Rotary telescopic manipulator

Abstract

The utility model discloses a rotary telescopic manipulator, and relates to the technical field of clamping manipulators. The rotary telescopic manipulator comprises a fixing mechanism, a telescopic mechanism, a regulation and control mechanism and an identification mechanism, the fixing mechanism is used for installing the telescopic mechanism, and the telescopic mechanism is connected with the regulation and control mechanism so as to control the regulation and control mechanism to ascend and descend; the regulation and control mechanism comprises a regulation and control assembly and a paw assembly used for grabbing a sample, and the regulation and control assembly is used for controlling the working state of the paw assembly; the recognition mechanism comprises a code scanning assembly and a sensor assembly, the code scanning assembly is used for reading bar codes on the samples, and the sensor assembly is used for detecting sample signals on the gripper assembly. By adopting the rotary telescopic manipulator, the manual operation can be reduced, and the working efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to clamping manipulator technical field especially relates to a rotary telescopic manipulator. BACKGROUND

[0002] In the IVD in vitro diagnosis industry, in the traditional inspection analysis operation process, the sample pretreatment stage (sorting, centrifugation, uncovering etc.) needs the manual work of inspection personnel, and the manual work efficiency is low and can easily cause the accident. The emergence of intelligent sample pretreatment system can reduce the complicated workload, save the labor cost, improve the work efficiency, avoid the error and risk, effectively promote the laboratory operation quality, thereby providing more timely and more accurate detection result for clinic and patient.

[0003] In the pretreatment system, the sample needs to be transferred stably and safely between various stations and be accurately identified. However, most of the prior art uses a non-rotating gripper and solves the identification of the sample barcode by setting a fixed rotating code scanning identification position, which results in that the manipulator needs to send the sample to the sample identification position first every time the sample needs to be identified, and then the sample is taken out and sent to the destination position after code scanning and identification, which is low in work efficiency and also increases the complexity of structure and control.

[0004] Therefore, it is urgent to design a rotary telescopic manipulator to solve the above problems. UTILITY MODEL CONTENT

[0005] The utility model solves the technical problem that there is a rotary telescopic manipulator, which can reduce manual operation and improve work efficiency.

[0006] In order to solve the above technical problems, the utility model provides a rotary telescopic manipulator, which comprises a fixing mechanism, a telescopic mechanism, a control mechanism and an identification mechanism. The fixing mechanism is used for installing the telescopic mechanism, the telescopic mechanism is connected with the control mechanism to control the lifting of the control mechanism, the control mechanism comprises a control assembly and a gripper assembly for grabbing a sample, the control assembly is used for controlling the working state of the gripper assembly, the identification mechanism comprises a code scanning assembly and a sensor assembly, the code scanning assembly is used for reading the barcode on the sample, and the sensor assembly is used for detecting the sample signal on the gripper assembly.

[0007] As an improvement of the above-mentioned scheme, the telescopic mechanism comprises a telescopic motor, a first support platform, a sliding seat, a guide rail and a second support platform; the output end of the telescopic motor is connected with a rotating screw rod, the telescopic motor is arranged above the first support platform and connected with the fixing mechanism; the guide rail is parallel to the rotating screw rod, the bottom of the guide rail and the bottom of the rotating screw rod are arranged on the second support platform; the sliding seat is slidably connected with the guide rail, the sliding seat is penetrated by the rotating screw rod and threadedly connected with the rotating screw rod, so that when the rotating screw rod rotates, the sliding seat rises and falls along the guide rail and the rotating screw rod; the bottom of the sliding seat is connected with the control mechanism, so that when the sliding seat rises and falls, the control mechanism rises and falls.

[0008] As an improvement of the above-mentioned scheme, the telescopic mechanism is provided with a support platform base, the first support platform and the second support platform are connected through the support platform base; the control mechanism is provided with a control protection shell to protect the control mechanism, and the rotating telescopic mechanical arm further comprises a total shell, the total shell is connected with the support platform base to protect the rotating telescopic mechanical arm.

[0009] As an improvement of the above-mentioned scheme, the code scanning assembly comprises a code scanner and a first connecting piece, the code scanner is connected with the support platform base through the first connecting piece; the sensor assembly comprises a sensor and a second connecting piece, the sensor is connected with the support platform base through the second connecting piece; the code scanning assembly and the sensor assembly are arranged on different sides of the support platform base respectively.

[0010] As an improvement of the above-mentioned scheme, the sensor assembly is provided with a probe rod in contact with the sample.

[0011] As an improvement of the above-mentioned scheme, the control assembly comprises an outer frame, a rotating motor, a horizontal roller, a control disc and a control shaft, the rotating motor, the horizontal roller, the control disc and the control shaft are arranged in the outer frame; the bottom of the control disc is connected with the control shaft, the control disc is provided with an inclined slope, the horizontal roller is rollingly connected with the inclined slope, the higher side of the inclined slope is provided with a high side limiting part, and the lower side of the inclined slope is provided with a low side limiting part to limit the rolling position of the horizontal roller; the output end of the rotating motor is connected with the horizontal roller, so that the horizontal roller moves along the inclined slope.

[0012] As an improvement of the above-mentioned scheme, the control assembly further comprises a one-way bearing sleeved on the control shaft; the one-way bearing limits the rotation of the control shaft to limit the rotation of the control disc; the outside of the one-way bearing is provided with a bearing seat, and the one-way bearing is connected with the outer frame through the bearing seat.

[0013] As the improvement of the above-mentioned scheme, the gripper assembly comprises a gripper base, two opening and closing hinges, two gripper pieces, a gripper shell and a plurality of compression springs, the lower part of the gripper base is connected with the gripper shell; the bottom end of the control shaft is provided with a transversely arranged hinge column, the gripper base is provided with a transversely arranged positioning column, one end of the opening and closing hinge is hinged with the hinge column, the other end is connected with the top of the gripper piece, the middle part of the opening and closing hinge is hinged with the positioning column; one end of the compression spring is arranged in the gripper piece, and the other end is abutted with the gripper shell.

[0014] As the improvement of the above-mentioned scheme, the gripper assembly further comprises a sliding rail block arranged above the two gripper pieces, the top of the two gripper pieces is slidingly connected with the sliding rail block; the middle part of the sliding rail block is provided with a hole for connecting the opening and closing hinge with the gripper piece.

[0015] As the improvement of the above-mentioned scheme, the gripper piece comprises a driving block and two claw bodies, two compression springs are arranged between the driving block and the gripper shell, and the claw body is arranged below the driving block and is arranged vertically.

[0016] The beneficial effects of the utility model lie in that:

[0017] The rotating telescopic mechanical hand realizes the lifting of the control mechanism through the telescopic mechanism, realizes the opening, closing and rotating states of the gripper assembly through the control assembly, and identifies the information of the sample through the identification mechanism, thereby reducing manual operation and improving work efficiency.

[0018] Further, the rotating telescopic mechanical hand is slidably connected with the guide rail through the sliding seat and is threadedly connected with the rotating lead screw, the sliding seat is lifted along the guide rail and the rotating lead screw, and finally drives the lifting of the control mechanism, the high accuracy of the rotating lead screw is utilized to realize the accurate lifting of the control mechanism.

[0019] The rotating telescopic mechanical hand drives the horizontal roller through the rotating motor, the horizontal roller drives the lifting of the control disc and the control shaft, the lifting of the control shaft controls the rotation of the opening and closing hinge, the rotation of the opening and closing hinge controls the opening and closing of the gripper assembly through the compression spring, the horizontal roller drives the rotation of the control disc and the control shaft, so as to drive the rotation of the gripper assembly. The gripper assembly can be compatible with samples of different diameters and has high universality. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic view of the first embodiment of the rotating telescopic mechanical hand.

[0021] Figure 2The utility model discloses a structure schematic diagram of the telescopic mechanism in the rotary telescopic manipulator.

[0022] Figure 3 The utility model discloses a structure schematic diagram of the control mechanism in the rotary telescopic manipulator.

[0023] Figure 4 The utility model discloses a structure schematic diagram of the rotary motor, horizontal roller and control disc cooperation in the rotary telescopic manipulator.

[0024] Figure 5 The utility model discloses a sectional view of the control mechanism in the rotary telescopic manipulator.

[0025] Figure 6 The utility model discloses a structure schematic diagram of the claw piece and slide rail quick cooperation in the rotary telescopic manipulator.

[0026] Figure 7 The utility model discloses a structure schematic diagram of the second embodiment of the rotary telescopic manipulator.

[0027] Figure 8 The utility model discloses an explosion view of the rotary telescopic manipulator separated from the total shell. Specific implementation

[0028] In order to make the purpose, technical scheme and advantage of the utility model more clear, the utility model will be described in further detail below with the drawings. Only this declaration, the up, down, left, right, front, back, inside, outside and other orientation words appearing or about to appear in the text of the utility model, only take the drawings of the utility model as the base, and it is not the specific limitation of the utility model.

[0029] As Figure 1 Shown, Figure 1 The utility model discloses a rotary telescopic manipulator including fixed mechanism 1, telescopic mechanism 2, control mechanism 3 and identification mechanism 4, which is the first embodiment of the utility model rotary telescopic manipulator.

[0030] The fixed mechanism 1 is used for installing telescopic mechanism 2, and the telescopic mechanism 2 is connected with control mechanism 3 to control the lifting of control mechanism 3.

[0031] The control mechanism 3 includes control assembly 31 and claw assembly 32 for grabbing sample 5, and the control assembly 31 is used for controlling the working state of claw assembly 32.

[0032] The identification mechanism 4 includes code scanning assembly 41 and sensor assembly 42, the code scanning assembly 41 is used for reading the bar code on sample 5, and the sensor assembly 42 is used for detecting sample 5 signal on claw assembly 32.

[0033] Therefore, the rotary telescopic mechanical hand can realize the lifting of the regulating mechanism 3 through the telescopic mechanism 2, and realize the opening, closing and rotating state of the paw component 32 through the regulating assembly 31, and the information of the sample 5 is identified through the identification mechanism 4, manual operation is reduced, and the work efficiency is improved.

[0034] As shown in Figure 1 and Figure 2 The telescopic mechanism 2 comprises a telescopic motor 21, a first bearing platform 22, a sliding seat 23, a guide rail 24 and a second bearing platform 25;

[0035] The output end of the telescopic motor 21 is connected with a rotary screw rod 211, the telescopic motor 21 is arranged above the first bearing platform 22 and connected with the fixed mechanism 1;

[0036] The guide rail 24 is parallel to the rotary screw rod 211, and the bottom of the guide rail 24 and the bottom of the rotary screw rod 211 are arranged on the second bearing platform 25;

[0037] The sliding seat 23 and the guide rail 24 are slidably connected, the sliding seat 23 is penetrated by the rotary screw rod 211 and is threadedly connected with the rotary screw rod 211, so that when the rotary screw rod 211 rotates, the sliding seat 23 ascends and descends along the guide rail 24 and the rotary screw rod 211;

[0038] The bottom of the sliding seat 23 is connected with the regulating mechanism 4, so that the sliding seat 23 drives the regulating mechanism 4 to ascend and descend when the sliding seat 23 ascends and descends.

[0039] The telescopic mechanism 2 is provided with a bearing platform base 26, and the first bearing platform 22 and the second bearing platform 25 are connected through the bearing platform base 26;

[0040] The code scanning assembly 41 comprises a code scanner 411 and a first connecting piece 412, and the code scanner 411 is connected with the bearing platform base 26 through the first connecting piece 412;

[0041] The sensor assembly 42 comprises a sensor 421 and a second connecting piece 422, and the sensor 421 is connected with the bearing platform base 26 through the second connecting piece 422, preferably, the sensor 421 is an optical sensor;

[0042] The code scanning assembly 41 and the sensor assembly 42 are respectively arranged on different sides of the bearing platform base 26, so as to fully utilize the space of the bearing platform base 26, and facilitate code scanning and detection of the sample 5.

[0043] Preferably, in order to improve the efficiency of the sensor assembly 42, the sensor assembly 42 is provided with a detection rod 423 in contact with the sample 5.

[0044] As shown in Figure 3 and Figure 4 The regulating assembly 31 comprises an outer frame 311, a rotary motor 312, horizontal rollers 313, a regulating disc 314 and a regulating shaft 315, the rotary motor 312, horizontal rollers 313, regulating disc 314 and regulating shaft 315 are arranged in the outer frame 311;

[0045] The bottom of the regulating disc 314 is connected with the regulating shaft 315, the regulating disc 314 is provided with a slope 314a, the horizontal rollers 313 are in rolling connection with the slope 314a, the higher side of the slope 314a is provided with a high side limiting part 314b, and the lower side of the slope is provided with a low side limiting part 314c to limit the rolling position of the horizontal rollers 313;

[0046] The output end of the rotary motor 312 is connected with the horizontal rollers 313, so that the horizontal rollers 313 move along the slope 314. Preferably, the horizontal rollers 313 are provided with two, and the two horizontal rollers 313 are arranged on the opposite sides of the output end of the rotary motor 312, and correspondingly, the slope 314a is provided with two, so that the structure between the horizontal rollers 313 and the regulating disc 314 is more stable.

[0047] As shown in Figures 4-6 The regulating assembly 31 further comprises a one-way bearing 316 sleeved on the regulating shaft 315;

[0048] The one-way bearing 316 limits the rotation of the regulating shaft 315 to limit the rotation of the regulating disc 314;

[0049] The outer part of the one-way bearing 316 is provided with a bearing seat 317, and the one-way bearing 316 is connected with the outer frame 311 through the bearing seat 317.

[0050] The claw assembly 32 comprises a claw base 321, two opening and closing hinges 322, two claw pieces 323, a claw shell 324 and a plurality of compression springs 325, and the lower part of the claw base 321 is connected with the claw shell 324;

[0051] The bottom end of the regulating shaft 315 is provided with a transversely arranged hinge column 315a, the claw base 321 is provided with a transversely arranged positioning column 321a, one end of the opening and closing hinge 322 is hinged with the hinge column 315a, the other end is connected with the top of the claw piece 323, and the middle part of the opening and closing hinge 322 is hinged with the positioning column 321a;

[0052] One end of the compression spring 325 is arranged in the claw piece 323, and the other end is in abutment with the claw shell 324 to press the claw piece 323.

[0053] Further, the gripper assembly 32 further comprises a sliding rail block 326 arranged above the two gripper pieces 323, and the top of the two gripper pieces 323 is in sliding connection with the sliding rail block 326;

[0054] The middle part of the sliding rail block 326 is provided with an opening, so that the opening and closing hinge 322 and the gripper piece 323 are connected.

[0055] In order to be compatible with samples 5 of different diameters, the gripper piece 323 comprises a driving block 323a and two claw bodies 323b, two compression springs 325 are arranged between the driving block 323a and the gripper shell 324, and the claw bodies 323b are arranged below the driving block 323a and arranged vertically.

[0056] As shown in Figure 7 The second embodiment of the rotary telescopic manipulator is shown, which is different from the first embodiment, and the second embodiment further comprises a control protection shell 33 and a general shell 6.

[0057] As shown in Figure 7 And Figure 8 As shown in the drawings, in terms of protection and isolation of each mechanism, the control mechanism 3 is provided with a control protection shell 33 to protect the control mechanism 3, and the rotary telescopic manipulator further comprises a general shell 6, which is connected with the bearing base 26 to protect the rotary telescopic manipulator. The design of the bearing base 26, the general shell 6 and the control protection shell 33 makes the telescopic mechanism 2 and the control mechanism 3 be independently protected and isolated from each other, which is convenient for maintenance.

[0058] Combined with Figures 1-8 , the motion principle of the rotary telescopic manipulator is explained:

[0059] The rotary telescopic manipulator is fixed on other mechanisms through the fixing mechanism 1, the telescopic motor 21 drives the rotary screw rod 211 to rotate, the sliding seat 23 connected with the rotary screw rod 211 through threads is lifted along the guide rail 24 and the rotary screw rod 211, and the lower part of the sliding seat 23 is connected with the control mechanism 3, so as to drive the control mechanism 3 to be lifted.

[0060] In the regulating mechanism 3, the rotating motor 312 of the regulating assembly 31 drives the horizontal roller 313 to move on the slope 314a of the regulating disc 314, when the output end of the rotating motor 312 rotates clockwise, the horizontal roller 313 is driven to move on the slope 314a to the high side limiting part 314b, the regulating disc 314 is pressed downward, the regulating shaft 315 is driven to move downward, the regulating shaft 315 drives the opening and closing hinge 322 to make the claw piece 323 open, and because the one-way bearing 316 is arranged, the regulating disc 314 will not rotate with the horizontal roller 313;

[0061] When the output end of the rotating motor 312 rotates counterclockwise, the horizontal roller 313 is driven to move on the slope 314a to the low side limiting part 314c, at the same time, the compression spring 325 in the claw assembly 32 presses the claw piece 323, the claw piece 323 is closed and drives the opening and closing hinge 322, the opening and closing hinge 322 drives the regulating shaft 315 to rise, and finally drives the regulating disc 314 to rise and reset; when the horizontal roller 313 moves to the low side limiting part 314c, the horizontal roller 313 continues to move to the low side limiting part 314c, drives the regulating disc 313 to rotate and the regulating shaft 315 to rotate, and further drives the claw assembly 32 to rotate.

[0062] Finally, the lifting, opening, closing and rotating state of the claw assembly 32 is controlled through the telescopic mechanism 2 and the regulating assembly 31.

[0063] In summary, the rotating telescopic mechanical hand realizes the lifting of the regulating mechanism 3 through the telescopic mechanism 2, realizes the opening, closing and rotating state of the claw assembly 32 through the regulating assembly 31, and realizes the identification and judgment of the bar code of the sample through the identification mechanism 4, reduces manual operation, and improves work efficiency. Moreover, by utilizing the high accuracy of the rotating screw rod 311, the sample 5 of different diameters can be compatible through the setting of the claw piece 323 including the driving block 323a and the two claw bodies 323b, and the universality is high.

[0064] The above is the preferred embodiment of the utility model, it should be pointed out that, for ordinary skilled person in the art, without departing from the principle of the utility model, a number of improvements and refinements can be made, these improvements and refinements are also regarded as the protection scope of the utility model.

Claims

1. A rotary telescopic manipulator characterized by, The fixing mechanism, the telescopic mechanism, the control mechanism and the identification mechanism are included. The fixing mechanism is used for mounting the telescopic mechanism, and the telescopic mechanism is connected with the control mechanism to control the lifting of the control mechanism. The control mechanism includes a control assembly and a gripper assembly used for grabbing samples. The identification mechanism includes a code scanning assembly and a sensor assembly.

2. The rotary telescoping manipulator of claim 1, wherein, The telescopic mechanism includes a telescopic motor, a first bearing platform, a sliding seat, a guide rail and a second bearing platform. The output end of the telescopic motor is connected with a rotating screw rod. The telescopic motor is arranged above the first bearing platform and connected with the fixing mechanism. The guide rail is parallel to the rotating screw rod. The bottom of the guide rail and the bottom of the rotating screw rod are arranged on the second bearing platform.

3. The rotary telescoping manipulator of claim 2, wherein, The sliding seat is slidably connected with the guide rail. The bottom of the sliding seat is connected with the control mechanism.

4. The rotary telescoping manipulator of claim 3, wherein, The telescopic mechanism is provided with a bearing platform base. The control mechanism is provided with a control protection shell to protect the control mechanism. The rotating telescopic manipulator further includes a total shell connected with the bearing platform base to protect the rotating telescopic manipulator.

5. The rotary telescoping manipulator of claim 4, wherein, The code scanning assembly includes a code scanner and a first connecting piece.

6. The rotary telescoping manipulator of claim 1, wherein, The sensor assembly includes a sensor and a second connecting piece. The code scanning assembly and the sensor assembly are arranged on different sides of the bearing platform base. The sensor assembly is provided with a probe rod in contact with the sample.

7. The rotary telescoping manipulator of claim 6, wherein, The control assembly includes an outer frame, a rotating motor, a horizontal roller, a control disc and a control shaft. The bottom of the control disc is connected with the control shaft. The control disc is provided with a slope.

8. The rotary telescoping manipulator of claim 6, wherein, The horizontal roller is rollingly connected with the slope. The higher side of the slope is provided with a high side limiting part. The lower side of the slope is provided with a low side limiting part. The output end of the rotating motor is connected with the horizontal roller. The control assembly further includes a one-way bearing arranged on the control shaft. The one-way bearing limits the rotation of the control shaft to limit the rotation of the control disc. The outer part of the one-way bearing is provided with a bearing seat. The one-way bearing is connected with the outer frame through the bearing seat. The hand claw assembly includes a hand claw base, two opening and closing hinges, two hand claw pieces, a hand claw shell and a plurality of compression springs. The bottom of the hand claw base is connected with the hand claw shell. The bottom end of the regulating shaft is provided with a transversely arranged hinged column, the paw base is provided with a transversely arranged positioning column, one end of the opening and closing hinged piece is hinged with the hinged column, the other end is connected with the top of the paw piece, the middle part of the opening and closing hinged piece is hinged with the positioning column; One end of the compression spring is arranged in the paw piece, and the other end is abutted with the paw shell.

9. The rotary telescoping manipulator of claim 8, wherein, The paw assembly further comprises a sliding rail block arranged above the two paw pieces, and the top of the two paw pieces is slidingly connected with the sliding rail block. The middle part of the sliding rail block is provided with an opening for connecting the opening and closing hinged piece with the paw piece.

10. The rotary telescoping manipulator of claim 8, wherein, The paw piece comprises a driving block and two claw bodies, two compression springs are arranged between the driving block and the paw shell, the claw body is arranged below the driving block and is arranged in the vertical direction.

Images