Automatic grabbing equipment

Abstract

The utility model relates to the technical field of medicine transfer equipment, in particular to automatic grabbing equipment which comprises a frame body, a driving assembly and a grabbing assembly, a deep frame for loading and containing solvent bottles is placed on the side wall of the frame body, the driving assembly has three degrees of freedom which are perpendicular to one another, and the grabbing assembly is arranged on the frame body. The grabbing assembly is movably connected to the output end of the driving assembly, the grabbing assembly is arranged in the direction of the deep frame, and the deep frame is located in a moving area of the grabbing assembly. The occupational health problems such as lumbar muscle degeneration and spinal injury caused by long-term bending of an operator are avoided, the grabbing assembly is accurately controlled through the driving assembly, it is ensured that the solvent bottle is kept stable in the grabbing and transferring process, and the splashing or collision risk caused by unstable grabbing of the solvent bottle is reduced.

Description

Technical Field

[0001] This utility model relates to the field of drug transport equipment technology, and in particular to an automatic gripping device. Background Technology

[0002] In laboratories, pharmaceuticals, and chemical industries, deep containers are commonly used to store large quantities of solvent bottles. Manually retrieving these bottles often requires operators to bend over for extended periods, leading to low efficiency and potentially serious health problems such as lumbar muscle strain and spinal cord injuries. Furthermore, manual handling carries risks of unstable bottle handling, spillage, or collisions, especially when handling toxic, corrosive, or volatile solvents, which can threaten operator safety and the laboratory environment. Utility Model Content

[0003] The purpose of this invention is to provide an automatic gripping device to solve the problems of low efficiency and adverse health effects of manually removing solvent bottles from deep frames in the prior art.

[0004] The technical solution of this utility model is: an automatic gripping device, comprising: a frame, a drive assembly, and a gripping assembly. The side wall of the frame is provided with a deep frame for loading and accommodating solvent bottles. The drive assembly has three mutually perpendicular degrees of freedom. The gripping assembly is movably connected to the output end of the drive assembly. The gripping assembly is positioned toward the deep frame, and the deep frame is located within the moving area of ​​the gripping assembly.

[0005] Preferably, the gripping component includes a support member and an adsorption end. The support member is configured as a strip along a first direction, and the adsorption end is rotatably connected to the output end of the support member away from the frame in a vertical direction to adsorb the solvent bottle in the deep frame.

[0006] Preferably, the side of the frame is provided with a first limiting frame, which is arranged perpendicularly to the side wall of the frame along a first direction, and the deep frame is simultaneously limited by the frame and the first limiting frame.

[0007] Preferably, the frame is fixedly provided with a second limiting frame, the second limiting frame is located on the same side of the frame as the first limiting frame, and the second limiting frame, the frame and the first limiting frame form a "U" shaped frame for limiting the deep frame.

[0008] Preferably, the support member is fixedly provided with a drive motor, the drive shaft of the drive motor is vertically downward, the adsorption end includes an adsorption support and a plurality of adsorption nozzles, the adsorption support is fixedly connected to the drive shaft of the motor, the adsorption support has a waist hole arranged along a first direction, and the plurality of adsorption nozzles are fixed to the waist hole by nuts.

[0009] Preferably, a first extension rod is fixedly provided at the output end of the drive motor. The first extension rod is arranged in a vertical direction. A support platform is fixedly provided at the end of the first extension rod away from the drive motor. The rotation axis of the support platform is coaxial with the rotation axis of the first extension rod. A plurality of second extension rods are fixedly provided at the bottom of the support platform. The plurality of second extension rods are arranged in an array around the rotation axis of the support platform. All of the plurality of second extension rods are fixedly connected to the adsorption support.

[0010] Preferably, the support member is fixed with a sensor for detecting the solvent bottle.

[0011] Compared with the prior art, the advantages of this utility model are:

[0012] By using a drive component to move the gripping component, manual bending operations are replaced, avoiding occupational health problems such as lumbar muscle strain and spinal injury caused by prolonged bending. The gripping component is precisely controlled by the drive component to ensure that the solvent bottle remains stable during gripping and transfer, reducing the risk of spillage or collision caused by unstable gripping of the solvent bottle. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0014] Figure 1 This is a schematic diagram of the structure of an automatic grasping device according to the present invention;

[0015] Figure 2 This is a schematic diagram of the gripping component described in this utility model;

[0016] Figure 3 This is a schematic diagram of the adsorption end of the present invention.

[0017] Explanation of reference numerals in the attached figures:

[0018] 1. Frame; 2. Drive assembly; 21. First guide rail; 22. Second guide rail; 23. Third guide rail; 3. Gripping assembly; 31. Support component; 32. Adsorption end; 321. Adsorption support; 322. Adsorption nozzle; 323. Waist hole; 33. First extension rod; 34. Support platform; 35. Second extension rod; 36. Drive motor; 4. Deep frame; 5. Sensor; 6. First limiting frame; 7. Second limiting frame; 100. Solvent bottle. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0021] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] like Figure 1 As shown, an automatic gripping device includes a frame 1, a drive assembly 2, and a gripping assembly 3. A deep frame 4 for loading and accommodating solvent bottles 100 is placed on the side wall of the frame 1. The drive assembly 2 has three mutually perpendicular degrees of freedom. The gripping assembly 3 is movably connected to the output end of the drive assembly 2 and is positioned towards the deep frame 4. The deep frame 4 is located within the moving area of ​​the gripping assembly 3. The gripping assembly 3 grips the solvent bottles 100 in the deep frame 4 through the drive assembly 2 and transfers the solvent bottles 100 to the target area. This device can replace the need to bend over to remove the solvent bottles 100 from the deep frame 4, and replace manual removal of the solvent bottles 100 from the deep frame 4, reducing physical exertion, lowering labor intensity, and reducing repetitive actions, thus reducing fatigue and the risk of injury.

[0023] The frame 1 is a frame structure, preferably a cubic frame structure. The drive assembly 2 is fixed to the top of the frame 1. The drive assembly 2 includes a first guide rail 21, a second guide rail 22, and a third guide rail 23. The first guide rail 21 is fixed to the frame. Preferably, there are two first guide rails 21, both fixed to the top of the frame 1, and arranged parallel to each other. The length of both first guide rails 21 exceeds the side length of the top of the frame 1, that is, the first guide rail 21 extends out of the frame 1, and both first guide rails 21 extend along a first direction, so that the stroke of the drive assembly 2 is not limited to the frame 1. The second guide rail 22 is slidably connected to the first guide rail 21, and the second guide rail 22 is slidably connected to both first guide rails 21. The second guide rail 22 is perpendicular to the first guide rail 21. The third guide rail 23 is slidably connected to the second guide rail 22 and is arranged in a vertical direction. The gripping component 3 slides vertically onto the third guide rail 23 to extend into the deep frame 4 to grip the solvent bottle 100.

[0024] A first limiting frame 6 is fixed to the side of the frame 1. The first limiting frame 6 is perpendicular to the side wall of the frame 1 along a first direction. Preferably, the first limiting frame 6 is a rectangular frame structure, with one side shared with the frame 1. The first limiting frame 6 and the first guide rail 21 extend out of the frame 1 in the same direction, that is, the first guide rail 21 is parallel to the first limiting frame 6. A deep frame 4 containing solvent bottles 100 abuts against the side wall of the frame 1 so that the gripping assembly 3 can grip the solvent bottles 100 in the deep frame 4. A second limiting frame 7 is fixedly mounted on the frame 1. The second limiting frame 7 is located on the same side of the frame 1 as the first limiting frame 6. The second limiting frame 7 is constructed as a rectangular frame structure and is parallel to the first limiting frame 6. The second limiting frame 7, the frame 1, and the first limiting frame 6 form a "U"-shaped frame for limiting the deep frame 4. That is, the three sides of the deep frame 4 abut against the second limiting frame 7, the frame 1, and the first limiting frame 6, respectively. The deep frame 4 is simultaneously constrained by the frame 1, the first limiting frame 6, and the second limiting frame 7, ensuring that the deep frame 4 can be accurately positioned. The deep frame 4 can be pushed into the processing position along a first direction to reduce positioning time, ensure that the deep frame 4 is processed in a fixed position, and reduce the possibility of shaking or tipping.

[0025] like Figure 2As shown, the gripping component 3 includes a support member 31 and an adsorption end 32. The support member 31 is constructed into a strip shape along a first direction, and the adsorption end 32 is rotatably connected to the output end of the support member 31 away from the frame 1 in a vertical direction to adsorb the solvent bottle 100 within the deep frame 4. Preferably, the support member 31 includes a support block and a support plate. The support block is slidably connected to a third guide rail 23, and the support plate is horizontally arranged with one end fixedly connected to the support block and the other end extending in a direction away from the third guide rail 23 along the first direction. The support plate and the support block are fixedly connected by reinforcing ribs. A drive motor 36 is fixedly connected to the support plate, and the output shaft of the drive motor 36 is arranged downwards in a vertical direction. A sensor 5 for detecting the solvent bottle 100 is fixedly mounted on the support member 31.

[0026] A first extension rod 33 is fixedly connected to the output shaft of the drive motor 36. Preferably, the rotation axis of the first extension rod 33 is coaxial with the rotation axis of the output shaft of the drive motor 36. More preferably, the first extension rod 33 is a telescopic rod in the vertical direction. A support platform 34 is fixedly provided at the end of the first extension rod 33 away from the drive motor 36. The support platform 34 is constructed as a circumference, and the top end face of the support platform 34 is fixedly connected to the bottom surface of the first extension rod 33. The rotation axis of the support platform 34 is coaxial with the rotation axis of the first extension rod 33. A plurality of second extension rods 35 are fixedly provided at the bottom of the support platform 34. The plurality of second extension rods 35 are arranged in an array around the rotation axis of the support platform 34. The plurality of second extension rods 35 are all fixedly connected to the adsorption end 32, increasing the operating range of the adsorption end 32, which can cover a deeper position in the deep frame 4, and the adsorption end 32 can reach the bottom or edge of the solvent bottle 100. After the solvent bottle 100 is adsorbed at the adsorption end 32, the drive motor 36 drives the adsorption end 32 to rotate, ensuring that the solvent bottles 100 can be placed in a uniform direction, thereby improving the efficiency of use.

[0027] like Figure 3 As shown, the adsorption end 32 includes an adsorption support 321 and a plurality of adsorption nozzles 322. The adsorption support 321 is fixedly connected to the second extension rod 35. The adsorption support 321 has a waist hole 323 arranged along a first direction. The plurality of adsorption nozzles 322 are fixed to the waist hole 323 by nuts, and the adsorption nozzles 322 are arranged vertically downward. Specifically, the adsorption nozzles 322 can move along the length direction of the waist hole 323 to adjust the position of the adsorption nozzles 322 for more stable adsorption of the solvent bottle 100. After the position of the adsorption nozzles 322 is determined, the nuts are tightened to fix the adsorption nozzles 322 to the adsorption support 321.

[0028] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and therefore, all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within this utility model.

Claims

1. An automatic gripping device, characterized in that, include: The frame (1), drive assembly (2), and gripping assembly (3) are provided. A deep frame (4) for loading and accommodating solvent bottles (100) is placed on the side wall of the frame (1). The drive assembly (2) has three mutually perpendicular degrees of freedom. The gripping assembly (3) is movably connected to the output end of the drive assembly (2). The gripping assembly (3) is positioned toward the deep frame (4). The deep frame (4) is located within the moving area of ​​the gripping assembly (3).

2. The automatic gripping device according to claim 1, characterized in that: The gripping component (3) includes a support (31) and an adsorption end (32). The support (31) is constructed as a strip along a first direction. The adsorption end (32) is rotatably connected to the output end of the support (31) away from the frame (1) in a vertical direction to adsorb the solvent bottle (100) in the deep frame (4).

3. The automatic grasping device according to claim 2, characterized in that: The frame (1) is provided with a first limiting frame (6) on its side. The first limiting frame (6) is arranged perpendicularly to the side wall of the frame (1) along a first direction. The deep frame (4) is simultaneously restricted by the frame (1) and the first limiting frame (6).

4. An automatic grasping device according to claim 3, characterized in that: The frame (1) is fixed with a second limiting frame (7), which is located on the same side of the frame (1) as the first limiting frame (6). The second limiting frame (7), the frame (1), and the first limiting frame (6) constitute a "U"-shaped frame for limiting the deep frame (4).

5. An automatic grasping device according to claim 2, characterized in that: The support member (31) is fixedly equipped with a drive motor (36), the drive shaft of the drive motor (36) is downward in the vertical direction, the adsorption end (32) includes an adsorption support (321) and a plurality of adsorption nozzles (322), the adsorption support (321) is fixedly connected to the drive shaft of the motor, the adsorption support (321) has a waist hole (323) arranged in the first direction, and the plurality of adsorption nozzles (322) are fixed in the waist hole (323) by nuts.

6. An automatic grasping device according to claim 5, characterized in that: The output end of the drive motor (36) is fixedly provided with a first extension rod (33), which is arranged in a vertical direction. The end of the first extension rod (33) away from the drive motor (36) is fixedly provided with a support platform (34). The rotation axis of the support platform (34) is coaxial with the rotation axis of the first extension rod (33). A plurality of second extension rods (35) are fixedly provided at the bottom of the support platform (34). The plurality of second extension rods (35) are arranged in an array with the rotation center line of the support platform (34) as the center. The plurality of second extension rods (35) are all fixedly connected to the adsorption support (321).

7. An automatic gripping device according to claim 2, characterized in that: The support member (31) is fixed with a sensor (5) for detecting the solvent bottle (100).

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