Single-motor rotating electric claw
By designing a single motor rotating electric claw, using a single-machine drive and a combination of multiple mechanisms, the complex structure and high cost problems of the jaws in the fully automatic push-and-table dyeing machine are solved, and high-precision transfer and low-cost solution of the glass slide are achieved.
Patent Information
- Application Number
- CN202420875379.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-25
- Publication Date
- 2025-03-28
- Estimated Expiration
- 2034-04-25
AI Technical Summary
The existing fully automatic push-and-dyeing dyeing machines usually use jaws to clamp the slides to transfer between stations. The clamping and rotation of the rotating jaws are driven by two independent driving sources, resulting in complex structure, large volume and high cost.
A single motor rotating electric claw is designed, and a single machine drive is used to achieve clamping, loosening and synchronous rotation of the glass through a combination of a driving mechanism, a turntable mechanism, an optocoupling mechanism, a magnetic coupling and a power-down anti-fall mechanism.
It realizes high-precision transfer of slides between stations, with a simple and compact structure, high motion accuracy, no empty space and low cost, solving the problems of complex structure and high cost in the existing technology.
Smart Images
Figure CN222680958U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical transmission, in particular to a single-motor rotating electric claw. Background Art
[0002] Existing blood slides are usually manually operated, which has problems such as irregular operation, poor repeatability, unguaranteed quality, slow speed and infection risk. In recent years, fully automatic slide machines or fully automatic slide staining machines have been gradually adopted as a substitute.
[0003] Fully automatic slide-pushing and staining machines usually use grippers to pick up slides for transfer between workstations. During the entire process, a rotating gripper is required for clamping and rotation. The clamping and rotation of the rotating gripper are usually driven by two independent drive sources (motors or cylinders), which have a complex structure, large size, and high cost.
[0004] The utility model designs a single-motor rotating electric claw to meet the needs of a fully automatic slide-pushing staining machine for slide clamping and rotation. The utility model adopts a single-machine drive, has a simple and compact structure, high motion accuracy, no empty space, and low cost. Utility Model Content
[0005] The purpose of the utility model is to provide a single-motor rotating electric claw, which solves the technical problems that the existing fully automatic slide pushing and staining machines usually use claws to clamp glass slides for transfer between workstations, and a rotating claw is needed to clamp and rotate during the whole process. The clamping and rotation of the rotating claw are usually driven by two independent driving sources (motor or cylinder), which has a complex structure, a large size and a high cost.
[0006] To achieve the above-mentioned objectives, the utility model provides a single-motor rotating electric claw, including a driving mechanism, a turntable mechanism, an optical coupling mechanism, a magnetic coupling and a power-off anti-drop mechanism, wherein the driving mechanism is a single driving source for providing power to the turntable mechanism, the turntable mechanism is used to clamp, release and rotate the glass slide, the optical coupling mechanism is used to detect the stroke of the rotating electric claw and determine whether the rotating electric claw is in the maximum or minimum position and detect the zero position of the rotating electric claw, the magnetic coupling is used to transmit force and torque without direct contact, and the power-off anti-drop mechanism is used to clamp the rotating electric claw to prevent the glass slide clamped by the rotating electric claw from falling.
[0007] Wherein, the driving mechanism comprises a base, a motor, a gear and an upper baffle, the motor is arranged on the base, the gear is arranged on the output shaft of the motor, and the upper baffle is arranged at the tail of the output shaft of the motor.
[0008] Among them, the turntable mechanism includes a turntable, a bearing, a retaining ring, a guide rail, a clamp and a lower baffle. The turntable is connected to the machine base through the bearing, and the axial displacement of the turntable is fixed by the retaining ring. The guide rails are arranged on both sides of the lower part of the turntable, the clamp is arranged on the slider of the guide rail, and the lower baffle is arranged under the turntable.
[0009] Wherein, the magnetic coupling is used between the turntable and the base to achieve non-contact connection.
[0010] The optical coupling mechanism includes an optical coupling plate and an optical coupler. The optical coupling plate is arranged on the base. Two optical couplers are arranged above the optical coupling plate, and one optical coupler is arranged below the optical coupling plate.
[0011] Wherein, the magnetic coupling is composed of a group of coupling magnets on the machine base and the turntable.
[0012] Wherein, the power-off anti-drop mechanism is composed of two groups of anti-drop magnets on the machine base and the turntable.
[0013] The utility model discloses a single-motor rotating electric claw. The utility model controls the working current or voltage of the motor of a single dual-output shaft through a program, so as to change the output torque of the motor. When the output torque of the motor is less than or greater than the slip torque of the magnetic coupling, the motor can drive the claw to clamp, release or rotate synchronously, so that the claw can clamp the glass slide for transfer between workstations, thereby solving the problem that the existing fully automatic slide pushing and staining machines usually use claws to clamp the glass slides for transfer between workstations, and a rotating claw is needed for clamping and rotation during the whole process. The clamping and rotation of the rotating claw are usually driven by two independent driving sources (motor or cylinder), which has complex structure, large size and high cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.
[0015] Figure 1 It is a schematic diagram of the overall structure of the single-motor rotating electric claw of the first embodiment of the utility model.
[0016] Figure 2 It is a schematic cross-sectional view of a single-motor rotating electric claw along a gear according to the first embodiment of the utility model.
[0017] Figure 3 It is a schematic cross-sectional view of the single-motor rotating electric claw along the bearing of the first embodiment of the utility model.
[0018] Figure 4It is a schematic diagram of the power-off anti-falling structure of the single-motor rotating electric claw of the first embodiment of the utility model.
[0019] Figure 5 It is an exploded view of the assembly of the single-motor rotating electric claw of the first embodiment of the utility model.
[0020] Figure 6 This is a schematic diagram of the working principle of the clamping jaws of the single-motor rotating electric jaws of the first embodiment of the utility model.
[0021] In the figure: 101-base, 102-motor, 103-gear, 104-upper baffle, 105-turntable, 106-bearing, 107-retaining ring, 108-guide rail, 109-clamp, 110-lower baffle, 111-optical coupling plate, 112-optical coupler, 113-coupling magnet, 114-anti-drop magnet. DETAILED DESCRIPTION
[0022] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.
[0023] First embodiment:
[0024] See also Figures 1 to 6 ,in Figure 1 This is a schematic diagram of the overall structure of a single-motor rotating electric claw of the first embodiment of the utility model. Figure 2 1 is a schematic cross-sectional view of the single-motor rotating electric claw along the gear 103 of the first embodiment of the utility model. Figure 3 1 is a schematic cross-sectional view of the single-motor rotating electric claw along the bearing 106 of the first embodiment of the utility model. Figure 4 This is a schematic diagram of the power-off anti-falling structure of the single-motor rotating electric claw of the first embodiment of the utility model. Figure 5 This is an exploded view of the assembly of a single motor rotating electric claw of the first embodiment of the utility model. Figure 6 This is a simplified diagram of the working principle of the clamping claw 109 of the single-motor rotating electric claw of the first embodiment of the utility model. The utility model provides a single-motor rotating electric claw, including a driving mechanism, a turntable mechanism, an optical coupling mechanism, a magnetic coupling and a power-off anti-fall mechanism. The driving mechanism includes a base 101, a motor 102, a gear 103 and an upper baffle 104. The turntable mechanism includes a turntable 105, a bearing 106, a retaining ring 107, a guide rail 108, a clamping claw 109 and a lower baffle 110. The optical coupling mechanism includes an optical coupling plate 111 and an optical coupler 112.
[0025] In this embodiment, the utility model controls the working current or voltage of the single dual-output shaft motor 102 through a program, so as to change the output torque of the motor 102. When the output torque of the motor 102 is less than or greater than the slip torque of the magnetic coupling, the motor 102 can drive the clamp 109 to clamp, release or rotate synchronously, so that the clamp 109 can clamp the glass slide for transfer between workstations, thereby solving the problem that the existing fully automatic slide sliding and staining machines usually use the clamp 109 to clamp the glass slide for transfer between workstations, and the rotating clamp 109 is needed for clamping and rotation during the whole process. The clamping and rotation of the rotating clamp 109 are usually driven by two independent driving sources (motor 102 or cylinder), which has complex structure, large size and high cost.
[0026] Among them, the driving mechanism is a single driving source, which is used to provide power for the turntable mechanism, and the turntable mechanism is used to clamp, release and rotate the glass slide. The optical coupling mechanism is used to detect the stroke of the rotating electric claw and determine whether the rotating electric claw is in the maximum or minimum position and detect the zero position of the rotating electric claw. The magnetic coupling is used to transmit force and torque without direct contact. The power-off anti-drop mechanism is used to clamp the rotating electric claw to prevent the glass slide clamped by the rotating electric claw from falling.
[0027] Secondly, the motor 102 is arranged on the base 101, the gear 103 is arranged on the output shaft of the motor 102, the upper baffle 104 is arranged at the tail of the output shaft of the motor 102, the motor 102 is a dual-output shaft motor 102, the motor 102 is fixed to the base 101 by 4 screws, the gear 103 is fixed on the output shaft of the motor 102 by interference fit, and the upper baffle 104 is fixed to the tail of the output shaft of the motor 102 by two tightening screws.
[0028] Again, the turntable 105 is connected to the base 101 through the bearing 106, and the axial displacement of the turntable 105 is fixed by the retaining ring 107. The guide rails 108 are arranged on both sides of the lower part of the turntable 105, and the clamping jaws 109 are arranged on the sliders of the guide rails 108. The lower baffle 110 is arranged below the turntable 105. The bearing 106 is a flange bearing 106, and the retaining ring 107 is a shaft retaining ring 107. A rack is arranged on the side of the clamping jaw 109 close to the gear 103, and the rack of the clamping jaw 109 is meshed with the gear 103. When the gear 103 rotates, the rack of the clamping jaw 109 drives the two clamping jaws 109 to move synchronously and symmetrically to achieve the clamping or loosening of the glass slide. The turntable 105 is connected to the base 101 through two flange bearings 106, and the turntable 105 is fixed by the shaft retaining ring 107. The two guide rails 108 are respectively mounted on both sides of the lower part of the turntable 105 by two screws. The two clamping jaws 109 are respectively fixed on the slider of the guide rail 108 by two screws and can move with the slider. The clamping jaws 109 have no empty position. The rack on the clamping jaws 109 is meshed with the gear 103. When the gear 103 rotates, the rack on the clamping jaws 109 is meshed with the gear 103, so that the rotation of the gear 103 can drive the rack on the clamping jaws 109 to move synchronously and symmetrically, and then drive the two clamping jaws 109 to move synchronously and symmetrically, so as to achieve the clamping or loosening of the clamping jaws 109. The lower baffle 110 is installed under the turntable 105 by two screws, so that the lower baffle 110 can rotate with the rotation of the turntable 105.
[0029] At the same time, the magnetic coupling is used between the turntable 105 and the base 101 to achieve non-contact connection.
[0030] In addition, the optical coupling plate 111 is arranged on the machine base 101, two optical couplers 112 are arranged above the optical coupling plate 111, and one optical coupler 112 is arranged below the optical coupling plate 111, the optical coupling plate 111 is fixed to the machine base 101 by two screws, two optical couplers 112 are installed above the optical coupling plate 111 by screws, which are respectively used to detect the maximum and minimum positions of the stroke of the clamp 109, and one optical coupler 112 is installed below the optical coupling plate 111 by screws, which is used to detect the zero position of the turntable 105.
[0031] In addition, the magnetic coupling is composed of a group of coupling magnets 113 on the base 101 and the turntable 105. A circle of coupling magnets 113 are installed on the base 101 and the turntable 105 in an S and N staggered manner with glue to form the magnetic coupling, which maintains the relative position of the turntable 105 and the base 101.
[0032] Finally, the power-off anti-drop mechanism is composed of two groups of anti-drop magnets 114 on the base 101 and the turntable 105. The base 101 and the turntable 105 are glued with glue and two pairs of anti-drop magnets 114 are installed accordingly. When the stroke of the clamp 109 reaches the minimum, the upper and lower anti-drop magnets 114 are centered and sucked tightly. When the clamp 109 is opened, the centers of the upper and lower anti-drop magnets 114 are staggered. According to the magnetic field alignment characteristics, a pulling force is generated to clamp the clamp 109. After the motor 102 is powered off, this pulling force can prevent objects from falling.
[0033] When using a single-motor rotating electric claw of the present embodiment, the working current or voltage of the motor 102 is controlled by a program, so as to achieve the purpose of changing the output torque of the motor 102. When the output torque of the motor 102 is smaller than the slipping torque of the magnetic coupling, the motor 102 can drive the clamping jaw 109 to clamp or loosen. When the output torque of the motor 102 is larger than the slipping torque of the magnetic coupling, the motor 102 can drive the rotation of the turntable 105, so that the clamping jaw 109 on the turntable 105 can rotate synchronously.
[0034] During operation, the motor 102 first rotates counterclockwise with a small torque, so that the clamping jaws 109 can clamp the object, and then the motor 102 continues to rotate in the same direction with a large torque, thereby driving the turntable 105 to rotate, and then the clamping jaws 109 can rotate synchronously with the clamped object. When the motor 102 rotates clockwise with a small torque, the clamping jaws 109 are released, so that the clamping jaws 109 can put down the object, and then the motor 102 continues to rotate in the same direction with a large torque, thereby driving the turntable 105 to rotate, and then driving the clamping jaws 109 to rotate, thereby resetting the clamping jaws 109.
[0035] When using this single motor to rotate the electric gripper, the entire workflow steps are:
[0036] 1. Power-on reset: After power-on, the motor 102 first rotates counterclockwise with a large torque, and the gear 103 on the output shaft of the motor 102 first drives the clamping jaws 109 to clamp, and then drives the turntable 105 back to the zero position, and then determines through the optical coupler 112 whether the stroke of the clamping jaws 109 is at the minimum position. If so, it means that there is no object between the two clamping jaws 109. If not, it means that there is an object between the two clamping jaws 109. Then, the motor 102 rotates clockwise with a small torque, so that the gear 103 drives the clamping jaws 109 to open to the maximum, and triggers the optical coupler 112, rotating the clamping jaws 109 to complete the reset.
[0037] 2. Clamp the object and rotate it: the motor 102 first rotates counterclockwise with a small torque, and the gear 103 on the output shaft of the motor 102 drives the clamping jaws 109 to clamp the object. Then, the optical coupler 112 is used to determine whether the stroke of the clamping jaws 109 is at the minimum position. If so, it means that there is no object between the two clamping jaws 109. If not, it means that there is an object between the two clamping jaws 109. Then, the motor 102 rotates counterclockwise with a large torque, thereby driving the turntable 105 to rotate to the set position.
[0038] 3. Release the object and reset: the motor 102 first rotates clockwise with a small torque, and the gear 103 on the output shaft of the motor 102 drives the clamping jaw 109 to release the object. Then, the optical coupler 112 is used to determine whether the stroke of the clamping jaw 109 is at the maximum position. If so, it means that the clamping jaw 109 has been successfully opened. If not, it means an error. Then, the motor 102 rotates clockwise with a large torque, thereby driving the turntable 105 to rotate back to the zero position. The signal of the optical coupler 112 at the zero position is read for confirmation, and the reset is completed.
[0039] In summary, the utility model controls the working current or voltage of the single dual-output shaft motor 102 through a program, so as to change the output torque of the motor 102. When the output torque of the motor 102 is less than or greater than the slip torque of the magnetic coupling, the motor 102 can drive the clamp 109 to clamp, release or rotate synchronously, so that the clamp 109 can clamp the glass slide for transfer between workstations, thereby solving the problem that the existing fully automatic slide sliding and staining machine usually uses the clamp 109 to clamp the glass slide for transfer between workstations, and the rotating clamp 109 is needed for clamping and rotation during the whole process. The clamping and rotation of the rotating clamp 109 are usually driven by two independent driving sources (motor 102 or cylinder), which has complex structure, large size and high cost.
[0040] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.
Claims
1. A single motor rotating electric claw, characterized in that: It includes a driving mechanism, a turntable mechanism, an optical coupling mechanism, a magnetic coupling and a power-off anti-drop mechanism. The driving mechanism is a single driving source for providing power to the turntable mechanism. The turntable mechanism is used to clamp, release and rotate the glass slide. The optical coupling mechanism is used to detect the stroke of the rotating electric claw and determine whether the rotating electric claw is at the maximum or minimum position and detect the zero position of the rotating electric claw. The magnetic coupling is used to transmit force and torque without direct contact. The power-off anti-drop mechanism is used to clamp the rotating electric claw to prevent the glass slide clamped by the rotating electric claw from falling.
2. The single-motor rotating electric claw according to claim 1, characterized in that: The driving mechanism comprises a base, a motor, a gear and an upper baffle, the motor is arranged on the base, the gear is arranged on the output shaft of the motor, and the upper baffle is arranged at the tail of the output shaft of the motor.
3. The single-motor rotating electric claw according to claim 2, characterized in that: The turntable mechanism includes a turntable, a bearing, a retaining ring, a guide rail, a clamp and a lower baffle. The turntable is connected to the machine base through the bearing, and the axial displacement of the turntable is fixed by the retaining ring. The guide rails are arranged on both sides of the lower part of the turntable, the clamp is arranged on the slider of the guide rail, and the lower baffle is arranged under the turntable.
4. The single-motor rotating electric claw according to claim 3, characterized in that: The magnetic coupling is used between the turntable and the base to achieve non-contact connection.
5. The single-motor rotating electric claw according to claim 2, characterized in that: The optical coupling mechanism comprises an optical coupling plate and an optical coupler. The optical coupling plate is arranged on the base. Two optical couplers are arranged above the optical coupling plate, and one optical coupler is arranged below the optical coupling plate.
6. The single-motor rotating electric claw according to claim 1, characterized in that: The magnetic coupling is composed of a group of coupling magnets on the machine base and the turntable.
7. The single-motor rotating electric claw according to claim 1, characterized in that: The power-off anti-drop mechanism is composed of two groups of anti-drop magnets on the machine base and the turntable.