A kind of mechanical arm for taking laboratory equipment by hanging rail
By adopting a timely opening negative pressure adsorption structure in laboratory equipment robots, the problem of excessive clamping force in the prior art is solved, and the effect of stably grasping the experimental equipment without damage is achieved.
Patent Information
- Application Number
- CN202411980305.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-04-08
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In order to ensure stable grasping, existing laboratory equipment robots usually set up a large clamping force, but it is easy to damage the experimental equipment after long-term use and multiple pick-ups.
The negative pressure adsorption structure that can be opened in time is adopted, and the negative pressure port and the suction port are overlapped through the sliding rod to achieve the negative pressure adsorption effect and reduce the clamping force on the experimental equipment.
Without excessive clamping force, the experimental equipment can be grasped stably to prevent damage to the experimental equipment.
Smart Images
Figure CN119772855A_ABST
Abstract
Description
Technical Field
[0001] The invention mainly relates to the technical field of laboratory equipment grabbing equipment, in particular to a hanging rail grabbing manipulator for laboratory equipment. Background Art
[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grasp, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The manipulator is mainly composed of three parts: actuator, drive mechanism and control system. The hand is a component used to grasp workpieces or tools. There are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type, etc. The motion mechanism enables the hand to complete various rotations, swings, movements or compound movements to achieve the specified actions.
[0003] A variety of experimental equipment is used in the laboratory, so there are often several experimental equipment placed in the laboratory. When a large number of experimental equipment are placed together, it will be inconvenient to take out the equipment you want to use; therefore, in laboratories with more experimental equipment, a hanging rail is usually set up to use a manipulator to take and place the experimental equipment.
[0004] Generally, a special manipulator has 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator, while receiving information fed back by sensors to form a stable closed-loop control. The core of the control system is usually composed of microcontrollers such as single-chip microcomputers or DSPs, and the desired functions are achieved by programming them. Manipulators have a wide range of uses, and the manipulator used in laboratory equipment is one of them. In order to ensure stable grasping of experimental equipment, the manipulators currently used in laboratory equipment on the market usually set a larger clamping force. However, excessive clamping force may damage the experimental equipment after long-term use and several times of picking and placing. Summary of the invention
[0005] In order to solve the deficiencies of the prior art, the present invention provides a rail-mounted manipulator for laboratory equipment, which can stably grasp the laboratory equipment without requiring excessive clamping force through a negative pressure adsorption structure that can be opened in time, thereby preventing damage to the laboratory equipment.
[0006] In order to achieve the above object, the present invention is implemented through the following technical solutions: A hanging rail access manipulator for laboratory equipment, comprising a placing table, a longitudinal beam, a cross beam, a mobile beam, a lifting device, and a grabbing manipulator assembly, wherein the longitudinal beams are fixedly installed at the four corners of the placing table, and the cross beams are fixedly installed on the tops of the two longitudinal beams on the same side of the placing table, and the mobile beams are slidably installed on the cross beams, and the lifting device is slidably installed on the mobile beams, and the grabbing manipulator assembly is provided at the bottom of the lifting device; The grabbing manipulator assembly comprises a connecting frame, the connecting frame is fixedly mounted on the bottom of the lifting device, the bottom of the connecting frame is fixedly connected to a driving rod, a sliding arm is slidably mounted in the driving rod, a gripper is fixedly connected to the bottom of the sliding arm, the gripper comprises a negative pressure block and a cover plate, the cover plate is fixedly mounted to one side of the negative pressure block by bolts, a negative pressure cavity is provided in the negative pressure block, a plurality of sliding cavities are opened in the negative pressure block, each of the sliding cavities is opened with an air suction port, the air suction port is connected to the negative pressure cavity, a telescopic rod is slidably mounted in the sliding cavity, a top head is installed at the end of the telescopic rod, a negative pressure port is opened on the telescopic rod, an air inlet is opened on the top head, and an air inlet duct is opened in the telescopic rod; A driving motor 4 is fixedly installed on the driving rod, a bidirectional screw is rotatably installed in the driving rod, the top of the sliding arm is movably connected to the bidirectional screw through a threaded structure, a driven bevel gear is fixedly arranged in the middle of the bidirectional screw, a driving bevel gear is installed on the output shaft of the driving motor 4, and the driving bevel gear meshes with the driven bevel gear.
[0007] The sliding cavity of the negative pressure block is provided with a limiting cavity near one side of the cover plate, a limiting end is fixedly provided on one side of the telescopic rod, and the limiting end is slidably installed in the limiting cavity, a plurality of mounting holes are provided on the cover plate, and the number of the mounting holes corresponds to the position and the limiting cavity, a spring is installed in the mounting hole, and the end of the spring away from the mounting hole abuts against the limiting end of the telescopic rod.
[0008] A rack is provided on the crossbeam, pulley frames are fixedly installed at both ends of the movable beam, the movable beam is slidably installed on the crossbeam through the pulley frame, a driving motor is installed on the pulley frame, a driving gear is installed on the output shaft of the driving motor, the driving gear meshes with the rack, and a cable protection frame is fixedly installed at the bottom of the two pulley frames.
[0009] The movable beam is provided with a second rack, a second pulley frame is slidably mounted on the movable beam, a lifting device is fixedly mounted on one side of the second pulley frame, a second drive motor is fixedly mounted on the second pulley frame, a second drive gear is fixedly mounted on the output shaft of the second drive motor, and the second drive gear meshes with the second rack.
[0010] The lifting device includes a support frame, which is fixedly installed on one side of the pulley frame 2, and two guide rods are fixedly installed in the support frame. A threaded rod is rotatably installed in the support frame, and a bracket is slidably installed on the guide rod. The bracket is movably connected to the threaded rod through a threaded structure, and a drive motor 3 is fixedly installed on the top of the support frame. The output shaft of the drive motor 3 is connected to the threaded rod through a coupling, a longitudinal arm is fixedly installed on one side of the bracket, and the lower end of the longitudinal arm is fixedly connected to a grabbing robot assembly, and a vacuum pump is installed on the bracket.
[0011] Compared with the prior art, the beneficial effects of the present invention are: The present invention can achieve a negative pressure adsorption effect that can be opened in time by moving the sliding rod after the top head contacts the experimental equipment so that the negative pressure port and the air suction port overlap and connect, thereby preventing the situation where part of the top head fails to contact the experimental equipment and may cause a large amount of gas to enter the negative pressure cavity and reduce the negative pressure adsorption force. Therefore, when grasping experimental equipment of various sizes, it is possible to stably grasp the experimental equipment without the need for excessive clamping force, thereby preventing damage to the experimental equipment. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 It is a schematic diagram of the overall first-view structure of the present invention; Figure 2 is a schematic diagram of the overall second viewing angle structure of the present invention; Figure 3 It is a schematic diagram of the lifting device and its connecting part structure from the first perspective of the present invention; Figure 4 is a schematic diagram of the lifting device and its connecting part structure from a second viewing angle of the present invention; Figure 5 It is a schematic diagram of the structure of the grabbing manipulator assembly of the present invention; Figure 6 It is a schematic diagram of the gripper structure of the present invention; Figure 7 It is a schematic diagram of the gripper and internal installation structure of the present invention; Figure 8 It is a schematic diagram of the internal structure of the negative pressure block of the present invention; Fig. 9 It is a schematic diagram of the structure of the gripper cover plate of the present invention; Fig.10 It is a schematic diagram of the telescopic rod structure of the present invention.
[0013] Numbers shown in the attached drawings: 1, display table; 2, longitudinal beam; 3, cross beam; 4, moving beam; 5, lifting device; 6, grabbing manipulator assembly; 31, rack one; 40, pulley frame one; 41, drive motor one; 42, drive gear one; 43, rack two; 44, drive motor two; 45, drive gear two; 46, pulley frame two; 51, support frame; 52, guide rod; 53, threaded rod; 54, bracket; 55, drive motor three; 56, longitudinal arm; 61, Connecting frame; 62, driving rod; 63, sliding arm; 64, gripper; 65, negative pressure block; 66, cover plate; 67, air inlet; 68, telescopic rod; 69, top head; 81, driving motor four; 82, bidirectional screw; 83, driven bevel gear; 84, driving bevel gear; 400, cable protection frame; 650, sliding cavity; 651, limiting cavity; 660, mounting hole; 680, negative pressure port; 681, air inlet; 682, limiting end; 690, air inlet. DETAILED DESCRIPTION
[0014] The present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the scope limited by the application.
[0015] Combined with Figure 1-Figure 10 A hanging rail access manipulator for laboratory equipment includes a placing table 1, a longitudinal beam 2, a cross beam 3, a mobile beam 4, a lifting device 5, and a grabbing manipulator assembly 6. The longitudinal beam 2 is fixedly installed at the four corners of the placing table 1, and the cross beam 3 is fixedly installed on the top of the two longitudinal beams 2 on the same side of the placing table 1. The mobile beam 4 is slidably installed on the cross beam 3, and the lifting device 5 is slidably installed on the mobile beam 4. The bottom of the lifting device 5 is provided with a grabbing manipulator assembly 6; The grabbing manipulator assembly 6 includes a connecting frame 61, which is fixedly mounted at the bottom of the lifting device 5. A driving rod 62 is fixedly connected to the bottom of the connecting frame 61. A sliding arm 63 is slidably mounted in the driving rod 62. A gripper 64 is fixedly connected to the bottom of the sliding arm 63. The gripper 64 includes a negative pressure block 65 and a cover plate 66. The cover plate 66 is fixedly mounted to one side of the negative pressure block 65 by bolts. A negative pressure cavity is provided in the negative pressure block 65. There are several sliding cavities 650, each of which is provided with an air intake port 67, which is connected to the negative pressure chamber. A telescopic rod 68 is slidably installed in the sliding cavity 650, and a top head 69 is installed at the end of the telescopic rod 68. A negative pressure port 680 is provided on the telescopic rod 68, an air inlet 690 is provided on the top head 69, and an air inlet duct 681 is provided in the telescopic rod 68; the top head 69 is made of soft silicone material, which can better fit the surface of the experimental equipment and increase the friction.
[0016] A driving motor 81 is fixedly installed on the driving rod 62, and a bidirectional screw 82 is rotatably installed in the driving rod 62. The top of the sliding arm 63 is movably connected to the bidirectional screw 82 through a threaded structure, and a driven bevel gear 83 is fixedly arranged in the middle of the bidirectional screw 82. A driving bevel gear 84 is installed on the output shaft of the driving motor 81, and the driving bevel gear 84 meshes with the driven bevel gear 83; the rotation of the driving motor 81 can drive the bidirectional screw 82 to rotate through the driving bevel gear 84 and the driven bevel gear 83, thereby driving the sliding arm 63 and the gripper 64 to move closer to or away from each other.
[0017] The sliding cavity 650 of the negative pressure block 65 is provided with a limiting cavity 651 near the cover plate 66, and a limiting end 682 is fixedly provided on one side of the telescopic rod 68. The limiting end 682 is slidably installed in the limiting cavity 651. A plurality of mounting holes 660 are provided on the cover plate 66. The number and position of the mounting holes 660 correspond to the limiting cavity 651. A spring is installed in the mounting hole 660. The end of the spring away from the mounting hole 660 abuts against the end of the limiting end 682 of the telescopic rod 68.
[0018] The cross beam 3 is provided with a rack 31, and pulley frames 40 are fixedly installed at both ends of the movable beam 4. The movable beam 4 is slidably installed on the cross beam 3 through the pulley frames 40. A driving motor 41 is installed on the pulley frame 40, and a driving gear 42 is installed on the output shaft of the driving motor 41. The driving gear 42 meshes with the rack 31, and a cable protection frame 400 is fixedly installed at the bottom of the two pulley frames 40; the rotation of the driving motor 41 causes the driving gear 42 to rotate, thereby driving the pulley frame 40 and the components on the movable beam 4 to move along the cross beam 3.
[0019] The movable beam 4 is provided with a rack 2 43, a pulley frame 2 46 is slidably mounted on the movable beam 4, a lifting device 5 is fixedly mounted on one side of the pulley frame 2 46, a driving motor 2 44 is fixedly mounted on the pulley frame 2 46, a driving gear 2 45 is fixedly mounted on the output shaft of the driving motor 2 44, and the driving gear 2 45 engages with the rack 2 43; the driving motor 2 44 rotates to rotate the driving gear 2 45, thereby driving the pulley frame 2 46 and the lifting device 5 and other components to move laterally along the movable beam 4.
[0020] The lifting device 5 includes a support frame 51, which is fixedly mounted on one side of the pulley frame 46, and two guide rods 52 are fixedly mounted in the support frame 51. A threaded rod 53 is rotatably mounted in the support frame 51, and a bracket 54 is slidably mounted on the guide rod 52. The bracket 54 is movably connected to the threaded rod 53 through a threaded structure, and a driving motor 3 55 is fixedly mounted on the top of the support frame 51. The output shaft of the driving motor 3 55 is connected to the threaded rod 53 through a coupling, and a longitudinal arm 56 is fixedly mounted on one side of the bracket 54. The lower end of the longitudinal arm 56 is fixedly connected to the grabbing robot assembly 6, and a vacuum pump is installed on the bracket 54; the vacuum pump is used to extract gas from the negative pressure block 65; the driving motor 3 55 rotates to drive the threaded rod 53 to rotate, thereby driving the bracket 54 to move up and down along the guide rod 52, thereby driving the longitudinal arm 56 and the grabbing robot assembly 6 to move up and down.
[0021] The device is also provided with a control device in a wired manner. The control device is a control device based on a single-chip microprocessor, which can realize manual control of the operation of the robot in the present scheme and automatic operation according to set parameters.
[0022] When the device is in use, the vacuum pump is connected to the negative pressure cavity in the negative pressure block 65 through a pipeline to generate negative pressure suction. When the device moves to the required experimental equipment through the three axes of each driving component, the two grippers 64 approach each other to grab the experimental equipment; when the grippers 64 clamp the experimental equipment, the telescopic rod 68 overcomes the spring force and slides inward along the sliding cavity 650. After sliding, the negative pressure port 680 of the telescopic rod 68 overlaps with the air intake port 67 in the sliding cavity 650, thereby making the air inlet 690, the air inlet 681, the negative pressure port 680, The suction port 67 and the negative pressure chamber are connected in sequence at the top 69 to generate negative pressure adsorption, so that the gripper 64 can stably grasp the experimental equipment without too much clamping force; when the experimental equipment to be grasped is small or the grasping part of the experimental equipment is small, the telescopic rod 68 that does not contact the experimental equipment will not slide, and the negative pressure port 680 and the corresponding suction port 67 are misaligned, which can prevent a large amount of gas from entering the negative pressure chamber and reducing the negative pressure adsorption force; when putting down the experimental equipment, the vacuum pump stops working, and the gripper 64 can be separated from the experimental equipment immediately.
[0023] When placing experimental equipment on the display table 1, place the experimental equipment on one side of the upper edge of the display table 1 and place it through the control device. The gripper 64 can grab and place the experimental equipment on the display table 1 in an orderly manner under the drive of each driving component, and will automatically record the position parameters. When it is needed, the name of the equipment to be taken out can be selected to automatically take out the experimental equipment.
[0024] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A robot for taking laboratory equipment by hanging rails, comprising a placing table (1), a longitudinal beam (2), a transverse beam (3), a moving beam (4), a lifting device (5), and a grabbing robot assembly (6), characterized in that: The longitudinal beams (2) are fixedly mounted at the four corners of the display platform (1); a cross beam (3) is fixedly mounted on the top of the two longitudinal beams (2) on the same side of the display platform (1); a moving beam (4) is slidably mounted on the cross beam (3); a lifting device (5) is slidably mounted on the moving beam (4); and a grabbing manipulator assembly (6) is provided at the bottom of the lifting device (5); The grabbing robot assembly (6) comprises a connecting frame (61), wherein the connecting frame (61) is fixedly mounted on the bottom of the lifting device (5), wherein the bottom of the connecting frame (61) is fixedly connected to a driving rod (62), wherein a sliding arm (63) is slidably mounted in the driving rod (62), wherein the bottom of the sliding arm (63) is fixedly connected to a gripper (64), wherein the gripper (64) comprises a negative pressure block (65) and a cover plate (66), wherein the cover plate (66) is fixedly mounted to one side of the negative pressure block (65) by means of bolts, wherein the negative pressure block (65) is provided with a A negative pressure cavity is provided, wherein a plurality of sliding cavities (650) are provided in the negative pressure block (65), each of the sliding cavities (650) is provided with an air inlet (67), the air inlet (67) is connected to the negative pressure cavity, a telescopic rod (68) is slidably installed in the sliding cavity (650), a top head (69) is installed at the end of the telescopic rod (68), a negative pressure port (680) is provided on the telescopic rod (68), an air inlet (690) is provided on the top head (69), and an air inlet duct (681) is provided in the telescopic rod (68); A driving motor (81) is fixedly mounted on the driving rod (62), a bidirectional screw (82) is rotatably mounted inside the driving rod (62), the top end of the sliding arm (63) is movably connected to the bidirectional screw (82) via a threaded structure, a driven bevel gear (83) is fixedly mounted in the middle of the bidirectional screw (82), a driving bevel gear (84) is mounted on the output shaft of the driving motor (81), and the driving bevel gear (84) meshes with the driven bevel gear (83).
2. A laboratory equipment hanging rail access manipulator according to claim 1, characterized in that: A limiting cavity (651) is provided on one side of the sliding cavity (650) of the negative pressure block (65) close to the cover plate (66); a limiting end (682) is fixedly provided on one side of the telescopic rod (68); the limiting end (682) is slidably installed in the limiting cavity (651); a plurality of mounting holes (660) are provided on the cover plate (66); the number and position of the mounting holes (660) correspond to the limiting cavity (651); a spring is installed in the mounting hole (660); one end of the spring away from the mounting hole (660) abuts against the end of the limiting end (682) of the telescopic rod (68).
3. A laboratory equipment hanging rail access manipulator according to claim 1, characterized in that: The cross beam (3) is provided with a rack (31), and pulley frames (40) are fixedly mounted at both ends of the movable beam (4). The movable beam (4) is slidably mounted on the cross beam (3) via the pulley frames (40). A driving motor (41) is mounted on the pulley frame (40), and a driving gear (42) is mounted on the output shaft of the driving motor (41). The driving gear (42) meshes with the rack (31), and a cable protection frame (400) is fixedly mounted at the bottom of the two pulley frames (40).
4. The hanging rail access manipulator for laboratory equipment according to claim 1, characterized in that: The movable beam (4) is provided with a second rack (43), a second pulley frame (46) is slidably mounted on the movable beam (4), a lifting device (5) is fixedly mounted on one side of the second pulley frame (46), a second drive motor (44) is fixedly mounted on the second pulley frame (46), a second drive gear (45) is fixedly mounted on the output shaft of the second drive motor (44), and the second drive gear (45) meshes with the second rack (43).
5. A laboratory equipment hanging rail access manipulator according to claim 4, characterized in that: The lifting device (5) comprises a support frame (51), the support frame (51) is fixedly mounted on one side of a pulley frame 2 (46), two guide rods (52) are fixedly mounted in the support frame (51), a threaded rod (53) is rotatably mounted in the support frame (51), a bracket (54) is slidably mounted on the guide rod (52), the bracket (54) is movably connected to the threaded rod (53) via a threaded structure, a drive motor 3 (55) is fixedly mounted on the top of the support frame (51), an output shaft of the drive motor 3 (55) is connected to the threaded rod (53) via a coupling, a longitudinal arm (56) is fixedly mounted on one side of the bracket (54), the lower end of the longitudinal arm (56) is fixedly connected to a grabbing robot assembly (6), and a vacuum pump is mounted on the bracket (54).