is further compressed. In this way, the first slider 30 and the second slider 40 are in contact state in the initial state, when the length L of the clamping space 65 needs to be extended, the driving member 20 pushes the first slider 30, the first slider 30 contacts with the second slider 40 to directly push the second slider 40 to move, and the clamping member 60 is driven to extend.

Alternatively, referring to fig. 1 to 3, the clamping member 60 includes a support plate 61 and a stopper 62. One end of the support plate 61 is connected with the second slider 40, and the stopper 62 is disposed at one end of the support plate 61 away from the second slider 40 and protrudes from the surface of the support plate 61, and the support plate 61, the stopper 62 and the base 10 together define a clamping space 65.

The support plate 61 is substantially flat, and the surface of the support plate 61 is substantially rectangular. The connection mode of the support plate 61 and the second slider 40 may be a detachable connection mode such as a screw connection mode or a clamping connection mode, and the support plate 61 and the second slider 40 may be an integral structure, for example, an integral structure formed by integral molding or an integral structure formed by welding. The connection mode of the stop block 62 and the support plate 61 may be a detachable connection mode such as a screw connection or a clamping connection, or the stop block 62 and the support plate 61 may be an integral structure. It will be appreciated that the support plate 61 may also be rod-shaped, the number of rods being comparable to the number of stops 62.

Optionally, referring to fig. 4, an edge of the surface of the support plate 61 away from the second slider 40 may be provided with a sunken step surface 611, the stop block 62 is disposed on the step surface 611, a sidewall between the step surface 611 and the surface of the support plate 61 may position the stop block 62, and positioning may be achieved by abutting the stop block 62 against the sidewall during installation, so as to ensure installation accuracy. The number of the stoppers 62 may be one or more, without limitation. When the number of stoppers 62 is plural, the stoppers may be arranged in order along the width direction of the support plate 61.

Optionally, referring to fig. 4, a surface of the stopper 62 facing the base 10 is provided with a flexible contact surface 621. The flexible contact surface 621 may be the surface of the stop 62 itself, or the flexible contact surface 621 may be formed by providing a flexible material over the stop 62. Alternatively, the flexible contact surface 621 may have an uneven texture. By providing the flexible contact surface 621, the flexible contact surface 621 is used for contacting with the tray, and can play an anti-slip role, thereby ensuring stable holding of the tray. Alternatively, the contact surface of the stopper 62 for clamping the tray may be a plane parallel to the width direction of the support plate 61 as shown in fig. 4, may be an inclined surface forming an angle with the width direction of the support plate 61, or may be an arc surface, and the shape thereof may depend on the shape of the tray to be clamped, which is not limited herein.

Alternatively, referring to fig. 1 and 3, the base 10 includes a base 11 and a blocking member 13. The driving member 20 is mounted on one side of the base 11, the blocking member 13 is connected with the base 11, and extends to a side of the base 11 opposite to the driving member 20, and the clamping member 60 and the blocking member 13 together define a clamping space 65.

The specific structure of the base 11 is not limited. Optionally, the base 11 includes a bottom plate 111, an end plate 112, and two side plates 113, where the two side plates 113 are connected to two opposite sides of the bottom plate 111, the end plate 112 is connected to one ends of the bottom plate 111 and the two side plates 113, the driving member 20 is mounted on the end plate 112, the first slider 30 and the second slider 40 are slidably connected to the bottom plate 111, and the blocking member 13 is mounted on the two side plates 113.

The specific structure of the blocking member 13 is not limited. Alternatively, the blocking member 13 includes a mounting portion 131 and a blocking portion 132, and one end of the mounting portion 131 is connected to one of the side plates 113, and the other end is connected to the blocking portion 132. The blocking portion 132 is disposed opposite to the stop 62 and on the same side of the support plate 61, and the blocking portion 132 may be disposed parallel to the stop 62. A mounting gap 63 may be provided between the blocking portion 132 and the surface of the support plate 61 so that the support plate 61 can freely move telescopically without being affected by the blocking portion 132. The number of the installation parts 131 can be 2, and the two installation parts 131 are respectively connected with one end of the blocking part 132 and are respectively connected and fixed with one side plate 113, so that the structure is stable. The mounting portion 131 and the blocking portion 132 may be of a unitary structure. The mounting portion 131 and the side plate 113 may be connected and fixed by screwing, clamping, or the like. The base 11 and the blocking piece 13 are arranged, the structure is simple, and the installation of each structure is convenient.

Optionally, referring to fig. 3, the base 11 includes a sliding rail 114, and the first slider 30 and the second slider 40 are slidably connected to the sliding rail 114. Specifically, the sliding rail 114 is mounted on the bottom plate 111, and the sliding rail 114 and the first sliding block 30 and the second sliding block 40 may be provided with protrusions and grooves that cooperate with each other, so that the sliding rail 114 plays a guiding role on the first sliding block 30 and the second sliding block 40 to limit the sliding direction of the first sliding block 30 and the second sliding block 40.

Alternatively, the first slider 30 is slidably connected to the sliding rail 114 through the first adapter 35, and the second slider 40 is slidably connected to the sliding rail 114 through the second adapter 45. Specifically, the first and second adapter blocks 35 and 45 and the sliding rail 114 may be provided with protrusions and grooves that cooperate with each other, so that the sliding rail 114 plays a guiding role on the first and second adapter blocks 35 and 45 to limit the sliding direction of the first and second adapter blocks 35 and 45. The first slider 30 is fixedly connected with the first adapter block 35, and the second slider 40 is fixedly connected with the second adapter block 45, and the connection and fixation modes can be screw connection, clamping connection and the like. By providing the first adapter block 35 and the second adapter block 45, the structures of the first slider 30 and the second slider 40 can be simplified, and the structure is prevented from being too complicated to be manufactured and manufactured.

In one embodiment, referring to fig. 1, the base 10 further includes a connection base 12, the connection base 12 is connected to the base 11, and the connection base 12 is used for connecting to a handling device.

The specific structure of the connection base 12 is not limited. The connecting seat 12 may be connected to one side of the two side plates 113 of the base 11 opposite to the bottom plate 111, and the connection manner may be screw connection, clamping connection, etc., without limitation. The connection manner of the connection base 12 and the carrying device is not limited, and may be, for example, screw connection, clamping connection, etc. By arranging the connecting seat 12 for being connected with the carrying device, the structure is simple. Alternatively, the connection base 12 may be a quick-change connector, and is connected with the mechanical arm through a pneumatic connection manner; the connecting seat 12 may also be a magnetic connecting piece, and is connected with the mechanical arm by a magnetic attraction mode, which is not limited herein.

Optionally, referring to fig. 1 and 5, the connecting base 12 is provided with a matching groove 121, and the matching groove 121 is used for matching with the supporting frame 90 to place the tray clamping jaw on the supporting frame 90.

The specific structure of the supporting frame 90 is not limited, and the supporting frame 90 and the matching groove 121 can be fastened and fixed. When the tray clamping jaw is placed on the supporting frame 90, the matching groove 121 is aligned with the supporting frame 90, and the supporting frame 90 is inserted into the matching groove 121 to realize fixation. When the tray clamping jaw is removed from the supporting frame 90, the supporting frame 90 is withdrawn from the matching groove 121. The matching groove 121 is arranged, so that the tray clamping jaw can be simply and quickly placed on the supporting frame 90, or the tray clamping jaw can be taken down from the supporting frame 90, and the tray clamping jaw is simple in structure and convenient to operate.

Optionally, the number of the mating grooves 121 is 2, and 2 mating grooves 121 are disposed on two opposite sides of the connection base 12, so that the connection between the support frame 90 and the 2 mating grooves 121 is more stable.

In one embodiment, referring to fig. 5, a support stand 90 includes a post 91, a top plate 92, and a support arm 93. The top plate 92 is connected to one end of the post 91, the other end of the post 91 is adapted to be secured to the laboratory platform, the support arm 93 is connected to the top plate 92 and extends beyond the top plate 92, and the support arm 93 is adapted to be matingly engaged with the mating slot 121 of the connector base 12 to allow the tray clamping jaw to be placed onto the support frame 90. Alternatively, the plurality of the pillars 91 may be plural, and the plurality of pillars 91 may be arranged in parallel. Alternatively, the support arms 93 may be 2, may be machined from one plate, or may be formed from 2 arms. The 2 support arms 93 enclose the receiving opening 94, and the pallet clamping jaw can extend into the receiving opening 94, and the 2 fitting grooves 121 are connected with the 2 support arms 93 in a fitting manner.

Optionally, referring to fig. 1, the connection base 12 is provided with a mating member 122, and the mating member 122 is used for connecting and fixing with the handling device. The specific structure of the mating member 122 is not limited, and the mating member 122 and the handling device may be connected and fixed by a clamping, screwing, or the like. The mating member 122 may be one or more, without limitation. By providing the mating member 122, it can be connected with the handling device such that the pallet clamping jaw is connected with the handling device.

Optionally, referring to fig. 1 and 2, the tray clamping jaw further includes a detecting member 70, where the detecting member 70 is connected to the base 10, and the detecting member 70 is used for detecting whether there is a tray.

The detecting member 70 may be any feasible sensor, scanner, camera, etc., without limitation. The detecting member 70 may be fixedly connected to one of the side plates 113 of the base 10, directly connected thereto, or connected to the side plate 113 by other structures. The detecting member 70 is used for detecting whether a tray exists at a specific position, if yes, the tray moving operation can be performed, and the carrying device operates to drive the tray clamping jaw to move and clamp the tray to move. If the detection result of the detection member 70 is no tray, the tray moving operation is not performed.

Optionally, referring to fig. 1 and 2, the tray clamping jaw further includes an identification member 80, and the identification member 80 is used to identify information of the tray.

The identification member 80 may be any feasible sensor, scanner, camera, etc., without limitation. The identification member 80 may be fixedly connected to the other side plate 113 of the base 10, directly connected thereto, or fixedly connected thereto via the mounting bracket 81. The identification member 80 is used to identify information of a tray to determine whether the tray is a tray to be moved or store information of the tray. The information identifying the tray by the identifying member 80 may be in any feasible manner, for example, the tray is provided with an information code, such as a bar code or a two-dimensional code, and the identifying member 80 determines the information of the tray by scanning the information code.

Referring to fig. 1 to 5, a process of clamping a tray by a tray clamping jaw according to an embodiment is as follows: the driving shaft 21 of the driving member 20 moves forward to push the first slider 30 to move to the second slider 40 side, the first slider 30 contacts with the second slider 40 and pushes the second slider 40 to move together, the second slider 40 drives the supporting plate 61 to extend out of the base 10, so that the length L of the clamping space 65 reaches the first set distance L1, and the driving member 20 stops working. The mechanical arm is connected with the connecting seat 12, drives the tray clamping jaw to move to the tray below (namely, the tray faces one side of the ground), and moves upwards, so that the tray is placed on the supporting plate 61, the stop block 62 and the blocking portion 132 have a certain interval distance with the tray, and the interval distances of the two ends are equal and are both the second set distance L2. The driving shaft 21 of the driving member 20 moves backward, the first slider 30 is pulled to slide backward, the first slider 30 pulls the connecting member 51, the connecting member 51 pushes the second slider 40 to move to the side of the driving member 20 through the elastic member 52, the second slider 40 drives the supporting plate 61 to retract by a third set distance L3, l3=2l2, and the stop block 62 and the blocking portion 132 are respectively clung to the tray to clamp the tray. Wherein, when the supporting plate 61 is retracted to move L2, the tray is in contact with the blocking portion 132, the tray can not move any more, and the supporting plate 61 can be retracted continuously, and when the supporting plate 61 is retracted to 2L2, the stopper 62 is closely attached to the other side of the tray, thereby clamping the tray. After that, the driving shaft 21 of the driving member 20 continues to move backward, the first slider 30 is pulled, the elastic member 52 continues to be compressed, and the compression amount increases until the first slider 30 moves backward by the fourth set distance L4 or the compression amount of the elastic member 52 reaches a preset value, the driving member 20 stops working, and the tray is clamped. After the pallet is clamped, the carrying device can drive the pallet to move to the target position through the pallet clamping jaw and put down the pallet, and the pallet is released under the tension action of the elastic piece 52, so that the specific process is not repeated.

Of course, the process of clamping the tray by the tray clamping jaw may be other ways, in which, before clamping, L should be larger than the corresponding size of the tray, L is equal to the corresponding size of the tray when clamping, and the first slider 30 and the second slider 40 are separated, and the compression amount of the elastic member 52 is increased.

Referring to fig. 1 to 5, an embodiment of the present utility model provides an experimental apparatus, which includes a carrying device and a tray clamping jaw in any of the foregoing embodiments, where the carrying device is connected to the tray clamping jaw. The experimental setup may also include any other feasible means, and embodiments of the present utility model are not limited. The experimental equipment carries out automatic experiments, and substances for the automatic experiments are clamped by the carrying device to move by the tray so as to realize movement. The tray is got to clamp that this experimental facilities can be stable, and tray clamping jaw compact structure is small and exquisite, and occupation space is little, also can make experimental facilities design small in size, occupation space is little.

The test equipment of the embodiment of the utility model further comprises a supporting frame 90, the carrying device is detachably connected with the tray clamping jaw, the supporting frame 90 is used for placing the tray clamping jaw, and the carrying device is used for taking and placing the tray clamping jaw from the supporting frame 90. The specific structure and the usage of the supporting frame 90 are referred to in the foregoing description, and will not be repeated herein.

Referring to fig. 6, an embodiment of the present utility model also provides a tray gripping method applied to the experimental apparatus in the previous embodiment, the tray gripping method including steps S10, S20 and S30. The specific structure of the test apparatus in the foregoing embodiment may be combined with reference to fig. 1 to 5 and the description in the foregoing embodiment, and will not be repeated in the present method.

Step S10, a butt joint step: the carrying device is controlled to drive the tray clamping jaw to move until the base 10 and the stop block 62 of the tray clamping jaw are respectively positioned on two opposite sides of the tray to be clamped; wherein the base 10 and the clamping member 60 together define a clamping space 65 that is larger than the corresponding dimension of the tray. Specifically, the carrying device drives the tray clamping jaw to move, so that the clamping piece 60 of the tray clamping jaw extends into one side of the tray facing the ground; then, the carrying device drives the tray clamping jaw to move, so that the supporting plate 61 of the clamping piece 60 contacts with the tray to support the tray. The base 10 and the stopper 62 are respectively located at opposite sides of the tray, i.e., such that the tray is placed on the support plate 61 to be accommodated in the clamping space 65.

Step S20, an engagement step: the driving piece 20 for controlling the clamping jaw of the tray drives the clamping piece 60 to move to one side of the base 10 until the stop block 62 and the base 10 are respectively engaged with two sides of the tray; or, the handling device is controlled to drive the tray clamping jaw to move towards the direction of the stop block 62 of the base 10 until the base 10 is engaged with one side of the tray, and then the driving piece 20 is controlled to drive the clamping piece 60 to move towards one side of the base 10 until the stop block 62 is engaged with the other side of the tray. Specifically, based on step S10, step S20 brings the base 10 and the stopper 62 into contact with the opposite side surfaces of the tray, respectively, to achieve engagement.

Step S30, a clamping step: the control drive 20 continues to move in the direction in which the stop 62 points toward the base 10, applying a clamping force to the base 10 and the stop 62 to clamp the tray. Specifically, the stopper 62 and the base 10 together apply a clamping force to the clamped pallet, thereby clamping the pallet.

According to the tray clamping method provided by the embodiment of the utility model, the tray is accommodated in the clamping space 65 through the butt joint step, the clamping piece 60 and the base 10 are clamped with the tray through the clamping step, the tray can be supported and clamped by the clamping piece 60 through the clamping step, the structure is compact and compact, the occupied space is small, the required movable position is small, and the tray can be clamped under the condition of small space or dense arrangement.

In one embodiment, the step of engaging includes:

the driving member 20 for controlling the clamping jaw of the tray drives the clamping member 60 to move towards the base 10 by a first distance L1 until the stop block 62 and the base 10 are respectively engaged with two opposite sides of the tray.

Or, the handling device is controlled to drive the tray clamping jaw to move a second distance L2 towards the direction of the base 10 pointing to the stop block 62 until the base 10 is engaged with one side of the tray, and then the driving piece 20 is controlled to drive the clamping piece 60 to move a third distance L3 towards one side of the base 10 until the stop block 62 is engaged with the other side of the tray.

Wherein, the second distance L2 is the distance between the base 10 and the tray after the docking step is completed; the first distance L1 is equal to the third distance L3, l1=l3=l2+l4, and L4 is the distance between the stopper 62 and the tray after the docking step is completed.

In one embodiment, the clamping step comprises:

the control driving piece 20 drives the first sliding block 30 and the connecting piece 51 to move for a pre-tightening displacement X towards the direction of the stop block 62 pointing to the base 10, so that the connecting piece 51 moves relative to the second sliding block 40, the compression amount of the elastic piece 52 increases for the pre-tightening displacement X, and the clamping force for clamping the tray is applied to the base 10 and the stop block 62.

In one embodiment, the clamping step further includes step S40, step S50, and step S60.

Step S40, a releasing step: when the carrying device moves the tray to the target position, the control driving piece 20 drives the clamping piece 60 to move towards the direction of the base 10 pointing to the stop block 62 so as to release the clamping force of the base 10 and the stop block 62 on the tray;

step S50, loosening: the control driving piece 20 continues to drive the clamping piece 60 to move towards the direction of the base 10 pointing to the stop block 62, so as to drive the stop block 62 to be far away from the tray;

step S60, a disengaging step: the control carrying device drives the tray clamping jaw to move (such as to move towards one side of the ground) so that the tray clamping jaw is separated from the tray.

For some specific details of the parts related to the above tray clamping method, reference may be made to the description of the foregoing embodiments, and the disclosure is not repeated herein.

In the description of the embodiments of the present utility model, it should be noted that, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like refer to the orientation or positional relationship described based on the drawings, which are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

The above disclosure is only a preferred embodiment of the present utility model, and it should be understood that the scope of the utility model is not limited thereto, but all or part of the procedures for implementing the above embodiments can be modified by one skilled in the art according to the scope of the appended claims.

Claims (16)

1. A pallet clamp jaw, comprising:

a base;

a driving member mounted to the base;

The sliding mechanism is in sliding connection with the base, and one end of the sliding mechanism is connected with the driving piece;

the clamping piece is connected with one end of the sliding mechanism, which is opposite to the driving piece, and extends out of the base in the direction opposite to the driving piece, and the clamping piece and the base jointly define a clamping space for accommodating the tray.

2. The pallet clamp jaw of claim 1, wherein the slide mechanism comprises:

the first sliding block is connected with the base in a sliding manner and is connected with the driving piece;

the second sliding block is in sliding connection with the base and is positioned at one side of the first sliding block, which is away from the driving piece;

the elastic connecting assembly is elastically connected with the first sliding block and the second sliding block, and is elastically deformed when the first sliding block and the second sliding block are gradually far away.

3. The pallet clamp of claim 2, wherein the resilient connecting assembly includes a connecting member and a resilient member, the connecting member being fixedly connected to the first slider, the resilient member resiliently abutting the second slider and the connecting member.

4. A pallet clamping jaw according to claim 3, wherein the second slider is provided with a mounting hole, a through hole is formed in the bottom wall of the mounting hole, the connecting piece comprises a main body part and a protruding part, the main body part stretches into the mounting hole and penetrates through the through hole to be connected and fixed with the first slider, the protruding part is connected to the periphery of one end of the main body part, which is far away from the first slider, the protruding part is accommodated in the mounting hole, the elastic piece is sleeved on the periphery of the main body part, one end of the elastic piece is abutted with the bottom wall of the mounting hole, the other end of the elastic piece is abutted with the protruding part, and the elastic piece is compressed when the first slider and the second slider are gradually far away.

5. The tray jaw of claim 4, wherein the resilient member is in a compressed state with the first slider and the second slider in contact; the elastic member is further compressed in a case where the first slider and the second slider relatively slide and gradually move apart with a distance therebetween.

6. The pallet clamping jaw of claim 2, wherein the clamping member comprises a support plate and a stop, one end of the support plate is connected with the second slider, the stop is disposed at one end of the support plate away from the second slider and protrudes from the surface of the support plate, and the support plate, the stop and the base together define the clamping space.

7. The pallet clamp of claim 6, wherein a surface of the stop facing the base is provided with a flexible contact surface.

8. A pallet clamp according to any one of claims 1 to 7 wherein the base includes a base and a blocking member, the driving member being mounted to one side of the base, the blocking member being connected to the base and extending to a side of the base facing away from the driving member, the clamping member and blocking member together defining the clamping space.

9. The tray jaw of claim 8, wherein the sliding mechanism comprises a first slider, a second slider, and a resilient connection assembly, the first slider being slidably connected to the base and to the drive member; the second sliding block is in sliding connection with the base and is positioned at one side of the first sliding block, which is away from the driving piece; the elastic connecting component is elastically connected with the first sliding block and the second sliding block, and is elastically deformed when the first sliding block and the second sliding block are gradually far away; the base comprises a sliding rail, and the first sliding block and the second sliding block are in sliding connection with the sliding rail.

10. The pallet clamp of claim 9, wherein the first slider is slidably connected to the slide rail via a first adapter and the second slider is slidably connected to the slide rail via a second adapter.

11. The pallet clamp of claim 8, wherein the base further comprises a connecting base, the connecting base being connected to the base, the connecting base being adapted to be connected to a handling device such that the handling device moves the pallet clamp.

12. The pallet clamping jaw of claim 11, wherein the connecting base is provided with a mating groove for mating with a support frame to place the pallet clamping jaw on the support frame.

13. A pallet clamp according to any one of claims 1 to 7, further comprising a detection member connected to the base, the detection member being adapted to detect whether the pallet is present.

14. A pallet clamp according to any one of claims 1 to 7, further comprising an identification means for identifying information of the pallet.

15. An experimental facility comprising a handling device and a pallet jaw according to any one of claims 1 to 14, the handling device being connected to the pallet jaw, the handling device being adapted to move the pallet jaw.

16. The laboratory apparatus according to claim 15, wherein said handling device is detachably connected to said tray jaw; the experimental facilities still includes the support frame, the support frame is used for placing the tray clamping jaw, handling device follows get on the support frame and put the tray clamping jaw.

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