Mechanical clamping hand used in closed box

Abstract

The invention relates to the technical field of mechanical clamping hands, and discloses a mechanical clamping hand used in a closed box, which comprises a turntable arranged in a cavity of the closed box, a sliding rail arranged on the outer surface of one side of the turntable, and two sliding seats arranged on the outer surface of the sliding rail, the two sliding seats are arranged to be capable of moving close to each other or away from each other in the central axis direction of the sliding rails. According to the invention, the two groups of clamping plates are coupled with the rotating disc, so that the clamping directions of the clamping plates can be switched in the closed box, so as to adapt to clamping of measuring cups and measuring cylinders with different shapes and sizes, and the closed box does not need to be opened in the clamping plate switching process, so that the risk that a water source and a soil sample in the closed box are polluted is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical gripper, and particularly relates to a mechanical gripper used in a sealed box. BACKGROUND

[0002] In the fields of environmental monitoring, hazardous waste treatment, biosafety research and deep geological exploration, it is often necessary to collect and analyze water and soil samples in highly closed and isolated environments, such as glove boxes, hot rooms, biosafety cabinets, pressure chambers or deep-sea probes. These closed environments are usually designed to strictly limit direct human contact with the internal substances.

[0003] The existing sealed box can divide the water and soil samples in the box body by setting a mechanical gripper in the sealed box. The mechanical gripper clamps the measuring cup and the measuring cylinder to divide the water and soil samples in the measuring cup into the measuring cylinder. Since the size difference between the measuring cup and the measuring cylinder is large, the existing gripper needs to be replaced with different stroke sizes to normally clamp the measuring cup and the measuring cylinder. Replacing the gripper needs to open the sealed box, which causes the external air to enter the sealed box, resulting in contamination of the water and soil samples. SUMMARY

[0004] The present application aims to solve the problems in the prior art and provides a mechanical gripper used in a sealed box.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: A mechanical gripper used in a sealed box is arranged in the cavity of the sealed box, comprising: A turntable is arranged in the cavity of the sealed box, and the turntable is arranged to be able to rotate; A sliding rail is arranged on the outer surface of one side of the turntable; Two sliding seats are arranged on the outer surface of the sliding rail, and the two sliding seats are arranged to be able to move towards or away from each other along the central axis direction of the sliding rail; Two sleeves are arranged on the outer surface of one side of the two sliding seats, and can move towards or away from each other along the central axis direction of the sliding rail, and the interiors of the two sleeves are provided with cavities; Four clamping plates, two groups of the four clamping plates are provided, one group of two clamping plates is arranged in the inner cavity of the two ends of the same sleeve respectively, the two groups of clamping plates are arranged to be capable of clamping or releasing the measuring cylinder with small size when the two sleeves move towards each other or away from each other along the central axis of the slide rail, and the one group of two clamping plates is arranged to be capable of clamping or releasing the measuring cup with large size when the two clamping plates move towards each other or away from each other along the central axis of the sleeve. The two groups of clamping plates are coupled with the rotating disc, when the rotating disc rotates by an angle, the clamping plates can move towards each other or away from each other along the central axis of the slide rail, and switch to move towards each other or away from each other along the central axis of the sleeve.

[0006] As a further scheme of the present application, the mechanical hand further comprises: A mechanical arm is fixedly installed in the cavity of the closed box, a base is fixedly installed at one end of the mechanical arm, a circular groove is formed in the outer surface of the base, and the rotating disc is rotatably installed on the inner wall of the circular groove.

[0007] As a further scheme of the present application, the base is fixedly installed with a servo motor on the outer surface of one side of the rotating disc, and the output end of the servo motor is fixedly connected with the rotation center of the rotating disc through the outer surface of the base.

[0008] As a further scheme of the present application, the outer surface of the slide rail is provided with a driving unit for driving the two sliding bases to move towards each other or away from each other along the central axis of the slide rail, and the driving unit comprises: Two supporting plates are fixedly installed on the outer surface of one side of the slide rail respectively; A bidirectional screw rod is rotatably installed between the two supporting plates, two threads with same pitch and opposite rotation directions are formed in the two ends of the bidirectional screw rod respectively, and the two ends of the bidirectional screw rod are fixedly connected with the threads of the two sliding bases through the outer surfaces of the two sliding bases respectively; A driving motor is fixedly installed on the outer surface of one side of one of the supporting plates, and the output end of the driving motor is fixedly connected with the rotation center of the bidirectional screw rod through the outer surface of the supporting plate.

[0009] As a further scheme of the present application, the four clamping plates are arranged in L shape, one end of the four clamping plates is slidably inserted between the inner walls of the inner cavity, two first openings are symmetrically formed in the outer surface of the sleeve close to the rotating disc, an extension cylinder is fixedly installed on the outer surface of one end of each of the two sliding bases, one end of the clamping plate is fixedly connected with a connecting plate, and the connecting plate is fixedly connected with the extension end of the extension cylinder through the first opening.

[0010] As a further scheme of the present application, the outer surface of the adjacent side of the two sleeves is provided with a second opening, the inner wall of the second opening of one of the two sleeves is fixedly installed with a plurality of second rods at equal intervals, the inner wall of the second opening of the other of the two sleeves is rotatably installed with a plurality of first rods at equal intervals, one end of the first rods close to the second rods is fixedly connected with a clamping block, and one end of the second rods close to the first rods is provided with a clamping hole matched with the clamping block.

[0011] As a further scheme of the present application, the inner wall of the inner cavity away from the rotating disc is symmetrically and slidably installed with two first plates, one end of the two first plates away from each other is respectively abutted with one end of a group of two clamping plates, the lower surface of the two first plates is fixedly installed with a plurality of second guide columns at equal intervals, the other end of the plurality of first rods is provided with a second guide groove, and the second guide column and the second guide groove are slidably installed.

[0012] As a further scheme of the present application, the upper surface of the base is symmetrically provided with two inclined grooves and two straight grooves, the upper surface of the slide rail is provided with a movement unit for driving the two first plates to move close to or away from each other, and the movement unit comprises: two second plates slidably installed on the upper surface of the slide rail, one end of the two second plates penetrates through the outer surface of the adjacent sleeve and is arranged in the inner cavity, and the end of the second plate close to the sleeve is symmetrically provided with two first guide grooves; a plurality of first guide columns fixedly installed on the lower surface of the end of the first plate away from the clamping plate, and the first guide column and the first guide groove are slidably installed; two slide columns fixedly installed on the lower surface of the end of the two second plates away from each other, and the two slide columns are slidably installed on the inner wall of the two inclined grooves and the two straight grooves; two springs fixedly installed on the outer surface of the opposite side of the two slide seats, and the other end of the two springs is fixedly connected with the lower surface of the two second plates.

[0013] As a further scheme of the present application, the upper surface of the slide rail is symmetrically fixedly installed with two limiting sleeves, the two second plates are slidably installed on the inner wall of the two limiting sleeves, the center line of the two straight grooves passes through the center of the rotating disc, the center axis of the slide rail passes through the center of the rotating disc, and the straight groove is in communication with the inclined groove.

[0014] As a further scheme of the present application, the outer surface of the two first plates is provided with two limiting grooves, the inner wall of the inner cavity is fixedly connected with two groups of T-shaped pins in pairs, and the inner wall of the two limiting grooves is slidably installed with the two groups of T-shaped pins.

[0015] The present application can switch the clamping direction of the clamping plate in the closed box through the coupling of the two groups of clamping plates and the rotating disc, so as to adapt to the clamping of the measuring cup and the measuring cylinder with different shapes and sizes, and the closed box does not need to be opened during the switching of the clamping plate, so as to avoid the risk of pollution of the water source and the soil sample in the closed box. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The overall structure diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 2 The mechanical arm diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 3 The sleeve separation diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 4 The base bottom view diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 5 The sleeve combination diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 6 The driving unit diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 7 The rotating disc diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 8 The sliding seat diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 9 The sliding seat bottom view diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 10 The second plate body diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 11 The second plate body top view diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 12 The sleeve internal structure diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 13 The first rod body diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 14 The base top view diagram of the mechanical gripper used in the closed box is provided for the present application; Figure 15 The Figure 5 The local enlarged diagram at A in the above figure; Figure 16 The Figure 10 The local enlarged diagram at B in the above figure.

[0017] In the drawings: 100, closed box; 200, mechanical arm; 300, base; 310, inclined groove; 320, straight groove; 330, circular groove; 400, servo motor; 500, clamping plate; 600, turntable; 700, sliding rail; 800, sliding seat; 900, sleeve; 910, first opening; 920, second opening; 930, inner cavity; 1000, telescopic cylinder; 1100, drive unit; 1110, drive motor; 1120, bidirectional screw; 1130, support plate; 1200, first plate body; 1210, limiting groove; 1220, second guide column; 1300, movement unit; 1310, second plate body; 1311, first guide groove; 1320, sliding column; 1330, spring; 1340, first guide column; 1400, T-shaped pin; 1500, first rod body; 1510, second guide groove; 1520, clamping block; 1600, second rod body; 1610, bayonet; 1700, limiting sleeve. DETAILED DESCRIPTION

[0018] To make the technical means, creative features, purposes and effects of the present application easy to understand, the following will further describe the present application in combination with specific embodiments.

[0019] In order to replace the mechanical gripper in the closed box 100 without opening the sealing door of the closed box 100, as shown in Figure 2 and Figure 3 The present application discloses a mechanical gripper used in a closed box, which comprises a turntable 600, a sliding rail 700, two sliding seats 800, two sleeves 900 and four clamping plates 500, as shown in Figure 1 The mechanical gripper further comprises a mechanical arm 200 and a base 300. The mechanical arm 200 is fixedly installed in the cavity of the closed box 100, and the base 300 is fixedly installed at one end of the mechanical arm 200, as shown in Figure 14 The outer surface of the base 300 is provided with a circular groove 330, as shown in Figure 5As shown, the rotating disc 600 is rotatably installed on the inner wall of the circular groove 330, and the rotating disc 600 is arranged to be able to rotate in the circular groove 330. Since the slide rail 700 is fixedly installed on the outer surface of one side of the rotating disc 600, the slide rail 700 can rotate with the rotation of the rotating disc 600. Since the two slide blocks 800 are sleeved on the outer surface of the slide rail 700, the two slide blocks 800 also rotate with the rotation of the rotating disc 600, and the rotation center is the center of the rotating disc 600, and the two slide blocks 800 are arranged to be able to move towards or away from each other along the central axis direction of the slide rail 700. As shown, Figure 5 As shown, since the two sleeves 900 are fixedly installed on the outer surface of one side of the two slide blocks 800, the inner part of the two sleeves 900 is provided with an inner cavity 930, and the four clamping plates 500 are arranged in two groups, and one group of two clamping plates 500 is arranged in the inner cavity 930 at both ends of the same sleeve 900, so that the two sleeves 900 can move towards or away from each other along the central axis direction of the slide rail 700, as shown, Figure 4 As shown, so as to drive the two groups of clamping plates 500 to move towards or away from each other along the central axis direction of the slide rail 700, when the two groups of clamping plates 500 move towards each other, the small size measuring cylinder can be clamped, and conversely, when the two groups of clamping plates 500 move away from each other, the clamped measuring cylinder can be released.

[0020] As shown, Figure 5 When one group of two clamping plates 500 moves towards each other along the central axis direction of the sleeve 900, the large size measuring cup can be clamped, and conversely, when one group of two clamping plates 500 moves away from each other along the central axis direction of the sleeve 900, the clamped measuring cup can be released. Since the measuring cup and the measuring cylinder are placed on the bottom wall of the closed box 100, as shown, Figure 2 When the clamping plates 500 need to be rotated to achieve switching, the two groups of clamping plates 500 are coupled with the rotating disc 600, when the rotating disc 600 rotates by an angle, the clamping plates 500 can be switched from moving towards or away from each other along the central axis direction of the slide rail 700 to moving towards or away from each other along the central axis direction of the sleeve 900. Through the device, the switching of the clamping plates 500 can be completed in the closed box 100, so as to adapt to the clamping of measuring cups and measuring cylinders of different sizes, and the closed box 100 does not need to be opened during the switching of the clamping plates 500, so as to avoid the risk of pollution of the water source and the soil sample in the closed box 100.

[0021] Specifically, in order to make the rotating disc 600 rotate by an angle, as shown, Figure 4As shown, the base 300 is fixedly installed with a servo motor 400 on one side of the outer surface of the turntable 600, the output end of the servo motor 400 is fixedly connected with the rotation center of the turntable 600 through the outer surface of the base 300, the rotation of the servo motor 400 drives the turntable 600 to rotate 90°, thereby driving the two sliding seats 800 to rotate 90° through the slide rail 700, and driving the two groups of clamping plates 500 to rotate 90° through the two sliding seats 800 and the two sleeves 900, so that the two groups of clamping plates 500 can switch positions, thereby switching between clamping the small size measuring cylinder and the large size measuring cup, and the servo motor 400 has a self-locking function, which can keep the current angle position unchanged after the turntable 600 rotates an angle.

[0022] In order to enable the two sliding seats 800 to move towards or away from each other along the central axis direction of the slide rail 700, realize clamping and loosening of the small size measuring cylinder by the two groups of clamping plates 500, like Figure 6 As shown, the outer surface of the slide rail 700 is provided with a driving unit 1100, the driving unit 1100 includes two supporting plates 1130, a bidirectional screw rod 1120 and a driving motor 1110. Since the two supporting plates 1130 are fixedly installed on the outer surface of one side of the slide rail 700, the bidirectional screw rod 1120 is rotatably installed between the two supporting plates 1130, and the two ends of the bidirectional screw rod 1120 are respectively provided with a thread with the same pitch and opposite rotation direction, the two ends of the bidirectional screw rod 1120 respectively penetrate the outer surface of the two sliding seats 800 and are threadedly connected therewith, and since the driving motor 1110 is fixedly installed on the outer surface of one of the two supporting plates 1130, the output end of the driving motor 1110 is fixedly connected with the rotation center of the bidirectional screw rod 1120 through the outer surface of the supporting plate 1130, and the output end of the driving motor 1110 is reversely rotated to drive the bidirectional screw rod 1120 to reversely rotate, thereby enabling the bidirectional screw rod 1120 to drive the two sliding seats 800 to move towards or away from each other along the central axis direction of the slide rail 700, in order to limit the movement of the two sliding seats 800 along the central axis direction of the slide rail 700, like Figure 7 As shown, V-shaped grooves are formed on the outer surfaces of the two sides of the slide rail 700, like Figure 9 As shown, the lower surfaces of the two sliding seats 800 are provided with sliding grooves matched with the shape of the slide rail 700, it should be noted that the driving motor 1110 has a self-locking function, when the output end does not rotate, the self-locking function prevents the output end from rotating randomly.

[0023] In order to realize clamping of the measuring cylinder and the measuring cup by the two groups of clamping plates 500, like Figure 9As shown, the four clamping plates 500 are L-shaped, and one end of the four clamping plates 500 is slidingly inserted between the inner walls of the inner cavity 930. When clamping the measuring cylinder, the two groups of four clamping plates 500 are close to each other to clamp the measuring cylinder. At this time, the two groups of four clamping plates 500 are clamped by the adjacent C-side outer surfaces. When clamping the measuring cup, the two clamping plates 500 in one group are close to each other to clamp the measuring cup. Because the measuring cup is large, the two groups of clamping plates 500 clamp the measuring cup at the same time to ensure the stability of clamping. Figure 7 As shown, when clamping the measuring cup, the two clamping plates 500 in one group are clamped by the opposite D-side outer surfaces.

[0024] Specifically, in order to make the two clamping plates 500 in one group move close to or away from each other along the central axis direction of the sleeve 900, as shown, Figure 8 As shown, the outer surface of the sleeve 900 close to the rotating disc 600 is symmetrically provided with two first openings 910, and the outer surface of one end of the two sliding seats 800 is fixedly provided with a telescopic cylinder 1000. One end of the clamping plate 500 is fixedly connected with a connecting plate, and the connecting plate penetrates the first opening 910 and is fixedly connected with the telescopic end of the telescopic cylinder 1000. The telescopic cylinder 1000 is connected with an external air pump. When it is needed to clamp the measuring cup by the D-side outer surface of the clamping plate 500, the telescopic end of the telescopic cylinder 1000 is retracted to drive the two clamping plates 500 in one group to move close to each other along the central axis direction of the sleeve 900, so as to clamp the measuring cup. Conversely, when it is needed to release the measuring cup, the telescopic end of the telescopic cylinder 1000 is re-extended.

[0025] Because the volume of the measuring cup is large and contains soil or water samples to be divided, the weight of the measuring cup is also heavy. When the two groups of clamping plates 500 clamp the measuring cup, in order to make the clamping more stable, in the embodiment, as shown, Figure 7 As shown, the outer surface of one side of the two sleeves 900 is provided with a second opening 920, as shown, Figure 11 As shown, a plurality of second rod bodies 1600 are fixedly installed between the inner walls of the second opening 920 of one of the two sleeves 900, as shown, Figure 12 As shown, a plurality of first rod bodies 1500 are rotatably installed between the inner walls of the second opening 920 of the other of the two sleeves 900, and as shown, Figure 13As shown, the plurality of first rods 1500 are fixedly connected with clamping blocks 1520 at one end close to the second rods 1600, and the plurality of second rods 1600 are provided with clamping holes 1610 matching the clamping blocks 1520 at one end close to the first rods 1500. By rotating the plurality of first rods 1500, the clamping blocks 1520 are arranged between the inner walls of the clamping holes 1610, so that the first rods 1500 and the second rods 1600 are rigidly connected to form a stable connection. When the two sets of clamping plates 500 are clamping the measuring cup, the measuring cup needs to be inclined because the sample soil or water in the measuring cup needs to be poured out. At this time, the weight borne by the two sets of clamping plates 500 is uneven. If the measuring cup is too heavy, the deflection of the two sleeves 900 will cause the clamping plates 500 to deviate, causing the measuring cup to slip out of the two sets of clamping plates 500. The rigid connection of the first rods 1500 and the second rods 1600 makes the two sleeves 900 form a stable connection, thereby avoiding the deflection of the sleeves 900 and ensuring the stability of the two sets of clamping plates 500 clamping the measuring cup.

[0026] It should be noted that when the two sets of clamping plates 500 need to clamp the measuring cup, the driving unit 1100 first drives the two sleeves 900 to come together, so that the distance between the two sleeves 900 is minimized, so that after the first rods 1500 and the second rods 1600 are connected, the two sleeves 900 can be more stable.

[0027] When clamping the measuring cylinder through the two sets of clamping plates 500, in order to limit the clamping plates 500 from moving randomly in the direction of the central axis of the sleeve 900, as shown in Figure 12 As shown, the inner cavity 930 is symmetrically and slidingly installed with two first plate bodies 1200 away from the inner wall of the rotating disc 600, as shown in Figure 11 As shown, the two first plate bodies 1200 are respectively abutted with one end of one set of two clamping plates 500 away from each other. By abutting the two first plate bodies 1200 with one set of two clamping plates 500, the connecting plate at one end of the clamping plate 500 is abutted against the inner wall of the first opening 910, thereby limiting the position of the one set of two clamping plates 500 and preventing it from sliding randomly when clamping the measuring cylinder.

[0028] In order to make the plurality of first rods 1500 rotate so that the clamping blocks 1520 and the clamping holes 1610 on the plurality of second rods 1600 are clamped together, as shown in Figure 10 and Figure 15As shown, the lower surface of the two first plate bodies 1200 is equidistantly fixedly installed with a plurality of second guide columns 1220, the other end of the plurality of first rod bodies 1500 is provided with a second guide groove 1510, the second guide column 1220 is slidingly installed with the inner wall of the second guide groove 1510, in order to enable a group of two clamping plates 500 to move close to or away from each other along the central axis of the sleeve 900, so after the two sleeves 900 are brought together, as shown in Figure 10 As shown, by moving the two first plate bodies 1200 close to each other, the second guide column 1220 drives the plurality of first rod bodies 1500 to rotate through the second guide groove 1510, so that the clamping block 1520 on the plurality of first rod bodies 1500 can be clamped into the inside of the socket 1610, and the first rod body 1500 and the second rod body 1600 are rigidly connected.

[0029] It should be noted that in this embodiment, the plurality of first rod bodies 1500 are symmetrically divided into two groups, as shown in Figure 10 As shown, the reverse direction of the two groups of first rod bodies 1500 when rotating is opposite, so that the direction of the clamping block 1520 clamping into the socket 1610 is also opposite, through this setting, after the clamping block 1520 clamps into the socket 1610, the connection of the two sleeves 900 is realized through the connection in two directions, when one of the sleeves 900 has a deflection, through the locking in two directions, the connection of the sleeve 900 is more stable.

[0030] In order to drive the two first plate bodies 1200 to move close to each other, as shown in Figure 16 As shown, the upper surface of the slide rail 700 is provided with a movement unit 1300 for driving the two first plate bodies 1200 to move close to or away from each other, the movement unit 1300 comprises two second plate bodies 1310, four first guide columns 1340, two slide columns 1320 and two springs 1330. The two second plate bodies 1310 are slidingly installed on the upper surface of the slide rail 700, specifically, the upper surface of the slide rail 700 is symmetrically fixedly installed with two limiting sleeves 1700, the two second plate bodies 1310 are slidingly installed on the inner wall of the two limiting sleeves 1700 respectively, and one end of the two second plate bodies 1310 penetrates through the outer surface of the adjacent sleeve 900 and is arranged inside the inner cavity 930, the end of the second plate body 1310 close to the sleeve 900 is symmetrically provided with two first guide grooves 1311, the two first guide grooves 1311 are obliquely arranged with the center line of the second plate body 1310, and because the four first guide columns 1340 are respectively fixedly installed on the lower surface of the four first plate bodies 1200 away from the clamping plate 500, and the first guide column 1340 is slidingly installed with the inner wall of the first guide groove 1311, when the two second plate bodies 1310 move close to each other, the two first plate bodies 1200 will be driven to move close to each other through the cooperation of the first guide column 1340 and the first guide groove 1311.

[0031] In order to make the two second plate bodies 1310 move close to each other, as shown in Figure 5 and Figure 14 The upper surface of the base 300 is symmetrically provided with two inclined grooves 310 and two straight grooves 320, as shown in Figure 15 Two sliding columns 1320 are respectively fixedly installed on the lower surfaces of the two second plate bodies 1310 at the ends away from each other, the two sliding columns 1320 are respectively and slidably installed on the inner walls of the two inclined grooves 310 and the two straight grooves 320, when the rotating disc 600 rotates, the two second plate bodies 1310 are driven to rotate around the center of the rotating disc 600 through the slide rails 700, because the two springs 1330 are respectively fixedly installed on the outer surfaces of the opposite sides of the two sliding seats 800, and the other ends of the two springs 1330 are respectively fixedly connected to the lower surfaces of the two second plate bodies 1310, so when the two sleeves 900 are close to each other, the two second plate bodies 1310 will drive the two sliding columns 1320 to slide along the inner walls of the two straight grooves 320, until the sliding columns 1320 slide to the junction positions of the inclined grooves 310 and the straight grooves 320, at this time, through the rotation of the two second plate bodies 1310, the sliding columns 1320 are driven to slide along the inner walls of the inclined grooves 310, through the cooperation of the inclined grooves 310 and the sliding columns 1320, the two second plate bodies 1310 move close to each other, so that the two first plate bodies 1200 move close to each other.

[0032] It should be noted that before the two second plate bodies 1310 rotate around the center of the rotating disc 600, the two sleeves 900 will first be close to each other, at this time, the sliding columns 1320 slide to the junction positions of the inclined grooves 310 and the straight grooves 320, at this time, the two second plate bodies 1310 can drive the sliding columns 1320 to slide into the inclined grooves 310, if the sleeves 900 are not completely close to the required position, at this time, the sliding columns 1320 are still in the positions of the straight grooves 320, so the two second plate bodies 1310 cannot rotate, through this feedback, it can remind the operator whether the two sleeves 900 are correctly close to each other, to avoid that the first rod body 1500 and the second rod body 1600 cannot be correctly connected together, resulting in that the two sleeves 900 are unstable; and when the rotating disc 600 rotates 90°, the two second plate bodies 1310 also rotate 90°, at this time, the sliding columns 1320 just slide to the ends of the inclined grooves 310, limiting the positions of the two second plate bodies 1310, thereby making the connection of the first rod body 1500 and the second rod body 1600 more stable.

[0033] In order to ensure that the sliding columns 1320 can correctly slide in the straight grooves 320, the center lines of the two straight grooves 320 pass through the center of the rotating disc 600, and the central axis of the slide rails 700 passes through the center of the rotating disc 600.

[0034] In order to limit the installation position of the two first plate bodies 1200 in the inner cavity 930 of the sleeve 900, as shown in the drawings, the outer surface of the two first plate bodies 1200 is provided with two limiting grooves 1210, and the inner wall of the inner cavity 930 is fixedly connected with two groups of T-shaped pins 1400, and the two T-shaped pins 1400 in each group are slidably installed on the inner wall of the two limiting grooves 1210, so that the installation position of the first plate body 1200 is limited, and the first plate body 1200 can only slide left and right along the central axis direction of the first plate body 1200. Figure 12

[0035] The basic principles and main features of the present application and the advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application.​

Claims

1. A mechanical gripper for use inside a containment box, disposed inside a cavity of a containment box (100), characterized in that, The utility model relates to a mechanical hand of switching the direction of motion of the clamping hand, and the utility model discloses a mechanical hand of switching the direction of motion of the clamping hand. Rotating disc (600) is set to be able to rotate; Slide rail (700) is arranged on the outer surface of one side of rotating disc (600); Two slide seats (800) are arranged on the outer surface of slide rail (700), and the two slide seats (800) are set to move mutually close or mutually far away along the central axis direction of slide rail (700); Two sleeves (900) are arranged on the outer surface of one side of two slide seats (800) respectively, and can move mutually close or mutually far away along the central axis direction of slide rail (700) along with two slide seats (800), and the inside of two sleeves (900) is provided with inner cavity (930) respectively; Four clamping plates (500) are set with two groups, and one group of two clamping plates (500) is arranged in the inner cavity (930) of the same sleeve (900) two ends respectively, and the two groups of clamping plates (500) are set to be able to clamp or loosen the graduated cylinder of small size when moving mutually close or mutually far away along the central axis direction of slide rail (700) along with two sleeves (900), and the one group of two clamping plates (500) is set to be able to clamp or loosen the measuring cup of large size when moving mutually close or far away along the central axis direction of sleeve (900); The two groups of clamping plates (500) are coupled with rotating disc (600), when rotating disc (600) rotates to the fixed angle of prearrangement, can make clamping plate (500) from along the central axis direction of slide rail (700) mutually close or mutually far away motion, switch to along the central axis direction of sleeve (900) mutually close or far away motion.

2. The mechanical gripper for use within an enclosure according to claim 1, wherein, The utility model further discloses a mechanical hand of switching the direction of motion of the clamping hand. Mechanical arm (200) and base (300), mechanical arm (200) is fixedly installed in the cavity of closed box (100), and the base (300) is fixedly installed at one end of mechanical arm (200), and the outer surface of base (300) is provided with circular groove (330), and rotating disc (600) is rotatably installed on the inner wall of circular groove (330).

3. The mechanical gripper for use within an enclosure according to claim 2, wherein, The outer surface of base (300) is fixedly installed with servo motor (400) on one side of rotating disc (600), and the output end of servo motor (400) penetrates the outer surface of base (300) and is fixedly connected with the rotation center of rotating disc (600).

4. The mechanical gripper for use within an enclosure as defined in claim 1, wherein, The outer surface of slide rail (700) is provided with drive unit (1100) for driving two slide seats (800) to move mutually close or mutually far away along the central axis direction of slide rail (700), and the drive unit (1100) comprises: Two supporting plates (1130) are fixedly installed on the outer surface of one side of slide rail (700) respectively; Bidirectional screw rod (1120) is rotatably installed between two supporting plates (1130), and one thread of same pitch and opposite rotation direction is formed in the two ends of bidirectional screw rod (1120) respectively, and the two ends of bidirectional screw rod (1120) penetrate the outer surface of two slide seats (800) and are screw-connected with them respectively; A driving motor (1110) is fixedly installed on the outer surface of one side of one of the support plates (1130), and the output end of the driving motor (1110) is fixedly connected with the rotation center of the bidirectional screw rod (1120) through the outer surface of the support plate (1130).

5. The mechanical gripper for use within an enclosure as defined in claim 1, wherein, The four clamping plates (500) are in L-shaped arrangement, one end of the four clamping plates (500) is slidingly inserted between the inner walls of the inner cavity (930), two first openings (910) are symmetrically formed on the outer surface of the sleeve (900) close to the rotating disc (600), the outer surface of one end of the two sliding seats (800) is fixedly installed with an extension cylinder (1000), one end of the clamping plate (500) is fixedly connected with a connecting plate, and the connecting plate penetrates through the first opening (910) and is fixedly connected with the extension end of the extension cylinder (1000).

6. The mechanical gripper for use within an enclosure as defined in claim 2, wherein, The outer surface of one side of the two sleeves (900) is provided with a second opening (920), a plurality of second rod bodies (1600) are fixedly installed between the inner walls of the second opening (920) of one of the two sleeves (900), a plurality of first rod bodies (1500) are rotatably installed between the inner walls of the second opening (920) of the other of the two sleeves (900), one end of the first rod body (1500) close to the second rod body (1600) is fixedly connected with a clamping block (1520), one end of the second rod body (1600) close to the first rod body (1500) is provided with a clamping hole (1610) matched with the clamping block (1520), and the clamping block (1520) is arranged between the inner walls of the clamping hole (1610).

7. The mechanical gripper for use within an enclosure according to claim 6, wherein, The inner walls of the inner cavity (930) away from the rotating disc (600) are symmetrically slidingly installed with two first plate bodies (1200), one end of the two first plate bodies (1200) away from each other is abutted with one end of one set of two clamping plates (500), the lower surfaces of the two first plate bodies (1200) are fixedly installed with a plurality of second guide columns (1220) at equal intervals, the other end of the first rod body (1500) is provided with a second guide groove (1510), and the second guide column (1220) and the second guide groove (1510) are slidingly installed.

8. The mechanical gripper for use within an enclosure according to claim 7, wherein, The upper surface of the base (300) is symmetrically provided with two inclined grooves (310) and two straight grooves (320), the upper surface of the sliding rail (700) is provided with a movement unit (1300) for driving the two first plate bodies (1200) to move close to or away from each other, and the movement unit (1300) comprises: Two second plate bodies (1310) are slidingly installed on the upper surface of the sliding rail (700), one end of the two second plate bodies (1310) penetrates through the outer surface of the adjacent sleeve (900) and is arranged in the inner cavity (930), and two first guide grooves (1311) are symmetrically formed on one end of the second plate body (1310) close to the sleeve (900). A plurality of first guide posts (1340) are fixedly installed on the lower surfaces of the ends of the first plate bodies (1200) away from the clamps (500), and the first guide posts (1340) are slidably installed on the inner walls of the first guide grooves (1311); Two slide columns (1320) are fixedly installed on the lower surfaces of the ends of the two second plate bodies (1310) away from each other, and the two slide columns (1320) are slidably installed on the inner walls of the two inclined grooves (310) and the two straight grooves (320); Two springs (1330) are fixedly installed on the outer surfaces of the opposite sides of the two slide blocks (800), and the other ends of the two springs (1330) are fixedly connected with the lower surfaces of the two second plate bodies (1310).

9. The mechanical gripper for use within an enclosure according to claim 8, wherein, The upper surfaces of the slide rails (700) are symmetrically fixedly installed with two limiting sleeves (1700), the two second plate bodies (1310) are slidably installed on the inner walls of the two limiting sleeves (1700), the center lines of the two straight grooves (320) pass through the center of the turntable (600), the center axis of the slide rail (700) passes through the center of the turntable (600), and the straight grooves (320) are connected with the inclined grooves (310).

10. The mechanical gripper for use within an enclosure as defined in claim 7, wherein, The outer surfaces of the two first plate bodies (1200) are provided with two limiting grooves (1210), and the inner walls of the cavities (930) are fixedly connected with two groups of T-shaped pins (1400), and the two T-shaped pins (1400) are slidably installed on the inner walls of the two limiting grooves (1210).

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