Electric clamping gripper

Abstract

The utility model discloses an electric clamping gripper, which is characterized in that a cam is used for driving a left gripper and a right gripper to close and open, only the moving directions of the left gripper and the right gripper are changed, and the left gripper and the right gripper respectively depend on elastic potential energy provided by a left pressure spring and a right pressure spring as pressure for clamping a glass slide. The glass slide can be firmly clamped and cannot be crushed under the elastic action of the pressure spring. And when the grabbing pressure needs to be adjusted, only the pressure spring with proper elasticity needs to be selected, and the grabbing pressure is easier to adjust. The manipulator can also be used for grabbing other articles and is wide in application range. By arranging the folding separation blade, the unfolding separation blade, the folding inductive switch and the unfolding inductive switch, whether the glass slide is grabbed or not can be sensed when the glass slide is grabbed, the folding separation blade can continuously block the folding inductive switch to indicate that the glass slide is grabbed, and the folding separation blade does not continuously block the folding inductive switch to indicate that the glass slide is not grabbed. Therefore, the grabbing condition of the glass slide can be prompted.

Description

Technical Field

[0001] The utility model relates to the technical field of laboratory equipment, and particularly relates to a gripper for electric clamping. Background Art

[0002] In the field of biomedical experiments, glass slide grasping is a common operation. Existing grippers usually rely on a motor to directly drive the opening and closing. However, glass slides are fragile items. The grippers directly driven by a motor often apply excessive pressure and break the glass slides, but if the force is insufficient, the glass slides are likely to fall during the grasping process, and it is difficult to accurately control the grasping force. Summary of the Utility Model

[0003] Aiming at the deficiencies of the prior art, the utility model aims to provide a gripper for electric clamping.

[0004] To achieve the above object, the utility model adopts the following technical solutions:

[0005] A gripper for electric clamping, comprising a base, a motor, a cam, a left compression spring, a left gripper, a left cam follower, a right compression spring, a right gripper and a right cam follower; the left gripper and the right gripper are respectively installed on the left side and the right side of the base and can linearly move left and right on the base; the left compression spring and the right compression spring are respectively arranged on the left side and the right side of the base; the left end of the left compression spring is fixed, and the right end abuts against the left gripper; the right end of the right compression spring is fixed, and the left end abuts against the right gripper; when the left gripper and the right gripper are completely closed, both the left compression spring and the right compression spring are in a compressed state;

[0006] The motor is fixed on the base, the cam and the rotating shaft of the motor are coaxially fixed, and when the rotating shaft of the motor rotates, the cam rotates together; the left cam follower and the right cam follower are respectively installed on the left gripper and the right gripper and can move left and right along with the rotation of the cam.

[0007] As a preferred solution, the structures of the left gripper and the right gripper are left-right symmetric; the left gripper includes a left gripper arm and a left small gripper, the upper end of the left small gripper is connected to the lower end of the left gripper arm, and a left gripper card slot is arranged at the lower end of the left small gripper; the right gripper includes a right gripper arm and a right small gripper, the upper end of the right small gripper is connected to the lower end of the right gripper arm, and a right gripper card slot is arranged at the lower end of the right small gripper.

[0008] As an implementation solution, guide rail one and guide rail two are respectively provided at the upper and lower parts between the left gripper and the right gripper. Guide rail one and guide rail two are installed on the base and are parallel to each other. Guide rail one left slider and guide rail one right slider are respectively provided at the upper parts of the left gripper and the right gripper. Guide rail two left slider and guide rail two right slider are respectively provided at the lower parts of the left gripper and the right gripper. The guide rail one left slider and the guide rail one right slider are respectively slidably assembled on guide rail one, and the guide rail two left slider and the guide rail two right slider are respectively slidably assembled on guide rail two. As the second implementation solution, guide rail one is provided at the upper part between the left gripper and the right gripper. Guide rail one is installed on the base. Guide rail one left slider and guide rail one right slider are respectively provided at the upper parts of the left gripper and the right gripper. The guide rail one left slider and the guide rail one right slider are respectively slidably assembled on guide rail one. As the third implementation solution, guide rail two is provided at the lower part between the left gripper and the right gripper. Guide rail two is installed on the base. Guide rail two left slider and guide rail two right slider are respectively provided at the lower parts of the left gripper and the right gripper. The guide rail two left slider and the guide rail two right slider are respectively slidably assembled on guide rail two.

[0009] As a preferred solution, the cam is S-shaped or elliptical and is axisymmetric.

[0010] As a preferred solution, the gripper for electric clamping further includes an opening induction switch, a closing induction switch, a closing baffle and an opening baffle. The closing induction switch and the opening induction switch are both installed on the base. The closing baffle and the opening baffle are installed on the left gripper and / or the right gripper. The closing baffle can enter and exit the induction area of the closing induction switch during the closing process of the left gripper and the right gripper. The opening baffle can enter and exit the induction area of the opening induction switch during the opening process of the left gripper and the right gripper.

[0011] As one of the installation methods, the closing induction switch is installed at the upper left of the base, and the opening induction switch is installed at the upper right of the base. The closing baffle is installed at the upper end of the left gripper and can move left and right with the left gripper and enter and exit the induction area of the closing induction switch. The opening baffle is installed at the upper end of the right gripper and can move left and right with the right gripper and enter and exit the induction area of the opening induction switch. As another installation method, the closing induction switch is installed at the upper right of the base, and the opening induction switch is installed at the upper left of the base. The closing baffle is installed at the upper end of the right gripper and can move left and right with the right gripper and enter and exit the induction area of the closing induction switch. The opening baffle is installed at the upper end of the left gripper and can move left and right with the left gripper and enter and exit the induction area of the opening induction switch.

[0012] As a preferred solution, a left spring positioning seat and a right spring positioning seat are respectively provided on the left side and the right side of the base. The left end of the left spring is fixed to the left spring positioning seat, and the right end of the right spring is fixed to the right spring positioning seat.

[0013] The beneficial effects of the present utility model are as follows:

[0014] 1. In the present utility model, by combining a motor and a cam, the cam is used to drive the left gripper and the right gripper to close and open. Only the moving directions of the left gripper and the right gripper are changed. The left gripper and the right gripper respectively rely on the elastic potential energy provided by the left compression spring and the right compression spring as the pressure for clamping the glass slide. The elastic force of the compression spring can firmly clamp the glass slide without crushing it. When it is necessary to adjust the grasping pressure, only a compression spring with appropriate elasticity needs to be selected, which is easier to achieve.

[0015] 2. By setting a closing stop, an opening stop, a closing induction switch, and an opening induction switch, the present utility model can simultaneously sense whether the glass slide has been grasped when grasping the glass slide. The closing stop continuously blocking the closing induction switch indicates that the glass slide has been grasped, and the closing stop not continuously blocking the closing induction switch indicates that the glass slide has not been grasped, thus helping to prompt the grasping situation of the glass slide.

[0016] 3. By replacing the left gripper slot and the right gripper slot with different shapes, the present utility model can firmly grasp various types of items such as glass slides, reagent bottles, and reagent tubes, and has a wide range of applications. Description of the Drawings

[0017] Figure 1 is a three-dimensional schematic diagram of the gripper in the open state in an embodiment of the present utility model;

[0018] Figure 2 is a front schematic diagram of the gripper in the closed state in an embodiment of the present utility model;

[0019] Figure 3 is Figure 2 the right schematic diagram of;

[0020] Figure 4 is a structural schematic diagram of the left gripper in an embodiment of the present utility model;

[0021] Figure 5 is Figure 4 the exploded schematic diagram of;

[0022] Figure 6 is a front schematic diagram of the gripper in the open state in an embodiment of the present utility model;

[0023] Figure 7 is a schematic diagram of the gripper in the closed state grasping a glass slide in an embodiment of the present utility model. Detailed Implementation Modes

[0024] The present utility model will be further described in conjunction with the accompanying drawings. It should be noted that this embodiment is based on the present technical solution, and detailed implementation manners and specific operation procedures are given, but the protection scope of the present utility model is not limited to this embodiment.

[0025] This embodiment provides a gripper for electric clamping, as Figures 1-7 shown, which consists of a base 1, a motor 2, a cam 3, an opening induction switch 4, a closing induction switch 5, a first guide rail 6, a second guide rail 7, a left spring positioning seat 8, a left spring 9, a left gripper 10, a left slider of the first guide rail 11, a left slider of the second guide rail 12, a left cam follower 13, a closing stop piece 14, a right spring positioning seat 15, a right spring 16, a right gripper 17, a right slider of the first guide rail 18, a right slider of the second guide rail 19, a right cam follower 20 and an opening stop piece 21.

[0026] The left gripper 10 and the right gripper 17 are respectively installed on the left and right sides of the base 1 and can move linearly left and right on the base 1;

[0027] The structures of the left gripper 10 and the right gripper 17 are left-right symmetric; the left gripper 10 includes a left gripper arm 22 and a left small gripper 23, the upper end of the left small gripper 23 is connected to the lower end of the left gripper arm 22, and a left gripper card slot 24 is provided at the lower end of the left small gripper 23; the right gripper 17 includes a right gripper arm and a right small gripper, the upper end of the right small gripper is connected to the lower end of the right gripper arm, and a right gripper card slot is provided at the lower end of the right small gripper. The left gripper card slot and the right gripper card slot are used to clamp the glass slide from the left and right sides when grasping the glass slide.

[0028] As an implementation manner, a first guide rail 6 and a second guide rail 7 are respectively provided between the upper and lower parts of the left gripper 10 and the right gripper 17. The first guide rail 6 and the second guide rail 7 are both installed on the base 1 and are parallel to each other. A left slider of the first guide rail 11 and a right slider of the first guide rail 18 are respectively provided on the upper parts of the left gripper 10 and the right gripper 17, and a left slider of the second guide rail 12 and a right slider of the second guide rail 19 are respectively provided on the lower parts of the left gripper 10 and the right gripper 17; the left slider of the first guide rail 11 and the right slider of the first guide rail 18 are respectively slidably assembled on the first guide rail 6, and the left slider of the second guide rail 12 and the right slider of the second guide rail 19 are respectively slidably assembled on the second guide rail 7. As another implementation manner, only one of the first guide rail 6 and the second guide rail 7 is provided. Correspondingly, only one group of the left slider of the first guide rail 11 and the right slider of the first guide rail 18, and the left slider of the second guide rail 12 and the right slider of the second guide rail 19 is provided. This embodiment mainly takes the former implementation manner as an example for description.

[0029] As one of the installation methods, the closing sensor switch 5 is installed on the upper left of the base 1, and the opening sensor switch 4 is installed on the upper right of the base 1; the closing baffle 14 is installed on the upper end of the left gripping arm 22, and can move left and right with the left gripping hand 10 and enter and exit the sensing area of the closing sensor switch 5; the opening baffle 21 is installed on the upper end of the right gripping arm, and can move left and right with the right gripping hand 17 and enter and exit the sensing area of the opening sensor switch 4. As another installation scheme, the closing sensor switch 5 can also be installed on the upper right of the base 1, and the opening sensor switch 4 can be installed on the upper left of the base 1, and then the closing baffle 14 is installed on the upper end of the right gripping arm, and can move left and right with the right gripping hand and enter and exit the sensing area of the closing sensor switch 5; the opening baffle 21 is installed on the upper end of the left gripping arm, and can move left and right with the left gripping hand and enter and exit the sensing area of the opening sensor switch 4. This embodiment is mainly described by taking the former installation method as an example.

[0030] The left compression spring positioning seat 8 and the right compression spring positioning seat 15 are respectively arranged on the left and right sides of the base 1, the left compression spring 9 is arranged between the left compression spring positioning seat 8 and the left grip 10 and its two ends are respectively against the left compression spring positioning seat 8 and the left grip 10, the right compression spring 16 is respectively arranged between the right compression spring positioning seat 15 and the right grip 17 and its two ends are respectively against the right compression spring positioning seat 15 and the right grip 17; when the left grip 10 and the right grip 17 are fully closed, the left compression spring 9 and the right compression spring 16 are both in a compressed state.

[0031] The left compression spring positioning seat is used to resist the left end of the left compression spring, limiting the left end of the left compression spring from moving to the left. The right compression spring positioning seat is used to resist the right end of the right compression spring, limiting the right end of the right compression spring from moving to the right. The right end of the left compression spring resists the left grip, and the left end of the right compression spring resists the right grip. When the left grip moves to the left, the left compression spring is forced to be compressed, and the left compression spring exerts a rightward pressure on the left grip. The more the left grip moves to the left, the more the left compression spring is compressed, and the greater the rightward pressure exerted by the left compression spring on the left grip. When the left grip moves to the right, the left compression spring is relaxed, and the left compression spring also exerts a rightward pressure on the left grip. The more the left grip moves to the right, the more the left compression spring is relaxed, and the less rightward pressure exerted by the left compression spring on the left grip. Even if the left gripper is closed with the right gripper and the left gripper can no longer move to the right, the left compression spring will exert sufficient rightward pressure on the left gripper, so that the left gripper slot on the left gripper cooperates with the right gripper slot on the right gripper to firmly clamp the slide.

[0032] Similarly, when the right gripper moves to the right, it forces the right compression spring to be compressed. The right compression spring exerts a leftward pressure on the right gripper. The more the right gripper moves to the right, the more the right compression spring is compressed, and the greater the leftward pressure exerted by the right compression spring on the right gripper. When the right gripper moves to the left, the right compression spring is relaxed, and the right compression spring still exerts a leftward pressure on the right gripper. The more the right gripper moves to the right, the more the right compression spring is relaxed, and the smaller the leftward pressure exerted by the right compression spring on the right gripper. Even when the left gripper closes with the right gripper and the right gripper can no longer move to the left, the right compression spring will still exert sufficient leftward pressure on the right gripper to make the right gripper slot on the right gripper cooperate with the left gripper slot on the left gripper to always hold the glass slide firmly.

[0033] The motor 2 is fixed to the base 1. The cam 3 and the rotating shaft of the motor 2 are coaxially fixed, and the cam 3 is an axisymmetric S shape; when the rotating shaft of the motor 2 rotates, it drives the cam 3 to rotate together; the left cam follower 13 and the right cam follower 20 are respectively installed on the left gripper 10 and the right gripper 17 and can move left and right with the rotation of the cam 3. As another implementation manner, the cam 3 can also be an axisymmetric ellipse. In addition to the cam shapes described above, cams of other axisymmetric shapes in the prior art can also achieve the same function.

[0034] It should be noted that the gripper in this embodiment can achieve secure grasping of various types of items such as glass slides, reagent bottles, and reagent tubes by replacing the left gripper slot and the right gripper slot with different shapes, and has a wide range of applications.

[0035] The principle of using the above gripper to grasp the glass slide is as follows:

[0036] I. Gripper opening:

[0037] Use the controller to start the motor to rotate clockwise. The rotation of the motor drives the cam to rotate clockwise together. Both sides of the cam simultaneously exert extrusion forces on the left cam follower and the right cam follower, respectively pushing the left cam follower and the right cam follower to move left and right. The left cam follower drives the left gripper to move leftward against the pressure of the left compression spring, and the right cam follower drives the right gripper to move rightward against the pressure of the right compression spring, so that the left gripper and the right gripper open, and the distance between the left gripper slot and the right gripper slot becomes larger and larger. The opening stop piece on the right gripper also moves rightward together with the right gripper until the opening stop piece blocks the opening induction switch. The opening induction switch transmits a signal to the controller of the motor, and the controller triggers the motor to stop rotating, and the rotation of the cam 3 stops. At this time, the distance between the left gripper slot and the right gripper slot is more than 2 mm wider than the width of the glass slide 100. As Figure 6 shown.

[0038] II. Gripper closing:

[0039] The controller is used to control the motor to rotate counterclockwise. The rotating shaft of the motor drives the cam to rotate counterclockwise together. The extrusion force of the cam on the left cam follower and the right cam follower decreases accordingly. The left gripper moves rightward close to the cam under the action of the pressure of the left compression spring, and the closing stop piece on the left gripper also moves rightward together. The right gripper moves leftward close to the cam under the action of the pressure of the right compression spring. The left gripper and the right gripper gradually close.

[0040] No slide glass is grasped: If there is no slide glass between the left gripper and the right gripper at this time, when the left gripper moves rightward, the closing stop piece will first briefly block the closing induction switch and then leave. Finally, the left gripper will close with the right gripper, and the cam will also stop rotating after rotating away from the left cam follower and the right cam follower. The closing stop piece disengages from the closing induction switch, and the closing induction switch cannot sense the slide glass. As Figure 2 shown.

[0041] Slide glass is grasped: If there is a slide glass 100 placed between the left gripper and the right gripper at this time, as Figure 7 shown, the left gripper slot and the right gripper slot will clamp the slide glass. At this time, the distance between the left gripper slot and the right gripper slot is exactly the same as the width of the slide glass, and at this time the closing stop piece just blocks the closing induction switch, and the closing induction switch senses that the gripper has grasped the slide glass. The left gripper no longer moves rightward and the right gripper no longer moves leftward, and the closing stop piece on the left gripper still blocks the closing induction switch. The cam continues to rotate counterclockwise until it stops rotating after rotating away from the left cam follower and the right cam follower.

[0042] As a preferred solution, the left small gripper slot and the right small gripper slot are made of wear-resistant materials, and the left small gripper slot and the left small gripper can be separately manufactured and then fixedly connected, and the right small gripper slot and the right small gripper can be separately manufactured and then fixedly connected.

[0043] For those skilled in the art, various corresponding changes and deformations can be given according to the above technical solutions and concepts, and all these changes and deformations should be included in the protection scope of the claims of this utility model.

Claims

1. A gripper for electric clamping, characterized in that, It includes a base, a motor, a cam, a left compression spring, a left gripper, a left cam follower, a right compression spring, a right gripper and a right cam follower; the left gripper and the right gripper are respectively installed on the left side and the right side of the base and can linearly move left and right on the base; the left compression spring and the right compression spring are respectively arranged on the left side and the right side of the base; the left end of the left compression spring is fixed and the right end abuts against the left gripper; the right end of the right compression spring is fixed and the left end abuts against the right gripper; when the left gripper and the right gripper are fully closed, both the left compression spring and the right compression spring are in a compressed state; The motor is fixed to the base, the cam is coaxially fixed with the rotating shaft of the motor, and when the rotating shaft of the motor rotates, the cam rotates together; the left cam follower and the right cam follower are respectively installed on the left gripper and the right gripper and can move left and right with the rotation of the cam.

2. The gripper according to claim 1, characterized in that, The structures of the left gripper and the right gripper are left-right symmetric; the left gripper includes a left gripper arm and a left small gripper, the upper end of the left small gripper is connected to the lower end of the left gripper arm, and a left gripper card slot is provided at the lower end of the left small gripper; the right gripper includes a right gripper arm and a right small gripper, the upper end of the right small gripper is connected to the lower end of the right gripper arm, and a right gripper card slot is provided at the lower end of the right small gripper.

3. The gripper according to claim 1, wherein An upper guide rail 1 and a lower guide rail 2 are respectively provided between the left gripper and the right gripper, the guide rail 1 and the guide rail 2 are installed on the base and are parallel to each other, a left slider of the guide rail 1 and a right slider of the guide rail 1 are respectively provided at the upper parts of the left gripper and the right gripper, and a left slider of the guide rail 2 and a right slider of the guide rail 2 are respectively provided at the lower parts of the left gripper and the right gripper; the left slider of the guide rail 1 and the right slider of the guide rail 1 are respectively slidably assembled on the guide rail 1, and the left slider of the guide rail 2 and the right slider of the guide rail 2 are respectively slidably assembled on the guide rail 2.

4. The gripper according to claim 1, characterized in that An upper guide rail 1 is provided between the left gripper and the right gripper, the guide rail 1 is installed on the base, a left slider of the guide rail 1 and a right slider of the guide rail 1 are respectively provided at the upper parts of the left gripper and the right gripper, and the left slider of the guide rail 1 and the right slider of the guide rail 1 are respectively slidably assembled on the guide rail 1.

5. The gripper according to claim 1, characterized in that A lower guide rail 2 is provided between the left gripper and the right gripper, the guide rail 2 is installed on the base, a left slider of the guide rail 2 and a right slider of the guide rail 2 are respectively provided at the lower parts of the left gripper and the right gripper; the left slider of the guide rail 2 and the right slider of the guide rail 2 are respectively slidably assembled on the guide rail 2.

6. The gripper according to claim 1, characterized in that, The cam is in an S shape or an oval shape and is axisymmetric.

7. The gripper according to claim 1, characterized in that, It further includes an open induction switch, a close induction switch, a close stop piece and an open stop piece; the close induction switch and the open induction switch are both installed on the base, the close stop piece and the open stop piece are installed on the left gripper and / or the right gripper, the close stop piece can enter and exit the induction area of the close induction switch during the closing process of the left gripper and the right gripper, and the open stop piece can enter and exit the induction area of the open induction switch during the opening process of the left gripper and the right gripper.

8. The gripper according to claim 7, characterized in that, The close induction switch is installed at the upper left of the base, and the open induction switch is installed at the upper right of the base; the close stop piece is installed at the upper end of the left gripper and can move left and right with the left gripper and enter and exit the induction area of the close induction switch; the open stop piece is installed at the upper end of the right gripper and can move left and right with the right gripper and enter and exit the induction area of the open induction switch.

9. The gripper according to claim 7, wherein The closing induction switch is installed at the upper right of the base, and the opening induction switch is installed at the upper left of the base; the closing baffle is installed at the upper end of the right gripper and can move left and right with the right gripper and enter and exit the induction area of the closing induction switch; the opening baffle is installed at the upper end of the left gripper and can move left and right with the left gripper and enter and exit the induction area of the opening induction switch.

10. The gripper according to claim 1, characterized in that, There are a left spring positioning seat and a right spring positioning seat on the left and right sides of the base respectively. The left end of the left spring is fixed to the left spring positioning seat, and the right end of the right spring is fixed to the right spring positioning seat.

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