Clamping gripper

Abstract

The utility model discloses a clamping gripper which comprises a driving mechanism, a guide supporting mechanism and a clamping mechanism. A driving mechanism is arranged on the guide supporting mechanism, the driving mechanism can drive the clamping mechanism to slide along the guide supporting mechanism, and the clamping mechanism can clamp and grab a target object. The clamping mechanism has the advantages that different target objects can be grabbed through the clamping mechanism, corresponding grabbers can be replaced according to the shapes of the target objects through the clamping jaws in the device, multiple sets of clamping mechanisms in the device can be arranged according to needs, and therefore the clamping range is widened, and the clamping efficiency is improved. The clamping mechanisms of the device can be arranged to move in the opposite directions or in the opposite directions or in the centripetal or centrifugal mode according to needs so that the device can be suitable for different application scenes, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of biological samples, in particular to a clamping gripper. Background Art

[0002] In the field of biological samples, storage and retrieval operations require the use of a matching transfer device, the front end of which is equipped with a clamping component for grabbing and fixing the transport equipment storing the samples.

[0003] Previous clamping assemblies usually clamp and grasp from both sides, which often cannot achieve a good grasping effect when dealing with barrel-shaped equipment such as straw barrels. The clamping assemblies are applicable to fewer scenarios and require different clamping devices to clamp the corresponding objects. The cost is high and it is not convenient to use. For this reason, the inventor designed a clamping gripper. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the above problems or problems existing in the prior art, the present utility model is proposed.

[0006] Therefore, the purpose of the present invention is to provide a clamping gripper that can clamp different target objects, and the clamping claws can be quickly replaced, which can be applicable to most scenarios.

[0007] In order to solve the above technical problems, the utility model provides the following technical solutions: a clamping gripper, which includes a driving mechanism, a guide support mechanism, and a clamping mechanism; the guide support mechanism is provided with a driving mechanism, the driving mechanism can drive the clamping mechanism to slide along the guide support mechanism, and the clamping mechanism can clamp and grasp the target object.

[0008] As a preferred solution of the clamping gripper of the utility model, at least two groups of clamping mechanisms are provided.

[0009] As a preferred solution of the clamping gripper of the utility model, the driving mechanism includes a driving member and a movable member, the driving member is connected to the movable member, the movable member is connected to the clamping mechanism, and the driving member drives the clamping mechanism to move through the movable member to grab the target object.

[0010] As a preferred solution of the clamping gripper of the utility model, the movable part includes a movable plate and a limit pusher arranged on the movable plate, the limit pusher is movably connected to the upper part of the clamping mechanism, and the clamping mechanism can be displaced while the limit pusher rotates.

[0011] As a preferred solution of the clamping gripper of the utility model, the limit pusher is arc-shaped, and the arc has a rotation angle, and the rotation of the limit pusher can drive the clamping mechanism to move forward or backward along the guide support mechanism.

[0012] As a preferred solution of the clamping gripper of the utility model, the clamping mechanism includes a limit pushing member, a limit movable member, a clamping claw rod, and a clamping claw; a limit movable member is provided at the upper end of the clamping claw rod, the limit movable member is provided in the limit pushing member, and the lower end of the clamping claw rod is detachably connected with a clamping claw; the target object can be grasped by multiple groups of clamping claws.

[0013] As a preferred solution of the clamping gripper of the utility model, the clamping claws can be replaced according to the shape of the target object.

[0014] As a preferred solution of the clamping gripper of the utility model, wherein: the guide support mechanism includes a support mechanism and a guide component; the guide component is arranged on the support mechanism, the guide component is connected to the clamping mechanism, and the guide component can guide the clamping mechanism.

[0015] As a preferred solution of the clamping gripper of the utility model, the guide assembly includes a guide shaft and a sliding block, the guide shaft is arranged on the upper end surface of the support mechanism, the sliding block is slidably connected to the guide shaft, and the sliding block is connected to the clamping mechanism.

[0016] As a preferred solution of the clamping gripper of the utility model, the driving member includes a driving engagement member, a transmission shaft, a supporting mechanism, and a supporting frame, the driving engagement member is connected to the transmission shaft, the transmission shaft is connected to the movable member, the driving engagement member can drive the movable member to rotate through the transmission shaft, and the supporting frame is connected to the movable engagement member and the supporting mechanism.

[0017] As a preferred solution of the clamping gripper of the utility model, the multiple groups of clamping mechanisms can move towards or away from each other along the guide support mechanism.

[0018] As a preferred solution of the clamping gripper of the utility model, the multiple groups of clamping mechanisms can perform centripetal or centrifugal motion along the guide support mechanism.

[0019] The beneficial effects of the utility model are as follows: the utility model can grasp different targets through the clamping mechanism, the clamping claws in the device can replace the corresponding grippers according to the shape of the target object, the clamping mechanism in the device can be set in multiple groups as needed, thereby increasing the clamping range, and the clamping mechanism of the device can be set to move towards or away from each other or to move centripetally or centrifugally as needed to adapt to different application scenarios, thereby greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0021] Figure 1 This is the overall schematic diagram of the clamping gripper.

[0022] Figure 2 Exploded view of the gripper.

[0023] Figure 3 for Figure 2 Schematic diagram of the F1 position of the middle clamping gripper.

[0024] Figure 4 Schematic diagram of the four-claw structure of the clamping gripper.

[0025] Figure 5 It is a schematic diagram of the two-grip structure of the clamping gripper.

[0026] Reference numerals: driving mechanism, 1; guiding and supporting mechanism, 2; clamping mechanism, 3; driving member, 11; movable member, 12; movable plate, 121; limiting push member, 122; limiting movable member, 31; clamping claw rod, 32; clamping claw, 33; supporting mechanism, 21; guiding assembly, 22; guiding shaft, 221; sliding block, 222; driving engagement member, 111; transmission shaft, 112; supporting frame, 113; DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0028] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0029] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0030] Example 1

[0031] Reference Figures 1 to 3 , which is the first embodiment of the utility model, provides a clamping gripper, which includes a driving mechanism 1, a guide support mechanism 2, and a clamping mechanism 3. The driving mechanism 1 can drive the clamping mechanism 3 to move along the guide support mechanism 2, so as to grasp the target object.

[0032] Specifically, it includes a driving mechanism 1, a guide support mechanism 2, and a clamping mechanism 3; the driving mechanism 1 is arranged on the guide support mechanism 2, the driving mechanism 1 can drive the clamping mechanism 3 to slide along the guide support mechanism 2, and the clamping mechanism 3 can clamp and grasp the target object.

[0033] Preferably, the clamping mechanism 3 can be provided in multiple groups as needed, thereby expanding the applicable scenarios.

[0034] In summary, the utility model can drive the clamping mechanism 3 to move along the guide support mechanism 2 through the driving mechanism 1, so as to grab the target object, and several corresponding groups of clamping mechanisms 3 can be set according to the target object, thereby improving the application scenario.

[0035] Example 2

[0036] Reference Figures 1 to 5 , which is the second embodiment of the utility model. In the previous embodiment, the clamping gripper includes a driving mechanism 1, a guide support mechanism 2, and a clamping mechanism 3. The driving mechanism 1 can drive the clamping mechanism 3 to move along the guide support mechanism 2, so as to grasp the target object.

[0037] Specifically, it includes a driving mechanism 1, a guide support mechanism 2, and a clamping mechanism 3; the driving mechanism 1 is arranged on the guide support mechanism 2, the driving mechanism 1 can drive the clamping mechanism 3 to slide along the guide support mechanism 2, and the clamping mechanism 3 can clamp and grasp the target object.

[0038] Preferably, the clamping mechanism 3 can be provided in multiple groups as needed, thereby expanding the applicable scenarios.

[0039] Furthermore, at least two groups of clamping mechanisms 3 are provided, and can be designed into two groups, three groups, four groups, etc. as needed.

[0040] Furthermore, the driving mechanism 1 includes a driving member 11 and a movable member 12 . The driving member 11 is connected to the movable member 12 . The movable member 12 is connected to the clamping mechanism 3 . The driving member 11 drives the clamping mechanism 3 to move through the movable member 12 to grab the target object.

[0041] Furthermore, the movable member 12 includes a movable plate 121 and a limiting pusher 122 disposed on the movable plate 121. The limiting pusher 122 is movably connected to the upper portion of the clamping mechanism 3. The limiting pusher 122 can move the clamping mechanism 3 while rotating.

[0042] Furthermore, the position-limiting pusher 122 is arc-shaped, and the arc has a rotation angle. The rotation of the position-limiting pusher 122 can drive the clamping mechanism 3 to move forward or backward along the guide support mechanism 2 .

[0043] Preferably, by setting the position-limiting pusher 122 to a certain rotation angle, the position-limiting movable member 31 can be pushed forward or backward when rotating.

[0044] Preferably, the limit pusher 122 can be an arc-shaped groove or a protruding arc-shaped block. The limit pusher 122 is slidably connected to the limit movable member 31. The limit movable member 31 can slide in the arc-shaped groove, or the protruding arc-shaped block can push the limit movable member 31 to move when rotating. The limit movable member 31 can adopt rollers and pins, or other existing technologies.

[0045] Furthermore, the clamping mechanism 3 includes a limit pusher 122, a limit movable member 31, a clamping claw rod 32, and a clamping claw 33; the upper end of the clamping claw rod 32 is provided with a limit movable member 31, the limit movable member 31 is arranged in the limit pusher 122, and the lower end of the clamping claw rod 32 is detachably connected with the clamping claw 33; the target object can be grasped by multiple groups of clamping claws 33.

[0046] Preferably, the limiting movable member 31 is connected to the clamping claw rod 32 , and the movement of the limiting movable member 31 drives the clamping claw rod 32 to move, and the clamping claw rod 32 is also connected to the sliding block 222 at the same time, and the sliding block 222 can slide along the direction of the guide shaft 221 .

[0047] Furthermore, the clamping jaws 33 can be replaced according to the shape of the target object, so as to be applicable to targets of different shapes and have a wider range of adaptability.

[0048] Preferably, the clamping jaw 33 may be V-shaped or in other shapes.

[0049] Furthermore, the guide support mechanism 2 includes a support mechanism 21 and a guide component 22 ; the guide component 22 is disposed on the support mechanism 21 , the guide component 22 is connected to the clamping mechanism 3 , and the guide component 22 can guide the clamping mechanism 3 .

[0050] Furthermore, the guide assembly 22 includes a guide shaft 221 and a sliding block 222 . The guide shaft 221 is disposed on the upper end surface of the support mechanism 21 . The sliding block 222 is slidably connected to the guide shaft 221 . The sliding block 222 is connected to the clamping mechanism 3 .

[0051] Preferably, the guide axis 221 can be set to a horizontal axis, a vertical axis, or a 45-degree inclined axis as needed.

[0052] Furthermore, the driving member 11 includes a driving engagement member 111, a transmission shaft 112, a support mechanism 21, and a support frame 113. The driving engagement member 111 is connected to the transmission shaft 112, the transmission shaft 112 is connected to the movable member 12, the driving engagement member 111 can drive the movable member 12 to rotate through the transmission shaft 112, and the support frame 113 is connected to the movable engagement member 111 and the support mechanism 21.

[0053] Preferably, the driving engagement member 111 can be driven by a driving motor to drive the worm gear to rotate, thereby driving the transmission shaft 112 and the movable plate 121 to rotate.

[0054] Furthermore, the multiple groups of clamping mechanisms 3 can move toward or away from each other along the guiding support mechanism 2 .

[0055] Furthermore, the group clamping mechanism 3 can perform centripetal motion or centrifugal motion along the guide support mechanism 2 .

[0056] In summary, the utility model drives the transmission shaft 112 and the movable plate 121 to rotate by driving the engaging member 111, and the limiting push member 122 on the movable plate 121 will push the limiting movable member 31 to drive the clamping claw rod 32 and the clamping claw 33 to move, and at the same time, the clamping claw rod 32 drives the sliding block 222 to move along the direction of the guide shaft 221, so that the target object is grasped by the clamping claw 33.

[0057] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and ratio of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present utility model. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also an equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0058] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0059] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, without undue experimentation, the development effort will be a routine task of design, fabrication, and production.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A clamping gripper, characterized in that: It comprises a driving mechanism (1), a guide support mechanism (2), and a clamping mechanism (3); the driving mechanism (1) is arranged on the guide support mechanism (2), the driving mechanism (1) can drive the clamping mechanism (3) to slide along the guide support mechanism (2), and the clamping mechanism (3) can clamp and grasp the target object; The driving mechanism (1) comprises a driving member (11) and a movable member (12), the driving member (11) being connected to the movable member (12), the movable member (12) being connected to the clamping mechanism (3), and the driving member (11) drives the clamping mechanism (3) to move via the movable member (12) to grasp the target object.

2. The clamping gripper according to claim 1, characterized in that: The clamping mechanisms (3) are provided in at least two groups.

3. The clamping gripper according to claim 1, characterized in that: The movable member (12) comprises a movable plate (121) and a position-limiting push member (122) arranged on the movable plate (121); the position-limiting push member (122) is movably connected to the upper portion of the clamping mechanism (3); the position-limiting push member (122) can cause the clamping mechanism (3) to move while rotating.

4. The clamping gripper according to claim 3, characterized in that: The position-limiting pusher (122) is arc-shaped, and the arc has a rotation angle, and the position-limiting pusher (122) can rotate to drive the clamping mechanism (3) to move forward or backward along the guide support mechanism (2).

5. The clamping gripper according to claim 1, characterized in that: The clamping mechanism (3) comprises a limit pusher (122), a limit movable member (31), a clamping claw rod (32), and a clamping claw (33); the limit movable member (31) is arranged at the upper end of the clamping claw rod (32), the limit movable member (31) is arranged in the limit pusher (122), and the lower end of the clamping claw rod (32) is detachably connected with the clamping claw (33); the target object can be grasped by multiple groups of clamping claws (33).

6. The clamping gripper according to claim 5, characterized in that: The clamping jaws (33) can be replaced according to the shape of the target object.

7. The clamping gripper according to claim 1, characterized in that: The guide support mechanism (2) comprises a support mechanism (21) and a guide component (22); the guide component (22) is arranged on the support mechanism (21), the guide component (22) is connected to the clamping mechanism (3), and the guide component (22) can guide the clamping mechanism (3).

8. The clamping gripper according to claim 7, characterized in that: The guide assembly (22) comprises a guide shaft (221) and a sliding block (222); the guide shaft (221) is arranged on the upper end surface of the support mechanism (21); the sliding block (222) is slidably connected to the guide shaft (221); and the sliding block (222) is connected to the clamping mechanism (3).

9. The clamping gripper according to claim 1, characterized in that: The driving member (11) comprises a driving engagement member (111), a transmission shaft (112), a support mechanism (21), and a support frame (113); the driving engagement member (111) is connected to the transmission shaft (112); the transmission shaft (112) is connected to the movable member (12); the driving engagement member (111) can drive the movable member (12) to rotate via the transmission shaft (112); and the support frame (113) is connected to the movable engagement member (111) and the support mechanism (21).

10. The clamping gripper according to any one of claims 1 to 9, characterized in that: The plurality of groups of clamping mechanisms (3) can move towards or away from each other along the guide support mechanism (2).

11. The clamping gripper according to any one of claims 1 to 9, characterized in that: The plurality of groups of clamping mechanisms (3) can perform centripetal or centrifugal motion along the guide support mechanism (2).

Images