A grasping manipulator device, working method and application

Abstract

The invention discloses a grasping manipulator device, a working method and an application, which solves the problem in the prior art that the manipulator cannot grasp thinner objects stably, and has the beneficial effect of realizing stable grasping. The specific scheme is as follows: a grasping manipulator device comprises a multi-dimensional motion mechanism; an electric claw fixing component comprises an electric claw back plate, the electric claw back plate is connected to the multi-dimensional motion mechanism, an electric claw bottom plate is arranged at the bottom of the electric claw back plate, a guide rail is arranged on the electric claw back plate, and front and rear slide plates of the electric claw slide relative to the electric claw bottom plate along the guide rail through a guide rail slider; an electric claw driving module comprises two driving blocks that can move in opposite directions; a clamping jaw component comprises a guide rail mounting plate, a pair of clamping jaw connecting pieces are installed on the guide rail on the guide rail mounting plate, the clamping jaw connecting piece is connected to the driving block, each clamping jaw connecting piece is respectively connected to a clamping jaw, and a V-shaped groove is arranged on the inner side of the clamping jaw toward the other clamping jaw to clamp the grasped object; a control unit, the multi-dimensional motion mechanism and the electric claw driving module are respectively connected to the control unit.

Description

Technical Field

[0001] The invention relates to the field of grasping manipulators, and in particular to a grasping manipulator device, a working method and an application thereof. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] As computer applications penetrate into the medical field, computers are playing an increasingly important role in the medical field. Similarly, the depth and breadth of computer applications in the field of pathological sections have been greatly improved. After more than ten years of development, by combining the full-view high-resolution scanning technology of the digital pathological section scanning system with the seamless splicing processing technology of the computer, the traditional materialized slides have been digitized, and at the same time, an epoch-making change has been achieved in pathological diagnosis technology, and the construction of digital pathological section libraries has also emerged. Digital pathological sections avoid the characteristics of traditional glass slides that are fragile, high in storage costs, inconvenient for mailing and transportation, and external hospital consultations, and have therefore developed rapidly. However, the original single pathological section or low-throughput digital pathological section scanners have low working efficiency and the frequent manual replacement of pathological sections cannot meet the needs of the construction of digital pathological section libraries, and high-throughput digital pathological section scanners have emerged.

[0004] At present, there are two types of pathology slice boxes for high-throughput digital pathology slice scanners on the market. One is a general slice box used in the batch pathology slice production process, and the other is a special slice box for a special high-throughput digital pathology slice scanner. When the special slice box is used, the pathology slice needs to be transferred from the general slice box to the special pathology slice library. This process requires manual operation, which not only takes a lot of time, but also because the pathology slice is made of glass, there is a certain risk of harm to the operator. Therefore, the high-throughput digital pathology slice scanner using a general slice box is still the mainstream development trend of digital pathology slice scanners. How to grab the pathology slice and place it on the pathology slice scanning device using a high-throughput digital pathology slice scanner using a general slice box is an unresolved problem. The inventor found that although there is a grabbing manipulator in the prior art, the pathology slice is thin, resulting in the phenomenon that the grabbing manipulator cannot grab the pathology slice or grabs it unsteadily; in addition, due to the inconsistent length of the pathology slice, the scope of use of the grabbing manipulator is limited.

[0005] Of course, in other fields, there is also the problem that robots cannot stably grasp thinner objects. Summary of the invention

[0006] In view of the deficiencies in the prior art, an object of the present invention is to provide a grasping manipulator device that can achieve stable grasping of an object to be grasped and improve work efficiency.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0008] A grasping manipulator device, comprising:

[0009] Multi-dimensional sports organization;

[0010] The electric claw fixing assembly includes an electric claw back plate, the electric claw back plate is connected to the multi-dimensional motion mechanism, an electric claw bottom plate is arranged at the bottom of the electric claw back plate, a guide rail is arranged on the electric claw back plate, and the front and rear slide plates of the electric claw slide along the guide rail relative to the electric claw bottom plate through the guide rail slider, and a first elastic member is connected between the electric claw bottom plate and the front and rear slide plates of the electric claw;

[0011] The electric claw driving module includes two driving blocks that can move in opposite directions;

[0012] A clamping jaw assembly includes a guide rail mounting plate, a pair of clamping jaw connecting members are mounted on the guide rail mounting plate, the clamping jaw connecting members are connected to the driving block, the pair of clamping jaw connecting members are connected through a second elastic member, each clamping jaw connecting member is respectively connected to a clamping jaw, a V-shaped groove is arranged on the inner side of the clamping jaw facing the other clamping jaw to clamp the grasped object, and a clamping groove is arranged on the side of the V-shaped groove close to the clamping jaw connecting member;

[0013] The control unit, the multi-dimensional motion mechanism and the electric gripper drive module are respectively connected to the control unit.

[0014] The grasping robot device as described above drives the movement of the electric claw fixing assembly and the clamping jaw assembly through a multi-dimensional motion mechanism. The electric claw fixing assembly supports the electric claw driving module. The driving block of the electric claw driving module is used to drive the opening or retraction of the clamping jaws in the clamping jaw assembly, thereby realizing the grasping or unloading of the object to be grasped. The setting of the first elastic member is conducive to the return of the front and rear slides of the electric claw, and the setting of the second elastic member facilitates the return of the clamping jaws on both sides.

[0015] A gripping manipulator device as described above, wherein a bottom guide rail baffle of the electric claw is arranged on a side of the electric claw bottom plate away from the electric claw back plate, and the bottom guide rail baffle of the electric claw is used to block the guide rail slider to prevent the guide rail slider from falling off the guide rail, and one end of the first elastic member is connected to the bottom guide rail baffle of the electric claw, and the other end is connected to the front and rear slides of the electric claw;

[0016] The longitudinal cross-sections of the front and rear slide plates of the electric claw are L-shaped.

[0017] A gripping manipulator device as described above, wherein the middle of the electric claw back plate is hollow, and a proximity switch is arranged at the bottom of the hollow part of the electric claw back plate to obtain the distance between the front and rear slide plates of the electric claw and the proximity switch;

[0018] The proximity switch is connected to the control unit. The proximity switch is a mechanical proximity switch. The proximity switch is used to obtain the movement displacement of the front and rear slide plates of the electric claw.

[0019] A grasping manipulator device as described above further includes a grasping object detection component, the grasping object detection component includes a laser detection component, the laser detection component is connected to the control unit, the laser detection component is installed on one side of the electric claw back plate through a detection component fixing plate, the laser detection component is located above the front and rear slide plates of the electric claw, and the laser detection component is used to detect whether there is an object within a set distance below the detection component fixing plate;

[0020] The electric claw back plate is connected to the multi-dimensional motion mechanism through an adjustment back plate on the other side relative to the detection component fixing plate.

[0021] A gripping manipulator device as described above, wherein the jaw assembly is provided in two groups, namely an upper jaw assembly and a lower jaw assembly, and the electric jaw drive module comprises two groups of drive blocks provided in an upper and a lower direction, wherein the upper drive block is connected to the upper jaw assembly, and the lower drive block is connected to the lower jaw assembly;

[0022] The structure of the lower jaw assembly is the same as that of the upper jaw assembly. The distance between the blocking surface of the lower jaw assembly's slot away from its V-groove and the jaw connecting piece of the lower jaw assembly is smaller than the distance between the blocking surface of the upper jaw assembly's slot away from its V-groove and the jaw connecting piece of the upper jaw assembly. In this way, when the upper jaw grasps an object, the lower jaw will not block or interfere, and the upper jaw assembly and the lower jaw assembly can grasp objects of different lengths.

[0023] A gripping manipulator device as described above, wherein the electric claw drive module includes a third power source, the third power source is connected to the claw reducer, the claw reducer is supported by a reducer mounting seat, the claw reducer is connected to a cam, a claw bearing is arranged at the cam, the cam is tangent to the claw bearing, the driving blocks are arranged on both sides of the claw bearing, and the guide rail mounting plate is fixed to the reducer mounting seat;

[0024] The driving blocks on the upper and lower sides are driven by the third power source respectively. A plug rod is arranged at the bottom of the third power source on the lower side, and the plug rod is inserted into the front and rear slide plates of the electric claw, so as to fix the third power source.

[0025] In a grasping robot device as described above, the driving block is connected to the third sensing plate at one place, a clamping claw photoelectric sensor is arranged at the reducer mounting seat to obtain the position of the third sensing plate, the clamping claw photoelectric sensor is connected to the control unit, and the clamping claw photoelectric sensor obtains the position of the third sensing plate to determine the return position of the driving block.

[0026] A gripping manipulator device as described above, wherein the multi-dimensional motion mechanism comprises a lateral drive module, the lateral drive module is provided with a lateral movable mounting plate, and the lateral movable mounting plate is connected to the lifting drive module;

[0027] A first photoelectric sensor is arranged on the side of the transverse driving module, a transverse sensing sheet is arranged at the transverse moving mounting plate, and the first photoelectric sensor is connected to the control unit; a lifting driving module is arranged on the lifting moving mounting plate, the lifting moving mounting plate is connected to the electric claw fixing assembly, a second photoelectric sensor is arranged on the side of the lifting driving module, a vertical sensing sheet is arranged on the lifting moving mounting plate, and the second photoelectric sensor is connected to the control unit;

[0028] One side of the first photoelectric sensor and the second photoelectric sensor are both U-shaped.

[0029] In a second aspect, the present invention further provides a working method of a gripping manipulator device, comprising the following contents:

[0030] The multi-dimensional motion mechanism drives the electric claw fixing assembly and the clamping claw assembly to move to the object to be grasped;

[0031] The control unit controls the drive block to open, so that the jaws of the jaw assembly open to grab the object, and the multi-dimensional motion mechanism drives the object to move to the set position; or the control unit controls the drive block to retract, and unloads the object through the jaws;

[0032] During the operation of the clamp assembly, when the force applied to the front and rear slides of the electric claw is greater than the pulling force of the first elastic member, the first elastic member provides resistance for the front and rear slides of the electric claw. When the force applied to the front and rear slides of the electric claw disappears, the first elastic member pulls the front and rear slides of the electric claw back to their original positions to provide power.

[0033] In a third aspect, the present invention also provides an application of a grasping manipulator device for grasping and unloading pathological sections.

[0034] Wherein, the first photoelectric sensor and the second photoelectric sensor are both through-beam photoelectric sensors.

[0035] The beneficial effects of the present invention are as follows:

[0036] 1) The present invention can drive the movement of the electric claw fixing assembly and the clamping jaw assembly through the setting of the overall device through a multi-dimensional motion mechanism. The electric claw fixing assembly supports the electric claw driving module. The driving block of the electric claw driving module is used to drive the opening or retraction of the clamping jaws in the clamping jaw assembly, thereby achieving the grasping or unloading of the object to be grasped. The overall structure is stable, and the clamping jaws can achieve stable grasping or unloading of thinner parts through the setting of V-grooves; no manual operation is required, which improves work efficiency.

[0037] 2) The present invention can provide stable support for the electric claw drive module by setting the front and rear slide plates of the electric claw, and a proximity switch is set on the back plate of the electric claw to obtain the distance between the front and rear slide plates of the electric claw and the proximity switch, thereby avoiding collision of the clamping claw assembly with the outside world; and the setting of the first elastic member is conducive to the return of the front and rear slide plates of the electric claw.

[0038] 3) The present invention can realize the division of labor between the upper clamping jaw assembly and the lower clamping jaw assembly by disposing the upper and lower clamping jaw assemblies.

[0039] 4) The present invention can detect whether there is an object within a set distance below the detection member fixing plate by setting the grasping object detection component, and send a signal to the control unit.

[0040] 5) The present invention sets a cam and a jaw bearing, and the cam and the jaw bearing are tangent to each other and only transmit the opening force, so that the clamping of the jaw is a flexible connection to avoid damaging the object to be grasped; and the opening of the jaw assembly is driven by the driving block, and at the same time, the blocking surfaces of the upper jaw assembly and the lower slicing assembly away from the V-groove are set at different positions, which can be suitable for objects to be grasped of different lengths, ensuring stable clamping of the objects to be grasped, such as pathological slices of different lengths. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0042] Figure 1 is a schematic diagram of a grasping manipulator device according to one or more embodiments of the present invention.

[0043] Figure 2 It is a schematic diagram of a transverse drive module in a grasping robot device according to one or more embodiments of the present invention.

[0044] Figure 3 It is a schematic diagram of a lifting drive module in a grasping robot device according to one or more embodiments of the present invention.

[0045] Figure 4 It is a schematic diagram of an electric claw fixing assembly in a grasping manipulator device according to one or more embodiments of the present invention.

[0046] Figure 5 The invention relates to a grasping object detection component in a grasping manipulator device according to one or more embodiments of the invention.

[0047] Figure 6 It is a schematic diagram of an electric claw drive module in a grasping robot device according to one or more embodiments of the present invention.

[0048] Figure 7 It is a schematic diagram of an upper gripper assembly in a grasping robot device according to one or more embodiments of the present invention.

[0049] Figure 8 It is a schematic diagram of a lower clamping jaw assembly in a grasping manipulator device according to one or more embodiments of the present invention.

[0050] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0051] Among them: 1 transverse movement drive module, 2 lifting drive module, 3 electric claw fixing component, 4 grasping object detection component, 5 electric claw drive module, 6 upper clamping claw component, 7 lower clamping claw component, 8 pathological section, 9 section frame.

[0052] 1-1 lateral movement stepper motor, 1-2 lateral support, 1-3 mounting base, 1-4 lateral screw rod assembly, 1-5 first opposing photoelectric sensor, 1-6 lateral induction sheet, 1-7 lateral movement mounting plate.

[0053] 2-1 lifting stepping motor, 2-2 vertical support, 2-3 vertical sensing sheet, 2-4 lifting movable mounting plate, 2-5 second opposing photoelectric sensor.

[0054] 3-1 electric claw bottom guide baffle, 3-2 electric claw bottom spring, 3-3 electric claw front and rear slide plates, 3-4 electric claw bottom plate, 3-5 guide slider, 3-6 electric claw back plate, 3-7 mechanical proximity switch, 3-8 adjustment back plate.

[0055] 4-1 detection part fixing plate, 4-2 photoelectric sensor.

[0056] 5-1 driving block, 5-2 third induction sheet, 5-3 clamping jaw photoelectric sensor, 5-4 clamping jaw bearing, 5-5 cam, 5-6 clamping jaw reducer, 5-7 clamping jaw motor, 5-8 reducer mounting seat.

[0057] 6-1 upper clamping jaw, 6-2 clamping jaw connecting piece, 6-3 clamping jaw guide rail, 6-4 guide rail mounting plate.

[0058] 7-1 Lower clamping jaw. DETAILED DESCRIPTION

[0059] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0060] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof;

[0061] As introduced in the background technology, there is a problem in the prior art that the manipulator cannot stably grasp thinner objects. In order to solve the above technical problem, the present invention proposes a grasping manipulator device.

[0062] Embodiment 1

[0063] In a typical embodiment of the present invention, reference is made to Figure 1 As shown, a grasping manipulator device includes a multi-dimensional motion mechanism; an electric claw fixing component, including an electric claw back plate, the electric claw back plate is connected to the multi-dimensional motion mechanism, an electric claw bottom plate is arranged at the bottom of the electric claw back plate, a guide rail is arranged on the electric claw back plate, and the front and rear slides of the electric claw slide along the guide rail relative to the electric claw bottom plate through the guide rail slider, and a first elastic member is connected between the electric claw bottom plate and the front and rear slides of the electric claw; an electric claw driving module, including two driving blocks that can move in opposite directions; a clamping jaw assembly, including a guide rail mounting plate, a pair of clamping jaw connecting members are installed on the guide rail on the guide rail mounting plate, the clamping jaw connecting member is connected to the driving block, a pair of clamping jaw connecting members are connected through a second elastic member, each clamping jaw connecting member is respectively connected to the clamping jaw, a V-shaped groove is arranged on the inner side of the clamping jaw toward the other clamping jaw to clamp the grasped object, and a card slot is arranged on the side of the V-shaped groove close to the clamping jaw connecting member of the clamping jaw; a control unit, the multi-dimensional motion mechanism and the electric claw driving module are respectively connected to the control unit.

[0064] The lateral motion mechanism comprises a lateral driving module, the lateral driving module is provided with a lateral movable mounting plate, and the lateral movable mounting plate is connected with the lifting driving module.

[0065] refer to Figure 2 As shown, the transverse driving module includes a first power source, the first power source is connected to the transverse screw rod assembly 1-4, the transverse screw rod assembly 1-4 is connected to the transverse moving mounting plate 1-7, the transverse screw rod assembly is supported by the transverse support 1-2, a first counter-shooting photoelectric sensor is arranged on the side of the transverse moving support, a transverse sensing piece 1-6 is arranged at the bottom of the transverse moving mounting plate 1-7, the transverse screw rod assembly 1-4 serves as a transmission assembly, converts the rotational power into the power of transverse movement, the transverse sensing piece 1-6 moves synchronously with the transverse moving mounting plate, and is used in conjunction with the first counter-shooting photoelectric sensor 1-5 to initialize and return the transverse moving mounting plate to zero, and the first counter-shooting photoelectric sensor is used to detect the distance between the same transverse sensing piece and send a signal to the control unit.

[0066] Specifically, the first power source is the transverse stepper motor 1-1, which is connected to the control unit. The control unit starts and rotates the transverse stepper motor to provide power for the transverse drive module. The transverse stepper motor is connected to the screw in the transverse screw assembly. The screw is connected to a slider through a nut, and the slider is connected to the transverse movement mounting plate.

[0067] It should be noted that the transverse driving module is the existing transverse slide rail module, which ensures the direction and accuracy of the guided transverse movement, that is, transverse slide rails are arranged on both sides of the transverse screw rod assembly through transverse supports.

[0068] It can be understood that the lifting drive module is connected by moving the mounting plate laterally.

[0069] The lifting drive module is an existing lifting slide rail module.

[0070] Specifically, refer to Figure 3 As shown, the lifting drive module includes a second power source, the second power source is connected to the lifting screw assembly, the lifting screw assembly is connected to the lifting movable mounting plate, the lifting screw assembly and the second power source are supported by a vertical support 2-2, a second photoelectric sensor 2-5 is arranged on the side of the vertical support, the lifting movable mounting plate 2-4 is installed with a vertical sensing sheet 2-3, the vertical sensing sheet is arranged horizontally, and the vertical sensing sheet moves synchronously with the lifting movable mounting plate.

[0071] The second power source is the lifting stepper motor 2-1. The lifting stepper motor 2-1 and the second opposing photoelectric sensor 2-5 are connected to the control unit. The control unit starts and rotates the lifting stepper motor to provide power for the lifting drive module. The second opposing photoelectric sensor is used to perform zero return confirmation when the control unit is initialized.

[0072] It can be understood that the lifting screw rod assembly includes a screw rod, the screw rod is connected to the slider through a nut, the slider is connected to the lifting and moving mounting plate, and the lifting and moving mounting plate is connected to the electric claw fixing assembly.

[0073] It is easy to understand that tracks are respectively arranged on the sides of the horizontal support and the sides of the vertical support, and the first opposing photoelectric sensor and the second opposing photoelectric sensor are respectively installed on the corresponding tracks, and one side of the first opposing photoelectric sensor and the second opposing photoelectric sensor are both U-shaped, so that the horizontal sensing plate and the vertical sensing plate can pass through the corresponding opposing photoelectric sensors when the first opposing photoelectric sensor and the second opposing photoelectric sensor are adjusted and moved along the tracks.

[0074] refer to Figure 4 As shown, the electric claw fixing assembly includes an electric claw back plate 3-6, one end of which is connected to the electric claw bottom plate 3-4, the electric claw back plate 3-6 is provided with a guide rail above the electric claw bottom plate, the guide rail is provided with a guide rail slider, the guide rail slider 3-5 is connected to the front and rear slide plates 3-3 of the electric claw, the front and rear slide plates 3-3 of the electric claw are located above the electric claw bottom plate 3-4, the electric claw bottom guide rail baffle 3-1 is installed at the front end of the electric claw bottom plate, blocks the guide rail slider to prevent the guide rail slider from falling off, and is installed at the front end of the electric claw bottom plate;

[0075] The spring 3-2 at the bottom of the electric claw is connected to the guide baffle 3-1 at the bottom of the electric claw and the front and rear slides 3-3 of the electric claw. When the front and rear slides 3-3 of the electric claw are subjected to the front and rear forces and are greater than the pulling force of the spring at the bottom of the electric claw, resistance is provided for the front and rear slides of the electric claw. At the same time, when the front and rear forces disappear, the front and rear slides of the electric claw are pulled back to their original positions to provide power.

[0076] The front and rear slide plates 3-3 of the electric claw are installed on the guide rail slider 3-5, which is used to fix the electric claw drive module; the guide rail slider is installed on the bottom plate of the electric claw through the guide rail to play a supporting and fixing role; the guide rail slider is used to guide and slide the front and rear slide plates of the electric claw.

[0077] The electric claw back plate plays the role of intermediate support and fixation. The middle part of the electric claw back plate is hollow, and a mechanical proximity switch 3-7 is set in the hollow part near the electric claw bottom plate. An adjustment back plate is set on the other side of the electric claw back plate away from the electric claw bottom plate. The mechanical proximity switch is used to send an on-off signal. When the front and rear slides 3-3 of the electric claw hit the mechanical proximity switch 3-7, a signal is sent to the control unit, indicating that the clamping claw assembly has moved too much and there may be a collision. When used for pathological section grabbing, timely prompts are given to avoid hitting the scanner; the adjustment back plate 3-8 is connected to the lifting drive module, which plays the role of intermediate support, adjustment and fixation.

[0078] In addition, the side of the electric claw back plate 3-6 away from the adjustment back plate is connected to the grasping object detection component 4, refer to Figure 5 As shown, the grasping object detection component 4 includes a laser detection element, which is specifically a photoelectric sensor 4-1, a photoelectric sensor 4-1 and a detection element fixing plate 4-2, one end of the detection element fixing plate 4-2 is connected to the electric claw back plate 3-6, the detection element fixing plate 4-2 is horizontally arranged, and a photoelectric sensor is arranged below the other end of the detection element fixing plate 4-2. The photoelectric sensor is arranged below the detection element fixing plate and has the function of judging whether there is an object within a set distance; in some examples, it is used to judge whether there is a pathological section and is fixed on the detection element fixing plate.

[0079] In this embodiment, the detection component fixing plate is hollow, the photoelectric sensor is located below the side of the detection component fixing plate away from the electric claw back plate, and the photoelectric sensor is located above the upper clamping jaw assembly.

[0080] In addition, an arc groove is provided on the detection component fixing plate, one side of the photoelectric sensor is fixedly connected to the detection component fixing plate, and the other side is inserted into the arc groove, so that the position of the photoelectric sensor relative to the detection component fixing plate can be changed to suit the detection of different objects.

[0081] refer to Figure 6As shown, the electric gripper drive module includes a third power source, the third power source is connected to the gripper reducer, the gripper reducer is connected to the cam 5-5, a gripper bearing is arranged at the cam 5-5 (the gripper bearing is fixed to the cam 5-5 by a pin shaft), and driving blocks are arranged on both sides of the gripper bearing. The gripper bearing converts friction into rolling, increases fluidity and reduces resistance; the cam is elliptical in shape, converts rotational power into horizontal movement, is tangent to the gripper bearing, and only provides an opening force for the gripper assembly.

[0082] It should be noted that the jaw bearing is a prior art, and the jaw bearing can be opened. When the cam rotates, the jaw bearing drives the driving block to open or retract.

[0083] The driving block 5-1 is used for intermediate fixing and transmitting force, and is connected to the clamping jaw bearing 5-4, the upper clamping piece assembly 6 or the lower clamping piece assembly 7. Two groups of electric clamp fixing assemblies are arranged in the upper and lower parts, so that the driving block is arranged in two places in the upper and lower parts. The two driving blocks in the upper part are connected to the upper clamping piece assembly, and the two driving blocks in the lower part are connected to the lower clamping piece assembly. The third sensing piece 5-2 is arranged in the lower driving block. The third sensing piece moves synchronously with the driving block and is used in conjunction with the clamping jaw photoelectric sensor 5-3 to initialize the upper clamping jaw assembly and the lower clamping jaw assembly to zero.

[0084] Specifically, the reducer mounting seat 5-8 is installed with the clamping claw reducer 5-6, and the reducer mounting seat plays an intermediate fixing and supporting role. The clamping claw photoelectric sensor is arranged on the reducer mounting seat 5-8, and the clamping claw photoelectric sensor is on the top and the third sensing sheet is on the bottom.

[0085] The gripper reducer reduces the speed of the gripper motor and increases the output torque at the same time; the third power source is specifically the gripper motor, one end of which passes through the hollow part of the back plate of the electric gripper, and a plug rod is set at the bottom of the lower gripper motor, which passes through the front and rear slide plates of the electric gripper, and the gripper motor provides rotational power.

[0086] refer to Figure 7 As shown, the upper clamping jaw assembly includes a guide rail mounting plate 6-4, which is fixed to the reducer mounting seat 5-8. The guide rail mounting plate 6-4 is provided with a clamping jaw guide rail 6-3, and the clamping jaw connecting member 6-2 is installed through the clamping jaw guide rail 6-3, and the clamping jaw connecting member is connected to the upper clamping jaw 6-1.

[0087] A pair of upper clamping jaws 6-1 are arranged, and the pair of upper clamping jaws are arranged opposite to each other and are arranged in the same plane. A V-shaped groove for clamping pathological sections is arranged on the inner side of the upper clamping jaws. The pair of upper clamping jaws stably clamp the case sections. A clamping groove is arranged on one side of the V-shaped groove of the upper clamping jaw. The inner blocking surface of the clamping groove limits the front and rear position of the clamped object. An inclined surface is arranged on one side of the V-shaped groove of the upper clamping jaw to facilitate the clamped object to enter the V-shaped groove. As a whole, the upper clamping jaw on one side is L-shaped, and the V-shaped groove of the L-shaped upper clamping jaw protrudes from the clamping groove.

[0088] It can be understood that the longitudinal section of the V-shaped groove is V-shaped, the V-shaped opening faces the other upper clamping jaw, and the openings of the two V-shaped grooves are arranged opposite to each other.

[0089] Among them, the clamping jaw connecting member 6-2 plays the role of an intermediate fixed support and is installed on the slider of the clamping jaw guide rail, so that the movement direction of the upper clamping jaws on both sides can only be along the left and right directions. At the same time, springs are used to connect the left and right clamping jaw connecting members. The clamping jaw connecting members 6-2 on both sides are respectively fixed on the left and right driving blocks, and the opening force transmitted by the driving blocks is transmitted to the upper clamping jaw. At the same time, because the cam is tangent to the clamping jaw bearing, only the opening force is transmitted, so that the clamping of the upper clamping jaw assembly is a flexible connection.

[0090] The upper clamping jaw assembly and the lower clamping jaw assembly are set up and down, refer to Figure 8 As shown, the structure of the lower jaw assembly is the same as that of the upper jaw. Similar to the upper jaw, a V-groove is also provided on the inner side of the lower jaw. Unlike the upper jaw, the lower jaw groove is away from the blocking surface of the V-groove and closer to the jaw connector of the lower jaw assembly, thereby ensuring that the lower jaw will not block when the upper jaw grasps an object such as a pathological section. Moreover, since the blocking surface of the upper jaw away from the V-groove and the blocking surface of the lower jaw away from the V-groove are staggered, the upper jaw and the lower jaw can be suitable for clamping sections of different lengths.

[0091] It should be noted that each induction sheet is just a sheet-like component; the control unit is a PLC controller or other types of controllers, and the control unit is connected to each of the corresponding photoelectric sensors and mechanical proximity switches, and is connected to each of the power sources.

[0092] Embodiment 2

[0093] This embodiment provides a working method of a grasping manipulator device, including the following contents:

[0094] After the through-beam photoelectric sensor 1-5 is powered on, it detects whether the lateral sensing piece 1-6 is at the origin position. If the lateral sensing piece 1-6 is at the origin position, the transverse stepper motor 1-1 rotates forward, driving the transverse screw assembly 1-4 to rotate, so that the transverse moving mounting plate 1-7 and the lifting drive module 2, electric claw fixing assembly 3, grasping object detection assembly 4, electric claw driving module 5, upper clamping jaw assembly 6, and lower clamping jaw assembly 7 installed thereon move forward as a whole, and all components installed on the transverse moving mounting plate move as a whole.

[0095] When the lateral sensing piece 1-6 leaves the origin position, the lateral moving stepper motor 1-1 rotates in the reverse direction, so that the lateral moving mounting plate moves toward the origin as a whole. When it returns to the origin position again, the photoelectric sensor 1-5 sends a signal and stops moving. This is the zero return confirmation. If the lateral sensing piece 1-6 is not at the origin position, the lateral moving stepper motor 1-1 rotates in the reverse direction, driving the lateral screw rod assembly 1-4 to rotate, so that the lateral moving mounting plate 1-7 moves backward as a whole. After returning to the origin position, the zero return confirmation steps are repeated to perform zero return confirmation. After completion, the lifting zero return confirmation, the upper clamping jaw assembly zero return confirmation, and the lower clamping jaw assembly zero return confirmation are performed in turn.

[0096] After the initialization is completed, the upper clamp assembly opens, and the upper clamp moves to the position of the slice frame 9 to clamp the pathological slice, grab the pathological slice 8, and place it on the scanning device;

[0097] After the scan is completed, the upper clamp takes out another pathological slice in the slice frame and moves it to the scanning device position. The lower clamp takes out the upper pathological slice, the upper clamp places another pathological slice on the scanning device, and the lower clamp takes out the upper pathological slice and places it in the slice frame.

[0098] Embodiment 3

[0099] The present invention provides an application of a grasping manipulator device, which is used for grasping and unloading pathological sections. The V-shaped grooves provided in the upper jaw assembly and the lower jaw assembly can effectively accommodate the side of the pathological section 8.

[0100] Furthermore, the control unit can be connected to a control center of the scanner, so that information acquired by the mechanical proximity switch can be sent to the control center of the scanner (scanning device) to avoid collision between the gripper assembly and the scanner.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A grasping manipulator device for grasping and unloading pathological sections, characterized in that: include: Multi-dimensional sports organization; The electric claw fixing assembly includes an electric claw back plate, the electric claw back plate is connected to the multi-dimensional motion mechanism, an electric claw bottom plate is arranged at the bottom of the electric claw back plate, a guide rail is arranged on the electric claw back plate, and the front and rear slide plates of the electric claw slide along the guide rail relative to the electric claw bottom plate through the guide rail slider, and a first elastic member is connected between the electric claw bottom plate and the front and rear slide plates of the electric claw; The electric claw driving module includes two driving blocks that can move in opposite directions; A clamping jaw assembly includes a guide rail mounting plate, a pair of clamping jaw connecting members are mounted on the guide rail mounting plate, the clamping jaw connecting members are connected to the driving block, the pair of clamping jaw connecting members are connected through a second elastic member, each clamping jaw connecting member is respectively connected to a clamping jaw, a V-shaped groove is arranged on the inner side of the clamping jaw facing the other clamping jaw to clamp the grasped object, and a clamping groove is arranged on the side of the V-shaped groove close to the clamping jaw connecting member; The control unit, the multi-dimensional motion mechanism, and the electric gripper drive module are respectively connected to the control unit; The clamping jaw assembly is provided with two groups, namely an upper clamping jaw assembly and a lower clamping jaw assembly, and the electric jaw driving module includes two groups of driving blocks provided in an upper and a lower manner, wherein the upper driving block is connected to the upper clamping jaw assembly, and the lower driving block is connected to the lower clamping jaw assembly; The lower jaw assembly has the same structure as the upper jaw assembly, and the distance between the blocking surface of the lower jaw assembly away from the V-shaped groove and the jaw connecting piece of the lower jaw assembly is smaller than the distance between the blocking surface of the upper jaw assembly away from the V-shaped groove and the jaw connecting piece of the upper jaw assembly. The electric claw drive module includes a third power source, the third power source is connected to the claw reducer, the claw reducer is supported by the reducer mounting seat, the claw reducer is connected to the cam, a claw bearing is arranged at the cam, the cam is tangent to the claw bearing, the driving blocks are arranged on both sides of the claw bearing, and the guide rail mounting plate is fixed to the reducer mounting seat; The driving blocks on the upper and lower sides are driven by the third power source respectively. A plug rod is arranged at the bottom of the third power source on the lower side, and the plug rod is inserted into the front and rear slide plates of the electric claw.

2. A grasping manipulator device for grasping and unloading pathological sections according to claim 1, characterized in that: A bottom guide plate of the electric claw is arranged on one side of the bottom plate of the electric claw away from the back plate of the electric claw, one end of the first elastic member is connected to the bottom guide plate of the electric claw, and the other end is connected to the front and rear slide plates of the electric claw; The longitudinal cross-sections of the front and rear slide plates of the electric claw are L-shaped.

3. A grasping manipulator device for grasping and unloading pathological sections according to claim 1, characterized in that: The middle part of the back plate of the electric claw is hollow, and a proximity switch is arranged at the bottom of the hollow part of the back plate of the electric claw to obtain the distance between the front and rear slide plates of the electric claw and the proximity switch; The proximity switch is connected to the control unit.

4. A grasping manipulator device for grasping and unloading pathological sections according to claim 1, characterized in that: It also includes a grasping object detection component, which includes a laser detection component, which is connected to the control unit, and the laser detection component is installed on one side of the back plate of the electric claw through a detection component fixing plate, and the laser detection component is located above the front and rear slides of the electric claw; The electric claw back plate is connected to the multi-dimensional motion mechanism through an adjustment back plate on the other side relative to the detection component fixing plate.

5. A grasping manipulator device for grasping and unloading pathological sections according to claim 1, characterized in that: The driving block is connected to the third sensing piece at one place, and a clamping claw photoelectric sensor is arranged at the reducer mounting seat to obtain the position of the third sensing piece, and the clamping claw photoelectric sensor is connected to the control unit.

6. A gripping manipulator device for gripping and unloading pathological sections according to claim 1, characterized in that: The multi-dimensional motion mechanism comprises a transverse driving module, the transverse driving module is provided with a transverse moving mounting plate, and the transverse moving mounting plate is connected to the lifting driving module; A first photoelectric sensor is arranged on the side of the transverse driving module, a transverse sensing sheet is arranged at the transverse moving mounting plate, and the first photoelectric sensor is connected to the control unit; a lifting driving module is arranged on the lifting moving mounting plate, the lifting moving mounting plate is connected to the electric claw fixing assembly, a second photoelectric sensor is arranged on the side of the lifting driving module, a vertical sensing sheet is arranged on the lifting moving mounting plate, and the second photoelectric sensor is connected to the control unit; One side of the first photoelectric sensor and the second photoelectric sensor are both U-shaped.

7. A working method of a grabbing manipulator device for grabbing and unloading pathological sections according to any one of claims 1 to 6, characterized in that: It includes the following: The multi-dimensional motion mechanism drives the electric claw fixing assembly and the clamping claw assembly to move to the object to be grasped; The control unit controls the drive block to open, so that the jaws of the jaw assembly open to grab the object, and the multi-dimensional motion mechanism drives the object to move to the set position; or the control unit controls the drive block to retract, and unloads the object through the jaws; During the operation of the clamp assembly, when the force applied to the front and rear slides of the electric claw is greater than the pulling force of the first elastic member, the first elastic member provides resistance for the front and rear slides of the electric claw. When the force applied to the front and rear slides of the electric claw disappears, the first elastic member pulls the front and rear slides of the electric claw back to their original positions to provide power.

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