Clamping limiting device and transfer equipment

Abstract

The utility model discloses a clamping and limiting device and transfer equipment. The clamping and limiting device comprises a clamping jaw mechanism and a limiting mechanism, the clamping jaw mechanism comprises a clamping jaw piece capable of being opened and closed, the clamping jaw piece is used for clamping the pipe consumables, the limiting mechanism comprises a telescopic structure and a limiting structure, the output end of the telescopic structure is connected with the limiting structure, and the telescopic structure stretches out and draws back in the vertical direction. And the limiting structure is matched with the clamping jaw mechanism to maintain the vertical state of the pipe consumables. According to the clamping and limiting device, the limiting structure is matched with the clamping jaw structure to keep the pipe consumables in the vertical state, so that the pipe consumables cannot incline in the lifting process, the stability in the pipe consumable taking, placing and transferring process is improved, and the pipe placing success rate is increased.

Description

Technical Field

[0001] This utility model relates to the field of consumables transfer technology, and in particular to a clamping and limiting device and a transfer equipment. Background Technology

[0002] In biological gene experiments, straws and frozen tubes are essential consumable materials. During the handling and transfer of these consumables, the fingertips of four grippers are usually used to hold the tubes, which results in poor gripping stability and makes the lower end of the consumables prone to tilting. Especially during the transfer process, the acceleration of the mechanism driving the consumables further increases the probability of tilting, leading to a particularly high error rate when placing the tubes. Utility Model Content

[0003] The first objective of this invention is to provide a clamping and limiting device that provides high stability during the picking, placing, and transferring of tubular consumables, making it less prone to skew and reducing the error rate of placing tubular consumables.

[0004] The second objective of this utility model is to provide a transfer device that can stably and accurately pick up, place, and transfer tubular consumables.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A clamping and limiting device includes: a gripper mechanism, the gripper mechanism including an openable gripper member for gripping tubular consumables; and a limiting mechanism, the limiting mechanism including a telescopic structure and a limiting structure, the output end of the telescopic structure being connected to the limiting structure, the telescopic structure extending and retracting in a vertical direction, and the limiting structure cooperating with the gripper mechanism to maintain the tubular consumables in a vertical state.

[0007] Preferably, the limiting structure includes at least two limiting plates, each of which is provided with a limiting groove, and multiple limiting grooves are spliced ​​together to form a limiting hole for the tubular consumable to pass through.

[0008] Preferably, at least two telescopic structures are provided, and multiple telescopic structures are connected to multiple limiting plates in a one-to-one correspondence.

[0009] Preferably, the telescopic structure includes a guide seat and a telescopic rod. The guide seat has a guide hole, and the telescopic rod is movably inserted into the guide hole. The end of the telescopic rod extending out of the guide hole is connected to the limiting structure.

[0010] Preferably, the guide seat includes a first guide portion and a second guide portion spaced apart, the guide hole includes a first guide hole on the first guide portion and a second guide hole on the second guide portion, and the telescopic rod passes through the first guide hole and the second guide hole; and / or, the guide seat is provided with at least two telescopic rods.

[0011] Preferably, a first linear bearing is provided in the first guide hole, and a second linear bearing is provided in the second guide hole, with the telescopic rod passing through the first linear bearing and the second linear bearing.

[0012] Preferably, the telescopic structure further includes a compression spring, which is sleeved on the telescopic rod. One end of the compression spring abuts against the first guide portion, and the other end is fixedly disposed with the telescopic rod.

[0013] Preferably, a limiting ring is provided on the telescopic rod along the circumferential direction, and the other end of the compression spring abuts against the limiting ring.

[0014] Preferably, the gripper mechanism further includes a drive body for driving the gripper to open and close, and the guide seat is fixed to the side of the drive body.

[0015] A transfer device includes a power component and the aforementioned clamping and limiting device. The output end of the power component is connected to the clamping and limiting device for driving the clamping and limiting device to move.

[0016] The beneficial effects of this utility model are:

[0017] The clamping and limiting device provided by this utility model includes a gripper mechanism and a limiting mechanism. The gripper mechanism includes liftable and openable grippers for clamping tubular consumables and driving the tubular consumables to rise and fall. The limiting mechanism includes a telescopic structure and a limiting structure. The output end of the telescopic structure is connected to the limiting structure. The telescopic structure extends and retracts in the vertical direction. The limiting structure cooperates with the gripper mechanism to keep the tubular consumables in a vertical state. This clamping and limiting device maintains the tubular consumables in a vertical state by utilizing the cooperation of the limiting structure and the gripper structure, preventing the tubular consumables from tilting during the lifting and lowering process. This improves the stability during the picking, placing, and transferring of tubular consumables, thereby increasing the success rate of tubular placement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the clamping and limiting device and tubular consumables provided by this utility model;

[0019] Figure 2 This is a front view of the clamping and limiting device and tubular consumables provided by this utility model;

[0020] Figure 3 This is a side view of the clamping and limiting device and tubular consumables provided by this utility model;

[0021] Figure 4 This is a schematic diagram of the gripper component provided by this utility model;

[0022] Figure 5 This is a cross-sectional view of the clamping and limiting device provided by this utility model.

[0023] In the picture:

[0024] 10. Pipe consumables;

[0025] 100. Gripper mechanism; 110. Gripper component; 111. First clamping part; 1111. First clamping groove; 112. Second clamping part; 1121. Second clamping groove; 120. Drive body;

[0026] 200. Limiting mechanism; 210. Limiting structure; 211. Limiting plate; 220. Telescopic structure; 221. Guide seat; 2211. First guide part; 2212. Second guide part; 2213. Connecting part; 222. Telescopic rod; 223. Compression spring; 224. First linear bearing; 225. Second linear bearing;

[0027] 300. Mounting plate. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0029] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0032] This utility model discloses a clamping and limiting device, such as Figures 1 to 5 As shown, the clamping and limiting device is used to clamp and place tubular consumables 10, and to limit the tubular consumables 10. It should be noted that the tubular consumables 10 can be straws or frozen straws, and of course, other tubular parts besides straws and frozen straws. Specifically, the clamping and limiting device includes a gripper mechanism 100 and a limiting mechanism 200. The gripper mechanism 100 includes an openable gripper 110, which clamps the tubular consumables 10 through opening and closing actions. The limiting mechanism 200 includes a telescopic structure 220 and a limiting structure 210. The output end of the telescopic structure 220 is connected to the limiting structure 210. The telescopic structure 220 extends and retracts in the vertical direction. The limiting structure 210 cooperates with the gripper mechanism 100 to keep the tubular consumables 10 in a vertical state.

[0033] Since tubular consumables 10 are generally quite long, if multiple grippers are used for multi-point clamping as in existing technologies, the gripping height of the gripper tips is generally equal, and the clamping area is small. Therefore, tubular consumables 10 with a long length are prone to tilting under acceleration or external force during clamping and transportation, which affects the accuracy of subsequent tubing placement and easily leads to placement failure. Reducing the transportation acceleration to avoid tilting would reduce the transportation rate. This clamping and limiting device uses the cooperation of the limiting structure 210 and the gripper mechanism 100 to maintain the tubular consumables 10 in a vertical state, making the tubular consumables 10 less prone to tilting, thereby improving the stability during the picking, placing, and transferring of tubular consumables 10, and thus improving the success rate of tubing placement.

[0034] In some embodiments, the limiting structure 210 is arranged circumferentially along the tubular consumable 10. Since the telescopic structure 220 can move the limiting structure 210, the limiting position of the limiting structure 210 relative to the tubular consumable 10 is movable. Therefore, the limiting position of the limiting structure 210 relative to the tubular consumable 10 and the clamping position of the gripper 110 relative to the tubular consumable 10 can be spaced apart in the axial direction of the tubular consumable 10.

[0035] This clamping and limiting device sets the limiting position of the limiting structure 210 on the tubular consumable 10 and the clamping position of the gripper 110 on the tubular consumable 10 at intervals along the axial direction of the tubular consumable 10. The blocking effect of the limiting structure 210 on the tubular consumable 10 restricts the swing amplitude of the tubular consumable 10 during lifting and lowering, ensuring that the tubular consumable 10 remains in a vertical position. Furthermore, the telescopic structure 220 allows the limiting structure 210 to move relative to the tubular consumable 10, ensuring that the setting of the limiting structure 210 does not affect the flexibility of the gripper mechanism 100 in selecting the clamping position. After the gripper mechanism 100 selects a clamping position, the limiting structure 210 can change its limiting position, thus making both the clamping and limiting positions more flexible and improving the limiting effect.

[0036] Continue to refer to Figure 3As shown, the gripper mechanism 100 also includes a drive body 120, which drives the gripper members 110 to perform opening and closing actions. It should be noted that the gripper mechanism 100 can use an existing electric gripper with only opening and closing functions. The drive body 120 of the electric gripper includes a housing and an electric opening and closing structure disposed within the housing. In one embodiment, the electric opening and closing structure includes a drive motor, a rotating gear, and two translational racks. The motor shaft of the drive motor is connected to the rotating gear, and the two translational racks are disposed on both sides of the rotating gear and mesh with it. The two translational racks are connected to the two gripper members 110 one-to-one. In another embodiment, the electric opening and closing structure includes a drive motor, a screw member, and two nut sleeves. The motor shaft of the drive motor is connected to one end of the screw member. The screw member has two sections of external thread structures with opposite directions of rotation. The two nut sleeves are threadedly connected to the two external thread structures one-to-one, and the two nut sleeves are connected to the two gripper members 110 one-to-one. Of course, in some embodiments, the gripper mechanism 100 can also be a pneumatic gripper. The driving body 120 of the pneumatic gripper includes a housing and a pneumatic opening and closing structure disposed within the housing. The pneumatic opening and closing structure is prior art and will not be described in detail here. In addition, the gripper mechanism 100 can also be an existing electric gripper that has both opening and closing and lifting functions. The lifting of the gripper 110 can realize the removal of the tubular consumable 10 from the original fixing device and the insertion into the new fixing device. In some embodiments, the original fixing device is inside a freezer box, and the tubular consumable 10 is inserted vertically into the freezer box.

[0037] In some embodiments, continue to refer to Figure 4 As shown, the gripper 110 includes a first clamping portion 111 and a second clamping portion 112 connected in an L-shape. The first clamping portion 111 extends axially along the tubular consumable 10, and the second clamping portion 112 extends radially along the tubular consumable 10. A first clamping groove 1111 is provided on the first clamping portion 111, and a second clamping groove 1121 is provided on the second clamping portion 112. In some embodiments, the tubular consumable 10 includes a first tube portion and a second tube portion with different cross-sectional dimensions. The cross-sectional dimension of the first tube portion is larger than that of the second tube portion. The first tube portion is clamped in the first clamping groove 1111, and the second tube portion is clamped in the second clamping groove 1121, which helps to improve clamping stability.

[0038] Optionally, two gripper members 110 are provided, and the two gripper members 110 simultaneously clamp the tubular consumable 10 from both sides. Of course, in other embodiments, the number of gripper members 110 can be set to more as needed.

[0039] In some embodiments, the limiting structure 210 includes at least two limiting plates 211, each limiting plate 211 having a limiting groove, and multiple limiting grooves being joined together to form a limiting hole through which the tubular consumable 10 passes. (Continuing to refer to...) Figure 3 As shown, in a specific embodiment, the limiting structure 210 is provided with two limiting plates 211, which limit the tubular consumable 10 from both sides. Optionally, the limiting plates 211 and the gripper 110 are located on different sides of the tubular consumable 10. For example, if the two grippers 110 clamp the tubular consumable 10 from the front-back direction, then the two limiting plates 211 limit the tubular consumable 10 from the left-right direction.

[0040] In some parallel embodiments, the limiting structure 210 can also be a ring-shaped limiting member. The number of ring-shaped limiting members can be set to one or more as needed. If the limiting structure 210 includes multiple ring-shaped limiting members, the multiple ring-shaped limiting members are spaced apart in the axial direction of the tubular consumable 10, thereby achieving multi-point limiting of the tubular consumable 10. It should be noted that adjacent ring-shaped limiting members can be relatively fixed by connecting rods.

[0041] One or more telescopic structures 220 can be selected as needed. When the limiting structure 210 is an annular limiting member, one telescopic structure 220 can be provided. When the limiting structure 210 includes multiple limiting plates 211 that need to be surrounded to form limiting holes, multiple telescopic structures 220 are provided, and multiple telescopic structures 220 are connected to multiple limiting plates 211 in a one-to-one correspondence. In some embodiments, refer to... Figure 1 As shown, there are two telescopic structures 220 and two limiting plates 211, and the two telescopic structures 220 are connected to the two limiting plates 211 in a one-to-one correspondence.

[0042] In some embodiments, continue to refer to Figure 3 As shown, the telescopic structure 220 includes a guide seat 221 and a telescopic rod 222. The guide seat 221 has a guide hole, and the telescopic rod 222 is movably inserted into the guide hole. The end of the telescopic rod 222 extending out of the guide hole is connected to the limiting structure 210. Optionally, the guide seat 221 is fixed to the side of the drive body 120 to improve the structural compactness.

[0043] In some embodiments, the guide seat 221 includes a connecting portion 2213, a first guide portion 2211, and a second guide portion 2212. The connecting portion 2213 is fixedly connected to the drive body 120. The first guide portion 2211 and the second guide portion 2212 are spaced apart along an axial direction parallel to the tubular consumable 10. The connecting portion 2213 connects the first guide portion 2211 and the second guide portion 2212, making the guide seat 221 generally U-shaped. The guide holes include a first guide hole provided on the first guide portion 2211 and a second guide hole provided on the second guide portion 2212. The telescopic rod 222 passes through the first guide hole and the second guide hole. Of course, in other embodiments, the guide seat 221 may also be U-shaped or have a structure with guide holes formed inside.

[0044] To improve the movement stability of the limiting plate 211, each guide seat 221 is provided with at least two telescopic rods 222. Optionally, each first guide portion 2211 is provided with at least two first guide holes, and each second guide portion 2212 is provided with at least two second guide holes. Multiple first guide holes and multiple second guide holes are arranged in a one-to-one correspondence. A telescopic rod 222 passes through a set of corresponding first guide holes and second guide holes, and the bottom end of each telescopic rod 222 is connected to its corresponding limiting plate 211.

[0045] To reduce wear on the telescopic rod 222 during movement and improve movement accuracy, in some embodiments, such as Figure 5 As shown, a first linear bearing 224 is provided in the first guide hole, a second linear bearing 225 is provided in the second guide hole, and a telescopic rod 222 passes through the first linear bearing 224 and the second linear bearing 225.

[0046] Continue to refer to Figure 3 As shown, in some embodiments, the telescopic structure 220 further includes a compression spring 223, which is sleeved on the telescopic rod 222. One end of the compression spring 223 abuts against the first guide portion 2211, and the other end is fixedly disposed with the telescopic rod 222. Before the gripper 110 clamps the tubular consumable 10, and when the limiting structure 210 is obstructed by an obstacle such as a freezer box, the telescopic rod 222 will retract to avoid affecting the gripper 110 from reaching the clamping position. The compression spring 223 has a tendency to reset the limiting structure 210 to the limiting position. Under the action of the compression spring 223, the telescopic rod 222 can drive the limiting plate 211 to reset to the limiting position. This limiting position can be far from the clamping position, which is beneficial to improving the limiting effect.

[0047] Optionally, a limiting ring is provided circumferentially on the telescopic rod 222, and the other end of the compression spring 223 abuts against the limiting ring. Of course, the other end of the compression spring 223 can also be directly welded or glued to the telescopic rod 222. Further optionally, the limiting ring can enter the second limiting hole and abut against the second linear axis. Thus, the limiting ring can be limited by the second linear bearing 225, which helps to improve the compactness of the structure.

[0048] Of course, in other embodiments, a telescopic drive component can also be provided, with the telescopic drive rod connected to the end of the telescopic rod 222 away from the limiting structure 210, thereby driving the telescopic rod 222 to move axially along the tubular consumable 10. Of course, in addition to providing a telescopic drive component, manual drive can also provide sufficient power.

[0049] Continue to refer to Figure 1 As shown, the clamping and limiting device also includes a mounting plate 300, which is mounted on the top of the drive body 120 of the clamping mechanism and is used to fix it to the output end of the external power component. The connection method can be a connector connection, magnetic attraction or snap-fit, etc.

[0050] Taking the removal of straws from a freezer box as an example, the working process of this clamping and limiting device is described as follows:

[0051] When the straw retrieval operation is required, the clamping and limiting device moves downward as a whole under the drive of the external power component. Since the limiting structure 210 is located below the gripper 110 in the initial state, the limiting structure 210 will reach the straw first. Before the limiting plate 211 of the limiting structure 210 contacts an obstacle such as a cryopreservation box, the telescopic rod 222 extends downward under the elastic force of the compression spring 223. As the clamping and limiting device continues to move downward, the limiting plate 211 may encounter an obstacle. At this time, the telescopic rod 222 can move upward along the guide seat 221, and the compression spring 223 will be further compressed, thereby completing the retraction action of the limiting plate 211 until the gripper 110 reaches the straw retrieval position. After the gripper 110 reaches the straw retrieval position, the gripper 110 completes the clamping action of the straw under the action of the driving body 120. After the gripper 110 clamps the cryotube, under the lifting function driven by the external power component, the gripper 110 moves upward, and the telescopic rod 222 (the length of the telescopic rod 222 can be changed according to different sample heights) moves downward relative to the gripper 110 under the action of the compression spring 223, so that the limiting plate 211 reaches the limiting position near the bottom of the straw. Under the action of the limiting plate 211 located at its bottom, the straw will remain vertically downward, thereby improving the success rate of placing the straw.

[0052] This utility model also discloses a transfer device, which includes a power component and the aforementioned clamping and limiting device. The output end of the power component is connected to the clamping and limiting device for driving its movement. By using the clamping and limiting device, the transfer device can stably and accurately transfer tube consumables 10, improving the success rate of tube placement. It should be noted that the power component is a component capable of driving the clamping and limiting device to rise and fall. The power component can be a linear motor, cylinder, or other mechanism capable of outputting linear motion, or it can be a combination of a rotary motor and a rack and pinion mechanism. The specific structure of the power component is not limited here; all existing mechanisms capable of outputting linear motion are within the protection scope of this utility model embodiment.

[0053] In this embodiment, the transfer equipment also includes a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a combination of multiple distributed microcontrollers. The microcontroller can run a control program to control the power components, gripper mechanism 100, etc., to achieve their respective functions.

[0054] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A clamping and limiting device, characterized in that, include: A gripper mechanism (100) includes an openable gripper (110) for gripping tubular consumables (10). The limiting mechanism (200) includes a telescopic structure (220) and a limiting structure (210). The output end of the telescopic structure (220) is connected to the limiting structure (210). The telescopic structure (220) extends and retracts in the vertical direction. The limiting structure (210) cooperates with the gripper mechanism (100) to keep the tubular consumable (10) in a vertical state.

2. The clamping and limiting device according to claim 1, characterized in that, The limiting structure (210) includes at least two limiting plates (211), each of which is provided with a limiting groove. Multiple limiting grooves are spliced ​​together to form a limiting hole through which the tubular consumable (10) passes.

3. The clamping and limiting device according to claim 2, characterized in that, At least two telescopic structures (220) are provided, and multiple telescopic structures (220) are connected to multiple limiting plates (211) in a one-to-one correspondence.

4. The clamping and limiting device according to claim 1, characterized in that, The telescopic structure (220) includes a guide seat (221) and a telescopic rod (222). The guide seat (221) is provided with a guide hole, and the telescopic rod (222) is movably inserted into the guide hole. The end of the telescopic rod (222) extending out of the guide hole is connected to the limiting structure (210).

5. The clamping and limiting device according to claim 4, characterized in that, The guide seat (221) includes a first guide portion (2211) and a second guide portion (2212) spaced apart. The guide hole includes a first guide hole provided on the first guide portion (2211) and a second guide hole provided on the second guide portion (2212). The telescopic rod (222) passes through the first guide hole and the second guide hole. And / or, the guide seat (221) is provided with at least two of the telescopic rods (222).

6. The clamping and limiting device according to claim 5, characterized in that, A first linear bearing (224) is provided in the first guide hole, and a second linear bearing (225) is provided in the second guide hole. The telescopic rod (222) passes through the first linear bearing (224) and the second linear bearing (225).

7. The clamping and limiting device according to claim 5, characterized in that, The telescopic structure (220) also includes a compression spring (223), which is sleeved on the telescopic rod (222). One end of the compression spring (223) abuts against the first guide part (2211), and the other end is fixedly set to the telescopic rod (222).

8. The clamping and limiting device according to claim 4, characterized in that, The gripper mechanism (100) further includes a drive body (120), which is used to drive the gripper (110) to open and close, and the guide seat (221) is fixed to the side of the drive body (120).

9. The clamping and limiting device according to claim 8, characterized in that, The driving body (120) includes a driving motor, a rotary gear and two translation racks. The motor shaft of the driving motor is connected to the rotary gear. The two translation racks are arranged on both sides of the rotary gear and mesh with the rotary gear. The two translation racks are connected to the two gripper pieces (110) one by one. Alternatively, the drive body (120) includes a drive motor, a screw component and two nut sleeves. The motor shaft of the drive motor is connected to one end of the screw component. The screw component is provided with two external thread structures with opposite directions of rotation. The two nut sleeves are threadedly connected to the two external thread structures in a one-to-one correspondence, and the two nut sleeves are connected to the two gripper components (110) in a one-to-one correspondence.

10. A transfer device, characterized in that, It includes a power component and a clamping and limiting device as described in any one of claims 1-9, wherein the output end of the power component is connected to the clamping and limiting device for driving the clamping and limiting device to move.

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