A four-sided centrally located grasping structure

Abstract

The application discloses a four-side center positioning grabbing structure and relates to the technical field of mechanical hands. The four-side center positioning grabbing structure comprises a motor, a fixing seat, a flower disc, a base and a plurality of grabbers. The motor is detachably fixedly connected with the base through the fixing seat. The flower disc is provided in the base and is provided with a plurality of first sliding grooves. The base is provided with a second sliding groove and a third sliding groove. Each grabber is movably connected with the first sliding groove and is adaptively arranged in the second sliding groove and the third sliding groove. The motor drives the flower disc to rotate through a transmission shaft, so that each grabber reciprocally moves along each second sliding groove. The grabbers move along the grooves with the rotation of the flower disc, the extension and retraction of each sliding block are realized, and the posture transformation of the grabbing and placing of the articles is realized.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a gripping structure with centered positioning on all four sides. Background Technology

[0002] Automated cryopreservation facilities are widely used in various industries, such as hospitals, research institutes, disease control centers, blood banks, bioengineering, deep-sea fishing, and electronics and chemical industries. The handling of cryopreservation boxes is accomplished by robotic arms, which are designed and manufactured according to process requirements and for cryopreservation facilities.

[0003] When cryopreservation boxes are moved around to different locations in a low-temperature cold storage facility, operations such as storage and picking are involved. This requires robotic arms to be able to achieve precise positioning in two horizontal directions on a plane when picking up and placing cryopreservation boxes, and to be able to perform stable gripping operations in specific low-temperature environments. Summary of the Invention

[0004] To address the problem of achieving precise positioning in two horizontal directions and stable grasping operations in a cryogenic cold storage, this invention provides a four-sided centered positioning and grasping structure.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A four-sided centered positioning gripping structure includes a motor, a fixed base, a flower plate, a base, and several grippers. The motor is detachably fixed to the base via the fixed base. The flower plate has several first sliding grooves and is disposed within the base. The base has second and third sliding grooves. Each gripper is movably connected to a first sliding groove and is adapted to be disposed within the second and third sliding grooves. The motor drives the flower plate to rotate via a transmission shaft, causing each gripper to reciprocate along the second and third sliding grooves, thereby realizing the posture change of gripping and opening.

[0007] Furthermore, the base includes an upper support and a lower support, which are detachably and fixedly connected to form a receiving cavity, and the flower plate is adapted to be disposed in the receiving cavity.

[0008] Furthermore, the motor is detachably fixed to the top of the fixed base, the motor is connected to the transmission shaft via a coupling, the transmission shaft passes through the bottom of the fixed base and the upper support base, and its free end is connected to the disc key. A bearing is provided between the transmission shaft and the bottom of the fixed base.

[0009] Furthermore, a gasket is provided at the contact point between the top of the lower support and the flower plate.

[0010] Furthermore, the flower plate is circular and has four centrifugally oriented first sliding grooves, each of which is an arc-shaped elongated oval groove.

[0011] Furthermore, the second sliding groove and the third sliding groove are arranged perpendicularly on the top of the lower support base, and the second sliding groove separates the third sliding groove, dividing the third sliding groove into two parts.

[0012] Furthermore, the gripper includes a pair of first grippers and a pair of second grippers. Each first gripper includes a first slider and a finger plate, the finger plate being detachably fixed to the outer end of the first slider. Each second gripper includes a second slider and a positioning plate, the positioning plate being detachably fixed to the outer end of the second slider. The top of each first slider and the top of each second slider are provided with rollers adapted to the first sliding groove, the rollers being movable along the first sliding groove.

[0013] Furthermore, the two first sliders are respectively disposed on both sides of the second sliding groove, and the two second sliders are respectively disposed on both sides of the third sliding groove. The contact surfaces of the second sliding groove and each of the first sliders, as well as the contact surfaces of the third sliding groove and each of the second sliders, are each provided with guide strips.

[0014] Furthermore, both first sliders are L-shaped and are arranged in a centrally symmetrical manner within the second sliding groove.

[0015] Furthermore, the length of each of the finger plates is greater than the length of each of the aligning plates, and the bottom edge of each of the finger plates has an inward bend.

[0016] The beneficial effects of this invention are as follows: This invention uses a motor to drive the flower disc to rotate, allowing the first and second grippers to reciprocate along the groove, thereby achieving changes in gripping and releasing postures. The two first sliders, arranged in an L-shape and with central symmetry, increase the guiding distance between them, enabling the first gripper to provide sufficient clamping force while maintaining accuracy. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic representation of the structural principle of one embodiment of the present invention.

[0018] Figure 2 As shown Figure 1 The exploded diagram.

[0019] Figure 3 The diagram shown illustrates the installation of the flower plate.

[0020] Figure 4 As shown Figure 2 A partial structural diagram.

[0021] Figure 5 As shown Figure 4 Top view. Detailed Implementation

[0022] This invention discloses a four-sided centered positioning grasping structure. The following describes one embodiment of the invention in detail with reference to the accompanying drawings.

[0023] like Figure 1 As shown, the centered gripping structure includes a motor 1, a fixed base 2, a flower plate 7, a base, and a gripper. Motor 1 is a servo motor. Figure 2 As shown, the base includes an upper support 5 and a lower support 6, which are detachably and fixedly connected to form a receiving cavity. A flower disc 7 is adapted and disposed within the receiving cavity. The flower disc 7 is circular and has four first sliding grooves 701 distributed centrifugally, each first sliding groove 701 being an arc-shaped elongated oval groove. The fixed base 2 is C-shaped, and the motor 1 is detachably and fixedly attached to the top of the fixed base 2. The bottom of the fixed base 2 is detachably and fixedly connected to the top of the lower support 6. Figure 3 As shown, motor 1 is connected to drive shaft 4 via coupling 3. Drive shaft 4 passes through the bottom of fixed base 2 and upper support base 5. The free end of drive shaft 4 is keyed to the center of flower disc 7. A bearing is provided between drive shaft 4 and the bottom of fixed base 2. Flower disc 7 can rotate in the receiving cavity under the drive of drive shaft 4. Several shims 13 are provided at the contact point between the top of lower support base 6 and flower disc 7. Shims 13 can reduce the friction force on flower disc 7 when it rotates. Lower support base 6 has a second sliding groove 601 and a third sliding groove 602. The second sliding groove 601 and the third sliding groove 602 are arranged vertically on the top of lower support base 6. The second sliding groove 601 separates the third sliding groove 602, making the third sliding groove 602 divided into two parts.

[0024] Combination Figure 4 and Figure 5As shown, the gripper includes a pair of first grippers and a pair of second grippers. Each first gripper includes a first slider 8 and a finger plate 9, with the finger plate 9 detachably fixed to the outer end of the first slider 8. Both first sliders 8 are L-shaped and are centrally symmetrically arranged on both sides of the second sliding groove 601, increasing the guiding distance between the two first sliders 8 and allowing the first gripper to provide sufficient clamping force while maintaining accuracy. Each second gripper includes a second slider 10 and a positioning plate 11, with the positioning plate 11 detachably fixed to the outer end of the second slider 10. Two square second sliders 10 are arranged on both sides of the third sliding groove 602. The top of each first slider 8 and the top of each second slider 10 are provided with rollers 12 that can be adapted to the first sliding groove 701, and the rollers 12 can move along the first sliding groove 701. Guide strips are provided on the contact surfaces of the second sliding groove 601 and each first slider 8, and on the contact surfaces of the third sliding groove 602 and each second slider 10. The guide strip is made of polytetrafluoroethylene, which has low resistance and is resistant to low temperatures. The guide strip can reduce the friction between the first slider 8 and the second sliding groove 601, and between the second slider 10 and the third sliding groove 602 during movement. The length of each finger plate 9 is greater than the length of each positioning piece 11, and the bottom edge of each finger plate 9 has an inward bend for easy gripping.

[0025] After installation, motor 1 drives the disc 7 to rotate via coupling 3 and drive shaft 4. When the disc 7 rotates, causing the rollers 12 of each first slider 8 and each second slider 10 to move from the outside to the inside along the first sliding groove 701, each first slider 8 moves inward along the second sliding groove 601 and retracts, and each second slider 10 moves inward along the third sliding groove 602 and retracts, changing its posture so that the finger plate 9 and the positioning plate 11 cooperate to grasp the item. The two L-shaped first sliders 8 increase the guide length, maintain clamping accuracy, and enable the first gripper to provide sufficient clamping force to prevent the grasped item from falling off. The positioning plate 11 can restrict the movement of the item, and can reduce the space occupied by the second slider 10 when it extends and opens by compression deformation during gripping. When the flower plate 7 rotates, causing the rollers 12 of each first slider 8 and each second slider 10 to move from the inside to the outside along the first sliding groove 701, each first slider 8 moves outward along the second sliding groove 601 and extends outward, and each second slider 10 moves outward along the third sliding groove 602 to change its posture, so that the gripping structure opens.

[0026] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A four-sided centered positioning gripping structure, characterized in that: The device includes a motor (1), a fixed base (2), a flower plate (7), a base, and several grippers. The motor (1) is detachably and fixedly connected to the base via the fixed base (2). The flower plate (7) has several first sliding grooves (701) and is disposed in the base. The base has a second sliding groove (601) and a third sliding groove (602). Each gripper is movably connected to the first sliding groove (701) and is adapted to be disposed in the second sliding groove (601) and the third sliding groove (602). The motor (1) drives the flower plate (7) to rotate via a transmission shaft (4), so that each gripper reciprocates along the second sliding groove (601) and the third sliding groove (602), thereby realizing the posture change of grasping and opening. The gripper includes a pair of first grippers and a pair of second grippers. Each first gripper includes a first slider (8) and a finger plate (9). The finger plate (9) is detachably fixed to the outer end of the first slider (8). Each second gripper includes a second slider (10) and a positioning plate (11). The positioning plate (11) is detachably fixed to the outer end of the second slider (10). Each of the first sliders (8) and the top of each of the second sliders (10) is provided with a roller (12) that can be adapted to the first sliding groove (701), and the roller (12) can move along the first sliding groove (701); The two first sliders (8) are respectively disposed on both sides of the second sliding groove (601), and the two second sliders (10) are respectively disposed on both sides of the third sliding groove (602). The contact surfaces of the second sliding groove (601) and each of the first sliders (8) and the contact surfaces of the third sliding groove (602) and each of the second sliders (10) are each provided with guide strips. Both first sliders (8) are L-shaped, and the two first sliders (8) are centrally symmetrically arranged on both sides of the second sliding groove (601).

2. The four-sided centered positioning gripping structure according to claim 1, characterized in that: The base includes an upper support (5) and a lower support (6), which are detachably and fixedly connected to form a receiving cavity, and the flower plate (7) is adapted to be disposed in the receiving cavity.

3. The four-sided centered positioning grasping structure according to claim 2, characterized in that: The motor (1) is detachably fixed to the top of the fixed base (2). The motor (1) is connected to the transmission shaft (4) through the coupling (3). The transmission shaft (4) passes through the bottom of the fixed base (2) and the upper support base (5). Its free end is keyed to the flower plate (7). A bearing is provided between the transmission shaft (4) and the bottom of the fixed base (2).

4. The four-sided centered positioning grasping structure according to claim 2, characterized in that: A gasket (13) is provided at the contact point between the top of the lower support (6) and the flower plate (7).

5. The four-sided centered positioning gripping structure according to claim 1, characterized in that: The flower plate (7) is circular and has four centrifugally oriented first sliding grooves (701), each of which is an arc-shaped elongated oval groove.

6. The four-sided centered positioning gripping structure according to claim 4, characterized in that: The second sliding groove (601) and the third sliding groove (602) are arranged vertically on the top of the lower support (6). The second sliding groove (601) separates the third sliding groove (602) into two parts.

7. The four-sided centered positioning gripping structure according to claim 1, characterized in that: The length of each of the finger plates (9) is greater than the length of each of the positive positioning plates (11), and the bottom edge of each of the finger plates (9) has an inward bend.

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