Electric gripper mechanism for kit

Abstract

The utility model discloses an electric gripper mechanism for a kit, which belongs to the technical field of manipulators and comprises a casing, two grippers and a positioning column, and the casing is used for connecting a displacement mechanism; the two grippers are symmetrically installed on the machine shell in a sliding mode. The positioning column is arranged on the machine shell and used for being matched with a positioning hole formed in the kit; wherein a motor and a transmission mechanism are arranged in the machine shell. The positioning columns and the grippers are designed, the positioning columns can be inserted into the positioning holes in the bottom of the kit, the two grippers can clamp the two sides of the kit in a matched mode, accurate alignment and anti-falling fixing of the kit are achieved, when the kit is clamped above the machine shell, the grippers on the two sides release the kit, the positioning columns can also play a limiting role, and therefore the kit can be fixed conveniently and rapidly. And the deflection of the kits during stacking is prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, concretely relates to a reagent box electric grab hand structure. BACKGROUND

[0002] In the field of laboratory automation equipment, accurate grabbing and positioning of reagent boxes are key links affecting detection efficiency. Traditional mechanical grippers mostly adopt pneumatic or double-motor driving modes, which have problems of complex structure and insufficient positioning accuracy, especially in high-speed stacking process, reagent boxes are prone to deviation or slipping due to inertia. Some devices adopt single clamping point design, which is prone to produce torsional moment in the grabbing process, resulting in tilting or even damage of the reagent box. SUMMARY

[0003] In view of the above technical deficiencies, the utility model aims at providing a reagent box electric grab hand structure, which can form multi-point support for the reagent box during moving the reagent box, avoiding deviation of the reagent box.

[0004] To solve the above technical problems, the utility model adopts the following technical scheme: the utility model provides a reagent box electric grab hand structure, comprising:

[0005] A casing is used to connect a displacement mechanism;

[0006] Two grippers are symmetrically slidably installed on the casing;

[0007] A positioning column is arranged on the casing and used to cooperate with a positioning hole arranged on the reagent box;

[0008] The casing is provided with a motor and a transmission mechanism, and the motor drives the two grippers to move symmetrically on the casing through the transmission mechanism.

[0009] Preferably, the casing comprises a box body and a cover plate, the box body is open at the top, and the cover plate is fixed on the top of the box body to seal the top of the box body.

[0010] Preferably, the transmission mechanism comprises two guide assemblies and two driven assemblies, the two grippers are connected with the two guide assemblies respectively, the driven assemblies are connected with the two guide assemblies respectively, and the motor drives the two driven assemblies to move symmetrically.

[0011] Preferably, the guide assembly comprises a slide rail fixed in the box body and a sliding block slidably installed on the slide rail, an L-shaped plate is arranged on the sliding block, and the two grippers are fixed on the two L-shaped plates respectively.

[0012] Preferably, the gripper comprises a long plate and a short plate, the long plate is fixedly connected with the short plate and is L-shaped, the longer end of the gripper is fixed on the L-shaped plate through bolts, and the shorter end of the gripper is provided with a reverse buckling part parallel to the long plate.

[0013] Preferably, a plurality of reinforcing rib plates are fixed on the long plate and the short plate.

[0014] Preferably, the two guide assemblies are centrally symmetrically distributed with the output shaft of the motor as the center.

[0015] Preferably, the driven assembly comprises a rack fixed on the L-shaped plate through bolts and a gear sleeved on the output shaft of the motor, and the racks in the two driven assemblies are respectively engaged with two sides of the gear.

[0016] Preferably, the bottom of the box body is provided with a mounting hole, the motor is fixed on the bottom of the box body through bolts, and the output shaft of the motor penetrates through the mounting hole and extends into the box body.

[0017] Preferably, the two positioning columns are symmetrically arranged on the shell, the positioning columns are large at the top and small at the bottom, and the line connecting the two positioning columns is perpendicular to the line connecting the two grippers.

[0018] The beneficial effects of the utility model lie in:

[0019] The utility model discloses a positioning column and gripper, the positioning column can be inserted into the positioning hole in the bottom of the reagent box, and the two grippers can hold the two sides of the reagent box, realizing accurate alignment and anti -drop fixing of the reagent box, when the reagent box is clamped above the shell, the two grippers release the reagent box, and the positioning column can also play the limiting action and prevent the reagent box from being inclined when stacking, the utility model discloses a single motor, and the two racks are symmetrically moved through the gear drive, realizing the symmetric movement of the two grippers, clamping the reagent box, and the structure is simple and the reagent box can be clamped in the middle, the two positioning columns and the two grippers are located at four directions of the reagent box, the torsional resistance when clamping is enhanced, the conical design of the top of the positioning column can compensate the slight position deviation of the reagent box, and automatic deviation correction positioning when clamping is realized. ACCURACY

[0020] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creating labor.

[0021] Figure 1 It is the structure schematic view of the reagent box to be clamped by the utility model.

[0022] Figure 2 A structure schematic view of a kit electric gripper mechanism is provided for the embodiment of the utility model.

[0023] Figure 3 An internal structure schematic view when the utility model clamps the kit.

[0024] Figure 4 A front view when the utility model gripper clamps the kit.

[0025] Figure 5 A front view when the utility model gripper releases the kit.

[0026] Figure 6 A structure schematic view of a transmission mechanism is provided for the embodiment of the utility model.

[0027] Mark explanation:

[0028] 1, the shell, 2, displacement mechanism, 3, gripper, 4, positioning column, 5, motor, 6, box body, 7, cover plate, 8, slide rail, 9, kit, 10, L-shaped plate, 11, long plate, 12, short plate, 13, reverse buckling part, 14, reinforcing rib plate, 15, rack, 16, gear. Specific implementation

[0029] The technical scheme in the embodiments of the utility model will be described clearly and completely in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0030] Embodiment one:

[0031] As shown in Figures 1 to 6 Embodiment one of the utility model provides a kit 9 electric gripper 3 mechanism, including shell 1, two symmetrical setting on the shell 1 gripper 3 and fixed on the shell 1 positioning column 4. Among them, the shell 1 adopts split structure, including box body 6 and cover plate 7, the top of box body 6 is open and fixed cover plate 7 through bolt, forms closed cavity, is convenient for the installation and protection of internal transmission mechanism.

[0032] The bottom of the box body 6 is provided with a mounting hole, and the motor 5 is fixed on the bottom of the box body 6 through bolts, and the output shaft of the motor 5 extends into the cavity through the mounting hole. Two parallel slide rails 8 are fixed in the box body 6 through bolts, and the two slide rails 8 are symmetrically distributed on the two sides of the output shaft. A sliding block is slidably installed on each slide rail 8. The slide rail 8 is a linear guide rail, and the sliding block is integrated with a ball bearing, which significantly reduces the friction resistance. The sliding block is fixed with an L-shaped plate 10 through bolts. The gripper 3 includes a long plate 11 and a short plate 12, and the long plate 11 and the short plate 12 are fixedly connected to form an L shape. The long plate 11 is fixedly connected to the L-shaped plate 10 through bolts at the end away from the short plate 12. The long plate 11 and the short plate 12 are provided with a plurality of reinforcing rib plates 14 on the surfaces to improve the structural rigidity.

[0033] Through the above setting, the two L-shaped plates 10 are centered on the output shaft of the motor 5, and the two grippers 3 are symmetrically distributed on the two sides of the output shaft. The center lines of the two long plates 11 are on the same straight line. The slide rail 8 and the sliding block form a guide assembly to realize the linear motion of the gripper 3. As can be seen from the drawings, the end of the short plate 12 away from the long plate 11 is provided with a reverse buckle part 13 parallel to the long plate 11, which is used for hooking the opening arranged at the edge of the reagent box 9 to prevent the gripper 3 from accidentally falling off the reagent box 9.

[0034] Through the above setting, the motor 5 only needs to drive the two L-shaped plates 10 to move symmetrically, so as to drive the two grippers 3 to move symmetrically, thereby cooperating with the clamping reagent box 9 or releasing the reagent box 9.

[0035] Embodiment two:

[0036] On the basis of embodiment one, the transmission form between the motor 5 and the L-shaped plate 10 is provided in the embodiment two of the utility model. Two racks 15 are fixedly connected on the two L-shaped plates 10 through bolts. The two racks 15 are respectively located on the two sides of the output shaft of the motor 5. A gear 16 is fixedly installed on the output shaft of the motor 5, and the two sides of the gear 16 are respectively engaged with the two racks 15. Since the two racks 15 are symmetrically distributed on the two sides of the gear 16, when the gear 16 rotates, the two racks 15 can be driven to move in opposite directions.

[0037] Through the above setting, when the motor 5 starts, the gear 16 can be driven to rotate, the two racks 15 on the two sides can be driven to move in opposite directions synchronously, the two grippers 3 can be symmetrically opened and closed along the slide rails 8, and finally the reagent box 9 can be clamped in the center.

[0038] In addition to the above form, the transmission form can also be as follows: two sprockets are rotatably installed on the box body 6, one of the sprockets is driven to rotate by the motor 5, chains are wound on the two sprockets, and the two L-shaped plates 10 are fixed with the chains on the two sides of the sprockets. In this way, when the motor 5 rotates, the two L-shaped plates 10 can also be driven to move in opposite directions.

[0039] Embodiment three:

[0040] On the basis of embodiment one and embodiment two, the utility model discloses embodiment three. Two positioning columns 4 are symmetrically fixed on the cover plate 7, and the end of the positioning column 4 away from the cover plate 7 is designed into a taper shape of small top and big bottom. This taper design can guide the positioning hole at the bottom of the reagent box 9 to quickly align with the positioning column 4. At the same time, this taper structure can automatically align and correct the positioning hole and the positioning column 4, so as to realize the accurate positioning of the reagent box 9.

[0041] The connecting line direction between the two positioning columns 4 is perpendicular to the movement direction of the two grippers 3, forming four-point limiting of the reagent box 9, and resisting the torsional force.

[0042] In use, the casing 1 is lifted upwards from below the reagent box 9 stack under the drive of the mechanical arm or other displacement mechanism 2 that can move horizontally and vertically, the front and rear positioning columns 4 on the casing 1 are inserted into the positioning hole at the bottom of the reagent box 9, the two side grippers 3 move inward, and the reagent box 9 is stably clamped, so that the reagent box 9 is integrated with the gripper 3 mechanism and can be moved to the sample suction position along with the movement of the gripper 3 mechanism. When the sample suction is completed, the gripper 3 mechanism moves the reagent box 9 above the stacking mechanism, and then slowly moves downwards. When the stacking mechanism hits the bottom of the reagent box 9, the two side grippers 3 release the reagent box 9, the gripper 3 mechanism continues to move downwards for a certain stroke, so that the positioning column 4 is separated from the reagent box 9, and then the gripper 3 moves away, completing the reagent box 9 playback action.

[0043] Obviously, those skilled in the art can make various modifications and variations to the utility model without departing from the spirit and scope of the utility model. Therefore, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and its equivalent technologies, the utility model also intends to include these modifications and variations.

Claims

1. A reagent kit electric gripper mechanism, characterized in that, include: A housing for connecting a displacement mechanism; Two grippers are symmetrically and slidably mounted on the housing; A positioning post, which is disposed on the housing and is used to cooperate with the positioning hole opened on the reagent kit; The housing contains a motor and a transmission mechanism, and the motor drives two grippers to move symmetrically on the housing through the transmission mechanism.

2. The reagent kit electric gripper mechanism as described in claim 1, characterized in that, The housing includes a box body and a cover plate. The top of the box body is open, and the cover plate is fixed to the top of the box body to seal the top of the box body.

3. The reagent kit electric gripper mechanism as described in claim 2, characterized in that, The transmission mechanism includes two guide components and two driven components. The two grippers are respectively connected to the two guide components, and the driven components are respectively connected to the two guide components. The motor drives the two driven components to move symmetrically.

4. The reagent kit electric gripper mechanism as described in claim 3, characterized in that, The guide assembly includes a slide rail fixed inside the box and a slider slidably mounted on the slide rail. An L-shaped plate is provided on the slider, and the two grippers are respectively fixed on the two L-shaped plates.

5. The reagent kit electric gripper mechanism as described in claim 4, characterized in that, The gripper includes a long plate and a short plate. The long plate and the short plate are fixedly connected and form an L-shape. The longer end of the gripper is fixed to the L-shaped plate by bolts, and the shorter end of the gripper is provided with an undercut part parallel to the long plate.

6. The reagent kit electric gripper mechanism as described in claim 5, characterized in that, Multiple reinforcing ribs are fixed to both the long and short plates.

7. The reagent kit electric gripper mechanism as described in claim 4, characterized in that, The two guide components are centrally symmetrically distributed with respect to the output shaft of the motor.

8. The reagent kit electric gripper mechanism as described in claim 4, characterized in that, The driven assembly includes a rack fixed to an L-shaped plate by bolts and a gear sleeved on the motor output shaft, with the racks in the two driven assemblies respectively meshing with the two sides of the gear.

9. The reagent kit electric gripper mechanism as described in claim 2, characterized in that, The bottom of the box has a mounting hole, and the motor is fixed to the bottom of the box with bolts. The output shaft of the motor passes through the mounting hole and extends into the box.

10. The reagent kit electric gripper mechanism as described in claim 1, characterized in that, There are two positioning posts symmetrically arranged on the housing. The positioning posts are smaller at the top and larger at the bottom. The line connecting the two positioning posts is perpendicular to the line connecting the two grippers.

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