CN210968946U - Sample box pick-and-place mechanism and transfer manipulator - Google Patents
Sample box pick-and-place mechanism and transfer manipulator Download PDFInfo
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- CN210968946U CN210968946U CN201921565045.8U CN201921565045U CN210968946U CN 210968946 U CN210968946 U CN 210968946U CN 201921565045 U CN201921565045 U CN 201921565045U CN 210968946 U CN210968946 U CN 210968946U
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Abstract
The utility model discloses a mechanism and transfer manipulator are put in getting of sample box, get and put the mechanism and include that supporting component, two that the guide way was seted up to the top surface all set up the clamping jaw, the drive of guide way top are two the clamping jaw presss from both sides tightly or releases the clamping jaw actuating mechanism and the drive of sample box two the clamping jaw is along the gliding sharp actuating mechanism of the orientation of seting up of guide way. During the use, the guide way that shifts manipulator drive supporting component docks with the device of depositing the sample box, then two clamping jaws of clamping jaw actuating mechanism drive are closed, press from both sides the sample box tightly, and linear driving mechanism drives two clamping jaws and sample box removal again, makes the sample box remove to the guide way in, the guide way plays the spacing effect of support to the sample box to need not to set up on the device of depositing the sample box and dodge the groove, also needn't increase the clamp force.
Description
Technical Field
The utility model belongs to the technical field of biological sample storage, concretely relates to get of sample box puts mechanism and transfer manipulator.
Background
In biological sample storage devices, transfer robots are used to transfer sample cartridges from one location to another. In the prior art, in order to prevent a sample box from falling off in a transfer process, firstly, the clamping force of a sample box taking and placing mechanism on a transfer manipulator is increased, namely, the friction force between the taking and placing mechanism and the sample box is increased, and the mode has the risk of clamping the sample box and even damaging a test tube in the sample box; secondly, the clamping jaw of the taking and placing mechanism is provided with the hook part, and in the mode, the device for placing the sample box is required to be provided with the avoiding groove for avoiding the hook part, so that the processing cost and the difficulty of the device for placing the sample box are increased.
SUMMERY OF THE UTILITY MODEL
In order to solve the increase among the prior art and get the technical problem who puts the frictional force of mechanism and cause the sample box to damage or increase machining cost and the degree of difficulty because of seting up and dodging the groove, the utility model aims to provide a mechanism and transfer manipulator are put in getting of sample box. When the sample box supporting device is used, the guide groove of the supporting part is in butt joint with the sample box storing device, then the clamping jaw driving mechanism drives the two clamping jaws to be closed, the sample box is clamped tightly, the linear driving mechanism drives the two clamping jaws and the sample box to move, the sample box is moved into the guide groove, and the guide groove plays a role in supporting and limiting the sample box, so that an avoiding groove does not need to be formed in the sample box storing device, and the clamping force does not need to be increased.
A further object of the present invention is to provide a transfer robot having the above pick and place mechanism.
The utility model discloses the technical scheme who adopts does:
the utility model provides a mechanism is put in getting of sample box, includes that the top surface sets up the supporting component of guide way, two all set up the clamping jaw of guide way top, drive two the clamping jaw actuating mechanism that the clamping jaw presss from both sides tight or decontrole the sample box and drive two the gliding sharp actuating mechanism of seting up direction of clamping jaw along the guide way.
As a further alternative of the pick-and-place mechanism, the clamping jaw driving mechanism comprises a support fixedly connected with the output end of the linear driving mechanism, two sliding pieces a arranged on the support in a relatively sliding manner, a driving device for driving the two sliding pieces a to slide, a limiting structure arranged between the clamping jaw and the corresponding sliding piece a, and an elastic element for driving the two clamping jaws to close; the sliding directions of the two sliding parts A and the sliding directions of the two clamping jaws are perpendicular to the sliding direction of the support, and the two sliding parts A are respectively in sliding connection with the two clamping jaws.
As a further alternative of the pick and place mechanism, the elastic element is at least one tension spring arranged between the two jaws; and two ends of the extension spring are respectively fixedly connected with the two clamping jaws.
As a further alternative of the pick and place mechanism, the driving device comprises two racks a fixedly connected with the two sliding pieces a respectively, a gear a arranged between the two racks a and engaged with both the two racks a, and a rotary driving piece a fixedly connected with the support; the output end of the rotary driving piece A is fixedly connected with the gear A.
As a further alternative of the pick and place mechanism, the linear driving mechanism comprises a rotary driving piece B fixedly connected with the support, a gear B fixedly connected with the output end of the rotary driving piece B, and a rack B meshed with the gear B; an installation groove is formed in the bottom of the guide groove; the rack B is fixed at the bottom of the mounting groove; and a linear guide rail A is arranged between the support and the bottom of the mounting groove.
A sample box transfer manipulator comprises a sliding part B, a driving module A for driving the sliding part B to slide vertically, a rotating part arranged on the sliding part B in a rotating mode along a vertical axis, a driving module B for driving the rotating part to rotate, a taking and placing mechanism arranged on the rotating part in a sliding mode along the horizontal direction, and a driving module C for driving the taking and placing mechanism to slide; the pick and place mechanism is any one of the pick and place mechanisms described above.
As a further alternative of the transfer manipulator, the driving module a includes a vertically arranged profile, a linear guide B arranged between the profile and the slider B, a lead screw rotatably supported on the profile, a lead screw nut sleeved on the lead screw and fixedly connected with the slider B, and a servo motor a fixedly connected to one end of the lead screw.
As a further alternative of the transfer manipulator, the driving module B comprises a servo motor B fixed on the sliding part B and a speed reducer fixed at the output end of the servo motor B; the rotating piece is fixed at the output end of the speed reducer.
As a further alternative of the transfer manipulator, the driving module C comprises a servo motor C fixedly connected with the pick-and-place mechanism, a gear C fixed at an output end of the servo motor C, a rack C engaged with the gear C and fixedly connected with the rotating member, and a linear guide C arranged between the rotating member and the pick-and-place mechanism.
The utility model has the advantages that:
when the sample box supporting device is used, the guide groove of the supporting part is in butt joint with the sample box storing device, then the clamping jaw driving mechanism drives the two clamping jaws to be closed, the sample box is clamped tightly, the linear driving mechanism drives the two clamping jaws and the sample box to move, the sample box is moved into the guide groove, and the guide groove plays a role in supporting and limiting the sample box, so that an avoiding groove does not need to be formed in the sample box storing device, and the clamping force does not need to be increased.
Other advantageous effects of the present invention will be described in detail in the detailed description of the invention.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required for the description of the embodiments will be briefly introduced below, it should be understood that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a transfer robot of the present invention;
fig. 2 is a schematic structural diagram of the pick-and-place mechanism of the present invention;
FIG. 3 is an exploded view of the pick and place mechanism shown in FIG. 2;
fig. 4 is a schematic structural view of a jaw driving mechanism in the pick and place mechanism shown in fig. 2.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. It is to be understood that the drawings are designed solely for the purposes of illustration and description and not as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements 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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 2 and 3, the pick-and-place mechanism of the present embodiment includes a support member 9 having a top surface provided with a guide groove 91, two clamping jaws 10 both disposed above the guide groove 91, a clamping jaw driving mechanism for driving the two clamping jaws 10 to clamp or release the sample box 8, and a linear driving mechanism for driving the two clamping jaws 10 to slide along the opening direction of the guide groove 91.
The clamping jaw driving mechanism can be realized by a clamping jaw cylinder, such as a wide type gas jaw of MH L2 series produced and sold by SMC, specifically, two fingers of the clamping jaw cylinder are respectively and fixedly connected with the two clamping jaws 10, or can be realized by other mechanisms, such as two linear driving parts, specifically, output ends of the two linear driving parts are respectively and fixedly connected with the two clamping jaws 10, the linear driving parts can be realized by the prior art such as a cylinder, an oil cylinder, an electric cylinder and the like, or can be realized by a screw mechanism, specifically, a screw rod can be arranged, two ends of the screw rod are respectively provided with a positive and negative thread, two ends of the screw rod are respectively sleeved with a positive and negative nut, and the positive and negative nuts are respectively and fixedly.
The linear driving mechanism can be realized by adopting the prior art such as a cylinder, an oil cylinder, an electric cylinder and the like, and the clamping jaw driving mechanism can be arranged at the output end of the linear driving mechanism; two linear driving mechanisms respectively arranged on two output ends of the clamping jaw driving mechanism can also be arranged, wherein the two output ends of the clamping jaw driving mechanism are two output ends respectively corresponding to the two clamping jaws 10 one by one; the two clamping jaws 10 can be telescopic at the two output ends of the clamping jaw driving mechanism, and the output end of the linear driving mechanism can be opened and closed along with the opening and closing of the two output ends of the clamping jaw driving mechanism, so that the output end of the linear driving mechanism is connected with the two clamping jaws 10.
When the sample box 8 is taken out from other places, the transfer manipulator aligns the guide groove 91 with the sample box 8, then the linear driving mechanism drives the two clamping jaws 10 to slide to the sample box 8 to be in place, then the clamping jaw driving mechanism drives the two clamping jaws 10 to be closed to clamp the sample box 8, and then the linear driving mechanism drives the two clamping jaws 10 and the clamped sample box 8 to slide to be in place towards the guide groove 91; when pushing the sample box 8 from the guide groove 91 to another place, the transfer robot aligns the guide groove 91 with the device for placing the sample box 8, then the linear driving mechanism drives the two clamping jaws 10 and the clamped sample box 8 to slide to the device for placing the sample box 8, then the clamping jaw driving mechanism drives the two clamping jaws 10 to open, the sample box 8 is loosened, and then the linear driving mechanism drives the two clamping jaws 10 to slide to the guide groove 91.
The clamp force of establishing clamping jaw 10 is F, and the static friction factor between clamping jaw 10 and the sample box 8 is mu 1, and the static friction factor between sample box 8 and guide way 91 and the device of placing sample box 8 is mu 2, and sample box 8 is m together with the total weight of the test tube of placing in sample box 8, and acceleration of gravity is g, the utility model discloses a take and put clamp force F of mechanism only need satisfy: 2 mu 1F is more than or equal to mu 2 mg, and the clamping force of the taking and placing mechanism in the prior art needs to satisfy the following requirements: the clamping force is obviously greatly reduced compared with the clamping force of 2 mu 1F ≧ mg, so that the problem of clamping the sample box 8 and even clamping the test tube in the sample box 8 is avoided.
As shown in fig. 1 and fig. 2, the transfer robot of the present embodiment includes a sliding member B2, a driving module a for driving the sliding member B2 to slide vertically, a rotating member 4 rotatably disposed on the sliding member B2 along a vertical axis, a driving module B for driving the rotating member 4 to rotate, a pick-and-place mechanism slidably disposed on the rotating member 4 along a horizontal direction, and a driving module C for driving the pick-and-place mechanism to slide; the pick and place mechanism is the pick and place mechanism in the embodiment.
As shown in fig. 1, the driving module a in this embodiment includes a vertically disposed profile 1, a linear guide B3 disposed between the profile 1 and a sliding member B2, a lead screw 5 rotatably supported on the profile 1, a lead screw nut (not shown in the figure) sleeved on the lead screw 5 and fixedly connected to the sliding member B2, and a servo motor a6 fixedly connected to one end of the lead screw 5.
As shown in fig. 1 and 2, the driving module B in the present embodiment includes a servomotor B11 fixed to the slider B2 and a speed reducer 16 fixed to an output end of the servomotor B11; the rotating member 4 is fixed at the output end of the speed reducer.
As shown in fig. 2, the driving module C in this embodiment includes a servo motor C7 fixedly connected to the pick-and-place mechanism, a gear C15 fixed to an output end of the servo motor C7, a rack C14 engaged with the gear C15 and fixedly connected to the rotary member 4, and a linear guide C17 disposed between the rotary member 4 and the pick-and-place mechanism.
The manipulator in the embodiment can realize sliding in two directions and rotating in one direction, and the range of the sample box 8 transferred by the transfer manipulator is enlarged. Compared with the existing six-axis mechanical arm and the like, the six-axis mechanical arm has low cost.
Example 2:
as shown in fig. 3 and 4, the present embodiment differs from embodiment 1 in that the jaw driving mechanism in the present embodiment includes a support 23 fixedly connected to the output end of the linear driving mechanism, two sliding members a21 relatively slidably disposed on the support 23, a driving device for driving the two sliding members a21 to slide, a limiting structure disposed between the jaws 10 and their corresponding sliding members a21, and an elastic element for driving the two jaws 10 to close; the sliding directions of the two sliding pieces A21 and the two clamping jaws 10 are perpendicular to the sliding direction of the support 23, and the two sliding pieces A21 are respectively connected with the two clamping jaws 10 in a sliding manner.
The driving device can be realized by a clamping jaw cylinder, such as a wide air claw of MH L series produced and sold by SMC, specifically, two fingers of the clamping jaw cylinder are respectively and fixedly connected with two sliding pieces A21, or can be realized by other mechanisms, such as two linear driving pieces, specifically, output ends of the two linear driving pieces are respectively and fixedly connected with two sliding pieces A21, the linear driving pieces can be realized by the prior art of an air cylinder, an oil cylinder, an electric cylinder and the like, or can be realized by a screw mechanism, specifically, a screw rod can be arranged, two ends of the screw rod are respectively provided with a positive and negative thread, two ends of the screw rod are respectively sleeved with a positive and negative nut, and the positive and negative nuts are respectively and fixedly connected with two sliding pieces A.
The sliding connection between the clamping jaw 10 and the corresponding sliding part a21 can be realized by the prior art, for example, it can be realized by adopting a bush guide post structure, specifically, at least 2 guide posts are fixedly connected to the sliding part a21, 2 guide posts are arranged side by side, and 2 guide posts are all arranged along the sliding direction of the clamping jaw 10, each guide post is in sliding fit with at least one bush, and the bush is fixedly connected with the clamping jaw 10; the clamping jaw can also be realized by adopting a sliding groove structure, specifically, a T-shaped sliding groove can be formed in the sliding part A21, the forming direction of the T-shaped sliding groove is consistent with the sliding direction of the clamping jaw 10, and a T-shaped sliding block in sliding fit with the T-shaped sliding groove is fixed on the clamping jaw 10. In this embodiment, the sliding connection between the clamping jaw 10 and the sliding member a21 is realized by a linear guide, specifically, a guide rail of the linear guide is fixedly connected with the sliding member a21, and a sliding block of the linear guide is fixedly connected with the clamping jaw 10. Likewise, the sliding connection between the sliding member a21 and the support 23 is also realized by a linear guide rail. As shown in fig. 3 and 4, the driving device in this embodiment includes two racks a22 fixedly connected to the two sliders a21, respectively, a gear a24 disposed between the two racks a22 and engaged with both of the two racks a22, and a rotary driving member a12 fixedly connected to the carriage 23; the output end of the rotary driving piece A12 is fixedly connected with the gear A24. The rotary driving member A can be realized by adopting the prior art such as a pneumatic motor, a hydraulic motor or an electric motor.
Elastic elements may be provided between abutment 23 and jaw 10, between jaw 10 and slider a21 or/and between two jaws 10. The elastic element can be realized by adopting the prior art such as a cylindrical helical compression spring, a cylindrical helical extension spring, an elastic sheet or rubber. The elastic element in this embodiment is at least one tension spring 20 arranged between the two jaws 10; two ends of the extension spring 20 are fixedly connected with the two clamping jaws 10 respectively.
The limiting structure can be realized by the prior art, for example, a long hole and a pin are adopted, specifically, one of the clamping jaw 10 and the sliding part a21 is provided with a long hole, the opening direction of the long hole is consistent with the sliding direction of the clamping jaw 10, and the other is fixedly connected with a pin inserted in the long hole; the clamping jaw can also be realized by a U-shaped block and a limiting block arranged between two arms of the U-shaped block, specifically, one of the clamping jaw 10 and the sliding piece A21 is fixedly connected with the U-shaped block, and the other one is fixedly connected with the limiting block. As shown in fig. 3 and 4, the limiting mechanism in this embodiment includes a boss a211 fixed to the slider a21 and a boss B101 fixed to the holding jaw 10, and both bosses a211 are disposed between the bosses B101. The limiting structure functions to prevent the jaw 10 from disengaging from slider a 21. And simultaneously opens jaws 10 when drive means drive slide a21 open.
Example 3:
as shown in fig. 3, the present embodiment is different from embodiment 2 in that the linear driving mechanism in the present embodiment includes a rotary driving member B13 fixedly connected to the support 23, a gear B (not shown) fixedly connected to the output end of the rotary driving member B13, and a rack B18 engaged with the gear B; the bottom of the guide groove 91 is provided with a mounting groove 92; the rack B18 is fixed at the bottom of the mounting groove; a linear guide rail A19 is arranged between the support 23 and the bottom of the mounting groove; specifically, the guide rail of the linear guide rail a19 is fixed at the bottom of the mounting groove, and the slider of the linear guide rail a19 is fixedly connected with the support 23.
The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.
Claims (9)
1. A sample box pick and place mechanism is characterized in that: the sample box clamping device comprises a supporting part, two clamping jaws, a clamping jaw driving mechanism and a linear driving mechanism, wherein the top surface of the supporting part is provided with a guide groove, the two clamping jaws are arranged above the guide groove, the clamping jaw driving mechanism drives the two clamping jaws to clamp or release the sample box, and the linear driving mechanism drives the two clamping jaws to slide along the opening direction of the guide groove.
2. Pick and place mechanism according to claim 1, characterized in that: the clamping jaw driving mechanism comprises a support fixedly connected with the output end of the linear driving mechanism, two sliding parts A which are arranged on the support in a relatively sliding manner, a driving device for driving the two sliding parts A to slide, a limiting structure arranged between the clamping jaw and the corresponding sliding part A, and an elastic element for driving the two clamping jaws to close; the sliding directions of the two sliding parts A and the sliding directions of the two clamping jaws are perpendicular to the sliding direction of the support, and the two sliding parts A are respectively in sliding connection with the two clamping jaws.
3. Pick and place mechanism according to claim 2, characterized in that: the elastic element is at least one extension spring arranged between the two clamping jaws; and two ends of the extension spring are respectively fixedly connected with the two clamping jaws.
4. Pick and place mechanism according to claim 2, characterized in that: the driving device comprises two racks A which are respectively fixedly connected with the two sliding pieces A, a gear A which is arranged between the two racks A and is meshed with the two racks A, and a rotary driving piece A which is fixedly connected with the support; the output end of the rotary driving piece A is fixedly connected with the gear A.
5. Pick and place mechanism according to claim 2, characterized in that: the linear driving mechanism comprises a rotary driving piece B fixedly connected with the support, a gear B fixedly connected with the output end of the rotary driving piece B and a rack B meshed with the gear B; an installation groove is formed in the bottom of the guide groove; the rack B is fixed at the bottom of the mounting groove; and a linear guide rail A is arranged between the support and the bottom of the mounting groove.
6. A transfer manipulator of sample box which characterized in that: the device comprises a sliding piece B, a driving module A for driving the sliding piece B to slide vertically, a rotating piece arranged on the sliding piece B in a rotating way along a vertical shaft, a driving module B for driving the rotating piece to rotate, a pick-and-place mechanism arranged on the rotating piece in a sliding way along the horizontal direction and a driving module C for driving the pick-and-place mechanism to slide; the pick and place mechanism is as claimed in any one of claims 1 to 5.
7. The transfer robot of claim 6, wherein: the driving module A comprises a vertically arranged section bar, a linear guide rail B arranged between the section bar and a sliding piece B, a lead screw rotatably supported on the section bar, a lead screw nut sleeved on the lead screw and fixedly connected with the sliding piece B, and a servo motor A fixedly connected to one end of the lead screw.
8. The transfer robot of claim 6, wherein: the driving module B comprises a servo motor B fixed on the sliding piece B and a speed reducer fixed at the output end of the servo motor B; the rotating piece is fixed at the output end of the speed reducer.
9. The transfer robot of claim 6, wherein: the driving module C comprises a servo motor C fixedly connected with the pick-and-place mechanism, a gear C fixed at the output end of the servo motor C, a rack C meshed with the gear C and fixedly connected with the rotating piece and a linear guide rail C arranged between the rotating piece and the pick-and-place mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921565045.8U CN210968946U (en) | 2019-09-19 | 2019-09-19 | Sample box pick-and-place mechanism and transfer manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921565045.8U CN210968946U (en) | 2019-09-19 | 2019-09-19 | Sample box pick-and-place mechanism and transfer manipulator |
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| CN210968946U true CN210968946U (en) | 2020-07-10 |
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| CN201921565045.8U Active CN210968946U (en) | 2019-09-19 | 2019-09-19 | Sample box pick-and-place mechanism and transfer manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025742A (en) * | 2020-07-31 | 2020-12-04 | 国网山东省电力公司电力科学研究院 | Electric energy meter taking and placing device, manipulator and verification assembly line |
| CN113820511A (en) * | 2021-11-19 | 2021-12-21 | 深圳优迪生物技术有限公司 | Upper and lower cup cover device and thrombelastogram instrument |
| CN118024225A (en) * | 2024-04-11 | 2024-05-14 | 浙江北泰智能科技股份有限公司 | Visual positioning file grabbing device |
-
2019
- 2019-09-19 CN CN201921565045.8U patent/CN210968946U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025742A (en) * | 2020-07-31 | 2020-12-04 | 国网山东省电力公司电力科学研究院 | Electric energy meter taking and placing device, manipulator and verification assembly line |
| CN113820511A (en) * | 2021-11-19 | 2021-12-21 | 深圳优迪生物技术有限公司 | Upper and lower cup cover device and thrombelastogram instrument |
| CN113820511B (en) * | 2021-11-19 | 2022-04-01 | 深圳优迪生物技术有限公司 | Upper and lower cup cover device and thrombelastogram instrument |
| CN118024225A (en) * | 2024-04-11 | 2024-05-14 | 浙江北泰智能科技股份有限公司 | Visual positioning file grabbing device |
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Address after: 611730 129 Shengli North Street, Deyuan town (Jingrong town), Pidu District, Chengdu City, Sichuan Province Patentee after: Base Biotechnology (Chengdu) Co.,Ltd. Address before: 611730 129 Shengli North Street, Deyuan town (Jingrong town), Pidu District, Chengdu City, Sichuan Province Patentee before: JIDIAN WEIKE (CHENGDU) MEDICAL ROBOT TECHNOLOGY Co.,Ltd. |