Flexible clamping jaw for laboratory service robot
By introducing a tactile and pressure sensing layer into the flexible jaws of the laboratory service robot, combined with the adjustment device and the airbag, the problem of difficult clamping force is solved, and safe clamping of the experimental equipment is achieved to avoid damage.
Patent Information
- Application Number
- CN202420996238.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-09
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2034-05-09
AI Technical Summary
When clamping experimental instruments, it is difficult to avoid the problem of excessive force causing damage to the instruments.
A flexible jaw including a fixing plate, a connecting block, a flexible jaw, a tactile sensing layer and a pressure sensing layer is designed. The clamping force is flexibly adjusted through the adjustment device and the airbag to ensure that the clamping force is moderate.
It effectively avoids damage to the experimental instrument due to excessive force during clamping, especially the protection of glass products such as test tubes and beakers.
Smart Images
Figure CN222200611U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to a flexible clamping claw used for a laboratory service robot. Background Art
[0002] Many beakers or test tubes are used in sewage testing laboratory work, and sample reagents are stored in corresponding beakers or test tubes. Then the liquid in the beakers or test tubes is sampled for testing or used for experiments and observations.
[0003] In existing sewage testing laboratories, in order to facilitate different sampling, the laboratory will be equipped with an intelligent sampling robot. When the robot is sampling, it is necessary to clamp the experimental equipment, so the clamping claws must not only be able to clamp the experimental equipment, but also ensure that the clamping force is not too large, so that the experimental equipment will not be damaged during the clamping process.
[0004] In order to solve this problem, the present utility model is produced. Utility Model Content
[0005] Therefore, in view of the above problems, the utility model proposes a flexible clamping claw for a laboratory service robot with simple structure and convenient clamping.
[0006] In order to solve the above technical problems, the solution adopted by the utility model is: a flexible clamp for a laboratory service robot, comprising a fixed plate, a connecting block is symmetrically provided at one end of the fixed plate, the other end of the fixed plate is connected to the robotic arm, and a flexible clamp for clamping experimental equipment is provided on the connecting block, and a tactile sensing layer for sensing clamping is evenly distributed on the contact surface of the flexible clamp with the experimental equipment, a pressure sensing layer is also provided between the tactile sensing layer and the flexible clamp for sensing the clamping force, and an adjustment device is also provided between the fixed plate and the connecting block for adjusting the spacing between the connecting blocks and thereby adjusting the flexible clamp.
[0007] A further improvement is that: the adjustment device comprises an adjustment block, the fixing plate is provided with a strip hole, the adjustment block is locked on the fixing plate by an adjustment bolt, and the connection block is arranged on the adjustment block by a fixing device.
[0008] A further improvement is that: the fixing device is: the connecting block is provided with a through channel for penetrating the adjusting block, the adjusting block is provided with a rail, the adjusting block is provided with a slot, and the connecting block is locked on the adjusting block by bolts.
[0009] Further improvements are: the flexible clamp includes a flexible rod made of rubber or silicone material, the connecting block is provided with a connecting shell, the flexible rod is arranged on the connecting shell, an inflatable bag is provided inside the flexible rod to expand the flexible rod, the connecting block is provided with an air intake pipe, the flexible rod is provided with an inflation pipe, and the inflation pipe is connected to the air intake pipe.
[0010] By adopting the above technical solution, the beneficial effects of the utility model are:
[0011] The structure is simple and convenient for clamping. During the clamping process, the tactile sensing layer and the pressure sensing layer can sense the clamping force, so that the clamping pressure will not be too large, thereby preventing the clamped objects, such as test tubes or beakers and glass experimental equipment, from being easily damaged. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 The utility model is a schematic diagram of a flexible gripper structure for a laboratory service robot according to an embodiment of the utility model.
[0013] Figure 2 The utility model is a schematic diagram of a flexible gripper structure for a laboratory service robot according to an embodiment of the utility model.
[0014] Figure 3 It is a schematic diagram of the enlarged structure of A in the embodiment of the present utility model. DETAILED DESCRIPTION
[0015] The utility model is now further described in conjunction with the accompanying drawings and specific embodiments.
[0016] refer to Figure 1-3 The utility model embodiment discloses: a flexible clamp for a laboratory service robot, comprising a fixed plate 1, one end of the fixed plate 1 is symmetrically provided with a connecting block 4, the other end of the fixed plate 1 is connected to a mechanical arm, and the connecting block 4 is provided with a flexible clamp 5 for clamping experimental equipment, and the flexible clamp 5 is located on the contact surface with the experimental equipment and is evenly provided with a tactile sensing layer for sensing clamping, the tactile sensing layer uses tactile sensors evenly distributed on the grasping surface of the flexible clamp 5 to sense whether the experimental equipment is clamped, and a pressure sensing layer is also provided between the tactile sensing layer and the flexible clamp 5 to sense the clamping force, and the pressure sensing layer uses pressure sensors evenly distributed between the tactile sensing layer and the flexible clamp 5 to sense the clamping force, thereby preventing the clamp from using excessive force when clamping the experimental equipment.
[0017] Specifically, the flexible clamp 5 includes a flexible rod 52 made of rubber or silicone material, the connecting block 4 is provided with a connecting shell, the flexible rod 52 is arranged on the connecting shell, an inflatable bag is provided inside the flexible rod 52 to expand the flexible rod 52, the connecting block 4 is provided with an air intake pipe 6, the flexible rod 52 is provided with an inflation pipe, and the inflation pipe is connected to the air intake pipe 6.
[0018] In order to be able to clamp experimental instruments of different sizes, it also includes an adjustment block 7. The fixed plate 1 is provided with a strip hole 2. The adjustment block 7 is locked on the fixed plate 1 by an adjusting bolt 3. The connecting block 4 is provided with a through channel 8 for penetrating the adjustment block 7. The adjustment block 7 is provided with a rail. The adjustment block 7 is provided with a slot. The connecting block 4 is locked on the adjustment block 7 by a bolt.
[0019] Working principle:
[0020] When using the clamp, first adjust the spacing of the flexible clamp 5 by adjusting the bolt 3 to adapt to the size of the experimental instrument to be clamped. Then, when clamping, gas enters from the air inlet pipe 6, and inflates the air bag through the inflation tube, so that the flexible rod 52 expands, and then the experimental instrument is clamped. During the clamping process, the tactile sensing layer first senses that the object is clamped, and then the pressure sensing layer starts to work, sensing the clamping pressure, so that the clamping pressure will not be too large, thereby preventing the clamped objects, such as test tubes or beakers and glass experimental instruments from being easily damaged.
[0021] The basic principles, main features and advantages of the utility model are shown and described above. Those skilled in the art should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.
Claims
1. A flexible gripper for a laboratory service robot, characterized in that: It includes a fixing plate, one end of which is symmetrically provided with a connecting block, the other end of which is connected to a robotic arm, the connecting block is provided with a flexible clamping claw for clamping the experimental instrument, the flexible clamping claw is located on a contact surface with the experimental instrument and is evenly provided with a tactile sensing layer for sensing clamping, a pressure sensing layer is also provided between the tactile sensing layer and the flexible clamping claw for sensing the clamping force, and an adjustment device is also provided between the fixing plate and the connecting block for adjusting the spacing between the connecting blocks and thereby adjusting the flexible clamping claw.
2. A flexible gripper for a laboratory service robot according to claim 1, characterized in that: The adjusting device comprises an adjusting block, a strip-shaped hole is opened on the fixing plate, the adjusting block is locked on the fixing plate by an adjusting bolt, and the connecting block is arranged on the adjusting block by a fixing device.
3. A flexible gripper for a laboratory service robot according to claim 2, characterized in that: The fixing device comprises: the connecting block is provided with a through passage for penetrating the adjusting block, the adjusting block is provided with a clamping rail, the adjusting block is provided with a clamping groove, and the connecting block is locked on the adjusting block by bolts.
4. The flexible gripper for a laboratory service robot according to claim 1, characterized in that: The flexible clamp includes a flexible rod made of rubber or silicone material, a connecting shell is provided on the connecting block, the flexible rod is arranged on the connecting shell, an inflatable bag is provided inside the flexible rod to expand the flexible rod, an air intake pipe is provided on the connecting block, an inflating pipe is provided on the flexible rod, and the inflating pipe is connected to the air intake pipe.