WO2023060504A1

WO2023060504A1 - Clamping jaw

Info

Publication number: WO2023060504A1
Application number: PCT/CN2021/123779
Authority: WO
Inventors: 唐宇阳; 孙亚威
Original assignee: 阳普医疗科技股份有限公司
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2023-04-20

Abstract

A clamping jaw, comprising: a clamping part (1) used for clamping an object to be clamped, a driving part (2) used for driving the clamping part (1) to open or close, and a driven part (3) capable of moving relative to the driving part (2), wherein the clamping part (1) is provided with a contact portion (4) matching the driven part (3); and when the driving part (2) drives the driven part (3) to move in a direction away from the driving part (2), the contact portion (4) and the driven part (3) are changed from a separation state to a contact state, so that the clamping part (1) is forced to open to load said object.

Description

a jaw

technical field

The invention relates to the technical field of medical instruments, and more specifically, to a jaw.

Background technique

Gripper is an actuator that uses electricity or compressed gas, hydraulic pressure, etc. as power to clamp or grab workpieces. Grippers are used in the diagnosis and treatment of various diseases, and are the key components to realize the spatial movement of reagent samples. For example, in the detection process of the thromboelastography instrument, the clamped object is automatically clamped into the detection module by using the gripper for detection, and then the clamped object is clamped away after detection, so as to realize efficient detection.

Grippers usually use mechanical grasping components such as levers or cam mechanisms to realize opening and closing, and then use motors or other driving mechanisms to push the opening and closing of the grasping components, thereby realizing the grasping and releasing of the clamped object. For example, patent document 1 (Chinese patent CN213050680U) discloses an electric rotary gripper mechanism, which includes a gripper module, a lower casing and an upper casing, and the gripper module includes a rotary pneumatic gripper, a gripper stepping motor The rotary pneumatic gripper is arranged on the outer bottom of the lower casing, the lower casing has a motor hole, the jaw stepper motor is arranged inside the lower casing, and the rotary pneumatic gripper is coaxially connected through the motor hole to control the tension of the rotary pneumatic gripper combine. Patent Document 2 (Chinese Patent CN204893976U) discloses a mechanical electric reaction tube grasping device, which includes a mounting frame, a grasping part and a driving device for grasping the reaction tube, and the grasping part includes at least two jaws An elastic component is arranged between the clamping jaws, the driving device drives the clamping jaws to open, and the elastic component provides elastic force to make the clamping jaws clamp the reaction tube. However, in Patent Document 1, the action and clamping force are controlled by a stepping motor, which is prone to inaccurate clamping force, low reliability, complex structure, large volume, high mass, and high production cost. Although patent document 2 provides the clamping force by elastic components, the clamping force is stable, but its clamping jaws need to adopt a specific structure, which is difficult to process and manufacture, resulting in high production costs.

To sum up, the existing grippers have defects such as large volume, high cost, inaccurate clamping force, low reliability and high quality, which have a certain impact on the overall volume, production cost and use of the diagnosis and treatment machine.

Contents of the invention

The technical problem to be solved by the present invention is that the existing clamping jaws are large in size, high in cost, inaccurate in clamping force, low in reliability and high in quality. Aiming at the above defects of the prior art, a clamping jaw is provided.

The technical solution adopted by the present invention to solve the technical problem is to construct a clamping jaw, including: a clamping part for clamping the clamped object, a driving part for driving the clamping part to open or close, and A driven member that can move relative to the driving member; the clamping member is provided with a contact portion that cooperates with the driven member; the driving member drives the driven member away from the driving member When moving in the direction of , the contact part and the follower change from a disengaged state to a contact state, so that the clamping part is forced to open to load the clamped object.

Further, the jaws further include a mounting frame; the driving element includes a power element arranged on the mounting frame; the telescopic end of the power element passes through the mounting frame.

Further, the follower is a shaft disposed at the end of the installation frame facing away from the power part; the first end of the shaft is connected to the telescopic end of the power part.

Further, the shaft diameter of the shaft decreases from the head end to the end of the shaft body.

Further, the clamping member includes at least two claws; the first ends of the claws are arranged on the mounting frame, and the ends of the claws extend away from the mounting frame.

Further, the contact part includes a fixed block arranged on the claw piece; the fixed block protrudes toward the direction close to the shaft body; when the shaft body is in contact with the fixed block, the fixed block slide along the shaft surface.

Further, the contact part includes a fixed block and a rolling element arranged on the claw piece; the fixed block protrudes toward the direction close to the shaft body; the rolling element is arranged on the fixed block; When the shaft is in contact with the fixed block, the fixed block rolls along the surface of the shaft.

Further, the rolling element is a bearing.

Further, the end of the claw piece is provided with a protrusion matching the object to be clamped; the protrusion protrudes toward the direction close to the shaft body.

Further, the power part is an electric cylinder.

The beneficial effect of the present invention is that: the application realizes the opening or closing of the clamping component through the cooperation of the driving member, the follower, the clamping component and the contact portion on the clamping component, without the need for mechanisms such as connecting rods, cams or sliders To perform this action, it is small in size, low in mass and high in reliability. Secondly, when the contact part and the follower change from the disengagement state to the contact state, the clamping part is forced to deform and stretch out, and when the contact part and the follower change from the contact state to the disengagement state, the clamping part returns to its original shape, relying on the clamping part itself The clamped object is clamped by the deformation, the clamping force is stable, and the cost is low.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the drawings and embodiments. The drawings in the following description are only part of the embodiments of the present invention. Ordinary technicians can also obtain other drawings based on these drawings without paying creative work:

Fig. 1 is a schematic diagram of the clamping state of a clamping jaw according to Embodiment 1 of the present invention;

Fig. 2 is a schematic diagram of a state when a jaw is released according to Embodiment 1 of the present invention;

Fig. 3 is a schematic diagram of the clamping state of a clamping jaw according to Embodiment 2 of the present invention;

Fig. 4 is a schematic diagram of a state when a clamping jaw is released according to Embodiment 2 of the present invention.

In the figure, 1. clamping part; 2. driving part; 3. driven part; 4. contact part; 5. mounting frame; 11. claw piece; 41. Fixed block; 42. Rolling parts.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, a clear and complete description will be made below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, and Not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Embodiment one

The embodiment of the present invention, as shown in Figures 1 to 2, provides a clamping jaw, including: a clamping part 1 for clamping an object to be clamped, a driving part 2 for driving the clamping part 1 to open or close, and The driven part 3 that can move relative to the driving part 2; the clamping part 1 is provided with a contact part 4 that cooperates with the driven part 3; when the driving part 2 drives the driven part 3 to move away from the driving part 2 , the contact part 4 and the follower 3 change from a disengaged state to a contact state, so that the clamping part 1 is forced to open to load the clamped object.

The driver 2 positively drives the follower 3 to move away from the driver 2. During this process, the follower 3 and the contact part 4 change from a disengaged state to a contact state. When in contact, the follower 3 is on the contact part 4 An outward thrust is generated, so that the clamping part 1 is also pushed outward by the follower 3 . As the follower 3 moves further, the clamping component 1 is forced to deform and spread outward, so that the clamping component 1 is in an open state. Wherein, the thrust force of the follower 3 on the clamping component 1 does not exceed the elastic limit of the clamping component 1 . At this time, the external manipulator drives the clamping part 1 to the position of the clamped object, and the driving part 2 reversely drives the follower 3, so that the follower 3 moves toward the direction close to the drive part 2. During this process, the follower 3 and the contact part 4 change from the contact state to the disengagement state, and the contact part 4 loses an outward thrust, so that the clamping part 1 returns to its original shape, and then clamps the clamped object.

During the above process, the clamping force of the clamping part 1 on the clamped object is completely generated by the deformation of the clamping part 1 . The clamping part 1 only clamps an object of a certain shape, and the size of the object is accurate, so the clamping force is stable and free from interference from mechanisms, circuits, etc. Wherein, the object to be clamped may be an object with a fixed size such as a reagent cup or a test tube.

Further, the jaws also include a mounting frame 5 ; the driving element 2 includes a power element 21 arranged on the mounting frame 5 ; the telescopic end of the power element 21 passes through the mounting frame 5 . Wherein, the power part 21 is an electric cylinder.

Further, the follower 3 is a shaft body 31 disposed on the end of the installation frame 5 facing away from the power part 21 ; the first end of the shaft body 31 is connected to the telescopic end of the power part 21 .

Further, the shaft diameter of the shaft body 31 decreases from the head end to the end end of the shaft body 31 . That is, the shaft diameter at the end of the shaft body 31 is smaller than the shaft diameter at the head end of the shaft body 31 .

Further, the clamping member 1 includes at least two claw pieces 11, which are made of energy storage parts such as spring steel, stainless steel, aluminum, etc.; the two claw pieces 11 are symmetrically arranged left and right. The head end of the claw piece 11 is arranged on the installation frame 5 , and the end of the claw piece 11 extends away from the installation frame 5 .

Further, the contact part 4 includes a fixed block 41 arranged on the claw piece 11; the fixed block 41 protrudes toward the direction close to the shaft body 31; when the shaft body 31 is in contact with the fixed block 41, the fixed block 41 moves slide.

Claw piece 11 can be by two or more, for example, the quantity of claw piece 11 is three, because axle body 31 is cylindrical, therefore can be triangular arrangement among three claw piece 11, promptly each claw piece 11 It can be forced to open by contacting the fixed block 41 with the surface of the shaft body 31 .

Further, the end of the claw piece 11 is provided with a protrusion 12 matching the object to be clamped; the protrusion 12 protrudes toward the direction close to the shaft body 31 . There are two projections 12 on each claw piece 11 , arranged up and down.

The shaft body 31 is extended or retracted with the electric cylinder driven by the electric cylinder. When the shaft body 31 extends out with the electric cylinder, the shaft body 31 and the fixed block 41 change from a disengaged state to a contact state, and the fixed block 41 contacts with the end of the shaft body 31 first, and as the shaft body 31 is further extended, the fixed block 41 Sliding from the small shaft diameter on the surface of the shaft body 31 to the large shaft diameter on the shaft body 31 surface, at this time, the fixed block 41 is pushed outward by the shaft body 31, so that the claw piece 11 is also pushed outward by the shaft body 31, The claw piece 11 is deformed by extrusion, and the thrust of the shaft body 31 does not exceed the elastic limit of the claw piece 11 . At this time, the external manipulator drives the jaws to the object to be clamped, so that the cup edge of the object to be clamped is between the two protrusions 12 . At this time, the electric cylinder reversely drives the shaft body 31 to retract the shaft body 31, and the fixed block 41 slides along the shaft body 31 from the large shaft diameter on the shaft body 31 surface to the small shaft diameter on the shaft body 31 surface, and finally aligns with the shaft body 31 out of contact, the claw pieces 11 that lost the thrust return to their original shape, and the claw pieces 11 on both sides move to the direction of the clamped object to clamp the clamped object.

In the above embodiment, the clamping force of the clamping piece 1 is affected by the structural characteristics of the claw piece 11 itself and the size of the clamped object. After the clamped object is clamped, the electric cylinder and the shaft body 31 are not in contact with the clamping piece. The clamping force is stable. The first end of the claw piece 11 is set on the mounting frame 5, and the end is relatively vertically extended, with a simple structure, and the clamping force is basically output by the energy storage element, so that the clamping force is stable, accurate and reliable, and the response speed is fast. The structure is simple and the cost is low.

Embodiment two

Embodiment 2 of the present invention, as shown in Figures 3 to 4, provides a clamping jaw, including: a clamping part 1 for clamping the object to be clamped, and a driving part 2 for driving the clamping part 1 to open or close , and the follower 3 that can move relative to the driver 2; the clamping member 1 is provided with a contact portion 4 that cooperates with the follower 3; the driver 2 drives the follower 3 to a direction away from the driver 2 When moving, the contact part 4 and the follower 3 change from a disengaged state to a contact state, so that the clamping part 1 is forced to open to load the clamped object.

The jaws also include a mounting frame 5 ; the driving element 2 includes a power element 21 arranged on the mounting frame 5 ; the telescoping end of the power element 21 passes through the mounting frame 5 . The follower 3 is a shaft body 31 arranged on the end of the installation frame 5 facing away from the power part 21 ; the first end of the shaft body 31 is connected to the telescopic end of the power part 21 . The shaft diameter of the shaft body 31 decreases from the head end to the end end of the shaft body 31 . The clamping part 1 comprises at least two claws 11; The contact part 4 includes a fixed block 41 and a rolling element 42 arranged on the claw piece 11; the fixed block 41 protrudes toward the direction close to the shaft body 31; the rolling element 42 is arranged on the fixed block 41; between the shaft body 31 and the fixed block 41 When in contact, the fixed block 41 rolls along the surface of the shaft body 31 . The rolling element 42 is a bearing. The end of the claw piece 11 is provided with a protrusion 12 matching the object to be clamped; the protrusion 12 protrudes toward the direction close to the shaft body 31 . The power part 21 is an electric cylinder.

The difference between the second embodiment and the first embodiment is that the contact part 4 includes a fixed block 41 and a bearing arranged on the fixed block 41 . When the shaft body 31 is driven to extend, the surface of the shaft body 31 is in contact with the bearing, so that the bearing can roll along the surface of the shaft body 31 . The bearing rotates freely relative to the fixed block 41 , and the cooperation between the bearing and the shaft body 31 can reduce the contact resistance between the bearing and the shaft body 31 .

Embodiment Three

The difference between the third embodiment and the first embodiment is that the power part 21 in the gripper jaw can be replaced by an air cylinder, an oil cylinder or a rotating motor, etc., and the driving part 2, the follower part 3 and the contact part 4 can be replaced by other devices capable of clamping The mechanism that the piece 1 is opened and does not come into contact with the clamping piece 1 after the clamping piece 1 clamps the clamped object.

Combining the above-mentioned Embodiment 1 to Embodiment 3, it can be obtained that the present application realizes the clamping of the clamped object through the cooperation of the power part 21, the shaft body 31, the claw piece 11, and the fixed block 41, and utilizes the forced deformation and restoration of the claw piece 11. Holder, the overall structure is simple, small in size and quality, and the claw piece 11 has no special shape, which is convenient for processing and low in cost. Relying on the structural characteristics of the claw piece 11 itself, the clamping of the clamped object is realized, and the clamping force is stable and the reliability is high.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.

Claims

A jaw, characterized in that it includes: a clamping part for clamping an object to be clamped, a driving part for driving the clamping part to open or close, and a movable relative to the driving part Follower; the clamping member is provided with a contact portion that cooperates with the follower; when the driving member drives the follower to move away from the driving member, the contact portion and the driving member The follower changes from the disengagement state to the contact state, so that the clamping part is forced to open for loading the clamped object.
The clamping jaw according to claim 1, characterized in that, the clamping jaw also includes a mounting frame; the driving element includes a power element arranged on the mounting frame; the telescopic end of the power element passes through the Mount.
The jaw according to claim 2, wherein the follower is a shaft disposed at the end of the installation frame facing away from the power part; end connection.
The jaw according to claim 3, wherein the shaft diameter of the shaft decreases from the head end to the end of the shaft body.
The clamping jaw according to claim 3, wherein the clamping member comprises at least two claws; extend in the direction of the shelf.
The jaw according to claim 5, wherein the contact portion includes a fixed block arranged on the claw piece; the fixed block protrudes toward the direction close to the shaft body; between the shaft body and the shaft body When the fixed block contacts, the fixed block slides along the surface of the shaft body.
The jaw according to claim 5, wherein the contact portion includes a fixed block and a rolling member arranged on the claw piece; the fixed block protrudes toward the direction close to the shaft body; the rolling A piece is arranged on the fixed block; when the shaft body is in contact with the fixed block, the fixed block rolls along the surface of the shaft body.
The jaw of claim 7, wherein the rolling elements are bearings.
The jaw according to any one of claims 6-7, characterized in that, the end of the claw piece is provided with a protrusion matching the object to be clamped; the protrusion is directed towards the shaft body protruding.
The jaw according to any one of claims 2-3, characterized in that the power member is an electric cylinder.