CN216460261U - Test tube letter sorting intelligent machine hand - Google Patents

Abstract

The utility model provides a test tube letter sorting intelligent mechanical hand, snatch the manipulator including the test tube, the test tube snatchs the manipulator including fixing the angle modulation cylinder mount pad on Z is to sharp module, the one end of angle modulation seat is connected with the front end of pivot, the top of angle modulation cylinder is fixed on the angle modulation cylinder mount pad, and the telescopic shaft is connected with the one end of keeping away from the pivot on the angle modulation seat, the bottom of angle modulation seat is provided with the minute apart from slide rail, a plurality of minute apart from the slider parallel install on the minute apart from slide rail, and all connect through minute apart from the pull rod between a plurality of minute apart from the slider, every minute is apart from slider bottom and all corresponds and installs test tube gripper and drive actuating cylinder and test tube gripper, minute apart from the bottom at the angle modulation seat is installed to the cylinder, the telescopic shaft of minute apart from the cylinder is connected with minute apart from the pull rod. This manipulator can satisfy the inclined plane test tube simultaneously and snatch and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube hole of test-tube rack.

Description

Test tube letter sorting intelligent machine hand

Technical Field

The utility model relates to a test tube letter sorting equipment technical field, concretely relates to test tube letter sorting intelligent mechanical hand.

Background

Test tube sorting machine is the automation equipment that can high-efficient replace manual sorting, and the during operation need insert categorised good test tube to the test-tube rack, but when meetting the condition as shown in fig. 1, be about to divide on the inclined plane in the silo 100 interior categorised good test tube 300, once only snatch a plurality ofly and insert to the test-tube rack 200 on the horizontal plane, current test tube sorting mechanical hand is impossible, and several technical difficulties that its needs overcome are as follows: 1) the manipulator needs to perform one-time multiple grabbing on the classified test tubes 300 in the distribution groove 100 on the inclined plane, and needs to insert the grabbed test tubes into the test tube rack 200 on the vertical plane, so that the manipulator needs to swing on the vertical plane at a certain angle, otherwise, grabbing on the inclined plane and inserting on the vertical plane cannot be performed; 2) the test tube 300 that divides the good classification in silo 100 is hugged closely the setting under the action of gravity, and has certain distance between the test tube hole on the test-tube rack 200, if the manipulator directly snatchs the test tube and does not carry out the branch apart from, can't insert to the downthehole test tube of test-tube rack 200.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a test tube letter sorting intelligent mechanical hand can satisfy the inclined plane test tube simultaneously and snatch and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube rack in the test tube hole.

In order to realize the technical scheme, the utility model provides a test tube sorting intelligent manipulator, which comprises a test tube grabbing manipulator, wherein the test tube grabbing manipulator comprises an angle adjusting cylinder mounting seat fixed on a Z-direction linear module, the bottom of the angle adjusting cylinder mounting seat is provided with a rotating shaft seat, the rotating shaft is fixed on the rotating shaft seat, one end of the angle adjusting seat is connected with the front end of the rotating shaft, the top of the angle adjusting cylinder is fixed on the angle adjusting cylinder mounting seat, the angle adjusting cylinder is obliquely arranged, the telescopic shaft of the angle adjusting cylinder is connected with one end of the angle adjusting seat, which is far away from the rotating shaft, the bottom of the angle adjusting seat is provided with a sub-distance slide rail, a plurality of sub-distance slide blocks are arranged on the sub-distance slide rail in parallel, and are connected through sub-distance pull rods, the bottom of each sub-distance slide block is correspondingly provided with a test tube grabbing claw driving cylinder, test tube grippers are correspondingly installed on each test tube gripper driving cylinder, the distance-dividing cylinder is installed at the bottom of the angle adjusting seat and is arranged in parallel with the distance-dividing slide rail, and the telescopic shaft of the distance-dividing cylinder is connected with the front end of the distance-dividing pull rod through the distance-dividing connecting rod.

Preferably, still include the frame, install the X that two parallel intervals set up in the frame to the guide rail, X is installed X to sharp module to on the guide rail, and Y is installed on X to sharp module to the guide rail, Y is installed Y to sharp module to on the guide rail, and Z is fixed on Y to sharp module to the guide rail along Z, and Z is installed on Z to the guide rail to sharp module, and the test tube snatchs the manipulator and installs on Z is to sharp module. During actual work, can the accurate drive test tube snatch the manipulator X, Y and the removal of Z to through X to sharp module, Y to sharp module and Z to sharp module.

In the technical scheme, when the classified test tubes in the material distribution groove on the inclined surface need to be grabbed, firstly, the angle adjusting cylinder drives the angle adjusting seat to rotate around the rotating shaft, so that the test tube grabbing driving cylinder and the test tube grabbing claw which are arranged at the bottom of the angle adjusting seat are parallel to the material distribution groove on the inclined surface, then the test tube grabbing mechanical arm is driven to integrally move to the upper part of the test tube in the material distribution groove through the X-direction linear module and the Y-direction linear module, the test tube grabbing mechanical arm is driven to descend through the Z-direction linear module and is contacted with the test tube head in the material distribution groove, then the test tube grabbing mechanical arm is driven to be closed through the test tube grabbing driving cylinder to clamp the test tube head, then the X-direction linear module, the Y-direction linear module and the Z-direction linear module drive the test tube grabbing mechanical arm to move, the test tube is taken out from the material distribution groove and is moved to the upper part of the test tube rack, then the angle adjusting cylinder drives the angle adjusting seat to rotate around the rotating shaft to the horizontal position again, make the test tube perpendicular with the test-tube rack, then divide apart from the pull rod to remove through dividing apart from cylinder drive, divide apart from pull rod drive to divide apart from the slider to drive each test tube grabs and drive actuating cylinder and remove, will originally paste test tube equidistance together separately, and just with the test tube hole phase-match on the test-tube rack, it snatchs the manipulator downstream to sharp module drive test tube through Z at last, it is downthehole to insert the test tube on the test-tube rack with a plurality of test tube accuracies that once only snatch, last X is to sharp module, Y snatchs the manipulator to sharp module and Z to sharp module drive test tube and resets, carry out snatching of next round test tube, insert and put.

Preferably, the below of angle modulation seat is provided with the base, is connected through the connecting block between base and the angle modulation seat, install splint on the base and drive actuating cylinder, splint drive actuating cylinder bottom and install splint, splint will a plurality of test tube grabs the claw parcel of installing on test tube grabs drives actuating cylinder. During actual operation, after the test tube equidistance that will originally laminate together is separated apart to the pull rod apart to the minute-distance cylinder drive, drive actuating cylinder through splint and can drive splint and press from both sides the test tube tightly, ensure the position stability after the test tube minute-distance, further strengthen the stability of each test tube position when inserting.

Preferably, the splint inboard is provided with a plurality of semicircular positioning clamp grooves that match with the test tube, and after the minute was apart from accomplishing, it can drive splint through splint driving cylinder and press from both sides the test tube tightly, and semicircular positioning clamp groove just stabilizes the centre gripping at semicircular positioning clamp inslot with the test tube, further ensures the stability of each test tube position when inserting.

Preferably, the telescopic shaft of the angle adjusting cylinder arranged in an inclined manner is connected with one end, away from the rotating shaft, of the angle adjusting seat through a triangular seat, so that the stability of connection between the angle adjusting cylinder and the angle adjusting seat is improved.

The utility model provides a pair of test tube letter sorting intelligent mechanical hand's beneficial effect lies in: this test tube letter sorting intelligent mechanical hand simple structure, reasonable in design can satisfy simultaneously that the inclined plane test tube snatchs and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube rack downthehole. In actual work, when the classified test tubes in the distributing groove on the inclined surface need to be grabbed, the angle adjusting seat is driven to rotate around the rotating shaft by the angle adjusting cylinder, so that the test tube grabbing driving cylinder and the test tube grabbing claws which are arranged at the bottom of the angle adjusting seat are parallel to the distributing groove on the inclined surface, then the test tube grabbing mechanical arm is driven to integrally move to the upper part of the test tube in the distributing groove by the X-direction linear module and the Y-direction linear module, the test tube grabbing mechanical arm is driven to descend by the Z-direction linear module and is contacted with the test tube head in the distributing groove, then the test tube grabbing mechanical arm is driven to be closed by the test tube grabbing cylinder to clamp the test tube head, then the X-direction linear module, the Y-direction linear module and the Z-direction linear module are communicated to drive the test tube grabbing mechanical arm to move, the test tube is taken out from the distributing groove and moves to the upper part of the test tube rack, then the angle adjusting cylinder drives the angle adjusting seat to rotate around the rotating shaft to be horizontal again, make the test tube perpendicular with the test-tube rack, then divide apart from the pull rod to remove through dividing apart from cylinder drive, divide apart from pull rod drive to divide apart from slider drive each test tube grabs and drive actuating cylinder and remove, will originally paste the test tube equidistance together separately, and just with test tube hole match on the test-tube rack, it snatchs the manipulator downstream to sharp module drive test tube through Z at last, it is downthehole to insert the test tube on the test-tube rack with a plurality of test tube accuracies that once only snatch, last X is to sharp module, Y is to sharp module and Z to sharp module drive test tube snatch the manipulator and reset, carry out snatching of next round test tube, insert, thereby realize that the slope of test tube snatchs, vertical alignment, automatic branch is apart from and the test tube hole of automatic insertion to the test-tube rack, it is automatic, intelligent degree is high, and high adaptability.

Drawings

Fig. 1 is a schematic diagram of the structure of the test tube required to be transferred from the inclined material distributing groove to the horizontal test tube rack.

Fig. 2 is a schematic view of the three-dimensional structure of the present invention.

Fig. 3 is a schematic view ii of the three-dimensional structure of the present invention.

Fig. 4 is the utility model discloses well test tube snatchs manipulator's spatial structure sketch map I.

Fig. 5 is the utility model discloses well test tube snatchs manipulator's spatial structure sketch map II.

Fig. 6 is the utility model discloses well test tube snatchs manipulator's spatial structure sketch map III.

Fig. 7 is the utility model discloses well test tube snatchs manipulator's local spatial structure sketch map.

In the figure: 1. a frame; 2. an X-direction guide rail; 3. an X-direction straight line module; 4. a Y-direction guide rail; 5. a Y-direction linear module; 6. a Z-direction guide rail; 7. a Z-direction straight line module; 8. a test tube grabbing manipulator; 81. an angle adjusting cylinder mounting base; 82. an angle adjusting cylinder; 83. a rotating shaft seat; 84. a rotating shaft; 85. an angle adjusting seat; 86. connecting blocks; 87. the test tube gripper drives the cylinder; 88. a base; 89. the clamping plate drives the cylinder; 810. a splint; 811. a test tube; 812. a pitch cylinder; 813. a test tube gripper; 814. a distance-dividing slide rail; 815. a distance dividing slide block; 816. a distance-dividing connecting rod; 817. a distance-dividing pull rod; 818. positioning the clamp groove; 100. a material distributing groove; 200. a test tube rack.

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. All other embodiments obtained by a person skilled in the art without any inventive step are within the scope of the present invention.

Example (b): a test tube letter sorting intelligent machine hand.

Referring to fig. 1 to 7, an intelligent test tube sorting manipulator comprises a rack 1, wherein two X-direction guide rails 2 arranged at a parallel interval are mounted on the rack 1, X-direction straight line modules 3 are mounted on the X-direction guide rails 2, Y-direction guide rails 4 are mounted on the X-direction straight line modules 3, Y-direction straight line modules 5 are mounted on the Y-direction guide rails 4, Z-direction guide rails 6 are fixed on the Y-direction straight line modules 5 along the Z direction, Z-direction straight line modules 7 are mounted on the Z-direction guide rails 6, and test tube grabbing manipulators 8 are mounted on the Z-direction straight line modules 7;

the test tube gripping manipulator 8 comprises an angle adjusting cylinder mounting seat 81 fixed on the Z-direction linear module 7, a rotating shaft seat 83 is arranged at the bottom of the angle adjusting cylinder mounting seat 81, a rotating shaft 84 is fixed on the rotating shaft seat 83, one end of the angle adjusting seat 85 is connected with the front end of the rotating shaft 84, the top of the angle adjusting cylinder 82 is fixed on the angle adjusting cylinder mounting seat 81, the angle adjusting cylinder 82 is obliquely arranged, and the telescopic shaft of the angle adjusting cylinder 82 is connected with one end of the angle adjusting seat 85 far away from the rotating shaft 84 through a triangular seat, and through the structural design, the angle adjusting cylinder 82 can drive the angle adjusting seat 85 to rotate around the rotating shaft 84, so that the adjustment of the Z-direction offset angle of the angle adjusting seat 85 is realized, and the requirements on the grabbing angle of the test tube 811 in the obliquely designed material distributing groove and the angle requirement on vertical insertion and placement are further met;

the bottom of the angle adjusting seat 85 is provided with a spacing slide rail 814, five spacing sliders 815 are installed on the spacing slide rail 814 in parallel, the five spacing sliders 815 are connected through an elastic spacing pull rod 817, the bottom of each spacing slider 815 is correspondingly provided with a test tube gripper driving cylinder 87, each test tube gripper driving cylinder 87 is correspondingly provided with a test tube gripper 813, the spacing cylinders 812 are installed at the bottom of the angle adjusting seat 85 and are arranged in parallel with the spacing slide rail 814, a telescopic shaft of each spacing cylinder 812 is connected with the front end of the spacing pull rod 817 through a spacing connecting rod 816, in actual work, when sorted test tubes 811 in the spacing groove 100 on an inclined surface need to be gripped, the angle adjusting seat 85 is driven to rotate around a rotating shaft 84 through an angle adjusting cylinder 82, so that the test tube gripper driving cylinders 87 and the test tube grippers 813 installed at the bottom of the angle adjusting seat 85 are parallel to the spacing groove 100 on the inclined surface, then the test tube grabbing manipulator 8 is driven to integrally move to the upper part of the test tube 811 in the distributing groove 100 by the X-direction linear module 3 and the Y-direction linear module 5, the test tube grabbing manipulator 8 is driven to descend by the Z-direction linear module 7, the test tube grabbing claws 813 are enabled to be in contact with the test tube head in the distributing groove 100, then the test tube grabbing claws 813 are driven to be closed by the test tube grabbing claw driving cylinders 87 to clamp the test tube head, then the test tube grabbing manipulator 8 is driven to move by the X-direction linear module 3, the Y-direction linear module 5 and the Z-direction linear module 7, the test tube 811 is taken out from the distributing groove 100 and moved to the upper part of the test tube rack 200, then the angle adjusting cylinder 82 drives the angle adjusting seat 85 to rotate around the rotating shaft 84 to be horizontal again, the clamped test tube 811 is enabled to be vertical to the test tube rack 200, then the separation pull rod 817 is driven to move by the separation pull rod 812, the separation pull block 815 drives the five test tube grabbing claw driving cylinders 87 to move, the test tubes 811 which are originally attached together are equidistantly separated and just matched with test tube holes in the test tube rack 200, finally, five test tubes 811 which are grabbed at one time are accurately inserted into the test tube holes in the test tube rack 200 by driving the test tube grabbing manipulator 8 to move downwards through the Z-direction straight line module 7, and finally, the X-direction straight line module 3, the Y-direction straight line module 5 and the Z-direction straight line module 7 drive the test tube grabbing manipulator 8 to reset so as to grab and insert the test tubes in the next round;

the test tube test fixture is characterized in that a base 88 is arranged below the angle adjusting seat 85, the base 88 is connected with the angle adjusting seat 85 through a connecting block 86, a clamping plate driving cylinder 89 is installed on the base 88, a clamping plate 810 is installed at the bottom of the clamping plate driving cylinder 89, five test tube grippers 813 installed on the test tube gripper driving cylinder 87 are wrapped by the clamping plate 810, five semicircular positioning clamping grooves 818 matched with the test tubes 811 are formed in the inner side of the clamping plate 810, in the practical work process, after the test tubes 811 originally attached together are equidistantly separated by a spacing cylinder 812 driving a spacing pull rod 817, the test tubes can be clamped tightly by the clamping plate 810 through the clamping plate driving cylinder 89, the semicircular positioning clamping grooves 818 clamp the test tubes just and stably in the semicircular positioning clamping grooves 818, and the stability of the positions of the test tubes when the test tubes are inserted is further ensured.

This test tube letter sorting intelligent mechanical hand simple structure, reasonable in design can satisfy simultaneously that the inclined plane test tube snatchs and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube rack downthehole. In actual work, the test tube grabbing manipulator 8 can be precisely driven to move in X, Y and Z directions through the X-direction linear module 3, the Y-direction linear module 5 and the Z-direction linear module 7, when a test tube 811 classified in the distribution groove 100 on the inclined surface needs to be grabbed, firstly, the angle adjusting seat 85 is driven to rotate around the rotating shaft 84 through the angle adjusting cylinder 82, so that the test tube grabbing driving cylinder 87 and the test tube grabbing claw 813 which are installed at the bottom of the angle adjusting seat 85 are parallel to the distribution groove 100 on the inclined surface, then, the test tube grabbing manipulator 8 is driven to integrally move to the position above the test tube 811 in the distribution groove 100 through the X-direction linear module 3 and the Y-direction linear module 5, the test tube grabbing manipulator 8 is driven to descend through the Z-direction linear module 7, the test tube grabbing claw 813 is in contact with a test tube head in the distribution groove 100, then, the test tube grabbing claw 813 is driven to be closed through the test tube grabbing driving cylinder 87 to clamp the test tube head, then, the test tube grabbing manipulator 8 is driven to move by the X-direction linear module 3, the Y-direction linear module 5 and the Z-direction linear module 7, the test tube 811 is taken out from the material distribution groove 100 and moved to the upper part of the test tube rack 200, then the angle adjusting cylinder 82 drives the angle adjusting seat 85 to rotate around the rotating shaft 84 to the horizontal again, so that the clamped test tube 811 is perpendicular to the test tube rack 200, then the spacing air cylinder 812 drives the spacing pull rod 817 to move, the spacing pull rod 817 drives the spacing slide block 815 to drive the five test tube grabbing claw driving cylinders 87 to move, so that the test tubes 811 originally attached together are equidistantly separated and just matched with test tube holes on the test tube rack 200, then the clamp plate 810 can be driven by the clamp plate driving cylinder 89 to clamp the test tube 811, the semicircular positioning clamp groove 818 clamps the test tubes just and stably in the semicircular positioning clamp groove 818, and further ensures the stability of each test tube position during insertion, at last, snatch 8 downstream manipulators to sharp module 7 drive test tube through Z, it is downthehole to insert the test tube on the test-tube rack 200 with five test tube 811 accuracies that once only snatch, last X is to sharp module 3, Y is to sharp module 5 and Z to sharp module 7 drive test tube snatch manipulator 8 and reset, carry out snatching of next round test tube, insert and put, thereby realize that the slope of test tube snatchs, the vertical alignment, automatic minute distance and automatic insertion are downthehole to the test tube of test-tube rack, it is automatic, intelligent degree is high, and high adaptability.

The above description is a preferred embodiment of the present invention, but the present invention should not be limited to the disclosure of the embodiment and the accompanying drawings, and therefore, all equivalents and modifications that can be accomplished without departing from the spirit of the present invention are within the protection scope of the present invention.

Claims (5)

1. The utility model provides a test tube letter sorting intelligent mechanical hand which characterized in that includes: the test tube grabbing manipulator comprises an angle adjusting cylinder mounting seat fixed on a Z-direction linear module, a rotating shaft seat is arranged at the bottom of the angle adjusting cylinder mounting seat, the rotating shaft is fixed on the rotating shaft seat, one end of the angle adjusting seat is connected with the front end of the rotating shaft, the top of the angle adjusting cylinder is fixed on the angle adjusting cylinder mounting seat, the angle adjusting cylinder is arranged in an inclined mode, a telescopic shaft of the angle adjusting cylinder is connected with one end, far away from the rotating shaft, of the angle adjusting seat, a sub-distance slide rail is arranged at the bottom of the angle adjusting seat, a plurality of sub-distance slide blocks are arranged on the sub-distance slide rail in parallel, the sub-distance slide blocks are connected through sub-distance pull rods, a test tube grabbing claw driving cylinder is correspondingly arranged at the bottom of each sub-distance slide block, a test tube grabbing claw is correspondingly arranged on each test tube grabbing claw driving cylinder, and the sub-distance cylinder is arranged at the bottom of the angle adjusting seat and is arranged in parallel to the sub-distance slide rail, and the telescopic shaft of the pitch-dividing cylinder is connected with the front end of the pitch-dividing pull rod through a pitch-dividing connecting rod.

2. Test tube sorting intelligent manipulator according to claim 1, characterized in that: still include the frame, install the X that two parallel intervals set up in the frame to the guide rail, X is to installing X on the guide rail to sharp module, and Y is installed on X to sharp module to the guide rail, Y installs Y to sharp module to on the guide rail, and Z is to fixing on Y to sharp module along Z to the guide rail, and Z is installed on Z to the guide rail to sharp module, and the test tube snatchs the manipulator and installs on Z is to sharp module.

3. Test tube sorting intelligent manipulator according to claim 1, characterized in that: the below of angle modulation seat is provided with the base, is connected through the connecting block between base and the angle modulation seat, install splint on the base and drive actuating cylinder, splint drive actuating cylinder bottom and install splint, splint will a plurality of test tube grabs the claw parcel of installing on test tube grabs drives actuating cylinder.

4. The test tube sorting intelligent robot of claim 3, wherein: the inboard semi-circular location clamp groove that is provided with a plurality of and test tube matches of splint.

5. Test tube sorting intelligent manipulator according to claim 1, characterized in that: the telescopic shaft of the angle adjusting cylinder which is obliquely arranged is connected with one end, far away from the rotating shaft, of the angle adjusting seat through a triangular seat.

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