Carrying clamping jaw device

Abstract

The utility model discloses a carrying clamping jaw device. The carrying clamping jaw device comprises a bottom plate, a driving mechanism and a clamping mechanism, the driving mechanism comprises a driving motor and a two-way lead screw, the driving motor is installed in the installation groove, a motor shaft of the driving motor is in transmission connection with one end of the two-way lead screw, and a first threaded structure and a second threaded structure which are opposite in rotation direction are arranged on the two-way lead screw at intervals; the clamping mechanism comprises two clamping jaw pieces, and the two clamping jaw pieces are connected to the first threaded structure and the second threaded structure in a one-to-one correspondence mode. According to the carrying clamping jaw device, the two clamping jaw pieces are driven to be close to or away from each other through the combination of the driving motor and the two-way lead screw, the clamping range of the clamping mechanism is enlarged, the mounting groove for mounting the driving motor is formed in the bottom plate, the two-way lead screw is rotatably arranged on one side of the bottom plate, and the structural compactness is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of consumable material handling equipment, in particular to a handling clamping claw device. Background Art

[0002] In the process of using laboratory automation instruments, it is often necessary to carry and transfer consumables, including deep well plates, tip boxes, PCR plates, etc. The conventional operation is to use a gripper device to carry consumables, so as to avoid direct contact between operators and consumables and samples, so as to reduce the intervention of manual operation in the whole process of the experiment.

[0003] The existing gripper devices used for transporting and transferring consumables usually adopt the following two types: the first type uses a gripper motor to directly drive two movable fingers to open and close, thereby achieving the gripping of consumables. At that time, the stroke of this type of gripper device is limited, resulting in a small stroke; the second type is a combination of a motor, a gear and two racks. The overall structure is larger, resulting in a larger size and cannot meet the needs of miniaturization.

[0004] Therefore, how to provide a transport clamp device with a compact structure and a large clamping range is a technical problem that urgently needs to be solved. Utility Model Content

[0005] The utility model aims to provide a transport clamping claw device, which has a compact structure and a large clamping range.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] A carrying clamp device comprises: a base plate, on which a mounting groove is provided; a driving mechanism, which comprises a driving motor and a bidirectional screw, the driving motor is installed in the mounting groove, the motor shaft of the driving motor is transmission-connected to one end of the bidirectional screw, the bidirectional screw is rotatably arranged on one side of the base plate, and a first thread structure and a second thread structure with opposite rotation directions are arranged on the bidirectional screw at intervals; a clamping mechanism, which comprises two clamping jaws, the two clamping jaws are threadedly connected to the first thread structure and the second thread structure in a one-to-one manner, and can approach or move away from each other in a first direction.

[0008] Preferably, the driving mechanism further comprises a gear structure, which comprises at least two mutually meshing transmission gears, the motor shaft of the driving motor is connected to one of the transmission gears, and the bidirectional lead screw is connected to the other transmission gear.

[0009] Preferably, the clamping mechanism further comprises two screw nut blocks, the two screw nut blocks are respectively threadedly connected to the first threaded structure and the second threaded structure, and the two clamping jaws are connected to the two screw nut blocks in a one-to-one correspondence.

[0010] Preferably, the transporting clamping jaw device further comprises a guiding mechanism, and the guiding mechanism is used to guide the movement of the clamping jaw piece in the first direction.

[0011] Preferably, the guiding mechanism comprises a guide rail and two sliders slidably connected to the guide rail, the guide rail is extended along the first direction, and the two clamping claws are connected to the two sliders in a one-to-one correspondence.

[0012] Preferably, the guide rail and the bidirectional screw rod are spaced apart in the second direction, and the second direction is perpendicular to the first direction.

[0013] Preferably, the axis of the motor shaft of the drive motor is arranged parallel to the central axis of the bidirectional screw.

[0014] Preferably, the clamping mechanism further comprises an anti-slip pad, and the anti-slip pad is arranged on the clamping surface of the clamping claw piece.

[0015] Preferably, the transport clamp device further comprises a motor protection cover, which is connected to the base plate and covers the outside of the drive motor.

[0016] Preferably, the drive motor is a coreless motor.

[0017] Beneficial effects of the utility model:

[0018] The utility model provides a transporting clamp device including a base plate, a driving mechanism and a clamping mechanism, wherein the driving mechanism includes a driving motor and a bidirectional screw, wherein the driving motor is installed in a mounting groove, wherein the motor shaft of the driving motor is in transmission connection with one end of the bidirectional screw, wherein the bidirectional screw is rotatably arranged on one side of the base plate, wherein a first thread structure and a second thread structure with opposite rotation directions are arranged at intervals on the bidirectional screw, and wherein the clamping mechanism includes two clamping claws for clamping the object to be transported, wherein the two clamping claws are connected to the first thread structure and the second thread structure in a one-to-one correspondence. The transporting clamp device drives the two clamping claws to move closer to or away from each other by adopting a combination of a driving motor and a bidirectional screw, thereby increasing the clamping range of the clamping mechanism, and by arranging a mounting groove for installing the driving motor on the base plate, the bidirectional screw is rotatably arranged on one side of the base plate, thereby improving the compactness of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an assembly diagram of the carrying clamping claw device provided by the embodiment of the utility model;

[0020] Figure 2 is an exploded view of a transport clamping device provided by an embodiment of the utility model;

[0021] Figure 3 is a top view of the transport clamping device provided by an embodiment of the utility model;

[0022] Figure 4 It is a side view of the carrying clamp device provided by the embodiment of the utility model;

[0023] Figure 5 It is a front view of the transport clamping device provided by an embodiment of the utility model.

[0024] In the figure:

[0025] 100, bottom plate; 101, mounting slot;

[0026] 200, driving mechanism; 210, driving motor; 220, bidirectional screw rod; 221, first thread structure; 222, second thread structure; 230, connecting block; 240, transmission gear;

[0027] 300, clamping mechanism; 310, clamping claw; 311, first section; 312, second section; 313, third section; 320, anti-slip pad; 330, screw nut block;

[0028] 400, guide mechanism; 410, guide rail; 420, slider;

[0029] 500, motor protection cover; 600, gear cover; 700, motor mounting plate; 800, bearing seat; 900, control mechanism. DETAILED DESCRIPTION

[0030] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The utility model provides a transport clamping device, which can be used in laboratory automation instruments to clamp consumables such as deep well plates, pipette tip boxes and PCR plates. Of course, in addition to laboratory automation instruments, the transport clamping device can also be used in other equipment with clamping requirements. Figure 1-Figure 5 The specific structure of the transport clamping claw device according to the embodiment of the utility model is described.

[0034] like Figures 1 to 5 As shown, the transporting clamp device includes a base plate 100, a driving mechanism 200 and a clamping mechanism 300. The base plate 100 is the main installation structure, the driving mechanism 200 is installed on the base plate 100, and a mounting groove 101 is provided on the base plate 100. The driving mechanism 200 is mainly used to provide power for the action of the clamping mechanism 300. Specifically, the driving mechanism 200 includes a driving motor 210 and a bidirectional screw rod 220. The driving motor 210 is installed in the mounting groove 101. The motor shaft of the driving motor 210 is in transmission connection with one end of the bidirectional screw rod 220. The bidirectional screw rod 220 is rotatably arranged on one side of the base plate 100. The bidirectional screw rod 220 is provided with a first thread structure 221 and a second thread structure 222 with opposite rotation directions at intervals. The clamping mechanism 300 includes two clamping claws 310 for clamping the workpiece to be transported. The two clamping claws 310 are threadedly connected to the first thread structure 221 and the second thread structure 222 in a one-to-one correspondence.

[0035] Driven by the drive motor 210, the bidirectional screw rod 220 can rotate around its central axis. Since the bidirectional screw rod 220 is provided with a first thread structure 221 and a second thread structure 222 with opposite rotation directions, when the bidirectional screw rod 220 rotates, the two clamping jaws 310 can move on the bidirectional screw rod 220, and the moving directions are opposite, so that the two clamping jaws 310 can approach or move away from each other, so that the two clamping jaws 310 clamp or release the parts to be transported between the two clamping jaws 310. The parts to be transported can be consumables such as deep well plates, pipette tip boxes and PCR plates, or other parts that need to be transported. In addition, by providing a mounting groove 101 on the base plate 100, the drive motor 210 is installed in the mounting groove 101, and the bidirectional screw rod 220 is rotatably arranged on one side of the base plate 100, thereby greatly improving the compactness of the transporting clamp device, reducing the volume of the transporting clamp device, so that the transporting clamp device can meet the requirements for miniaturization.

[0036] In some embodiments, the driving motor 210 is a coreless motor. Compared with other motors, the coreless motor has the advantages of small size and light weight. Using the coreless motor as the driving motor 210 is conducive to reducing the overall weight and compactness of the carrying gripper device, so that the carrying gripper device can meet the requirements of lightweight and miniaturization.

[0037] In some embodiments, the bidirectional screw rod 220 is disposed below the bottom plate 100, and the central axis of the bidirectional screw rod 220 is disposed parallel to the axis of the motor shaft of the drive motor 210. Such an arrangement can further improve the compactness of the structure of the transporting jaw device, so that the volume of the transporting jaw device can be reduced. Of course, the bidirectional screw rod 220 can also be disposed above the bottom plate 100.

[0038] In order to achieve a transmission connection between the motor shaft of the drive motor 210 and the bidirectional screw rod 220, in some embodiments, the drive mechanism 200 also includes a gear structure, which includes at least two mutually meshing transmission gears 240, the motor shaft of the drive motor 210 is connected to one of the transmission gears 240, and the bidirectional screw rod 220 is connected to the other transmission gear 240.

[0039] In a specific embodiment, Figure 2 As shown, the gear structure includes two mutually meshing transmission gears 240, and the two transmission gears 240 are simultaneously arranged on the front side, rear side, left side or right side of the base plate 100. The motor shaft of the drive motor 210 is coaxially connected to the transmission gear 240 located above, one end of the bidirectional screw rod 220 is coaxially connected to the transmission gear 240 located below, and the other end of the bidirectional screw rod 220 is rotatably connected to the bearing in the bearing seat 800.

[0040] In order to realize the installation of the two transmission gears 240, the carrying clamp device also includes a motor mounting plate 700, a U-shaped mounting groove 101 is opened on the base plate 100, one end of the mounting groove 101 extends to the end of the base plate 100 to form an opening, the motor mounting plate 700 is installed on one side of the base plate 100 and can block the opening, the two transmission gears 240 are both rotatably installed on the motor mounting plate 700, and the motor shaft of the drive motor 210 passes through the motor mounting plate 700 and is connected to the transmission gear 240.

[0041] In some embodiments, the center line of the two transmission gears 240 forms an angle with the vertical direction, so that the two transmission gears 240 are staggered in the vertical direction, which makes it easier to install the clamping claw piece 310.

[0042] In some embodiments, the transmission gear 240 is a copper gear. Compared with other metal gears of the same specification, the copper gear is light in weight. The use of the copper gear is helpful to reduce the weight of the carrying clamp device, so that the carrying clamp device can meet the demand for lightweight.

[0043] In order to protect the transmission gear 240 and prevent foreign matter from affecting the transmission accuracy of the transmission gear 240, the handling clamp device further includes a gear cover 600, which is sleeved outside the gear structure. In some embodiments, the gear cover 600 is a waist-shaped cover, and the gear cover 600 is detachably connected to the motor mounting plate 700. The detachable connection method includes but is not limited to a connector connection, a snap connection, a magnetic attraction, etc.

[0044] Continue to refer to Figure 2 As shown, the clamping mechanism 300 further includes two screw nut blocks 330, which are respectively threadedly connected to the first thread structure 221 and the second thread structure 222, and the two clamping jaws 310 are connected to the two screw nut blocks 330 in a one-to-one correspondence. The screw nut blocks 330 and the bidirectional screw 220 can be used in conjunction with each other, and the bidirectional screw 220 and the clamping jaws 310 are connected by the screw nut blocks 330, so that the structure of the clamping jaws 310 can be simplified.

[0045] In order to improve the movement accuracy of the two clamping jaws 310 in the first direction, in some embodiments, the transport clamping jaw device further includes a guide mechanism 400, and the guide mechanism 400 is used to guide the movement of the clamping jaws 310 in the first direction.

[0046] In some embodiments, Figure 2As shown, the guide mechanism 400 includes a guide rail 410 and two sliders 420 slidably connected to the guide rail 410, the guide rail 410 is extended along the first direction, and the two clamping jaws 310 are connected to the two sliders 420 in a one-to-one correspondence. It should be noted that the clamping jaw 310 is connected to the slider 420 and the screw nut block 330 at the same time, and the connection between the clamping jaw 310 and the slider 420 and the connection between the clamping jaw 310 and the screw nut block 330 are arranged at intervals. Of course, in other embodiments, the guide mechanism 400 can also be a guide rod penetrated on the two clamping jaws 310, and the two clamping jaws 310 are respectively slidably connected to the guide rod.

[0047] In some embodiments, the guide rail 410 and the bidirectional screw rod 220 are spaced apart in the second direction, and the second direction is perpendicular to the first direction. The first direction may be the left-right direction of the transport clamp device, and the second direction may be the front-back direction of the transport clamp device.

[0048] In some embodiments, the clamping jaw 310 includes a first section 311, a second section 312, and a third section 313 connected in sequence, the first section 311 and the third section 313 are arranged in parallel, and the angle between the second section 312 and the first section 311 and the angle between the second section 312 and the third section 313 are both obtuse angles. Such an arrangement not only makes the clamping jaw 310 beautiful, but also enables the clamping end of the clamping jaw 310 for clamping the consumables to be higher or lower than the bottom plate 100, so that when the transporting clamping jaw device clamps the consumables, the consumables are not likely to interfere with the bottom plate 100 and other components installed on the bottom plate 100.

[0049] Optionally, one end of the first section 311 away from the second section 312 is a connecting end, the connecting end of the clamping jaw 310 is connected to the slider 420 , and the screw nut block 330 is connected to the middle of the first section 311 through the connecting block 230 .

[0050] In order to improve the clamping stability of the clamping jaw piece 310, in some embodiments, the clamping mechanism 300 also includes an anti-skid pad 320, which is arranged on the clamping surface of the clamping jaw piece 310, and can increase the roughness of the clamping surface, increase the friction between the clamping jaw piece 310 and the consumables, thereby achieving an anti-skid effect, and ensuring that the clamping jaw piece 310 can firmly clamp the consumables. Optionally, the anti-skid pad 320 is a silicone sheet, and two silicone sheets are provided, and the two silicone sheets are respectively installed on the clamping surfaces of the two clamping jaw pieces 310. Of course, in other embodiments, the roughness of the clamping surface can also be increased by other means, such as providing an anti-skid pattern on the clamping surface.

[0051] In order to protect the drive motor 210, continue to refer to Figure 2As shown, in some embodiments, the carrying clamp device further includes a motor protection cover 500, which is connected to the base plate 100 and covers the outside of the drive motor 210. The motor protection cover 500 can prevent foreign matter from entering the installation slot 101, thereby reducing the failure rate of the drive motor 210.

[0052] Further, continue to refer to Figure 2 As shown, the carrying gripper device further includes a control mechanism 900. In this embodiment, the control mechanism 900 may be a centralized or distributed controller. For example, the controller may be a single microcontroller or may be composed of multiple distributed microcontrollers. The microcontroller may run a control program to control the drive motor 210 to realize its function. In some embodiments, the control mechanism 900 is disposed in a cavity formed by the bottom plate 100 and the motor protective cover 500, so that the motor protective cover 500 can simultaneously protect the control mechanism 900.

[0053] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A handling clamp device, characterized in that: include: A bottom plate (100), wherein a mounting groove (101) is provided on the bottom plate (100); A driving mechanism (200), the driving mechanism (200) comprising a driving motor (210) and a bidirectional screw rod (220), the driving motor (210) being installed in the installation groove (101), the motor shaft of the driving motor (210) being drivingly connected to one end of the bidirectional screw rod (220), the bidirectional screw rod (220) being rotatably arranged on one side of the base plate (100), and the bidirectional screw rod (220) being provided with a first thread structure (221) and a second thread structure (222) having opposite rotation directions at intervals; The clamping mechanism (300) comprises two clamping jaws (310), wherein the two clamping jaws (310) are threadedly connected to the first thread structure (221) and the second thread structure (222) in a one-to-one correspondence and can move closer to or farther from each other in a first direction.

2. The carrying gripper device according to claim 1, characterized in that: The driving mechanism (200) further comprises a gear structure, wherein the gear structure comprises at least two mutually meshing transmission gears (240), the motor shaft of the driving motor (210) is connected to one of the transmission gears (240), and the bidirectional screw rod (220) is connected to the other transmission gear (240).

3. The transport gripper device according to claim 1, characterized in that: The clamping mechanism (300) further comprises two screw nut blocks (330), wherein the two screw nut blocks (330) are respectively threadedly connected to the first threaded structure (221) and the second threaded structure (222), and the two clamping claw pieces (310) are connected to the two screw nut blocks (330) in a one-to-one correspondence.

4. The transport gripper device according to claim 1, characterized in that: The transport clamping claw device further comprises a guiding mechanism (400), wherein the guiding mechanism (400) is used to guide the movement of the clamping claw piece (310) in the first direction.

5. The transport gripper device according to claim 4, characterized in that: The guide mechanism (400) comprises a guide rail (410) and two sliders (420) slidably connected to the guide rail (410); the guide rail (410) is extended along the first direction; the two clamping claws (310) are connected to the two sliders (420) in a one-to-one correspondence.

6. The transport gripper device according to claim 5, characterized in that: The guide rail (410) and the bidirectional screw rod (220) are arranged at intervals in a second direction, and the second direction is arranged perpendicular to the first direction.

7. The transport gripper device according to claim 1, characterized in that: The axis of the motor shaft of the driving motor (210) is arranged parallel to the central axis of the bidirectional screw rod (220).

8. The transport gripper device according to claim 1, characterized in that: The clamping mechanism (300) further comprises an anti-skid pad (320), wherein the anti-skid pad (320) is arranged on the clamping surface of the clamping claw piece (310).

9. The transport gripper device according to claim 1, characterized in that: The transport clamp device further comprises a motor protection cover (500), wherein the motor protection cover (500) is connected to the base plate (100) and covers the outside of the drive motor (210).

10. The transport gripper device according to any one of claims 1 to 9, characterized in that: The driving motor (210) is a coreless motor.

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