Clamping jaw structure controlled by single motor

Abstract

The utility model provides a clamping jaw structure controlled by a single motor, and belongs to the technical field of machinery. The problem that an existing clamping jaw needs two power components to achieve clamping and rotating is solved. The clamping jaw structure controlled by the single motor comprises a framework, the motor arranged on the framework, a rotating piece rotationally arranged in the framework and a pre-tightening structure used for temporarily positioning the rotating piece, and a plurality of clamping jaws distributed along the rotating center line of the rotating piece in an annular array mode are arranged on the rotating piece in a sliding mode. A transmission structure driven by the motor is arranged between the clamping jaws and the motor, when the transmission structure rotates forwards, the multiple clamping jaws can be driven to move inwards synchronously, and when the multiple clamping jaws clamp an object, the transmission structure drives the rotating piece and the multiple clamping jaws to rotate together. Clamping and rotating are achieved only through one motor, and cost is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical technology and relates to a gripper structure controlled by a single motor. Background Technology

[0002] In hospitals, laboratories, or research institutions, the caps of blood collection tubes need to be opened during blood tests or examinations. This is typically done manually or semi-automatically. Manual opening can contaminate the blood and is inefficient and labor-intensive. Even with semi-automatic opening devices, manual operation is still required, and the efficiency is not significantly improved.

[0003] To this end, a Chinese patent discloses a cap-opening device and cap-opening system [authorization announcement number CN108408670B], which includes a frame and an upper gripper mechanism; the upper gripper mechanism includes an upper gripper assembly, an upper clamping drive assembly and a rotation drive assembly, the drive ends of the upper clamping drive assembly and the rotation drive assembly are both connected to the upper gripper assembly, respectively driving the upper gripper assembly to clamp and rotate, so that the upper gripper mechanism can realize automatic clamping and rotation of the blood collection tube cap, improving the efficiency of opening and closing the cap.

[0004] However, in the above device, the clamping and turning of the upper jaw are driven by the upper clamping drive component and the rotation drive component respectively, which uses two power components and increases the cost. Utility Model Content

[0005] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a single-motor controlled gripper structure that can achieve clamping and rotation using only one motor.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] A single-motor controlled gripper structure includes a frame, a motor mounted on the frame, a rotating component rotatably mounted within the frame, and a pre-tightening structure for temporarily positioning the rotating component. Multiple grippers are slidably mounted on the rotating component in a circular array along the rotation centerline of the rotating component. A transmission structure driven by the motor is provided between the grippers and the motor. When the transmission structure rotates forward, it can drive several grippers to move inward synchronously. Only when several grippers clamp an item does the transmission structure drive the rotating component and several grippers to rotate together.

[0008] The rotation centerline of the transmission structure coincides with the rotation centerline of the rotating component. When the motor is working, it drives the transmission structure to rotate. The forward rotation of the transmission structure drives several grippers to move inward synchronously to clamp the item. When the item is clamped, the transmission structure drives the rotating component and several grippers to rotate together. The reverse rotation of the transmission structure drives several grippers to move outward synchronously to release the item. It achieves clamping and rotation with only one motor, reducing costs.

[0009] In the above-mentioned single-motor controlled gripper structure, the transmission structure includes a pitch-changing disk coaxially mounted on the motor shaft and a grooved wheel mounted on the gripper. The pitch-changing disk is provided with a plurality of guide grooves arranged in a ring array along the rotation centerline of the pitch-changing disk. The guide grooves are radially inclined relative to the pitch-changing disk. The grooved wheel extends upward into the guide groove opposite to it. When the pitch-changing disk rotates in the forward direction, the guide groove can drive the grooved wheel to move towards the inner end of the guide groove.

[0010] When the motor is working, it will drive the variable pitch disk to rotate. When the variable pitch disk rotates forward, the guide groove can drive the groove wheel to move to the inner end of the guide groove, thereby clamping the item. When the variable pitch disk rotates in reverse, the guide groove can drive the groove wheel to move to the outer end of the guide groove, thereby releasing the item.

[0011] In the above-mentioned single-motor controlled gripper structure, the rotating component is provided with a plurality of guide rails that are equal in number to the number of grippers and extend radially along the rotating component. Each guide rail is slidably provided with a slider, and the gripper is fixed on the corresponding slider.

[0012] Multiple guide rails are arranged in a circular array along the center line of rotation of the rotating component, and several sliders are also arranged in a circular array along the center line of rotation of the rotating component. This allows several grippers to be arranged in a circular array along the center line of rotation of the rotating component. Under the action of the transmission structure, the sliders can slide along the guide rails that are matched with them, thereby realizing the radial movement of each gripper along the rotating component.

[0013] In the aforementioned single-motor controlled gripper structure, the gripper is located directly below the corresponding guide rail. The gripper has two connecting portions extending upwards to both sides of the slider, and these connecting portions are fixedly connected to the slider. This improves the stability of the gripper.

[0014] In the above-mentioned single-motor controlled gripper structure, the grooved wheel is rotatably mounted on the slider.

[0015] The outer diameter of the grooved wheel is equal to the width of the guide groove. When the pitch disc rotates, the grooved wheel slides in the guide groove and rotates around its own centerline, thereby reducing friction.

[0016] In the above-mentioned single-motor controlled gripper structure, a limiting seat is provided in the middle of the rotating component, and an elastic element extending radially along the rotating component is provided between the limiting seat and the slider.

[0017] The elastic element is a spring, and the elastic force of the elastic element acts on the slider. When the variable pitch disk reverses, the elastic element can make the slider move outward quickly.

[0018] In the above-mentioned single-motor controlled gripper structure, the limiting seat is provided with a number of guide holes that are arranged one-to-one with the slider, and the slider is fixedly connected with a guide rod that slides through the guide hole opposite to it, and the elastic element is sleeved on the guide rod.

[0019] The guide rod guides and limits the spring. When the variable pitch disk rotates forward, the slider moves to the inner end of the guide rail, the spring is compressed, and at the same time the guide rod moves to the inner end of the guide hole.

[0020] In the aforementioned single-motor controlled gripper structure, an annular guide groove is formed on the inner side of the lower end of the frame. A follower ring is rotatably fitted within the annular guide groove. The inner side of the follower ring has several radial guide grooves, equal in number to and corresponding one-to-one with the number of grippers. The lower end of each gripper slides within its corresponding radial guide groove. The radial guide grooves guide the lower end of the gripper, improving its stability.

[0021] In the above-mentioned single-motor controlled gripper structure, the pre-tightening structure is set between the follower ring and the frame. The pre-tightening structure includes a ratchet set on the outer ring of the follower ring and a pawl set in the annular guide groove. When rotating forward, the ratchet can pass over the pawl.

[0022] The follower ring and ratchet are integrated here; that is, the ratchet is formed by adding ratchet teeth to the outer ring of the follower ring. The pawl applies a certain pressure to the ratchet. When the pawl is not clamping an item and the pitch control disc is rotating, it cannot drive the follower ring to rotate. Only when the pawl clamps an item will the rotation of the pitch control disc drive the follower ring to rotate. When the pitch control disc rotates in the opposite direction, the pawl blocks the ratchet, preventing the ratchet from rotating.

[0023] In the above-mentioned single-motor controlled gripper structure, the skeleton includes a cylindrical skeleton tube, a skeleton disk located above the skeleton tube, and connecting posts for connecting the skeleton tube and the skeleton disk. The lower end of the gripper extends into the skeleton tube, the motor is fixed on the skeleton disk, and there are multiple connecting posts that are evenly distributed along the circumference of the skeleton tube. The inner side of the connecting posts is provided with slots, and the slots form an annular groove that cooperates with the rotation of the rotating parts.

[0024] The rotating component is supported and limited by annular grooves, which improve its stability. The annular guide grooves are located inside the skeleton cylinder.

[0025] Compared with existing technologies, this single-motor controlled gripper structure has the following advantages: the gripper clamping and rotation are achieved by only one motor, which reduces costs; the overall structure is reasonably designed, has good structural stability, is easy to assemble, and can effectively clamp blood collection tubes; the rotation action can be used to remove the caps from the blood collection tubes. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a gripper structure controlled by a single motor.

[0027] Figure 2 This is a schematic diagram of a gripper structure controlled by a single motor, without the frame.

[0028] Figure 3It is a diagram showing the fit and relationship between the rotating parts, the grippers, and the ratchet.

[0029] Figure 4 This is a top view of the variable pitch disc.

[0030] Figure 5 This is a cross-sectional view of a single-motor controlled gripper structure through the ratchet.

[0031] In the diagram, 1. Motor; 2. Rotating component; 3. Gripper; 4. Pitch-changing disc; 5. Grooved wheel; 6. Guide groove; 7. Guide rail; 8. Slider; 9. Connecting part; 10. Limiting seat; 11. Elastic component; 12. Guide rod; 13. Annular guide groove; 14. Radial guide groove; 15. Ratchet; 16. Pawl; 17. Skeleton cylinder; 18. Skeleton disc; 19. Connecting column; 20. Slotting. Detailed Implementation

[0032] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0033] like Figure 1 The single-motor controlled gripper structure shown includes a frame, a motor 1 mounted on the frame, a rotating component 2 rotatably mounted inside the frame, and a pre-tightening structure for temporarily positioning the rotating component 2. The frame includes a cylindrical frame tube 17, a frame disk 18 mounted above the frame tube 17, and connecting posts 19 for connecting the frame tube 17 and the frame disk 18. There are three connecting posts 19, which are evenly distributed along the circumference of the frame tube 17. The motor 1 is fixed on the frame disk 18.

[0034] like Figure 1 As shown, the inner side of the connecting column 19 is provided with a slot 20. Several slots 20 form an annular groove that mates with the rotating part 2. The annular groove supports and limits the rotating part 2, thereby improving the stability of the rotating part 2. The annular guide groove 13 is provided inside the skeleton cylinder 17.

[0035] like Figure 2 and Figure 3 As shown, a plurality of grippers 3 are slidably arranged on the rotating part 2 in a circular array along the rotation center line of the rotating part 2. The lower end of the grippers 3 extends into the skeleton cylinder 17. A transmission structure driven by the motor 1 is provided between the grippers 3 and the motor 1. When the transmission structure rotates forward, it can drive the grippers 3 to move inward synchronously. When the grippers 3 clamp the item, the transmission structure drives the rotating part 2 and the grippers 3 to rotate together.

[0036] The rotation centerline of the transmission structure coincides with the rotation centerline of the rotating component 2. When motor 1 is working, it drives the transmission structure to rotate. The forward rotation of the transmission structure will drive several grippers 3 to move inward synchronously to clamp the item. When the item is clamped, the transmission structure will drive the rotating component 2 and several grippers 3 to rotate together. When the transmission structure reverses, it will drive several grippers 3 to move outward synchronously to release the item. It achieves clamping and rotation with only one motor 1, reducing costs.

[0037] like Figure 2 As shown, the transmission structure includes a pitch-changing disk 4 coaxially mounted on the rotating shaft of the motor 1 and a grooved wheel 5 mounted on the gripper 3. The pitch-changing disk 4 has three guide grooves 6 arranged in a ring array along the rotation centerline of the pitch-changing disk 4, as shown. Figure 4 As shown, the guide groove 6 is radially inclined relative to the pitch control disc 4. The grooved wheel 5 extends upward into the guide groove 6 opposite to it. When the pitch control disc 4 rotates clockwise, the guide groove 6 drives the grooved wheel 5 to move towards the inner end of the guide groove 6. When the motor 1 is working, it will drive the pitch control disc 4 to rotate. When the pitch control disc 4 rotates clockwise, the guide groove 6 drives the grooved wheel 5 to move towards the inner end of the guide groove 6, thereby clamping the item. When the pitch control disc 4 rotates counterclockwise, the guide groove 6 drives the grooved wheel 5 to move towards the outer end of the guide groove 6, thereby releasing the item.

[0038] like Figure 3 As shown, the rotating component 2 has three guide rails 7, the same number as the grippers 3, extending radially along the rotating component 2. Each guide rail 7 has a sliding block 8, and the grippers 3 are fixed to the corresponding sliding block 8. The multiple guide rails 7 are arranged in a circular array along the rotation centerline of the rotating component 2, and the multiple sliding blocks 8 are also arranged in a circular array along the rotation centerline of the rotating component 2. This allows the multiple grippers 3 to be arranged in a circular array along the rotation centerline of the rotating component 2. Under the action of the transmission structure, the sliding blocks 8 can slide along the guide rails 7 that are matched with them, thereby realizing the radial movement of each gripper 3 along the rotating component 2.

[0039] like Figure 3 As shown, the gripper 3 is located directly below the guide rail 7, and the gripper 3 is provided with two connecting parts 9 that extend upward to both sides of the slider 8. The connecting parts 9 are fixedly connected to the slider 8, which improves the stability of the gripper 3.

[0040] In this embodiment, the grooved wheel 5 is rotatably mounted on the slider 8. The outer diameter of the grooved wheel 5 is equal to the width of the guide groove 6. When the variable pitch disk 4 rotates, the grooved wheel 5 slides in the guide groove 6 and rotates around its own centerline, thereby reducing friction.

[0041] like Figure 3 As shown, a limiting seat 10 is provided in the middle of the rotating part 2, and an elastic element 11 extending radially along the rotating part 2 is provided between the limiting seat 10 and the slider 8. The elastic element 11 is a spring, and the elastic force of the elastic element 11 acts on the slider 8. When the variable pitch disk 4 reverses, the elastic element 11 can make the slider 8 move outward quickly.

[0042] In this embodiment, the limiting seat 10 is provided with a plurality of guide holes that are arranged one-to-one with the slider 8. A guide rod 12 is fixedly connected to the slider 8 and slides through the guide hole. The elastic element 11 is sleeved on the guide rod 12. The guide rod 12 guides and limits the spring. When the variable pitch disk 4 rotates clockwise, the slider 8 moves to the inner end of the guide rail 7, the spring is compressed, and at the same time the guide rod 12 moves to the inner end of the guide hole.

[0043] like Figure 5 As shown, an annular guide groove 13 is provided on the inner side of the lower end of the skeleton cylinder 17. A follower ring is rotatably fitted inside the annular guide groove 13. A radial guide groove 14 is provided on the inner side of the follower ring, corresponding to the gripper 3. The lower end of the gripper 3 is slidably fitted in the corresponding radial guide groove 14. The radial guide groove 14 guides the lower end of the gripper 3, improving the stability of the gripper 3.

[0044] In this embodiment, as Figure 5 As shown, the pre-tightening structure is set between the follower ring and the skeleton. The pre-tightening structure includes a ratchet 15 set on the outer ring of the follower ring and a pawl 16 set in the annular guide groove 13. When rotating forward, the ratchet 15 can pass over the pawl 16.

[0045] The follower ring and ratchet 15 are integrated, meaning that ratchet 15 is formed by setting ratchet teeth on the outer ring of the follower ring. The pawl 16 applies pressure to the ratchet 15. When the gripper 3 is not clamping an item and the pitch control disc 4 rotates, it cannot drive the follower ring to rotate. Only when the gripper 3 clamps an item will the rotation of the pitch control disc 4 drive the follower ring to rotate. When the pitch control disc 4 rotates in the opposite direction, the pawl 16 blocks the ratchet 15, preventing it from rotating.

[0046] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A gripper structure controlled by a single motor, characterized in that, The device includes a frame, a motor (1) mounted on the frame, a rotating component (2) rotatably mounted inside the frame, and a pre-tightening structure for temporarily positioning the rotating component (2). The rotating component (2) is provided with a plurality of grippers (3) arranged in a ring array along the rotation centerline of the rotating component (2). A transmission structure driven by the motor (1) is provided between the grippers (3) and the motor (1). When the transmission structure rotates forward, it can drive the grippers (3) to move inward synchronously. When the grippers (3) clamp the item, the transmission structure drives the rotating component (2) and the grippers (3) to rotate together.

2. The single-motor controlled gripper structure according to claim 1, characterized in that, The transmission structure includes a pitch disc (4) coaxially mounted on the shaft of the motor (1) and a grooved wheel (5) mounted on the gripper (3). The pitch disc (4) is provided with a plurality of guide grooves (6) arranged in a ring array along the rotation center line of the pitch disc (4). The guide grooves (6) are radially inclined relative to the pitch disc (4). The grooved wheel (5) extends upward into the guide groove (6) opposite to it. When the pitch disc (4) rotates in the forward direction, the guide groove (6) can drive the grooved wheel (5) to move towards the inner end of the guide groove (6).

3. The single-motor controlled gripper structure according to claim 2, characterized in that, The rotating component (2) is provided with a plurality of guide rails (7) that are equal in number to the number of grippers (3) and extend radially along the rotating component (2). Each guide rail (7) is slidably provided with a slider (8), and the grippers (3) are fixed on the corresponding slider (8).

4. The single-motor controlled gripper structure according to claim 3, characterized in that, The gripper (3) is located directly below the guide rail (7) that is provided therewith. The gripper (3) has two connecting parts (9) that extend upward to both sides of the slider (8). The connecting parts (9) are fixedly connected to the slider (8).

5. The single-motor controlled gripper structure according to claim 3, characterized in that, The grooved wheel (5) is rotatably mounted on the slider (8).

6. The single-motor controlled gripper structure according to claim 3, characterized in that, The rotating component (2) is provided with a limiting seat (10) in the middle, and an elastic element (11) extending radially along the rotating component (2) is provided between the limiting seat (10) and the slider (8).

7. The single-motor controlled gripper structure according to claim 6, characterized in that, The limiting seat (10) is provided with a plurality of guide holes that are arranged one-to-one with the slider (8). The slider (8) is fixedly connected with a guide rod (12) that slides through the guide hole opposite to it. The elastic element (11) is sleeved on the guide rod (12).

8. The single-motor controlled gripper structure according to claim 1, characterized in that, The lower end of the skeleton is provided with an annular guide groove (13), and a follower ring is rotatably fitted in the annular guide groove (13). The follower ring is provided with a number of radial guide grooves (14) that are equal in number to the number of grippers (3) and are arranged in a one-to-one correspondence. The lower end of the gripper (3) is slidably fitted in the radial guide groove (14) that is arranged in relation to it.

9. The single-motor controlled gripper structure according to claim 8, characterized in that, The pre-tightening structure is disposed between the follower ring and the skeleton. The pre-tightening structure includes a ratchet (15) disposed on the outer ring of the follower ring and a pawl (16) disposed in the annular guide groove (13). When rotating forward, the ratchet (15) can pass over the pawl (16).

10. The single-motor controlled gripper structure according to claim 1, characterized in that, The skeleton includes a cylindrical skeleton tube (17), a skeleton disk (18) located above the skeleton tube (17), and connecting posts (19) for connecting the skeleton tube (17) and the skeleton disk (18). The lower end of the gripper (3) extends into the skeleton tube (17). The motor (1) is fixed on the skeleton disk (18). There are multiple connecting posts (19) and they are evenly distributed along the circumference of the skeleton tube (17). The inner side of the connecting post (19) is provided with a slot (20). The slots (20) form an annular groove that rotates with the rotating part (2).

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