Anti-collision carrying device

Abstract

An anti-collision carrying device comprises a supporting frame, a clamping jaw mechanism, a driving mechanism and a sensor assembly. The clamping jaw mechanism comprises a first mounting base and a second mounting base, the first mounting base is slidably arranged on the supporting frame and can slide in the first direction, and the second mounting base is arranged on the first mounting base. The driving mechanism comprises a first sliding part, a first elastic part and a driving assembly, the first sliding part is arranged on the first mounting base in a sliding mode and can slide in the first direction, and the first elastic part is connected between the first sliding part and the second mounting base in the first direction; the driving assembly is connected with the first sliding piece and used for driving the first sliding piece and the clamping jaw mechanism to move in the first direction. The sensor assembly comprises a sensor and a blocking piece, the sensor is connected with the first sliding piece, the blocking piece is connected with the clamping jaw mechanism, and when the driving assembly drives the first sliding piece to slide relative to the first installation base, the first sliding piece drives the sensor to move till the blocking piece triggers the sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, and in particular to a collision-preventing carrying device. BACKGROUND

[0002] Most products need to be carried and transferred by a mechanical hand or a clamping jaw mechanism in cooperation with a module during production, so as to be transported to the next process. For example, in the field of gene sequencing, sample processing before sequencing, library preparation, and a sequencing system usually need multiple independent devices, and sample transfer between devices needs to be achieved by a mechanical hand or a clamping jaw mechanism in cooperation with a module. During carrying and transferring, if the mechanical hand or the clamping jaw mechanism collides with a material storage module, the material may be greatly damaged, or even broken, which causes waste of the material and an increase in production cost, and also affects the normal process of production. CONTENT OF THE UTILITY MODEL

[0003] An object of the present application is to provide a collision-preventing carrying device which can effectively prevent collision damage to materials during carrying.

[0004] An embodiment of the present application provides a collision-preventing carrying device, which comprises a support frame, a clamping jaw mechanism, a driving mechanism, and a sensor assembly. The clamping jaw mechanism comprises a first mounting seat and a second mounting seat, the first mounting seat is slidingly arranged on the support frame and can slide in a first direction, and the second mounting seat is arranged on the first mounting seat. The driving mechanism comprises a first sliding member, a first elastic member, and a driving assembly, the first sliding member is slidingly arranged on the first mounting seat and can slide in the first direction, the first elastic member is connected between the first sliding member and the second mounting seat in the first direction, and the driving assembly is connected with the first sliding member and is used for driving the first sliding member and the clamping jaw mechanism to move in the first direction. The sensor assembly comprises a sensor and a baffle, the sensor is connected with the first sliding member, and the baffle is connected with the clamping jaw mechanism. When the driving assembly drives the first sliding member to slide relative to the first mounting seat, the first sliding member drives the sensor to move until the baffle triggers the sensor.

[0005] According to some embodiments of the present application, the first sliding member is provided with a sliding groove, the sliding groove extends in a second direction perpendicular to the first direction, the driving assembly comprises a power member, a driving rod, and a second sliding member, the driving rod is rotationally arranged on the power member, the second sliding member is rotationally connected with the driving rod and slidingly arranged in the sliding groove, and when the power member drives the driving rod to rotate, the driving rod pushes the first sliding member to slide in the first direction.

[0006] According to some embodiments of the present application, the clamping jaw mechanism comprises a supporting plate, the supporting plate is fixed to the first mounting seat and extends in the first direction, and the supporting plate is used for lifting and grabbing materials.

[0007] According to some embodiments of the present application, an end of the supporting plate away from the first mounting seat is provided with a clamping hook.

[0008] According to some embodiments of the present application, the clamping jaw mechanism comprises a clamping assembly configured to cooperate with the clamping hook to clamp the material.

[0009] According to some embodiments of the present application, the clamping assembly comprises a pressing plate movably arranged on the supporting plate and a second elastic member elastically abutting between the first mounting seat and the pressing plate.

[0010] According to some embodiments of the present application, the first mounting seat is provided with a sliding hole in which the second elastic member is arranged, and the clamping assembly comprises a sliding rod, one end of the sliding rod being connected with the pressing plate and abutting against the second elastic member.

[0011] According to some embodiments of the present application, the anti-collision carrying device comprises a controller and an alarm, the controller being connected with the alarm and the sensor, and the controller controls the alarm to issue an alarm when the baffle triggers the sensor.

[0012] According to some embodiments of the present application, the controller is connected with the driving assembly, and the controller controls the driving assembly to stop running when the baffle triggers the sensor.

[0013] The anti-collision carrying device provided by the embodiments of the present application can prevent the first sliding member from moving relative to the first mounting seat and the baffle from triggering the sensor connected with the first sliding member during normal operation, and when the clamping jaw mechanism collides, the driving assembly drives the first sliding member to move a certain distance relative to the first mounting seat until the baffle triggers the sensor, so that the anti-collision carrying device stops working, issues an alarm or performs other actions such as moving the clamping jaw mechanism away from the collision source, thereby protecting the material from being damaged. BRIEF DESCRIPTION OF DRAWINGS

[0014] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0015] Figure 1 A structural schematic diagram of an anti-collision carrying device provided by an embodiment of the present application.

[0016] Figure 2 A structural schematic diagram of an anti-collision carrying device provided by an embodiment of the present application. Figure 1 A structural schematic diagram of an anti-collision carrying device provided by an embodiment of the present application.

[0017] Figure 3 A structural schematic diagram of an anti-collision carrying device provided by an embodiment of the present application. Figure 2 A structural schematic diagram of an anti-collision carrying device provided by an embodiment of the present application.

[0018] Figure 4 A functional module diagram of an anti-collision carrying device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and in detail below. Obviously, the described embodiments are some embodiments of the present application, but not all embodiments of the present application. Unless otherwise defined, all the technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application.

[0020] In addition, in the drawings, the size or thickness of various components, layers, etc. can be exaggerated for clarity. Throughout the document, the same numbers refer to the same elements. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. In addition, it should be understood that when an element A is referred to as being "connected" to element B, element A can be directly connected to element B, or there can be intervening elements C and element A and element B can be indirectly connected to each other.

[0021] Further, "can" when used in describing embodiments of the present application means "one or more embodiments of the present application".

[0022] The professional terms used herein are for the purpose of describing the specific embodiments and are not intended to limit the present application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. It should be further understood that the term "comprising" when used in this specification, means that the stated features, numerical values, steps, operations, elements, and / or components are present, but does not exclude the presence or addition of one or more other features, numerical values, steps, operations, elements, components, and / or combinations thereof.

[0023] It should be understood that although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms are used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Therefore, the first element, component, region, layer or section discussed below can be called the second element, component, region, layer or section without departing from the teachings of the exemplary embodiments.

[0024] Please refer to Figures 1 to 3In an embodiment of the present application, a collision-preventing carrying device 100 is provided, which comprises a support frame 10, a clamping jaw mechanism 20, a driving mechanism 30 and a sensor assembly 40. The clamping jaw mechanism 20 comprises a first mounting seat 21 and a second mounting seat 22. The first mounting seat 21 is slidingly arranged on the support frame 10 and is capable of sliding along a first direction X. The second mounting seat 22 is fixed to one end of the first mounting seat 21. The driving mechanism 30 comprises a first sliding member 31, a first elastic member 32 and a driving assembly 33. The first sliding member 31 is slidingly arranged on the first mounting seat 21 and is capable of sliding along the first direction X. The first elastic member 32 is connected between the first sliding member 31 and the second mounting seat 22 along the first direction X. In some embodiments, the first elastic member 32 is elastically compressed between the first sliding member 31 and the second mounting seat 22. In some embodiments, the first elastic member 32 is in a state of no force. The driving assembly 33 is connected with the first sliding member 31 and is used to drive the first sliding member 31 and the clamping jaw mechanism 20 to move along the first direction X. The sensor assembly 40 comprises a sensor 41 and a blocking piece 42. The sensor 41 is connected with the first sliding member 31. The blocking piece 42 is connected with the clamping jaw mechanism 20 and is used to trigger the sensor 41.

[0025] In a normal operation, the clamping jaw mechanism 20 moves to the position of the material (e.g. a sample box or a reagent box) without collision, for example, the clamping jaw mechanism 20 moves to the position of the sample box without collision with the sample box storage rack. The driving assembly 33 drives the first sliding member 31 to move along the first direction X. At this time, the first sliding member 31 does not slide relative to the first mounting seat 21 but drives the first mounting seat 21 to move along the first direction X, so that the clamping jaw mechanism 20 moves to the position of the material for grabbing. In this case, the blocking piece 42 does not trigger the sensor 41. When the clamping jaw mechanism 20 collides during moving to the position of the material along the first direction X, the clamping jaw mechanism 20 cannot continue to move along the first direction X. In this case, the driving assembly 33 drives the first sliding member 31 to compress the first elastic member 32 and slide relative to the first mounting seat 21 along the first direction X. The first sliding member 31 drives the sensor 41 to move a certain distance until the blocking piece 42 triggers the sensor 41. When the blocking piece 42 triggers the sensor 41, the collision-preventing carrying device 100 stops working, an alarm occurs or other actions such as moving the clamping jaw mechanism away from the collision source are taken, so as to protect the material from being damaged. It can be understood that the distance by which the first sliding member 31 drives the sensor 41 to move can be set according to actual needs, but the distance should not be too small to prevent the sensor 41 from being triggered by the blocking piece 42 due to misoperation and the like, thereby reducing the risk of false triggering.

[0026] In some embodiments, the baffle 42 can enable the sensor 41 to have triggered and untriggered states when the baffle 42 is close to and away from the sensor 41. In some embodiments, the sensor 41 is a Hall sensor, and the baffle 42 is provided with ferromagnetic for triggering the sensor 41. In some embodiments, the sensor 41 can be a photo-coupler switch or other required sensor.

[0027] In some embodiments, the second mounting base 22 extends from the first mounting base 21 along the second direction Z, and the baffle 42 is fixed to the first mounting base 21 and overlaps the second mounting base 22 in the third direction Y. Along the first direction X, the baffle 42 is located on the side of the second mounting base 22 facing the sliding member 31.

[0028] In some embodiments, referring to Figure 4 , the anti-collision carrying device 100 comprises a controller 50 and an alarm 60. The driving assembly 33, the alarm 60 and the sensor 41 are electrically connected to the controller 50. When the baffle 42 triggers the sensor 41, the sensor 41 sends a signal to the controller 50, and the controller 50 controls the alarm 60 to issue an alarm. The alarm 60 can be a buzzer alarm or a voice broadcast. When the baffle 42 triggers the sensor 41, the controller 50 can also control the driving assembly 33 to stop running, thereby controlling the clamping jaw mechanism to stop moving.

[0029] In some embodiments, referring to Figures 1 to 3 , the first sliding member 31 is provided with a sliding groove 311. The sliding groove 311 can extend along the second direction Y. The driving assembly 33 comprises a power member 331, a driving rod 332 and a second sliding member 333. The power member 331 is arranged on the support frame 10, the driving rod 332 is rotationally arranged on the power member 331 and located above the first sliding member 31 in the third direction Z, and the second sliding member 333 is rotationally connected to the driving rod 332 and slidingly arranged in the sliding groove 311. When the power member 331 drives the driving rod 332 to rotate, the second sliding member 333 slides from one end of the sliding groove 311 to the other end, and the driving rod 332 pushes the first sliding member 31 to slide along the first direction X. In some embodiments, the power member 331 is an electric motor, and the second sliding member 333 is a rolling bearing.

[0030] In some embodiments, referring to Figure 1 , the support frame 10 comprises a bottom plate 11, a top plate 12, a side plate 13 and a limiting plate 14. The bottom plate 11 and the top plate 12 are arranged along the third direction Z, and the side plate 13 is connected to the bottom plate 11 and the top plate 12. The bottom plate 11, the top plate 12 and the side plate 13 form a frame with three open sides. The limiting plate 14 is connected to the bottom plate 11 and located on the opposite sides of the bottom plate 11 in the second direction Y. The first mounting base 21 is slidingly arranged on the bottom plate 11 and can extend out of the support frame 10 along the first direction X. The limiting plate 14 is used to limit the clamping jaw mechanism 20. The power member 331 is fixed to the top plate 12.

[0031] In some embodiments, referring to Figure 2 and Figure 3 , the first mount 21 is provided with a guide rail 211 extending along the first direction X, and the first slide 31 is provided with a guide groove 313 matching the guide rail 211. The guide groove 313 is configured to cooperate with the guide rail 211 to enable the first slide 31 to move along the first direction X. The first mount 21 is provided with a first limiting member 212 at both ends of the guide rail 211 along the first direction X to limit the first slide 31.

[0032] In some embodiments, referring to Figure 3 , the first slide 31 is provided with a second limiting member 312. The second limiting member 312 is located in the slide groove 311 to limit the second slide 33.

[0033] In some embodiments, referring to Figures 1 to 3 , the clamping jaw mechanism 20 comprises a supporting plate 23 fixed to the first mount 21 and extending along the first direction X, and the supporting plate 23 is configured to support the material to be grabbed. Along the first direction X, the supporting plate 23 is provided with a clamping hook 231 at an end away from the first mount 21, and the clamping hook 231 is configured to hook an edge of the material to be grabbed to improve the stability of the grabbing. In some embodiments, the clamping hook 231 extends along the second direction Z from the supporting plate 23.

[0034] In some embodiments, referring to Figure 2 and Figure 3 , the clamping jaw mechanism 20 comprises a clamping assembly 24 configured to cooperate with the clamping hook 231 to clamp the material. The clamping assembly 24 comprises a pressing plate 241 and a second elastic member 242. The pressing plate 241 is movably arranged on the supporting plate 23, and the second elastic member 242 is elastically arranged between the first mount 21 and the pressing plate 23. When the supporting plate 23 supports the material to be grabbed, the drive assembly 33 drives the supporting plate 23 to retract along the first direction X, and the material moves with the supporting plate 23 and presses against the pressing plate 241. Under the action of the second elastic member 242, the pressing plate 241 and the clamping hook 231 jointly clamp the material.

[0035] In some embodiments, referring to Figure 3The first mounting base 21 is provided with a sliding hole 21a extending through a surface of the first mounting base 21 facing the pressing plate 241 in the first direction X to the inside of the first mounting base 21. The second elastic member 242 is accommodated in the sliding hole 21a. The clamping assembly 24 includes a sliding rod 243, one end of the sliding rod 243 being connected with the pressing plate 241, the other end of the sliding rod 243 being slidingly accommodated in the sliding hole 21a and abutting against the second elastic member 242. The second elastic member 242 elastically abuts between the end of the sliding rod 243 away from the pressing plate 241 and the part of the first mounting base 21 constituting the bottom wall of the sliding hole 21a.

[0036] In some embodiments, the support plate 23 is provided with a limiting hole 23a extending through two opposite surfaces of the support plate 23 in the second direction Z and extending in the first direction X. The pressing plate 241 includes a base body 2411 and a limiting portion 2412 protruding from the base body 2411, the limiting portion 2412 being slidingly accommodated in the limiting hole 23a, the base body 2411 having a gap with the support plate 23 in the second direction Z, avoiding the pressing plate 241 from blocking the movement of the support plate 23 in the first direction X.

[0037] In some embodiments, the first elastic member 32 and the second elastic member 242 are both springs.

[0038] The above disclosure is only the preferred embodiments of the present application, and of course cannot be used to limit the present application, so any equivalent changes made according to the present application still fall within the scope of the present application.

Claims

1. A collision-resistant transport device, characterized in that, include: Support frame; A gripper mechanism, comprising a first mounting base and a second mounting base, wherein the first mounting base is slidably disposed on the support frame and is capable of sliding along a first direction, and the second mounting base is disposed on the first mounting base; A driving mechanism includes a first sliding member, a first elastic member, and a driving component. The first sliding member is slidably disposed on the first mounting base and is capable of sliding along the first direction. Along the first direction, the first elastic member is connected between the first sliding member and the second mounting base. The driving component is connected to the first sliding member and is used to drive the first sliding member and the gripper mechanism to move along the first direction. A sensor assembly, comprising a sensor and a baffle, wherein the sensor is connected to the first sliding member and the baffle is connected to the gripper mechanism, wherein when the drive assembly drives the first sliding member to slide relative to the first mounting base, the first sliding member drives the sensor to move until the baffle triggers the sensor.

2. The anti-collision handling device as described in claim 1, characterized in that, The first sliding member is provided with a sliding groove, which extends along a second direction perpendicular to the first direction. The driving assembly includes a power member, a driving rod, and a second sliding member. The driving rod is rotatably disposed on the power member. The second sliding member is rotatably connected to the driving rod and slidably disposed in the sliding groove. When the power member drives the driving rod to rotate, the driving rod pushes the first sliding member to slide along the first direction.

3. The anti-collision handling device as described in claim 1, characterized in that, The gripper mechanism includes a support plate, which is fixed to the first mounting base and extends along the first direction. The support plate is used to lift and grip materials.

4. The anti-collision handling device as described in claim 3, characterized in that, The tray is provided with a hook at the end away from the first mounting base.

5. The anti-collision handling device as described in claim 4, characterized in that, The gripper mechanism includes a clamping assembly for engaging with the hook to clamp the material.

6. The anti-collision handling device as described in claim 5, characterized in that, The clamping assembly includes a pressure plate and a second elastic element. The pressure plate is movably disposed on the support plate, and the second elastic element elastically abuts against the first mounting base and the pressure plate.

7. The anti-collision handling device as described in claim 6, characterized in that, The first mounting base is provided with a sliding hole, the second elastic element is received in the sliding hole, and the clamping assembly includes a sliding rod, one end of which is connected to the pressure plate and abuts against the second elastic element.

8. The anti-collision handling device as described in claim 1, characterized in that, The anti-collision transport device includes a controller and an alarm. The controller is connected to the alarm and the sensor. When the baffle triggers the sensor, the controller controls the alarm to sound an alarm.

9. The anti-collision handling device as described in claim 8, characterized in that, The controller is connected to the drive assembly. When the baffle triggers the sensor, the controller controls the drive assembly to stop operating.

10. The anti-collision handling device as described in claim 1, characterized in that, The sensor is a Hall sensor.

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