CN220945377U - Triaxial operation type grabbing device - Google Patents
Triaxial operation type grabbing device Download PDFInfo
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- CN220945377U CN220945377U CN202322500721.6U CN202322500721U CN220945377U CN 220945377 U CN220945377 U CN 220945377U CN 202322500721 U CN202322500721 U CN 202322500721U CN 220945377 U CN220945377 U CN 220945377U
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- 230000007246 mechanism Effects 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
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Abstract
The utility model discloses a three-axis running type grabbing device, which comprises a three-dimensional moving unit and a clamping unit, wherein the clamping unit comprises: the base plate is connected with the three-dimensional moving unit and is provided with a lifting driver; the lifting plate is connected with the lifting driver, is provided with a pair of waist holes, and is arranged symmetrically outwards from top to bottom in an inclined manner; the clamping jaws are symmetrically arranged on two sides of a symmetrical axis of the waist hole, a guide shaft penetrating through the waist hole is arranged at the top of each clamping jaw, and the middle parts of the clamping jaws are rotationally connected with the substrate through the connecting shaft; the guide piece is arranged on the base plate and is distributed along the symmetry axis of the waist hole, and the bottom of the guide piece is matched with the caliber of the clamped object; and the detection assembly is used for detecting the grabbing state of the clamped object. The utility model has the advantages of small volume, flexible movement and high grabbing precision, has the detection function of judging whether grabbing is successful, and greatly improves the equipment performance of the sample detector.
Description
Technical Field
The utility model relates to the technical field of clamping jaws, in particular to a triaxial operation type grabbing device.
Background
With the improvement of the automation degree of the sample detector, in order to reduce the working strength of operators and improve the working efficiency of the sample detector, the repeated work is usually completed by adding a mechanical arm instead of manpower, for example, grabbing and transferring a PCR tube gland by adding a mechanical arm, and the like. Most of the existing clamping mechanisms adopt a connecting rod mechanism, the whole size is large, the grabbing precision is low, and the existing clamping mechanisms do not have a detection function of whether grabbing is successful or not, so that the normal operation of equipment is affected.
Disclosure of Invention
In order to solve the problems, the utility model provides a safe, reliable and high-grabbing-precision triaxial operation type grabbing device, which concretely adopts the following technical scheme:
the three-axis running type grabbing device comprises a three-dimensional moving unit and a clamping unit, wherein the clamping unit comprises
The base plate is connected with the three-dimensional moving unit, and a lifting driver is arranged on the base plate;
The lifting plate is connected with the lifting driver, a pair of waist holes are formed in the lifting plate, and the waist holes are obliquely and outwards arranged from top to bottom;
The clamping jaws are symmetrically arranged on two sides of a symmetrical axis of the waist hole, a guide shaft penetrating through the waist hole is arranged at the top of each clamping jaw, and the middle parts of the clamping jaws are rotationally connected with the substrate through the connecting shaft;
The guide piece is arranged on the base plate and is distributed along the symmetry axis of the waist hole, and the bottom of the guide piece is matched with the caliber of the clamped object;
And the detection assembly is used for detecting the grabbing state of the clamped object.
The detection assembly comprises a first displacement sensor and a first baffle plate matched with the first displacement sensor, the first displacement sensor is arranged on the substrate, the first baffle plate is arranged on a sleeve connected with the guide piece in a sleeved mode, a first baffle plate is arranged at the bottom of the sleeve, a second baffle plate is arranged at the top of the guide piece, and a compression spring sleeved on the guide piece is arranged between the first baffle plate and the second baffle plate.
The lifting driver is a linear motor, the linear motor is connected with the lifting plate through a connecting plate, a second baffle is arranged on the connecting plate, and a second displacement sensor matched with the second baffle is arranged on the substrate.
The lifting plate is of a door-shaped structure coaxially arranged with the linear motor, and the waist holes are formed in the side plates on two sides of the lifting plate.
The lifting plate comprises a base plate and is characterized in that a horizontal plate extending into a lifting plate gate frame is arranged on the base plate, a guide hole is formed in the horizontal plate, and a guide column matched with the guide hole is arranged on a sleeve.
The top of the clamping jaw is provided with lug plates which are respectively arranged at two sides of the lifting plate and connected with two ends of the guide shaft.
The three-dimensional mobile unit is provided with a driving mechanism moving along X direction, Y direction and Z direction, the driving mechanism comprises an X direction base, an X direction transmission mechanism and an X direction sliding table connected with the X direction transmission mechanism are arranged on the X direction base, a Y direction base is arranged on the X direction sliding table, a Y direction transmission mechanism and a Y direction sliding table connected with the Y direction transmission mechanism are arranged on the Y direction base, a Z direction base is arranged on the Y direction sliding table, a Z direction transmission mechanism and a Z direction sliding table connected with the Z direction transmission mechanism are arranged on the Z direction base, and the substrate is arranged on the Z direction sliding table.
The triaxial operation type grabbing device provided by the utility model has the advantages that the structure is ingenious, the clamping jaw can move freely in the three-dimensional coordinate, the opening and closing of the clamping jaw are realized through the cooperation of the lifting rod and the inclined waist hole, compared with the prior art, the triaxial operation type grabbing device is small in size, flexible in movement and high in grabbing precision, has a detection function of judging whether grabbing is successful, and greatly improves the equipment performance of a sample detector.
Drawings
Fig. 1 is a schematic structural view of the present utility model.
Fig. 2 is a schematic structural view of the gripping unit in fig. 1 (a jaw gripping state).
Fig. 3 is a schematic structural view of the gripping unit in fig. 1 (a jaw open state).
Detailed Description
The following describes embodiments of the present utility model in detail with reference to the accompanying drawings, and the embodiments and specific working procedures of the present utility model are given by implementing the present embodiment on the premise of the technical solution of the present utility model, but the protection scope of the present utility model is not limited to the following embodiments.
As shown in fig. 1 to 3, the three-axis operation type gripping device according to the present utility model is composed of a three-dimensional moving unit and a gripping unit.
Specifically, the three-dimensional moving unit has a driving mechanism moving along the X direction, the Y direction and the Z direction, the driving mechanism includes an X direction base 11, an X direction transmission mechanism 12 and an X direction sliding table connected with the X direction base 11 are provided on the X direction base 11, a Y direction base 21 is provided on the X direction base 21, a Y direction transmission mechanism 22 and a Y direction sliding table 23 connected with the Y direction base 21 are provided on the Y direction base 21, a Z direction base 31 is provided on the Y direction sliding table 23, a Z direction transmission mechanism and a Z direction sliding table 32 connected with the Z direction base 31 are provided on the Z direction base 31, and the Z direction sliding table 32 is connected with a substrate 41 of the gripping unit 4.
The above-mentioned gripping unit 4 includes a base plate 41 on which a linear motor 42 (i.e., a lifting drive) is mounted, and the linear motor 42 is connected to a lifting plate 44 through a connection plate 43. The lifting plate 44 has a gate-like structure coaxially arranged with the linear motor 42, and side plates on both sides thereof are respectively provided with a waist hole 45 inclined outward from top to bottom, and the two waist holes also take the center line of the lifting plate 44 as a symmetry axis. In addition, a pair of clamping jaws 46 with symmetrical structures are mounted on the base plate 41, the middle part of each clamping jaw 46 is rotatably connected with the base plate 41 through a connecting shaft 47, and the top part of each clamping jaw 46 is connected with the lifting plate 44 through a guide shaft 48 mounted in the waist hole 45. Normally, the top of the clamping jaw 46 is provided with ear plates respectively arranged at two sides of the lifting plate 44, and the guide shafts 48 penetrating through the waist holes 45 are respectively connected with the two ear plates, so that the stability of the structure is improved. When the linear motor 42 is started, the lifting plate 44 is lifted upwards, the clamping jaw 46 moves downwards relative to the lifting plate 44, the guide shaft 48 at the top of the clamping jaw gradually deviates from the original position and inclines outwards under the guide action of the waist hole 45, correspondingly, the bottom of the clamping jaw 46 inclines inwards, and the clamping jaw 46 works together to grasp the clamped object.
Further, a guide member 51 disposed along the symmetry axis of the waist hole 45 (i.e., the central axis of the linear motor 42) is further mounted on the base plate 41, and the bottom of the guide member 51 is adapted to the caliber of the object to be clamped. With the clamping of the clamping jaw 43, the clamped object is lifted and connected with the guide piece 51 in an inserting way. The guide member 51 is provided with a guide feature (e.g., a bayonet slot) so that the object to be clamped can be guided after the assembly.
Preferably, the utility model is also provided with a detection component for detecting the grabbing state of the clamped object. The detection assembly comprises a first displacement sensor 52 and a first baffle piece 53 matched with the first displacement sensor 52, wherein the first displacement sensor 52 is arranged on the base plate 41, and the first baffle piece 53 is arranged on the top of a sleeve sleeved and connected with the guide piece 51. In this embodiment, the base plate 41 is provided with a horizontal plate 54 extending into the gate frame of the lifting plate 44, the guide member 51 is fixed on the horizontal plate 54, the bottom extends downward, and a compression spring 55 located below the horizontal plate 54 (i.e., the second baffle plate) is sleeved; the horizontal plate 54 is provided with a guide hole, a guide post 56 is arranged in the guide hole, a top plate 57 positioned above the horizontal plate 54 and a bottom plate 58 positioned below the horizontal plate 54 are respectively arranged at the end parts of the guide post 56, and the bottom plate 58 (i.e. a first baffle plate) is sleeved on the outer side of the guide piece 51 and is in surface contact with the compression spring 55. The guide post 56, the top plate 57, and the bottom plate 58 constitute a sleeve.
With the clamping of the clamping jaw 43, the clamped object is lifted and connected with the guide piece 51 in an inserting way. In the process, the opening edge of the clamped object is contacted with the first baffle plate, the sleeve 52 is jacked up, and the first baffle plate 53 moves upwards. When the guide shaft 48 moves to the bottom of the waist hole 45, the first baffle 53 reaches a preset height, and the first displacement sensor 52 is triggered to send a signal of successful grabbing to the control center.
Preferably, the connection plate 43 is further provided with a second blocking piece 61, and the base plate 41 is provided with a second displacement sensor 62 adapted to the second blocking piece 61. As soon as the lifter plate 44 is raised to the predetermined position, the second displacement sensor 62 is triggered, signaling the control center that the linear motor 42 is functioning properly.
It should be noted that, in the description of the present utility model, terms such as "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Claims (7)
1. The utility model provides a triaxial operation formula grabbing device which characterized in that: comprises a three-dimensional moving unit and a clamping unit, wherein the clamping unit comprises
The base plate is connected with the three-dimensional moving unit, and a lifting driver is arranged on the base plate;
The lifting plate is connected with the lifting driver, a pair of waist holes are formed in the lifting plate, and the waist holes are obliquely and outwards arranged from top to bottom;
The clamping jaws are symmetrically arranged on two sides of a symmetrical axis of the waist hole, a guide shaft penetrating through the waist hole is arranged at the top of each clamping jaw, and the middle parts of the clamping jaws are rotationally connected with the substrate through the connecting shaft;
The guide piece is arranged on the base plate and is distributed along the symmetry axis of the waist hole, and the bottom of the guide piece is matched with the caliber of the clamped object;
And the detection assembly is used for detecting the grabbing state of the clamped object.
2. The triaxial operation type gripping apparatus according to claim 1, characterized in that: the detection assembly comprises a first displacement sensor and a first baffle plate matched with the first displacement sensor, the first displacement sensor is arranged on the substrate, the first baffle plate is arranged on a sleeve connected with the guide piece in a sleeved mode, a first baffle plate is arranged at the bottom of the sleeve, a second baffle plate is arranged at the top of the guide piece, and a compression spring sleeved on the guide piece is arranged between the first baffle plate and the second baffle plate.
3. The triaxial operation type gripping apparatus according to claim 2, characterized in that: the lifting driver is a linear motor, the linear motor is connected with the lifting plate through a connecting plate, a second baffle is arranged on the connecting plate, and a second displacement sensor matched with the second baffle is arranged on the substrate.
4. A triaxial running gripping device according to claim 3, characterised in that: the lifting plate is of a door-shaped structure coaxially arranged with the linear motor, and the waist holes are formed in the side plates on two sides of the lifting plate.
5. The triaxial operation type gripping apparatus according to claim 4, characterized in that: the lifting plate comprises a base plate and is characterized in that a horizontal plate extending into a lifting plate gate frame is arranged on the base plate, a guide hole is formed in the horizontal plate, and a guide column matched with the guide hole is arranged on a sleeve.
6. The triaxial operation type gripping apparatus according to claim 5, characterized in that: the top of the clamping jaw is provided with lug plates which are respectively arranged at two sides of the lifting plate and connected with two ends of the guide shaft.
7. The triaxial operation gripping device according to any one of claims 1 to 6, characterized in that: the three-dimensional mobile unit is provided with a driving mechanism moving along X direction, Y direction and Z direction, the driving mechanism comprises an X direction base, an X direction transmission mechanism and an X direction sliding table connected with the X direction transmission mechanism are arranged on the X direction base, a Y direction base is arranged on the X direction sliding table, a Y direction transmission mechanism and a Y direction sliding table connected with the Y direction transmission mechanism are arranged on the Y direction base, a Z direction base is arranged on the Y direction sliding table, a Z direction transmission mechanism and a Z direction sliding table connected with the Z direction transmission mechanism are arranged on the Z direction base, and the substrate is arranged on the Z direction sliding table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322500721.6U CN220945377U (en) | 2023-09-14 | 2023-09-14 | Triaxial operation type grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322500721.6U CN220945377U (en) | 2023-09-14 | 2023-09-14 | Triaxial operation type grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220945377U true CN220945377U (en) | 2024-05-14 |
Family
ID=91011523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322500721.6U Active CN220945377U (en) | 2023-09-14 | 2023-09-14 | Triaxial operation type grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220945377U (en) |
-
2023
- 2023-09-14 CN CN202322500721.6U patent/CN220945377U/en active Active
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