Grasping and placing device

Abstract

The present invention discloses a grasping and releasing device for grasping and releasing an article having a columnar grasping portion for grasping. The grasping and releasing device includes a grasping cylinder and an ejecting mechanism. The grasping cylinder has at least two elastic clamping portions in the circumferential direction, and the elastic clamping portions together define a clamping space for clamping the article. When the elastic clamping portions are radially squeezed, the clamping space radially contracts or expands. The ejecting mechanism is used to eject the grasped article out of the grasping cylinder. During grasping, the grasping cylinder and the article move axially relative to each other, and the columnar grasping portion axially enters the clamping space of the grasping cylinder, and the elastic clamping portions generate radial elastic deformation to clamp the article. After the article is ejected from the grasping cylinder, the elastic clamping portions reset. The reaction cup grasping and releasing device of the present invention has a more compact structure at the grasping part, can still reliably grasp the article after long-term use and wear, and has a lower requirement for processing accuracy.

Description

Technical Field

[0001] The present invention relates to medical devices, and in particular to a grasping and releasing device. Background Art

[0002] The grasping and releasing device mainly includes a grasping component and a displacement mechanism for driving the grasping component to move to a target position. The existing grasping components usually include two or more movable claw heads. When grasping a reaction cup, the items are grasped by driving the claw heads to move closer to each other, and the items are released by driving the claw heads to move away from each other.

[0003] In the existing grasping components, since each claw head needs to reciprocate, the movement of the claw head requires a large space, resulting in the whole grasping component not being compact enough; and when the item to be grasped is a reaction cup, in order to reliably grasp the reaction cup, the processing accuracy requirements of the structure for controlling the claw head to move closer or farther are relatively high, resulting in higher costs. In addition, the wear caused by long-term operation may cause the claw cup to be unstable and the cup to fall off. Summary of the Invention

[0004] The main object of the present invention is to provide a grasping and releasing device to reduce the space occupied by the grasping part, grasp items more reliably, and reduce the processing accuracy requirements.

[0005] To achieve the above object and other related objects, the technical solution of the present invention is as follows:

[0006] A grasping and releasing device for grasping and releasing an item, the item having a columnar grasping part for grasping, the grasping and releasing device comprising:

[0007] A grasping cylinder having at least two elastic clamping parts along the circumference, each of the elastic clamping parts jointly enclosing a clamping space for clamping an item, and when the elastic clamping parts are radially squeezed, the clamping space radially contracts or expands;

[0008] An ejecting mechanism for ejecting the grasped item out of the grasping cylinder;

[0009] During grasping, the grasping cylinder and the item move axially relative to each other, the columnar grasping part axially squeezes into the clamping space of the grasping cylinder, and the elastic clamping parts generate radial elastic deformation to clamp the item; after the item is ejected out of the grasping cylinder, the elastic clamping parts reset.

[0010] Optionally, the entrance of the clamping space has a guiding surface for facilitating the squeezing of the item.

[0011] Optionally, the ejecting mechanism includes an ejecting member for applying an ejecting force to the columnar grasping part and an ejecting power mechanism for providing the ejecting power of the ejecting member, the ejecting member being an ejecting rod extending into the grasping cylinder; during grasping, the clamping space expands;

[0012] or

[0013] The ejecting mechanism includes an ejecting member for applying an ejecting force to the grasping cylinder and an ejecting power mechanism for providing the ejecting power of the ejecting member. The grasping and releasing device further includes a grasping cylinder mounting member having a grasping cylinder mounting hole. The grasping cylinder is axially movably disposed in the grasping cylinder mounting hole, and the elastic clamping portion of the grasping cylinder extends out of the grasping cylinder mounting hole. When grasping, the elastic clamping portion is completely or partially squeezed into the grasping cylinder mounting hole under the pushing of the columnar grasping portion.

[0014] Optionally, the clamping space clamps the columnar grasping portion by expansion. The ejecting member is mounted on the grasping cylinder, and a limiting portion for preventing the ejecting member from falling out of the grasping cylinder is provided on the ejecting member. The limiting portion protrudes from the outer wall of the ejecting rod, and the limiting portion is used to block at one end of the grasping cylinder away from the object to be grasped.

[0015] or

[0016] The clamping space clamps the columnar grasping portion by contraction. A limiting portion for preventing the grasping cylinder from falling out of the grasping cylinder mounting hole is provided on the grasping cylinder. The limiting portion protrudes from the outer wall of the grasping cylinder, and the limiting portion is used to block at one end of the grasping cylinder mounting member away from the object to be grasped.

[0017] Optionally, the object is a container, and the grasping and releasing device further includes:

[0018] A base;

[0019] A moving seat, the moving seat is disposed on the base, and the grasping cylinder is disposed on the moving seat;

[0020] A moving seat driving mechanism for driving the moving seat to move along the axial direction of the grasping cylinder. The moving seat driving mechanism is disposed between the base and the moving seat; and

[0021] A mixing mechanism for driving the grasping cylinder to rotate. The mixing mechanism is mounted on the moving seat;

[0022] Wherein, the ejecting mechanism is mounted on the moving seat or the base.

[0023] Optionally, the mixing mechanism includes a mixing motor mounted on the moving seat, a driving wheel connected to the mixing motor, and a driven wheel rotated under the driving of the driving wheel. The driven wheel is used to drive the grasping cylinder to rotate, and the driven wheel is coaxially disposed with the grasping cylinder.

[0024] Optionally, it is characterized in that:

[0025] The clamping space clamps the columnar grasping part by expansion. The driven wheel is sleeved outside the grasping cylinder. A first torque transmission structure is arranged between the grasping cylinder and the driven wheel. An avoidance groove is arranged between the ejecting member and the grasping cylinder, and the axial position of the avoidance groove corresponds to the axial position of the driven wheel;

[0026] or

[0027] The clamping space clamps the columnar grasping part by contraction. The grasping cylinder mounting member is a grasping cylinder mounting sleeve. The driven wheel is sleeved outside the grasping cylinder mounting sleeve. A first torque transmission structure is arranged between the grasping cylinder mounting sleeve and the driven wheel. An avoidance groove is arranged between the grasping cylinder and the grasping cylinder mounting sleeve, and the axial position of the avoidance groove corresponds to the axial position of the driven wheel.

[0028] Optionally, the ejecting power mechanism includes:

[0029] A power element for providing linear power in the axial direction;

[0030] A guide seat mounted on the power element,

[0031] A power output member slidably arranged on the guide seat in the axial direction; and

[0032] A buffer elastic member abutted between the guide seat and the power output member;

[0033] When the ejecting member is arranged on the grasping cylinder, the power output member pushes the ejecting member to move towards the object to be grasped; when the ejecting member is arranged on the ejecting power mechanism, the power output member is the ejecting member.

[0034] Optionally, the guide seat has a guide hole facing the direction of the grasping cylinder. The power output member is slidably arranged in the guide hole, and the power output member extends out of the guide hole. An anti-disengagement structure is arranged between the power output member and the guide seat to prevent the power output member from disengaging from the guide hole. The buffer elastic member is arranged in the guide hole;

[0035] or

[0036] The guide seat has a guide hole. The power output member slidably penetrates through the guide hole. An anti-disengagement structure is arranged between the power output member and the guide seat to prevent the power output member from disengaging from the guide hole. The buffer elastic member is sleeved outside the power output member, and the buffer elastic member is located on the side of the guide seat facing the grasping cylinder.

[0037] Optionally, a guiding groove is formed at the grasping end of the grasping cylinder, and the guiding groove separates adjacent elastic clamping portions; the ejecting member is an ejecting rod extending into the grasping cylinder, and an ejecting portion of the ejecting rod is slidably disposed in the guiding groove, and each of the ejecting portions is arranged along the circumferential direction of the ejecting rod.

[0038] A second torque transmission structure is provided between the ejecting member and the grasping cylinder, and the ejecting member and the ejecting power mechanism are separately arranged without being connected to each other. The ejecting member is mounted on the grasping cylinder, the ejecting power mechanism is mounted on the moving seat, and the ejecting portion forms the second torque transmission structure by fitting into the guiding groove.

[0039] For the reaction cup grasping and placing device of the present invention, the structure of the grasping part is more compact, and it can still reliably grasp objects after long-term use and wear, and has a lower requirement for processing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It shows a schematic structural diagram of an exemplary grasping and placing device of the present invention;

[0041] Figure 2 It shows a schematic diagram of an exemplary grasping and placing device in an ungrasped state (including Figure 1 some parts therein);

[0042] Figure 3 It shows in the grasped state Figure 2 a schematic diagram of the grasping and placing device in ;

[0043] Figure 4 It shows Figure 1 a schematic structural diagram after removing the mixing mechanism and the first support;

[0044] Figure 5 It shows Figure 2 an exploded view of ;

[0045] Figure 6 It shows a schematic structural diagram of an exemplary ejecting power mechanism;

[0046] Figure 7 It shows another schematic structural diagram of the grasping and placing device (the ejecting power mechanism is different from that in Figure 6 );

[0047] Figure 8 It shows another schematic diagram of the grasping and placing device in an ungrasped state;

[0048] Figure 9 It shows Figure 8 a schematic diagram of the grasping and placing device in the grasped state in ;

[0049] Figure 10Shown is another exemplary schematic diagram of the gripper device in the gripping state.

[0050] Descriptions of the reference numerals in the embodiments include:

[0051] Gripping cylinder 11, gripping cylinder mounting member 12, first support 13, support bearing 14, elastic clamping portion 111, support portion 131, clamping space 101, gripping cylinder mounting hole 102, guide groove 103, avoidance groove 104

[0052] Ejector 21, ejecting portion 211, limiting portion 212, ejecting power mechanism 20, power element 22, guide seat 23, power output member 24, buffer elastic member 25, photoelectric sensor 26, upper flange 241, lower flange 242, reflection portion 231, support and blocking member 232, second support 27

[0053] Base 3

[0054] Moving seat 4

[0055] Drive motor 51, driving pulley 52, driven pulley 53, transmission belt 54, mixing motor 61, driving wheel 62, driven wheel 63, belt 64

[0056] Tightening screw 7

[0057] Reaction cup A Detailed implementation manners

[0058] In the following description, numerous specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other instances, in order to avoid obscuring the present invention, some well-known technical features are not described.

[0059] It should be understood that the present invention can be implemented in different forms and should not be construed as limited to the embodiments presented herein. On the contrary, these embodiments are provided to make the disclosure thorough and complete, and to fully convey the scope of the present invention to those skilled in the art. In the drawings, the same reference numerals represent the same components throughout.

[0060] For ease of understanding, in the following embodiments, "axial direction" refers to a direction coaxial or parallel to the axial direction of the gripping cylinder.

[0061] The pick-and-place device of the present invention is used for picking and placing items. The items to be picked by the pick-and-place device of the present invention need to have a columnar gripping portion for gripping. Here, the columnar gripping portion refers to a columnar outer contour, which can be a solid column or a hollow cylinder, and the columnar shape is not limited to a cylindrical shape, but can also be a conical columnar shape, a square columnar shape, etc. In the following embodiments, reaction cups are used as the items to be picked. In actual implementation, the items to be picked are not limited to reaction cups. In addition, in the following embodiments, the directional terms "up" and "down" only refer to the up and down directions shown in the drawings, rather than the absolute up and down directions.

[0062] Referring to Figure 2 , Figure 3 , Figure 5 , Figures 8 to 10 , the pick-and-place device of the present invention includes a gripping cylinder 11 and an ejecting mechanism. The gripping cylinder 11 has at least two elastic clamping portions 111 along the circumferential direction. Each elastic clamping portion 111 jointly encloses a clamping space 101 for clamping the reaction cup A. When the elastic clamping portion 111 is radially squeezed, the clamping space 101 radially contracts or expands. The ejecting mechanism is used to eject the reaction cup A out of the gripping cylinder 11.

[0063] During picking, an axial relative movement occurs between the gripping cylinder 11 and the reaction cup A. The reaction cup A axially squeezes into the clamping space 101 of the gripping cylinder 11, and the elastic clamping portion 111 generates a radial elastic deformation to clamp the reaction cup A. After the item is ejected out of the gripping cylinder 11, the elastic clamping portion 111 resets. The deformation here can be divided into two cases. One is that the clamping space 101 expands when picking the reaction cup A, and the other is that the clamping space 101 contracts when picking the reaction cup A.

[0064] Specifically, referring to Figure 2 , Figure 3 , Figure 5 , in some embodiments, the ejecting mechanism includes an ejecting member 21 and an ejecting power mechanism 20. The ejecting member 21 is an ejecting rod that can move into the gripping cylinder 11. The ejecting rod is used to directly apply an axial ejecting force to the reaction cup A in the gripping cylinder 11. The ejecting power mechanism 20 is used to provide the power for the ejecting rod to eject the reaction cup A. During picking, referring to Figure 3 , the clamping space 101 expands under the pushing of the reaction cup A. During ejection, referring to Figure 2 , the clamping space 101 adaptively recovers. At this time, the force causing the elastic clamping portion 111 to generate an expansion deformation comes entirely from the reaction cup A.

[0065] Specifically, referring to Figures 8 to 10, in some other embodiments, the ejection mechanism also includes an ejector 21 and an ejection power mechanism 20. The ejection power mechanism 20 is also used to provide the power for the ejector 21 to eject the reaction cup (not shown in the figure). However, the ejector 21 is used to directly apply an axial ejection force to the grasping cylinder 11. At this time, the grasping and releasing device includes a grasping cylinder mounting member 12. The grasping cylinder mounting member 12 has a grasping cylinder mounting hole 102. The grasping cylinder 11 is axially movably arranged in the grasping cylinder mounting hole 102, and the elastic clamping portion 111 of the grasping cylinder 11 extends out of the grasping cylinder mounting hole 102. When grasping, refer to Figure 8 , Figure 10 , under the action of the ejector 21, the grasping cylinder 11 moves downward along the axis. The elastic clamping portion 111 is completely or partially squeezed into the grasping cylinder mounting hole 102 under the extrusion of the reaction cup. The clamping space 101 shrinks under the extrusion of the reaction cup. When ejecting, refer to Figure 9 , under the action of the ejector 21, the grasping cylinder 11 moves downward along the axis, and the elastic clamping portion 111 is pushed out of the grasping cylinder mounting hole 102 in the reverse direction, and the clamping space 101 adaptively recovers. At this time, the acting force causing the elastic clamping portion 111 to generate shrinkage deformation comes from the reaction cup and the grasping cylinder mounting member 12. In the actual implementation process, a positioning step or a positioning portion (not shown in the figure) for the reaction cup to abut against when squeezing into the clamping space can also be provided in the grasping cylinder 11, which is used to limit the axial position of the reaction cup squeezing into the grasping cylinder 11. The elastic clamping portion can be an elastic clamping arm with an increasing arm thickness from top to bottom when viewed in the illustrated direction.

[0066] Regardless of which of the above two methods is adopted, the deformation force of the elastic clamping portion 111 is caused by the reaction cup A squeezing in. When the reaction cup A squeezes in a certain depth, the radial elastic force between the elastic clamping portion 111 and the reaction cup A is sufficient to clamp the reaction cup A. In the actual implementation process, in order for the object to be grasped to be squeezed into the clamping space 101 and be grasped, a mechanism can be set to move the reaction cup A axially towards the grasping cylinder 11, or the grasping cylinder 11 / the grasping cylinder mounting member 12 can be moved towards the object to be grasped.

[0067] For the grasping and releasing device of the present invention, since the grasping cylinder 11 does not need to displace in the illustrated horizontal direction, but uses the deformation of the elastic clamping portion 111 to clamp the reaction cup A, it occupies less space in the horizontal direction and has a more compact structure. When the elastic clamping portion 111 is worn after long-term use, the reliable clamping can be ensured by adjusting the depth of the reaction cup A squeezing into the clamping space 101. It not only has low requirements for processing accuracy, but also has reliable clamping.

[0068] In some embodiments, the entrance of the clamping space 101 has a guiding surface, which is beneficial for the reaction cup A to smoothly squeeze into the clamping space 101. In the actual implementation process, the guiding surface can be a chamfer or a fillet, or the inner wall of the entire clamping space 101 can be a conical surface.

[0069] In some embodiments, the grabbing cylinder 11 may be made of PEEK material, which has the characteristics of high temperature resistance, excellent mechanical properties, good moisturizing chemistry, wear resistance, corrosion resistance, flame retardancy, and easy processing.

[0070] In some embodiments, in conjunction with Figure 2 , Figure 3 , Figure 5 The clamping space 101 is expanded to clamp the reaction cup A, the ejector 21 is installed on the grasping cylinder 11, and the ejector rod is provided with a limiting portion 212 to prevent the ejector rod from falling out of the grasping cylinder 11. The limiting portion 212 is protruding on the outer wall of the ejector rod, and the limiting portion 212 is used to block the end of the grasping cylinder 11 away from the grasped object; in other embodiments, in combination with reference to Figures 8 to 10 The clamping space 101 clamps the reaction cup by contraction, and a limiting portion 212 is provided on the grasping cylinder 11 to prevent the grasping cylinder 11 from falling out of the grasping cylinder mounting hole 102. The limiting portion 212 is protruded on the outer wall of the grasping cylinder 11, and the limiting portion 212 is used to block the end of the grasping cylinder mounting member 12 that is away from the grasped object.

[0071] In actual implementation, the limiting portion 212 may be a retaining ring, and the limiting portion 212 may also be integrally formed with the corresponding ejection rod or the grabbing cylinder 11 .

[0072] In some embodiments, the grabbing and releasing device also includes a base 3, a moving seat 4, a moving seat driving mechanism and a mixing mechanism. The moving seat 4 is arranged on the base 3, the grabbing cylinder 11 is arranged on the moving seat 4 (or the grabbing cylinder mounting member 12 is arranged on the moving seat 4), the moving seat driving mechanism is used to drive the moving seat 4 to move axially along the grabbing cylinder 11, the moving seat driving mechanism is arranged between the base 3 and the moving seat 4, the mixing mechanism is used to drive the grabbing cylinder 11 to rotate, the mixing mechanism is installed on the moving seat 4, and the ejection mechanism is installed on the moving seat 4.

[0073] During grabbing, the moving seat driving mechanism drives the moving seat 4 to move downward along the axial direction, and the mixing mechanism, the ejection mechanism and the grabbing cylinder 11 all move downward accordingly, so that the reaction cup A is squeezed into the clamping space 101 to complete the grabbing, and then the mixing mechanism drives the grabbing cylinder 11 to rotate, so that the material in the reaction cup A is mixed under the action of centrifugal force, and after the mixing mechanism stops working, the ejection mechanism ejects the reaction cup A.

[0074] In the actual implementation process, the ejection mechanism can also be installed on the base 3. Of course, if the ejection mechanism is installed on the movable seat 4, it is more conducive to shortening the distance between the ejection mechanism and the grasping cylinder 11 in the grasping state, and the structure of the grasping and releasing device is more compact, and the ejection stroke is shorter, which is conducive to more reliable ejection of the reaction cup A.

[0075] See alsoFigure 1 , Figure 4 , the moving seat driving mechanism is a belt drive mechanism, which has a driving motor 51, a driving pulley 52, a driven pulley 53 and a transmission belt 54. The driving motor 51 is installed on the base 3, the driving pulley 52 is coaxially installed at the output end of the driving motor 51, the driven pulley 53 is rotatably installed on the base 3, the moving seat 4 is installed on the transmission belt 54, and the moving seat 4 moves up and down under the drive of the transmission belt 54. In the actual implementation process, the moving seat driving mechanism can adopt any existing linear movement mechanism, and is not limited to the mechanism shown in the figure, as long as it can drive the moving seat 4 to have a linear displacement.

[0076] In some embodiments, referring to Figures 1 to 5 , the mixing mechanism includes a mixing motor 61, a driving wheel 62 and a driven wheel 63. The mixing motor 61 is installed on the moving seat 4, the driving wheel 62 is connected to the mixing motor 61, the driven wheel 63 rotates under the drive of the driving wheel 62, and the driven wheel 63 is used to drive the grasping cylinder 11 to rotate. The driven wheel 63 is coaxially arranged with the grasping cylinder 11. Figure 1 In, both the driving wheel 62 and the driven wheel 63 are belt wheels, and a belt 64 is arranged between the driving wheel 62 and the driven wheel 63. In the actual implementation process, a chain drive method or a gear drive method can also be adopted between the driving wheel 62 and the driven wheel 63.

[0077] In some embodiments, referring to Figure 2 , Figure 3 , Figure 5 , the clamping space 101 clamps the reaction cup A through expansion. The driven wheel 63 is sleeved outside the grasping cylinder 11, and a first torque transmission structure is arranged between the grasping cylinder 11 and the driven wheel 63. The driven wheel 63 directly drives the grasping cylinder 11 to rotate; in other embodiments, referring to Figures 8 to 10 , the clamping space 101 clamps the reaction cup A through contraction. The grasping cylinder mounting member 12 is a grasping cylinder mounting sleeve. The driven wheel 63 is sleeved outside the grasping cylinder mounting member 12, and a first torque transmission structure is arranged between the grasping cylinder mounting member 12 and the driven wheel 63. At this time, the driven wheel 63 drives the grasping cylinder mounting member 12 to rotate, and the grasping cylinder 11 rotates synchronously under the drive of the grasping cylinder mounting member 12. The driven wheel 63 indirectly drives the grasping cylinder 11 to rotate.

[0078] Specifically, referring to Figure 2 , Figure 5 , Figure 8 , Figure 10 , the first torque transmission structure includes a top screw 7. The rod portion of the top screw 7 penetrates the driven wheel 63 in the radial direction and abuts against the outer wall of the grasping cylinder 11 or the outer wall of the grasping cylinder mounting member 12.

[0079] In some embodiments, referring to Figure 2 , Figure 3, Figure 5 , the driven wheel 63 is sleeved outside the grasping cylinder 11. A first support 13 is provided on the moving seat 4. Two support portions 131 are provided on the first support 13. There is a space for the driven wheel 63 to be placed between the two support portions 131. Support bearings 14 are provided between the two support portions 131 and the grasping cylinder 11, and the two support bearings 14 are symmetrically arranged on both sides of the driven wheel 63; In some other embodiments, refer to Figures 8 to 10 , the driven wheel 6 is sleeved outside the grasping cylinder mounting member 12. A first support (not shown in the figure) is provided on the moving seat (not shown in the figure). Two support portions are provided on the first support. There is a space for the driven wheel 63 to be placed between the two support portions. Support bearings are provided between the two support portions and the grasping cylinder mounting member 12, and the two support bearings are symmetrically arranged on both sides of the driven wheel 63.

[0080] This way of symmetrically arranging the support bearings is beneficial to making the force on the driven wheel 63 more uniform. If the driven wheel 63 is sleeved outside the grasping cylinder 11, it is beneficial to making the force on the grasping cylinder 11 more uniform.

[0081] In some embodiments, in combination with referring to Figure 1 , Figure 4 , the mixing mechanism is also installed on the first support 13. A second support 27 is further provided on the moving seat 4. The ejecting power mechanism is installed on the second support 27. In the actual implementation process, the first support 13 and the second support 27 can be integrally formed on the moving seat 4, or can be independently installed on the moving seat 4 respectively.

[0082] In some embodiments, in combination with referring to Figure 2 , Figure 3 , the clamping space 101 clamps the reaction cup A by expansion. An avoidance groove 104 is provided between the ejecting rod and the grasping cylinder 11. The axial position of the avoidance groove 104 corresponds to the axial position of the driven wheel 63. Figure 2 In Figures 8 to 10, the clamping space 101 clamps the reaction cup by contraction. An avoidance groove 104 is provided between the grasping cylinder 11 and the grasping cylinder mounting member 1, and the axial position of the avoidance groove 104 corresponds to the axial position of the driven wheel 63.

[0083] In some embodiments, with reference to Figure 1 to Figure 7 , there is a second torque transmission structure between the ejector 21 and the grasping cylinder 11, and the ejector 21 and the ejecting power mechanism 20 are separately arranged without being connected to each other. The ejector 21 is installed on the grasping cylinder 11, and the ejecting power mechanism 20 is installed on the moving seat; specifically, a guiding groove 103 is formed at the grasping end of the grasping cylinder 11, and the guiding groove 103 separates adjacent elastic clamping portions 111; the ejector 21 is an ejecting rod extending into the grasping cylinder, and the ejecting end of the ejecting rod has an ejecting portion 211 slidably arranged in the guiding groove 103, and each ejecting portion 211 is arranged circumferentially along the ejecting rod. At this time, the ejecting portion 211 forms the second torque transmission structure by being fitted into the guiding groove 103.

[0084] In the actual implementation process, if there is no second torque transmission structure between the ejector 21 and the grasping cylinder 11, the ejector 21 and the ejecting mechanism can be disconnected from each other, and the ejector 21 can be arranged on the grasping cylinder 11 (see Figure 10 ), or the ejector 21 can be directly arranged on the ejecting power mechanism 20 (see Figure 8 and Figure 9 ). Of course, if there is a second torque transmission structure between the ejector 21 and the grasping cylinder 11, during the ejection process of the ejector 21, the ejector 21 is not likely to shift or rotate, which is beneficial to improving the reliability of the entire grasping and releasing device.

[0085] In some embodiments, with reference to Figure 6 , Figure 7 , the ejecting power mechanism 20 includes a power element 22, a guiding seat 23, a power output member 24, and a buffer elastic member 25. The power element 22 is used to provide linear power in the axial direction. The guiding seat 23 is installed on the power element 22. The power output member 24 is slidably arranged on the guiding seat 23 in the axial direction, and the buffer elastic member 25 abuts between the guiding seat 23 and the power output member 24; with further reference to Figure 2 , when the ejector 21 is arranged on the grasping cylinder 11, the power output member 24 pushes the ejector 21 towards the object to be grasped. In the actual implementation process, the power element 22 can be a linear motor; in some other embodiments, with further reference to Figures 8 to 10, when the ejector 21 is arranged on the ejection power mechanism 20, the power output member 24 is the ejector 21. This ejection mechanism with the buffer elastic member 25 can be applied to the situation where there are height deviations in the placement positions of the reaction cups A, increasing the compatibility and reliability of the grasping and placing device. During the actual implementation process, an elastic element with an appropriate elastic coefficient needs to be selected so that the ejection can generate an appropriate elastic deformation amount to achieve reliable cup ejection.

[0086] Refer to in combination Figure 1 、 Figure 4 , a photoelectric sensor 26 for monitoring the ejection stroke is arranged on the second support 27. Correspondingly, a reflecting portion 231 for reflecting the photoelectric signal emitted by the photoelectric sensor 26 is arranged on the guide seat 23. During ejection, the reset of the ejection power mechanism 20 can be controlled through the signal of the photoelectric sensor 26.

[0087] In some embodiments, refer to Figure 6 , the guide seat 23 has a guide hole facing the direction of the grasping cylinder 11. The power output member 24 is slidably arranged in the guide hole, and the power output member 24 extends out of the guide hole. An anti-separation structure for preventing the power output member 24 from separating from the guide hole is arranged between the power output member 24 and the guide seat 23, and the buffer elastic member 25 is arranged in the guide hole. Figure 6 In, the power output member 24 has an upper flange 241 and a lower flange 242. The upper flange 241 extends into the guide hole, and a support blocking member 232 for blocking the upper flange 241 in the guide hole is arranged on the guide seat 23; in some other embodiments, refer to Figure 7 , the guide seat 23 has a guide hole, the power output member 24 slidably penetrates through the guide hole, an anti-separation structure for preventing the power output member 24 from separating from the guide hole is arranged between the power output member 24 and the guide seat 23, the buffer elastic member 25 is sleeved outside the power output member 24, and the buffer elastic member 25 is located on the side of the guide seat 23 facing the grasping cylinder 11. Figure 7 In, the guide seat 23 has an upper flange 241 and a lower flange 242, and the upper flange 241 and the lower flange 242 are distributed on the upper and lower sides of the power output member 24. During the actual implementation process, the upper flange 241 and the lower flange 242 here can also be formed by snap rings installed on the power output member 24, or can be integrally formed on the power output member 24.

[0088] The specific working process of the grasping and placing device of the present invention is as follows:

[0089] During grasping, the moving seat driving mechanism drives the moving seat 4 to move downward along the axis. The mixing mechanism, the ejection mechanism (including the electric ejector 21 and the ejection power mechanism 20), and the grasping cylinder 11 all move downward accordingly, so that the reaction cup A is squeezed into the clamping space 101 of the grasping cylinder 11. The elastic clamping portion 111 of the grasping cylinder 11 completes the grasping through radial deformation. Then, the mixing mechanism drives the grasping cylinder 11 to rotate, so that the substances in the reaction cup A are mixed under the action of centrifugal force. After the mixing mechanism stops working, the ejection mechanism ejects the reaction cup A.

[0090] When the ejector 21 is installed on the grasping cylinder and a second torque transmission structure is provided between the ejector 21 and the grasping cylinder 11 (see Figure 5 , the ejecting portion 211 is slidably arranged in the guiding groove 103 to form a second torque transmission structure). At this time, the ejector 21 will rotate with the grasping cylinder 11. In the present invention, the ejector 21 of the ejection mechanism and the ejection power mechanism 20 are separately arranged, and the ejection mechanism will not have an adverse effect on the mixing action. In the present invention, regardless of whether a second torque transmission structure is provided between the grasping cylinder 11 and the ejector 21, compared with the way that the ejector 21 is directly arranged on the ejection power mechanism 20, when the ejector 21 and the ejection power mechanism 20 are separately arranged, the distance between the ejector 21 and the reaction cup (or the grasping cylinder) is closer, the stroke for the ejector 21 to eject the reaction cup is short, which can save operation time and improve the movement accuracy. Moreover, since the ejector 21 and the grasping cylinder 11 rotate together, relative rotation between the ejector 21 and the reaction cup, the grasping cylinder or other parts can be avoided, and wear or collision can be avoided.

[0091] In the description of the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but are in contact through other features therebetween.

[0092] In the description of the present invention, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, determine the presence of the stated features, integers, steps, operations, components and / or parts, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts and / or groups.

[0093] The above embodiments are only used to illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A grasping and releasing device for grasping and releasing an article, the article having a columnar grasping portion for grasping, characterized in that, include: A gripping cylinder, wherein the gripping cylinder has at least two elastic clamping parts along the circumferential direction, and the elastic clamping parts together enclose a clamping space for clamping an object, and when the elastic clamping parts are radially squeezed, the clamping space radially contracts or expands; An ejection mechanism, used to eject the grasped object out of the grasping cylinder; When grasping, the grasping cylinder and the object move relative to each other in the axial direction, the columnar grasping portion squeezes into the clamping space of the grasping cylinder along the axial direction, and the elastic clamping portion produces radial elastic deformation to clamp the object; after the object is pushed out of the grasping cylinder, the elastic clamping portion is reset; The ejection mechanism includes an ejection member for applying an ejection force to the columnar grasping portion; The grabbing and releasing device further comprises a base, a moving base and a mixing mechanism, wherein the moving base is arranged on the base, the grabbing cylinder is arranged on the moving base, the mixing mechanism is used to drive the grabbing cylinder to rotate, the mixing mechanism is installed on the moving base, and the mixing mechanism comprises a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are driven by a belt, or by a chain, or by a gear. The clamping space is expanded to clamp the columnar grasping portion, the driven wheel is sleeved outside the grasping cylinder, a first torque transmission structure is provided between the grasping cylinder and the driven wheel, an avoidance groove is provided between the ejector and the grasping cylinder, and the axial position of the avoidance groove corresponds to the axial position of the driven wheel; or The clamping space clamps the columnar grasping part by contraction, and the grasping and releasing device also includes a grasping cylinder mounting piece, and the grasping cylinder mounting piece is a grasping cylinder mounting sleeve. The driven wheel sleeve is outside the grasping cylinder mounting sleeve, and a first torque transmission structure is arranged between the grasping cylinder mounting sleeve and the driven wheel. An avoidance groove is arranged between the grasping cylinder and the grasping cylinder mounting sleeve, and the axial position of the avoidance groove corresponds to the axial position of the driven wheel.

2. The pick-and-place device according to claim 1, wherein: The entrance of the clamping space is provided with a guide surface for facilitating the entry of articles.

3. The catch and release device according to claim 1, characterized in that: The ejection mechanism also includes an ejection power mechanism for providing ejection power for the ejection member, wherein the ejection member is an ejection rod extending into the grasping cylinder; during grasping, the clamping space expands; or The ejection mechanism is also an ejection power mechanism for providing ejection power for the ejection member, the grabbing barrel mounting member has a grabbing barrel mounting hole, the grabbing barrel is axially movably arranged in the grabbing barrel mounting hole, and the elastic clamping portion of the grabbing barrel extends out of the grabbing barrel mounting hole; during grabbing, the elastic clamping portion is fully or partially squeezed into the grabbing barrel mounting hole under the pushing of the columnar grabbing portion.

4. The pick-and-place device according to claim 3, characterized in that: The clamping space clamps the columnar grasping portion by expansion, the ejector is mounted on the grasping cylinder, and a limiting portion is provided on the ejector to prevent the ejector from falling out of the grasping cylinder, the limiting portion is convexly arranged on the outer wall of the ejector rod, and the limiting portion is used to block the end of the grasping cylinder away from the grasped object; or The clamping space clamps the columnar grasping part by shrinking. A limiting part for preventing the grasping cylinder from falling out of the grasping cylinder mounting hole is arranged on the grasping cylinder. The limiting part protrudes from the outer wall of the grasping cylinder, and the limiting part is used to block one end of the grasping cylinder mounting part away from the article to be grasped.

5. The pick-and-place device according to any one of claims 3 to 4, characterized in that: The article is a container, and the grasping and placing device further includes: A moving seat driving mechanism for driving the moving seat to move along the axial direction of the grasping cylinder. The moving seat driving mechanism is arranged between the base and the moving seat; Wherein, the ejecting mechanism is mounted on the moving seat or the base.

6. The pick-and-place device according to claim 5, wherein The mixing mechanism further includes a mixing motor mounted on the moving seat. The driving wheel is connected to the mixing motor, and the driven wheel rotates driven by the driving wheel. The driven wheel is used to drive the grasping cylinder to rotate, and the driven wheel is coaxially arranged with the grasping cylinder.

7. The pick-and-place device according to claim 5, characterized in that: The ejecting power mechanism includes: A power component for providing linear power in the axial direction; A guiding seat mounted on the power component, A power output member slidably arranged on the guiding seat along the axial direction; and A buffer elastic member abutted between the guiding seat and the power output member; When the ejecting member is arranged on the grasping cylinder, the power output member pushes the ejecting member to move towards the article to be grasped; when the ejecting member is arranged on the ejecting power mechanism, the power output member is the ejecting member.

8. The grasping and placing device according to claim 7, wherein: The guiding seat has a guiding hole facing the direction where the grasping cylinder is located. The power output member is slidably arranged in the guiding hole, and the power output member extends out of the guiding hole. An anti-disengagement structure for preventing the power output member from disengaging from the guiding hole is arranged between the power output member and the guiding seat, and the buffer elastic member is arranged in the guiding hole; Or The guiding seat has a guiding hole, the power output member slidably penetrates through the guiding hole, an anti-disengagement structure for preventing the power output member from disengaging from the guiding hole is arranged between the power output member and the guiding seat, the buffer elastic member is sleeved outside the power output member, and the buffer elastic member is located on one side of the guiding seat facing the grasping cylinder.

9. The grasping and placing device according to claim 5, wherein: A guiding groove is formed at the grasping end of the grasping cylinder, and the guiding groove separates adjacent elastic clamping parts; the ejecting member is an ejecting rod extending into the grasping cylinder, and an ejecting part slidably arranged in the guiding groove is arranged at the ejecting end of the ejecting rod. Each ejecting part is arranged circumferentially along the ejecting rod, A second torque transmission structure is arranged between the ejecting member and the grasping cylinder, and the ejecting member and the ejecting power mechanism are separately arranged without being connected to each other. The ejecting member is mounted on the grasping cylinder, the ejecting power mechanism is mounted on the moving seat, and the ejecting part forms the second torque transmission structure by being fitted into the guiding groove.

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