Height-adjustable gripper

Abstract

The invention provides a height-adjustable gripper which comprises a clamping jaw motor and two gripper assemblies, each gripper assembly comprises a height adjusting plate, a pressure spring, a height adjusting pin and a gripper plate, and the upper end of each height adjusting plate is connected with the corresponding clamping jaw; the height adjusting pin is sleeved with the pressure spring and penetrates through the lower end of the height adjusting plate in a vertically adjustable mode to be connected with the gripper plate. A plurality of height limiting grooves are formed in the inner wall of the height adjusting plate, and the height adjusting pin can be tightly connected with any height limiting groove under the action of the compression spring. According to the embodiment, the height adjusting pin can drive the gripper plate to move in the vertical direction relative to the height adjusting plate, and therefore the height of the gripper plate is changed. And under the action of the pressure spring, the height adjusting pin can be tightly jointed with any height limiting groove, so that the stability of the position of the gripper plate is realized. Therefore, on the premise that the stability of the gripper plate is not affected to smoothly clamp the processing plate, the position of the gripper plate can be adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of small molecule extraction equipment, and in particular to a height-adjustable gripper. Background Art

[0002] In the application of small molecule extraction equipment, the processing plate consumables used are different depending on the type of extract required. In small molecule extraction experiments, grippers are often required to grab different processing plates and move them to different positions for different operations.

[0003] The gripper's size and gripping height parameters are determined by the height of the processing plate and the gripping position of the plate. Changing the processing plate to meet small molecule extraction requirements often requires replacing the gripper and recalibrating the gripping height parameters based on the type of processing plate, a tedious and time-consuming task. Summary of the Invention

[0004] The content of this disclosure is intended to briefly introduce concepts that will be described in detail in the detailed description below. The content of this disclosure is not intended to identify key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0005] The present invention provides a height-adjustable gripper to solve the technical problems mentioned in the above background technology section.

[0006] The height-adjustable gripper of the present invention comprises a gripper motor and two gripper assemblies connected to the gripper motor in a one-to-one correspondence, wherein: Each gripper assembly includes a height adjustment plate, a compression spring, a height adjustment pin, and a gripper plate, wherein the upper end of the height adjustment plate is connected to the corresponding clamping claw; The compression spring is sleeved onto the height adjustment pin, and the height adjustment pin passes through the lower end of the height adjustment plate and is connected to the gripping plate in a manner that it can be adjusted up and down; The inner wall of the height adjustment plate is provided with a plurality of height limiting grooves. Under the action of the compression spring, the height adjustment pin can be tightly engaged with any height limiting groove.

[0007] Optionally, the gripper motor is a two-finger gripper motor.

[0008] Optionally, the height adjustment plate is arranged in a zigzag shape, including a vertical connecting plate, a horizontal and outward extending extension plate, and a vertical downward adjustment plate that are connected in sequence.

[0009] Optionally, the connecting plate is connected to the corresponding clamping jaw via bolts.

[0010] Optionally, the adjustment plate is provided with two or more vertical sliding grooves, and a corresponding number of height adjustment pins pass through the multiple vertical sliding grooves and are connected to the gripping plate one by one.

[0011] Optionally, there are two vertical slide grooves.

[0012] Optionally, a plurality of height limiting grooves are provided on the inner wall side of the adjustment plate at intervals along the length direction of each vertical sliding groove, and each height limiting groove is arranged horizontally.

[0013] Optionally, a limit fin is provided on the height adjustment pin.

[0014] Optionally, in the assembled state, the limiting fin is clamped into a height limiting groove, and under the action of the compression force provided by the compression spring, the limiting fin is tightly engaged with the limiting groove.

[0015] Optionally, the limiting fin is adapted to the shape of the height limiting groove.

[0016] The above embodiments of the present invention have the following beneficial effects: First, the height adjustment pin can be adjusted up and down through the lower end of the height adjustment plate and connected to the grip plate. Therefore, the height adjustment pin can drive the grip plate to move in the vertical direction relative to the height adjustment plate, thereby changing the height of the grip plate.

[0017] The compression spring is located between the height adjustment plate and the height adjustment pin. Therefore, under the action of the compression spring, the height adjustment pin can be tightly engaged with any height limiting groove, thereby achieving stability in the position of the gripping plate.

[0018] Therefore, without affecting the stability of the gripper plate to smoothly clamp the processing plate, the position of the gripper plate can be adjusted, so that it can adapt to processing plates of different heights and graspable positions, which provides convenience for operations such as replacing the gripper plate and recalibrating the grasping height position parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a structural schematic diagram of an embodiment of a height-adjustable gripper of the present invention; Figure 2 is an exploded schematic diagram of an embodiment of a gripper assembly of the present invention; Figure 3 A schematic structural diagram of an embodiment of a height adjustment plate of the present invention; Figure 4 A schematic diagram of the height adjustment pin structure of an embodiment of the present invention; Figure 5 A schematic structural diagram of an embodiment of a height-adjustable gripper clamping a processing plate according to an embodiment of the present invention; Figure 6 This is a structural schematic diagram of another embodiment of a height-adjustable gripper clamping processing plate according to an embodiment of the present invention.

[0021] Description of reference numerals: 1. Gripper motor; 11. Gripper; 2. Height adjustment plate; 21. Connecting plate; 22. Extension plate; 23. Adjustment plate; 24. Vertical slide; 25. Height limit slot; 3. Compression spring; 4. Height adjustment pin; 41. Limit fin; 5. Handle board; 6. Processing board. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0025] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0026] First see Figure 1 , Figure 1 FIG. 1 is a schematic structural diagram of an embodiment of a height-adjustable gripper of the present invention. Figure 1 As shown, the height-adjustable gripper includes a gripper motor 1 , which may be a two-finger gripper motor.

[0027] The height-adjustable gripper also includes two symmetrically arranged gripper assemblies, each of which is connected to the two gripper jaws 11 of the gripper motor 1. In operation, when the gripper motor 1 is driven, the two gripper jaws 11 drive the two gripper assemblies to move toward or away from each other, completing the gripping and releasing of the processing plate.

[0028] Since the two gripper components have the same structure, Figure 1 The gripper assembly on the left side of the middle is used as an example for explanation. The gripper assembly includes a height adjustment plate 2, a compression spring 3, a height adjustment pin 4 and a gripper plate 5.

[0029] See next Figure 2 And continue to read Figure 1 , Figure 2 FIG. 1 is an exploded schematic diagram of an embodiment of a gripper assembly of the present invention. Figure 1 and Figure 2 As shown, the height adjustment plate 2 can be arranged in a zigzag shape, that is, it includes a vertical connecting plate 21, a horizontal and outwardly extending extension plate 22, and a vertical downward adjustment plate 23 connected in sequence. The connecting plate 21 can be fixedly connected to one of the clamping jaws 11 by bolts, and the gripping plate 5 can be mounted on the inner side of the adjustment plate 23 so as to be adjustable in the vertical direction.

[0030] The adjustment plate 23 is provided with two vertical slots 24. Two compression springs 3 are correspondingly mounted on two height adjustment pins 4. Each of the height adjustment pins 4 passes through a vertical slot 24 and is connected to the grip plate 5. In the assembled state, the compression springs 3 act on the height adjustment pins 4 and the outer wall of the adjustment plate 23, causing the grip plate 5 to fit tightly against the inner wall of the adjustment plate 23.

[0031] See also Figure 3 , Figure 3 FIG. 1 is a schematic structural diagram of an embodiment of the height adjustment plate of the present invention. Figure 3 As shown, on the inner wall side of the adjustment plate 23 , a plurality of height limiting grooves 25 are arranged at intervals along the length direction of each vertical sliding groove 24 , and each height limiting groove 25 is arranged horizontally.

[0032] See also Figure 4 , Figure 4 FIG. 1 is a schematic structural diagram of an embodiment of the height adjustment pin of the present invention. Figure 4 As shown, the height adjustment pin 4 is provided with a limiting fin 41, which is adapted to the shape of the height limiting slot 25. In the assembled state, the limiting fin 41 is locked into a height limiting slot 25. Under the compressive force provided by the compression spring 3, the limiting fin 41 tightly engages with the limiting slot, thereby securing the grip plate 5 and preventing relative displacement of the grip plate 5 with respect to the adjustment plate 23.

[0033] It should be noted that although the above description uses two vertical slide grooves 24, two compression springs 3 and two height adjustment pins 4 as an example, this is not the only one. Technical personnel in this field can adjust the number of vertical slide grooves 24, two compression springs 3 and two height adjustment pins 4 according to actual conditions, but such changes do not exceed the scope of protection of this disclosure.

[0034] When adjusting the height of the gripper plate 5, manually press the two height adjustment pins 4 in each gripper assembly at the same time to compress the two compression springs 3 for a certain distance until the limiting fins 41 of the height adjustment pins 4 disengage from the height limiting grooves 25 of the height adjustment plate 2.

[0035] Next, while maintaining pressure, move the two height adjustment pins 4 upward or downward along the vertical guide slots 24. Since the height adjustment pins 4 are fixed to the grip plate 5, the grip plate 5 moves upward or downward with them. When the grip plate 5 reaches the desired height, release the pressure on the height adjustment pins 4, and the compression spring 3 returns to its original state, allowing the limit fins 41 to enter the corresponding height limit slots 25 and be tightened, completing the grip height adjustment.

[0036] See also Figure 5 and Figure 6 , Figure 5A schematic structural diagram of an embodiment of a height-adjustable gripper clamping a processing plate according to an embodiment of the present invention; Figure 6 FIG. 1 is a structural diagram of another embodiment of a height-adjustable gripper clamping processing plate according to an embodiment of the present invention. Figure 5 and Figure 6 As shown, by adjusting the height of the gripping plate relative to the height adjustment plate, processing plates of different specifications can be clamped.

[0037] The present invention is simple to operate and compact in structure, and is applicable to existing small molecule extraction equipment. The vertical slide 24, the height limiting groove 25, the limiting fin 41 and the compression spring 3 are used to realize the rapid adjustment of the height of the gripping plate 5.

[0038] Specifically, in the working state, the compression spring 3 can exert a force on the adjustment plate 23 and the height adjustment pin 4, so that the limiting fin 41 is stably clamped in the height limiting groove 25, so that no relative displacement occurs between the gripping plate 5 and the adjustment plate 23, thereby improving the stability and reliability of clamping.

[0039] When adjusting the height of the gripping plate 5, external force is applied to the compression spring 3 so that the limiting fin 41 is disengaged from the height limiting groove 25, and then the gripping plate 5 is adjusted along the vertical slide groove 24 to reach the desired height, thereby achieving adjustment of the height of the gripping plate 5.

[0040] In this way, the processing board 6 can be adapted to different heights and grasping positions, avoiding the tedious operations caused by replacing the processing board, and providing convenience for operations such as replacing the gripping board 5 and recalibrating the grasping height position parameters.

[0041] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A height-adjustable gripper, characterized in that: The invention comprises a gripper motor and two gripper assemblies of grippers connected to the gripper motors in a one-to-one correspondence, wherein: Each gripper assembly includes a height adjustment plate, a compression spring, a height adjustment pin, and a gripper plate, wherein the upper end of the height adjustment plate is connected to the corresponding clamping claw; The compression spring is sleeved onto the height adjustment pin, and the height adjustment pin passes through the lower end of the height adjustment plate and is connected to the gripping plate in a manner that it can be adjusted up and down; The inner wall of the height adjustment plate is provided with a plurality of height limiting grooves. Under the action of the compression spring, the height adjustment pin can be tightly engaged with any height limiting groove.

2. The height-adjustable gripper according to claim 1, wherein: The gripper motor is a two-finger gripper motor.

3. The height-adjustable gripper according to claim 1, wherein: The height adjustment plate is arranged in a zigzag shape, including a vertical connection plate, a horizontal extension plate extending outward, and a vertical downward adjustment plate connected in sequence.

4. The height-adjustable gripper according to claim 3, wherein: The connecting plates are connected to the corresponding clamping jaws via bolts.

5. The height-adjustable gripper according to claim 3, characterized in that The adjustment plate is provided with two or more vertical sliding grooves, and a corresponding number of height adjustment pins pass through the multiple vertical sliding grooves and are connected to the gripping plate in a one-to-one correspondence.

6. The height-adjustable gripper according to claim 5, characterized in that There are two vertical chutes.

7. The height-adjustable gripper according to claim 5, characterized in that A plurality of height limiting grooves are arranged at intervals on the inner wall side of the adjustment plate along the length direction of each vertical sliding groove, and each height limiting groove is arranged horizontally.

8. The height-adjustable gripper according to claim 7, wherein: A limit fin is provided on the height adjustment pin.

9. The height-adjustable gripper according to claim 8, wherein: In the assembled state, the limiting fin is clamped in a height limiting groove, and under the action of the pressing force provided by the compression spring, the limiting fin is tightly engaged with the limiting groove.

10. The height-adjustable gripper according to claim 9, wherein: The limiting fins are adapted to the shape of the height limiting grooves.

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