CN220446485U - Manipulator with object holding detection function - Google Patents

Abstract

The utility model relates to the technical field of instrument equipment and discloses a manipulator with a holding detection function, which comprises a clamping mechanism and a transverse moving base, wherein a first cylinder is fixedly arranged at one side position close to the inside of the transverse moving base, a supporting block is fixedly arranged at the output end of the first cylinder, a second cylinder is fixedly arranged at the lower end of the supporting block, a connecting frame is fixedly arranged at the output end of the second cylinder, and an electric telescopic rod is hinged to the inner top surface of the connecting frame at one side position close to the first cylinder. According to the utility model, the electric telescopic rod is regulated to push and pull the shell to drive the shell to rotate, the second motor is started to drive the gear to drive the rack to rotate, the connecting block is driven to drive the clamping jaw mechanism to move, the clamping mechanism can clamp test tubes with different angles, when the test tubes are in close contact with the second clamping plate, the reaction force of the test tubes enables the second clamping plate and the first clamping plate to rotate, so that the plurality of second clamping plates can be in close contact with the test tubes, the contact area between the second clamping plate and the test tubes is increased, and the test tubes with different sizes can be conveniently clamped.

Description

Manipulator with object holding detection function

Technical Field

The utility model relates to the technical field of instruments and equipment, in particular to a manipulator with a holding detection function.

Background

The manipulator can imitate some action functions of staff and arm for carry the automatic operating device of article or operating tool, in sample testing process, place the sample in the test tube and use manipulator centre gripping test tube to carry out the sample detection, the manipulator is realized taking out from the sample placing tray and is waited to detect the sample and put into the different detection hole sites of the detecting instrument of different serial numbers, the mechanical automation means of sample detection is regarded as to the manipulator of going up, can realize the action of going up the sample detection for the sample detecting instrument, be convenient for alleviate the repeated working strength that the staff frequently took the test tube, promote the efficiency of sample detection.

The existing test tube detection manipulator generally comprises clamping jaws, a supporting arm, a transverse moving base and the like, the clamping jaws can only clamp test tubes of the same model when clamping the test tubes, different clamping jaws need to be replaced when encountering test tubes of different models, otherwise, the test tubes can be damaged, inconvenience can be brought to staff if the clamping jaws are replaced frequently in actual operation, and the working intensity of the staff is increased.

Therefore, a manipulator with a function of object holding detection is provided by a person skilled in the art to solve the problems set forth in the background art.

Disclosure of Invention

The utility model aims to solve the defects in the prior art, and provides the manipulator with the object holding detection function, which comprises a shell, a shell is driven to rotate by adjusting a push-pull shell of an electric telescopic rod, a second motor is started to drive a gear to rotate, a rack is driven to move to drive a connecting block to drive a clamping jaw mechanism to move to clamp test tubes, so that the clamping mechanism can clamp test tubes with different angles, the clamping jaw mechanism is convenient for clamping the test tubes, the clamping jaw mechanism clamps the test tubes, when the test tubes are close to a second clamping plate and are in close contact with the second clamping plate, the reaction force of the test tubes drives the second clamping plate and the first clamping plate to obliquely rotate, a plurality of second clamping plates can be in close contact with the test tubes, the contact area between the second clamping plate and the test tubes is increased, the probability of damaging the test tubes when the test tubes are clamped can be effectively reduced, meanwhile, the clamping jaw mechanism can clamp test tubes with different types is convenient to clamp the test tubes, and the practicability is improved.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a manipulator with hold thing detects function, includes fixture and sideslip base, sideslip base is inside to lean on one side position fixed be provided with first cylinder, first cylinder output is fixed to be provided with the supporting shoe, the fixed second cylinder that is provided with of supporting shoe lower extreme, the fixed connecting frame that is provided with of second cylinder output, the connecting frame interior top surface is close to first cylinder one side position articulated be provided with electric telescopic handle, the connecting frame lower terminal surface is close to electric telescopic handle position and has been seted up the through-hole, the connecting frame lower terminal surface is fixed and is provided with the arc piece, arc piece lower terminal surface intermediate position and fixture hinge arrangement, fixture includes the shell, the shell up end hinge arrangement is in arc piece lower terminal surface intermediate position, the fixed second motor that is provided with in top surface central position in the shell, the fixed gear that is provided with of second motor output, a plurality of guide rails have been seted up to the bottom surface in the shell, a plurality of inside all movable sleeve of guide rail is equipped with a plurality of concave wheels, a plurality of concave wheels are all rotated and are provided with the motion piece between two, a plurality of motion pieces lower terminal surface are close to two clamping jaw, two positions are all kept away from down in the connecting block, two clamping jaw fixed positions are all set up to the fixture, two clamping jaw intermediate position are kept away from down, two clamping jaw, two fixed positions are all set up to the connecting block, two clamping jaw intermediate position are kept away from the connecting block, and are fixed in the fixture down the connecting block, and are set up down the connecting block respectively, and are kept away from the connecting block down position respectively, a plurality of first clamping plates are hinged to the opposite side positions of the clamping plates, and a plurality of second clamping plates are hinged to the opposite sides of the first clamping plates;

through above-mentioned technical scheme, according to the position and the inclination of test tube during the use, the flexible length of adjustment first cylinder and second cylinder, readjustment electric telescopic handle makes it shrink or tensile, drive fixture slope to suitable position, start the second motor and drive gear rotation, thereby drive a plurality of racks and remove, the connecting block of a plurality of rack both sides drives the kinematic block and makes a plurality of concave wheels rotate in a plurality of guide rails, wherein two connecting blocks drive the grip block and move the grip block to relative one side and hold the test tube, test tube and a plurality of splint No. two contact each other, a plurality of splint No. two receive the reaction force of test tube to test tube direction slope with a splint, can make a plurality of splint No. two all contact each other with the test tube, area of contact between test tube and the splint No. two has been increased, make the test tube clamp get time more stable.

Further, rubber pads are fixedly arranged on the end face positions of one side of each two opposite clamping plates;

through above-mentioned technical scheme, the rubber pad can increase the amount frictional force between splint No. two and the test tube, also can prevent to lead to the test tube scratch damage when centre gripping test tube.

Further, the output end of the electric telescopic rod is hinged with the upper end face of the shell, and the lower end of the electric telescopic rod penetrates through the through hole to the outside of the connecting frame;

through above-mentioned technical scheme, the flexible convenient clamping mechanism tilting that drives of electric telescopic handle rotates, convenient test tube of different angles of centre gripping.

Further, a rotating rod is fixedly arranged at one end, close to the first air cylinder, of the transverse moving base, a supporting rod is hinged to the lower end of the rotating rod, a first motor is embedded into the supporting rod at the position close to the upper end, and the output end of the first motor is fixedly arranged at the center position of the lower end face of the rotating rod;

through above-mentioned technical scheme, the rotation of first motor can drive the dwang and rotate to the convenient position of adjusting fixture, the test tube of the different positions of fixture centre gripping of being convenient for.

Further, sliding strips are fixedly arranged on the front side and the rear side of the supporting block, sliding grooves are formed in the position, close to the sliding strips, of the inside of the transverse moving base, and a plurality of sliding strips are arranged in the sliding grooves in a sliding mode;

through the technical scheme, the supporting block can conveniently slide in the transverse moving base, and the first cylinder can conveniently drive the supporting block to move.

Further, limiting plates are fixedly arranged in the shell and close to the upper sides of the racks;

through the technical scheme, the limiting plate can prevent the rack from shifting during hinged movement, and has a limiting effect on the rack.

Further, a plurality of racks are meshed with the gears;

through the technical scheme, the rack is conveniently driven to move by the rotation of the gear, so that the clamping plate can conveniently move to the similar or opposite position.

The utility model has the following beneficial effects:

1. according to the manipulator with the object holding detection function, the shell is driven to rotate by adjusting the electric telescopic rod to push and pull the shell, the second motor is started to drive the gear to rotate, the rack moves to drive the connecting block to drive the clamping jaw mechanism to move to clamp test tubes, and therefore the clamping mechanism can clamp test tubes with different angles, and clamping and using of the test tubes are facilitated.

2. According to the manipulator with the object holding detection function, the clamping jaw mechanism clamps the test tube, when the test tube approaches the second clamping plate to be in close contact with the second clamping plate, the reaction force of the test tube drives the second clamping plate and the first clamping plate to obliquely rotate when the test tube is clamped, so that a plurality of second clamping plates can be in close contact with the test tube, the contact area between the second clamping plate and the test tube is increased, the probability of damage to the test tube when the test tube is clamped can be effectively reduced, meanwhile, the test tubes of different types can be clamped, and the suitability and the practicability of the clamping jaw mechanism are improved.

Drawings

FIG. 1 is an isometric view of the present utility model;

FIG. 2 is a schematic front cross-sectional view of the present utility model;

FIG. 3 is a schematic top view of a clamping mechanism according to the present utility model;

FIG. 4 is an enlarged schematic view of the utility model at A of FIG. 2;

fig. 5 is a schematic top-down view of a jaw mechanism of the present utility model.

Legend description:

1. a clamping mechanism; 2. a chute; 3. a slide bar; 4. a support block; 5. a first cylinder; 6. traversing the base; 7. a support rod; 8. a rotating lever; 9. a first motor; 10. a second cylinder; 11. a connection frame; 12. an electric telescopic rod; 13. a through hole; 14. an arc-shaped block; 101. a housing; 102. a guide rail; 103. a bar-shaped groove; 104. a gear; 105. a rack; 106. a motion block; 107. a connecting block; 108. a jaw mechanism; 109. a concave wheel; 110. a second motor; 111. a limiting plate; 10801. a clamping plate; 10802. a first clamping plate; 10803. a second clamping plate; 10804. and a rubber pad.

Detailed Description

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

Referring to fig. 1-5, one embodiment provided by the present utility model is: the manipulator with the object holding detection function comprises a clamping mechanism 1 and a traversing base 6, wherein a first air cylinder 5 is fixedly arranged at one side position inside the traversing base 6, a supporting block 4 is fixedly arranged at the output end of the first air cylinder 5, a second air cylinder 10 is fixedly arranged at the lower end of the supporting block 4, a connecting frame 11 is fixedly arranged at the output end of the second air cylinder 10, an electric telescopic rod 12 is hinged to the inner top surface of the connecting frame 11 at one side position close to the first air cylinder 5, a through hole 13 is formed in the lower end surface of the connecting frame 11 at the position close to the electric telescopic rod 12, an arc-shaped block 14 is fixedly arranged at the lower end surface of the connecting frame 11, and the middle position of the lower end surface of the arc-shaped block 14 is hinged to the clamping mechanism 1;

the clamping mechanism 1 comprises a shell 101, the upper end surface of the shell 101 is hinged to the middle position of the lower end surface of the arc-shaped block 14, a second motor 110 is fixedly arranged in the center of the inner top surface of the shell 101, a gear 104 is fixedly arranged at the output end of the second motor 110, a plurality of guide rails 102 are arranged on the inner bottom surface of the shell 101, a plurality of concave wheels 109 are movably sleeved in the plurality of guide rails 102, the concave wheels 109 and the guide rails 102 can facilitate the left and right movement of the rack 105, support the rack 105 and the clamping jaw mechanism 108, limit the movement position and direction of the rack 105 and the clamping jaw mechanism 108, and facilitate the use of the clamping jaw mechanism 108;

the moving blocks 106 are arranged between every two of the concave wheels 109 in a rotating mode, the connecting blocks 107 are fixedly arranged between every two of the moving blocks 106, the moving blocks 106 are fixedly arranged on the lower end faces of the connecting blocks 107 close to two sides, clamping plates 10801 are fixedly arranged in the middle positions of the lower end faces of the two connecting blocks 107 at the two ends, stability of the clamping plates 10801 in moving can be improved, racks 105 are fixedly arranged between every two of the connecting blocks 107, clamping jaw mechanisms 108 are fixedly arranged in the middle positions of the lower end faces of the two connecting blocks 107 at positions, far away from the gears 104, of the connecting blocks 107, strip-shaped grooves 103 are formed in positions, close to the clamping jaw mechanisms 108, of the inner bottom face of the shell 101, the strip-shaped grooves 103 can facilitate the movement of the clamping jaw mechanisms 108, and the lower ends of the clamping jaw mechanisms 108 penetrate through the strip-shaped grooves 103 respectively and pass through the outer portion of the shell 101;

the clamping jaw mechanisms 108 comprise clamping plates 10801, the clamping plates 10801 are fixedly arranged at the middle positions of the lower end surfaces of the two connecting blocks 107 at the positions, far away from the gear 104, of the connecting blocks 107 respectively, a plurality of first clamping plates 10802 are hinged to the positions of one opposite sides of the clamping plates 10801, a plurality of second clamping plates 10803 are hinged to one opposite sides of the first clamping plates 10802, when the second clamping plates 10803 clamp test tubes, the first clamping plates 10802 and the second clamping plates 10803 incline, and according to the different sizes of the test tubes, the inclination angles of the first clamping plates 10802 and the second clamping plates 10803 are different, so that the second clamping plates 10803 clamp and are attached to the periphery of the test tubes;

according to the position and the inclination angle of the test tube, the telescopic lengths of the first air cylinder 5 and the second air cylinder 10 are adjusted, the electric telescopic rod 12 is adjusted to be contracted or stretched to drive the clamping mechanism 1 to incline to a proper position, the second motor 110 is started to drive the gear 104 to rotate so as to drive the racks 105 to move, the connecting blocks 107 on two sides of the racks 105 drive the moving blocks 106 to drive the concave wheels 109 to rotate in the guide rails 102, the two connecting blocks 107 drive the clamping plates 10801 to move to the opposite sides to clamp the test tube, the test tube is contacted with the second clamping plates 10803, the second clamping plates 10803 and the first clamping plates 10802 are inclined towards the test tube under the reaction force of the test tube, the second clamping plates 10803 are contacted with the test tube, the contact area between the test tube and the second clamping plates 10803 is increased, and the test tube clamping is more stable;

the rubber pads 10804 are fixedly arranged at the end face positions of two opposite sides of the clamping plates 10803, the rubber pads 10804 can increase the friction force between the clamping plates 10803 and test tubes, the test tubes can be prevented from being scratched and damaged when being clamped, the output end of the electric telescopic rod 12 is hinged to the upper end face of the shell 101, the through hole 13 at the lower end position of the electric telescopic rod 12 penetrates through the connecting frame 11, the telescopic rod 12 conveniently drives the clamping mechanism 1 to tilt and rotate to clamp test tubes at different angles, the rotating rod 8 is fixedly arranged at one end, close to the first cylinder 5, of the traversing base 6, the supporting rod 7 is hinged to the lower end of the rotating rod 8, the first motor 9 is embedded in the position close to the upper end inside the supporting rod 7, the output end of the first motor 9 is fixedly arranged at the center position of the lower end face of the rotating rod 8, and the first motor 9 can drive the rotating rod 8 to rotate, so that the position of the clamping mechanism 1 can be conveniently adjusted, and the clamping mechanism 1 can conveniently clamp test tubes at different positions;

the sliding bars 3 are fixedly arranged on the front side and the rear side of the supporting block 4, the sliding grooves 2 are formed in positions, close to the sliding bars 3, inside the sliding base 6, the sliding bars 3 are slidably arranged inside the sliding grooves 2, the supporting block 4 is slidably arranged inside the sliding base 6, the first air cylinder 5 is convenient to drive the supporting block 4 to move, the limiting plates 111 are fixedly arranged on the positions, close to the upper sides of the racks 105, inside the shell 101, of the shell 101, the limiting plates 111 can prevent the racks 105 from shifting during hinged movement, the racks 105 play a limiting effect, the racks 105 are meshed with the gears 104, and the gears 104 are convenient to rotate to drive the racks 105 to move so that the clamping plates 10801 can move towards similar or opposite positions.

Working principle: when the clamp is used, according to the position and the inclination of the test tube, the telescopic lengths of the first air cylinder 5 and the second air cylinder 10 are adjusted, the electric telescopic rod 12 is adjusted to be contracted or stretched to drive the clamping mechanism 1 to incline to a proper position, the second motor 110 is started to drive the gear 104 to rotate, so that the racks 105 are driven to move, the connecting blocks 107 on two sides of the racks 105 drive the moving blocks 106 to enable the concave wheels 109 to move in the guide rails 102, the two connecting blocks 107 drive the clamping plates 10801 to move to the opposite side to clamp the test tube, the test tube is contacted with the second clamping plates 10803, the second clamping plates 10803 and the first clamping plates 10802 are inclined towards the test tube direction under the reaction force of the test tube, the second clamping plates 10803 are contacted with the test tube, the contact area between the test tube and the second clamping plates 10803 is increased, and the test tube taking time is more stable.

Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present utility model.

Claims (7)

1. The utility model provides a manipulator with hold thing detects function, includes fixture (1) and sideslip base (6), its characterized in that: the device is characterized in that a first air cylinder (5) is fixedly arranged at one side of the inside of the transverse moving base (6), a supporting block (4) is fixedly arranged at the output end of the first air cylinder (5), a second air cylinder (10) is fixedly arranged at the lower end of the supporting block (4), a connecting frame (11) is fixedly arranged at the output end of the second air cylinder (10), an electric telescopic rod (12) is hinged to the position, close to the first air cylinder (5), of the inner top surface of the connecting frame (11), a through hole (13) is formed in the position, close to the electric telescopic rod (12), of the lower end surface of the connecting frame (11), an arc-shaped block (14) is fixedly arranged at the lower end surface of the connecting frame (11), and the middle position of the lower end surface of the arc-shaped block (14) is hinged to the clamping mechanism (1);

the clamping mechanism (1) comprises a shell (101), the upper end face of the shell (101) is hinged to the middle position of the lower end face of an arc-shaped block (14), a second motor (110) is fixedly arranged in the center of the inner top face of the shell (101), a gear (104) is fixedly arranged at the output end of the second motor (110), a plurality of guide rails (102) are arranged on the inner bottom face of the shell (101), a plurality of concave wheels (109) are movably sleeved in the guide rails (102), a moving block (106) is rotatably arranged between every two concave wheels (109), connecting blocks (107) are fixedly arranged between every two moving blocks (106), racks (105) are fixedly arranged between every two connecting blocks (107), and clamping jaw mechanisms (108) are fixedly arranged in the middle positions of the lower end faces of the two connecting blocks (107) at positions where the connecting blocks (107) are far away from the gear (104);

the utility model discloses a clamping jaw mechanism, including shell (101) and clamping jaw mechanism (108), bar slot (103) have all been seted up to bottom surface in the shell (101) near a plurality of clamping jaw mechanism (108) positions, a plurality of bar slot (103) are run through respectively to shell (101) outside is run through to clamping jaw mechanism (108), a plurality of clamping jaw mechanism (108) all include grip block (10801), a plurality of grip block (10801) are fixed respectively and are set up in a plurality of connecting block (107) keep away from gear (104) position two terminal surface intermediate positions under connecting block (107), a plurality of grip block (10801) opposite one side position all articulates and is provided with a plurality of clamp plates (10802), a plurality of clamp plates (10802) are two-to-two opposite one side all articulates and are provided with a plurality of clamp plates (10803).

2. The manipulator with object holding detection function according to claim 1, wherein: rubber pads (10804) are fixedly arranged at the end face positions of two opposite sides of the second clamping plate (10803).

3. The manipulator with object holding detection function according to claim 1, wherein: the output end of the electric telescopic rod (12) is hinged with the upper end face of the shell (101), and a through hole (13) at the lower end of the electric telescopic rod (12) penetrates through the connecting frame (11).

4. The manipulator with object holding detection function according to claim 1, wherein: the horizontal moving base (6) is close to fixed dwang (8) that is provided with of first cylinder (5) one end, the articulated bracing piece (7) that is provided with of dwang (8) lower extreme, the inside first motor (9) that are provided with of upper end position embedding of bracing piece (7), first motor (9) output is fixed to be set up in dwang (8) lower terminal surface central point put.

5. The manipulator with object holding detection function according to claim 1, wherein: slide bars (3) are fixedly arranged on the front side and the rear side of the supporting block (4), sliding grooves (2) are formed in positions, close to the slide bars (3), inside the transverse moving base (6), and a plurality of the slide bars (3) are slidably arranged inside the sliding grooves (2).

6. The manipulator with object holding detection function according to claim 1, wherein: limiting plates (111) are fixedly arranged in the shell (101) and close to the upper sides of the racks (105).

7. The manipulator with object holding detection function according to claim 1, wherein: the racks (105) are meshed with the gear (104).