Tool for test tube rack grabbing manipulator and test tube rack
By designing a tooling for a test tube rack gripping robot, and utilizing the combination of hooks and grooves, the problem of the test tube rack not being able to be firmly gripped by the robot was solved, enabling the robot to grip and release stably and conveniently, thus ensuring the safety and stability of the transportation process.
Patent Information
- Application Number
- CN202520602229.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-01
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-04-01
AI Technical Summary
In the existing technology, the test tube rack lacks a suitable position for the robotic arm to grasp, which makes it impossible for the robotic arm to pick up and transport the test tube rack smoothly and safely.
Design a tooling for a test tube rack gripping robot, including a base, a hook and a handle. The hook engages with the groove of the test tube rack, and the straight section abuts against the rear vertical wall, while the hook section abuts against the front vertical wall. The handle is gripped by the robot to achieve a stable grip.
It enables the robotic arm to securely and conveniently grasp and release the test tube rack, ensuring the safety and stability of the transportation process.
Smart Images
Figure CN223878604U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to liquid chromatography separation technical field, concretely relates to a test -tube rack gripping manipulator frock and test -tube rack. BACKGROUND
[0002] With the continuous development of mechanization, automation technology, more and more mechanical hands are used to pick up test -tube racks in liquid chromatography separation process. However, since there is no suitable position on the test -tube rack for the mechanical hand to grab, and the test -tube rack after loading test tubes is relatively heavy, the mechanical hand cannot pick up and transport the test -tube rack smoothly and safely. SUMMARY
[0003] The utility model provides a test -tube rack gripping manipulator frock and test -tube rack.
[0004] Specifically, the utility model is realized through the following technical schemes:
[0005] Firstly, the utility model provides a test -tube rack gripping manipulator frock, and the mechanical hand picks up the test -tube rack through the frock, and the test -tube rack includes a rack body and a hanging seat, the hanging seat bottom is formed with a groove, the rear vertical wall of the groove near one side of the test -tube rack has a longer downward extension length than the front vertical wall of the groove far from the test -tube rack, and the test -tube rack gripping manipulator frock includes a base, a hook and a handle, the hook is arranged on the side of the base towards the test -tube rack, and the handle is arranged on the other side of the base far from the test -tube rack, wherein the hook is sequentially provided with a straight face section and a hook section from the base, the straight face section vertically extends upwards, and the hook section extends upwards and bends towards the handle direction, so that the straight face section can abut against the rear vertical wall of the groove, and the end of the hook section can abut against the front vertical wall of the groove, and the handle is columnar and vertically extends, so that it can be grabbed by the mechanical hand.
[0006] In some embodiments, the columnar outer periphery of the handle is provided with knurling.
[0007] In some embodiments, the handle is cylindrical, and a pair of opposite flat surfaces are formed on the outer periphery of the upper part of the cylindrical handle.
[0008] In some embodiments, the bottom of the handle is connected to the base by a bolt.
[0009] In some embodiments, the base is plate-shaped, and the area of the plate-shaped base is formed into the same profile as the cross section of the handle.
[0010] In some embodiments, the area between the hook and the handle of the base is formed with a hole extending in the vertical direction, and the hole is positioned and matched with the convex column of the workbench.
[0011] In some embodiments, the hole is formed into a through hole penetrating through the base in the vertical direction.
[0012] In some embodiments, the columnar shape of the handle is hollow.
[0013] In the second aspect, the utility model provides a test tube rack for being grabbed by a mechanical hand through a tooling, the test tube rack includes a rack body and a hanging seat, the hanging seat bottom is formed with a groove, the rear vertical wall of the groove near one side of the test tube rack has a longer downward extension length than the front vertical wall of the groove far from one side of the test tube rack, the test tube rack grabbing mechanical hand tooling includes a base, a hook and a handle, the hook is arranged on the side of the base towards the test tube rack, the handle is arranged on the other side of the base far from the test tube rack, wherein the hook is sequentially provided with a straight face section and a hook section from the base, the straight face section vertically extends upwards, the hook section extends upwards and bends towards the handle direction, so that the straight face section can abut against the rear vertical wall of the groove, and the end of the hook section can abut against the front vertical wall of the groove at the same time, and the handle is columnar and vertically extends, so that it can be grabbed by the mechanical hand.
[0014] In some embodiments, the groove is further provided with side vertical walls on both sides of the front vertical wall and the rear vertical wall.
[0015] According to the utility model, through the cooperation of the tooling and the test tube rack, the mechanical hand holds the handle of the tooling, the hook is placed in the groove of the hanging seat of the test tube rack, the straight face section of the hook abuts against the rear vertical wall of the groove, and the hook section of the hook extends into the groove, when the mechanical hand lifts the test tube rack upwards through the tooling, because the straight face section abuts against the rear vertical wall, the hook rotates around the abutting point, the end of the hook section of the rotated hook abuts against the front vertical wall of the groove, so that the test tube rack is lifted, the whole grabbing process is simple, because the abutting force is generated between the straight face section and the rear vertical wall, and the abutting force is also generated between the end of the hook section and the front vertical wall, the line between the two abutting forces is inclined, so that the test tube rack is firmly and stably grabbed, and the grabbing and releasing operations are convenient.
[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS
[0017] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the application, and together with the specification, serve to explain the principles of the application.
[0018] Figure 1 is the schematic diagram of the test tube rack grabbing state of the test tube rack grabbing mechanical hand tooling in an embodiment of the utility model;
[0019] Figure 2 is the schematic diagram of the first visual angle of the test tube rack grabbing mechanical hand tooling in an embodiment of the utility model;
[0020] Figure 3is a second perspective view of the tool for test tube rack grabbing manipulator in the embodiment of the utility model;
[0021] Figure 4 is a sectional view of the process state that the hook of the tool for test tube rack grabbing manipulator is inserted into the groove of the test tube rack in the embodiment of the utility model;
[0022] Figure 5 is a sectional view of the fixed state of the tool for test tube rack grabbing manipulator and the hanging seat of the test tube rack in the embodiment of the utility model;
[0023] Figure 6 is Figure 5 the local enlarged view of A in the middle.
[0024] Reference signs:
[0025] 01: workbench; 02: convex column;
[0026] 10: tool for test tube rack grabbing manipulator; 11: base; 12: hook; 121: straight surface section; 122: backhook section; 13: handle; 131: tangent plane; 132: knurling;
[0027] 20: test tube rack; 21: rack body; 22: hanging seat; 23: groove; 231: front vertical wall; 232: rear vertical wall; 233: side vertical wall. DETAILED DESCRIPTION
[0028] The present disclosure will now be discussed with reference to a number of embodiments. It should be appreciated that these embodiments are discussed solely for the purpose of enabling those with ordinary skill in the art to better understand and thus practice the present disclosure, and are not intended to limit the scope of the present disclosure in any way.
[0029] As used herein, the term "includes" and its variants are to be read to be synonymous with "comprising" and its variants; the terms "a" and "an" are to be read as meaning "at least one" or "one or more"; the term "another" is to be read as meaning "at least one other"; the terms "first", "second", and the like can refer to different or identical objects; the term "set" is not limited to direct connections or indirect connections, nor to specific connection manners. Other explicit and implicit definitions can also be included below.
[0030] Some specific values or value ranges can be involved in the following description. It should be understood that these values and value ranges are only exemplary, which can be beneficial to put the idea of the present disclosure into practice. However, the description of these examples is not intended to limit the scope of the present disclosure in any way. According to specific application scenarios and requirements, these values or value ranges can be set otherwise.
[0031] As described above, there is no suitable position for the mechanical hand to grab on the prior art test tube rack 20, so that the mechanical hand cannot pick up and transport the test tube rack 20 smoothly and safely. The test tube rack 20 grabbing mechanical hand tool 10 and the test tube rack 20 proposed in the embodiment of the utility model at least partially solve the above problems. As shown in Figures 2-4 The test tube rack 20 grabbing mechanical hand tool 10 of the embodiment of the utility model generally comprises a base 11, a hook 12 and a handle 13, the hook 12 is arranged on one side of the base 11, and the handle 13 is arranged on the other side of the base 11, wherein the hook 12 is used for fixing with the test tube rack 20, and the handle 13 is used for the mechanical hand to grab, that is to say, the mechanical hand realizes the grabbing of the test tube rack 20 by the test tube rack 20 grabbing mechanical hand tool 10.
[0032] As shown in Figure 1 、 Figure 5 and Figure 6 The test tube rack 20 of the embodiment of the utility model generally comprises a rack body 21 and a hanging seat 22, and the hanging seat 22 is arranged on one side of the rack body 21, wherein the rack body 21 is used for containing test tubes, and the hanging seat 22 is fixed with the hook 12 of the tool.
[0033] In order to realize the cooperation and fixation of the hanging seat 22 and the hook 12, the hook 12 is designed as a whole in a hook shape, specifically, the hook 12 is composed of a straight face section 121 and a hook section 122, the straight face section 121 extends vertically upward from the base 11, here, the "vertical" and "upward" are the reference directions when the tool is placed on the horizontal ground, and the bottom of the base 11 is designed as a plane, so that the extension direction of the straight face section 121 of the base 11 is perpendicular to the horizontal ground. The hook section 122 is bent and extends obliquely upward from the top end of the straight face section 121 to the direction of the handle 13, so that the hook 12 has sufficient mechanical strength in the extension direction of the hook section 122.
[0034] The bottom of the hanging seat 22 is formed with a groove 23, and the opening of the groove 23 faces downward, that is, the groove 23 is formed with a rear vertical wall 232 extending vertically downward near the test tube rack 20 side, and the groove 23 is formed with a front vertical wall 231 extending vertically downward away from the test tube rack 20 side, and the front vertical wall 231 and the rear vertical wall 232 define the groove 23. In order to cooperate with the use of the hook 12, the length of the downward extension of the rear vertical wall 232 is longer than that of the front vertical wall 231, that is, the groove 23 is formed with a gap below the front vertical wall 231, and the hook 12 extends into the groove 23 through the gap.
[0035] In one embodiment, the two sides of the groove 23 are also provided with side vertical walls 233, which close the two sides of the groove 23, so as to avoid the hook 12 from escaping from the two sides of the groove 23 during the process of the tool grabbing the test tube rack 20. In another embodiment, the two sides of the groove 23 can also not be provided with side vertical walls 233, that is, the groove 23 is open on the two sides. In this case, the hook 12 can conveniently extend into the groove 23 from the two sides of the groove 23.
[0036] The handle 13 is provided in the form of a vertically extending column, so as to facilitate the mechanical hand to firmly hold the outer periphery of the column-shaped handle 13. In one embodiment, the columnar form of the handle 13 is in the form of a cylinder, and a pair of oppositely positioned flat surfaces 131 are formed on the outer periphery of the upper part of the cylinder. The flat surfaces 131 are used to form a circumferential limit with the mechanical hand. The corresponding limiting structure provided on the mechanical hand can cooperate with the flat surfaces 131, so as to prevent the handle 13 from rotating during the process of the mechanical hand grabbing the handle 13.
[0037] In one embodiment, the outer periphery of the columnar handle 13 is provided with knurls 132. When the mechanical hand holds the outer periphery of the column, the friction generated between the mechanical hand and the knurls 132 is beneficial to the firm grabbing of the handle 13 by the mechanical hand.
[0038] In one embodiment, the bottom of the handle 13 is detachably connected with the base 11. For example, the handle 13 can be connected with the base 11 by bolts. In another embodiment, the bottom of the handle 13 can be integrally connected with the base 11.
[0039] In one embodiment, the base 11 is provided in the form of a plate. The top surface and the bottom surface of the plate are both formed in the form of a plane, so that the base 11 can be stably placed on the surface of the workbench 01, and is also beneficial to the processing process.
[0040] In one embodiment, the plate is formed in a special shape in the top view. Specifically, the plate is rectangular in the area of the hook 12, and the rectangular shape has the same projection contour as the hook 12 in the top view. The plate is semicircular in the area of the handle 13, and the semicircular shape has the same projection contour as the cylindrical handle 13 in the top view, so that the overall mechanical properties of the hook 12, the base 11 and the handle 13 are better.
[0041] In one embodiment, the area between the hook 12 and the handle 13 of the base 11 is formed with a hole extending in the vertical direction. The hole is positioned and matched with the protruding column 02 of the workbench 01, so that the mechanical hand can quickly and accurately place the test tube rack 20 at the target position of the workbench 01. For example, the hole can be a through hole. The visual sensor of the operator or the mechanical hand can clearly identify the alignment of the through hole and the protruding column 02 above the base 11.
[0042] In one embodiment, the columnar shape of the handle 13 is hollow, which maximizes the weight reduction effect of the tool while ensuring mechanical strength.
[0043] When the robot hand grabs the test tube rack 20 through the tool of the embodiment of the utility model, first, the robot hand holds the outer periphery of the handle 13, as shown in the figure, the robot hand grabs the tool and operates the tool to tilt, the hook 12 is inserted into the groove 23 from the gap below the front vertical wall 231 of the groove 23, then the tool returns to the horizontal angle, which ensures that the hook 12 of the tool is completely placed in the groove 23, and the straight face section 121 is tightly squeezed with the rear vertical wall 232. Figure 5 As shown in the figure, the robot hand pulls up the tool, the hook 12 is deflected with the local part formed by the tight squeeze between the straight face section 121 and the rear vertical wall 232 as the reference, until the end of the hook section 122 abuts against the front vertical wall 231, so that the test tube rack 20 can be firmly grabbed. Figure 6 As shown in the figure, the robot hand pulls up the tool, the hook 12 is deflected with the local part formed by the tight squeeze between the straight face section 121 and the rear vertical wall 232 as the reference, until the end of the hook section 122 abuts against the front vertical wall 231, so that the test tube rack 20 can be firmly grabbed.
[0044] It should be noted that the test tube rack 20 of the embodiment of the utility model can load test tubes in any application scenario, for example, the test tube rack 20 can be used in cooperation with a liquid phase preparation chromatograph.
[0045] In the description of the embodiment, any reference to direction and position is only for the convenience of description, and cannot be understood as any limitation on the protection scope of the utility model. The description of the preferred embodiment may involve a combination of features, which may exist independently or in combination, and the utility model is not particularly limited to the preferred embodiment. The scope of the utility model is defined by the claims.
[0046] The above is only a preferred embodiment of the utility model, and is not used to limit the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.
Claims
1. A jig for a test tube rack gripping robot, the robot gripping a test tube rack by means of the jig, characterized in that, The test tube rack comprises a rack body and a hanging seat, the bottom of the hanging seat is formed with a groove, the rear vertical wall of the groove near one side of the test tube rack has a longer downward extension length than the front vertical wall of the groove far from the test tube rack, the tool for the test tube rack grabbing manipulator comprises a base, a hook and a handle, the hook is arranged on the side of the base facing the test tube rack, and the handle is arranged on the other side of the base far from the test tube rack, wherein the hook is sequentially provided with a straight face section and a hook section starting from the base, the straight face section vertically extends upward, and the hook section extends upward and bends obliquely toward the handle, so that the straight face section can abut against the rear vertical wall of the groove, and the end of the hook section can abut against the front vertical wall of the groove, and the handle is in the form of a vertically extending column, so that the handle can be grabbed by the manipulator.
2. The test tube rack gripping robot tooling of claim 1, wherein, The cylindrical outer periphery of the handle is provided with knurling.
3. The test tube rack gripping robot tooling of claim 1, wherein, The handle is in the form of a cylinder, and a pair of opposite flat surfaces are formed on the outer periphery of the upper part of the cylinder.
4. The test tube rack gripping robot tooling of claim 1, wherein, The bottom of the handle is connected to the base by a bolt.
5. The test tube rack gripping robot tooling of claim 1 wherein, The base is in the form of a plate, and the area of the plate located on the handle is formed in the same profile as the cross section of the handle.
6. The test tube rack gripping robot tooling of claim 1, wherein, The area of the base between the hook and the handle is formed with a hole extending in the vertical direction, and the hole is positioned and matched with the convex column of the workbench.
7. The test tube rack gripping robot tooling of claim 6 wherein, The hole is formed in the form of a through hole penetrating through the base in the vertical direction.
8. The test tube rack gripping robot tooling of claim 1 wherein, The cylindrical handle is in the form of a hollow column.
9. A rack for test tubes, for being gripped by a robot hand through a tool, characterized in that, The test tube rack comprises a rack body and a hanging seat, the bottom of the hanging seat is formed with a groove, the rear vertical wall of the groove near one side of the test tube rack has a longer downward extension length than the front vertical wall of the groove far from the test tube rack, the tool for the test tube rack grabbing manipulator comprises a base, a hook and a handle, the hook is arranged on the side of the base facing the test tube rack, and the handle is arranged on the other side of the base far from the test tube rack, wherein the hook is sequentially provided with a straight face section and a hook section starting from the base, the straight face section vertically extends upward, and the hook section extends upward and bends obliquely toward the handle, so that the straight face section can abut against the rear vertical wall of the groove, and the end of the hook section can abut against the front vertical wall of the groove, and the handle is in the form of a vertically extending column, so that the handle can be grabbed by the manipulator.
10. The test tube rack of claim 9, wherein, The groove is further provided with side vertical walls located on both sides of the front vertical wall and the rear vertical wall.