Grabbing device

Abstract

The utility model provides a grabbing device. The grabbing device comprises a rotating component; the eccentric part is connected with the rotating part, so that the rotating part can drive the eccentric part to eccentrically rotate; the air bag is provided with a first opening, the air bag has elasticity, the eccentric rotation of the eccentric part can press the air bag and reduce the internal space of the air bag, the eccentric rotation of the eccentric part can release the air bag, and the air bag resets under the action of the elasticity to increase the internal space of the air bag. According to the technical scheme, an object needing to be grabbed is grabbed by means of contraction and expansion of the air bag, an air path does not need to be independently designed, a vacuum pump does not need to participate, use of accessories is reduced, meanwhile, the assembly difficulty and assembly time of operators are reduced, the manufacturing cost is reduced, and compared with the prior art, the equipment operation noise is reduced, and the working efficiency is improved. And noise pollution is reduced.

Description

Technical Field

[0001] This utility model relates to the field of IVD detection technology, and more specifically, to a gripping device. Background Technology

[0002] Currently, there are two main types of reagent card gripping devices on the market: 1. Mechanical grippers: These can accurately grip reagent cards and move them using a three-axis coordinate system. However, mechanical grippers are expensive, complex in structure, and difficult to maintain, making them uncompetitive in the market. 2. Pneumatic suction cups: Pneumatic suction cups are simpler to implement than mechanical grippers, but they require air circuits, necessitating expensive components such as vacuum pumps and solenoid valves. While simpler to implement, they are more costly, and the high price and noise of vacuum pumps increase the noise level during operation. Utility Model Content

[0003] In view of this, the purpose of this application is to provide a gripping device that can improve the problems of high cost and high noise during operation of the prior art.

[0004] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0005] This application provides a grasping device, including:

[0006] A rotating component, wherein the rotating component is fixedly arranged;

[0007] An eccentric part is connected to the rotating component, enabling the rotating component to drive the eccentric part to rotate eccentrically;

[0008] An airbag is fixedly arranged and has a first opening. The eccentric rotation of the eccentric part can compress the airbag, reducing the space inside the airbag. The eccentric rotation of the eccentric part can release the airbag. The airbag returns to its original position under the elastic action, increasing the space inside the airbag.

[0009] Furthermore, it also includes:

[0010] The housing has an airbag located inside it, and the housing has a second opening corresponding to the first opening.

[0011] Furthermore, the housing is provided with a clearance window, allowing a portion of the eccentric part to extend out of the inner wall of the housing through the clearance window.

[0012] Furthermore, the rotating component is fixed to the housing, and the rotating component includes an output shaft, at least a portion of which extends into the interior of the housing and is connected to the eccentric portion.

[0013] Furthermore, the housing includes an upper shell and a lower shell, which are fastened together to secure the upper shell and the lower shell, so that the space between the upper shell and the lower shell is used to install the airbag.

[0014] Furthermore, the upper and lower shells are detachably connected.

[0015] Furthermore, a suction cup is installed at the first opening.

[0016] The utility model adopting the above technical solution has the following advantages:

[0017] In the technical solution provided in this application, the rotating component drives the eccentric part to rotate, which in turn compresses the airbag, bringing the airbag close to the object to be grasped. When the distance is close enough, the rotating component continues to rotate, causing the eccentric part to release the airbag. The release of the airbag creates negative pressure, sucking up the object to be grasped. When the object to be grasped moves to the endpoint, the rotating component rotates, causing the eccentric part to rotate and compress the airbag, canceling the negative pressure state, and the object to be grasped falls. This technical solution relies on the contraction and expansion of the airbag to grasp the object to be grasped. It does not require a separately designed air circuit or the participation of a vacuum pump, reducing the use of accessories. At the same time, it reduces the assembly difficulty and time for operators, thereby reducing manufacturing costs. Furthermore, compared with existing technologies, it reduces equipment operating noise and noise pollution. Attached Figure Description

[0018] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate certain embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0019] Figure 1 An exploded view of the gripping device provided in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the gripping device structure provided in an embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the implementation method of the gripping device (step ①).

[0022] Figure 4 This is a schematic diagram of the implementation method of the gripping device (step ②, the arrow direction indicates the rotation direction of the eccentric part);

[0023] Figure 5 This is a schematic diagram of the implementation method of the gripping device (step ③, the arrow indicates the rotation direction of the eccentric part);

[0024] Figure 6This is a schematic diagram of the implementation method of the gripping device (step ④, the arrow direction indicates the rotation direction of the eccentric part).

[0025] Icons: 100-Grabbing device; 110-Rotating component; 120-Eccentric part; 130-Airbag; 140-Suction cup; 150-Shell; 151-Upper shell; 152-Lower shell; 153-Avoidance window;

[0026] 200-Reagent Card. Detailed Implementation

[0027] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Please refer to Figure 1 and Figure 2 This application provides a gripping device 100, including a rotating component 110, an eccentric portion 120, an airbag 130, a suction cup 140, and a housing 150.

[0029] In this embodiment, the rotating component 110 can be a permanent magnet stepper motor or a rotary cylinder. The rotating component 110 is fixedly arranged.

[0030] The rotating component 110 includes an output shaft, which can drive the output shaft to rotate in the forward or reverse direction when the rotating component 110 is activated. It can be understood that forward rotation and reverse rotation are two relative concepts. When forward rotation is clockwise, reverse rotation is counterclockwise, and when forward rotation is counterclockwise, reverse rotation is clockwise.

[0031] The eccentric part 120 is connected to the output shaft of the rotating component 110. When the rotating component 110 starts, it drives the eccentric part 120 to rotate eccentrically. In this embodiment, the eccentric part 120 can be an eccentric block, which can be a cylindrical base and a spherical eccentric body fixed on the base. The base has a conical surface tangent to the spherical eccentric body, and the spherical eccentric body has a boss that mates with the conical surface. When the spherical eccentric body rotates, the boss rolls on the conical surface, thereby generating centrifugal force. Alternatively, the eccentric block can also consist of a rotating body with an eccentric boss and a sleeve that mates with it. When the rotating body rotates on the shaft, the boss of the eccentric block contacts the sleeve, generating relative eccentric motion. The boss of the eccentric block is usually arc-shaped, and the rotating body has corresponding grooves to accommodate the boss.

[0032] In this embodiment, eccentric rotation refers to the phenomenon where the center of rotation of an object does not coincide with the center of mass of the object when the object rotates around an axis, thereby causing a change in the object's trajectory.

[0033] In this embodiment, the airbag 130 has a first opening, and the interior of the airbag 130 is a cavity. When the airbag 130 is compressed by a third-party object, the volume of the cavity inside the airbag 130 decreases, and some of the gas inside the cavity moves out through the first opening. When the third-party object does not compress the airbag 130, the volume of the cavity increases, and some of the external gas flows into the cavity. In this embodiment, a suction cup 140 is installed at the first opening, which is more conducive to fixing the reagent card 200.

[0034] In this embodiment, the airbag 130 is fixedly arranged. It can be understood that the fixed arrangement of the airbag 130 can also mean that the airbag 130 is set in a cavity. Even if the airbag 130 shakes slightly in the space, it can still be considered that the airbag 130 is fixedly arranged.

[0035] In this embodiment, the eccentric part 120 can be disposed on the side of the airbag 130 or on the top of the airbag 130. When the rotating component 110 drives the eccentric part 120 to rotate to a certain position, the eccentric protrusion of the eccentric part 120 can compress the airbag 130, reducing the volume of the cavity inside the airbag 130. When the eccentric part 120 moves to another certain position, the eccentric protrusion of the eccentric part 120 does not compress the airbag 130, and the airbag 130 returns to its original shape under the action of elasticity, and the volume of the cavity inside increases.

[0036] Therefore, when the reagent card is drawn, the rotating component 110 is driven to make the eccentric part 120 press the air bag 130, and then the suction cup 140 is brought close to the reagent card. The rotating component 110 is driven again to reverse the rotation so that the eccentric part 120 does not press the air bag 130. At this time, under the action of negative pressure, the reagent card 200 is fixed on the suction cup 140.

[0037] In this embodiment, compared with the prior art, the airbag 130's contraction and expansion to grasp the reagent card does not require a separately designed air path or the participation of a vacuum pump, thus reducing noise and lowering costs.

[0038] This embodiment also includes a housing 150, which includes an upper housing 151, a lower housing 152, and a clearance window 153, wherein the clearance window 153 is a rectangular hole shape.

[0039] The airbag 130 and suction cup 140 are disposed in the inner cavity of the housing 150. A second opening is provided at the bottom of the housing 150. The positions of the first and second openings correspond to each other, allowing for... Figure 1In the extension direction of the airbag 130 shown, the first opening and the second opening coincide, that is, the suction cup 140 is located at the outlet of the second opening, or can extend relative to the second opening.

[0040] The position of the clearance window 153 corresponds to the eccentric part 120, so that part of the eccentric part 120 can extend out of the housing 150 through the clearance window 153, thus avoiding interference between the housing 150 and the eccentric part 120 when the eccentric part 120 rotates.

[0041] In this embodiment, the airbag 130 is installed inside the housing 150 and can be fixed inside the housing 150 by setting a mounting bracket. The upper shell 151 and lower shell 152 are detachably connected by a snap-fit ​​mechanism, specifically by threaded connection, riveting, etc. The airbag 130 is installed within the space created by the snap-fit ​​of the upper shell 151 and lower shell 152, allowing the housing 150 to protect the airbag 130. Simultaneously, the detachability of the upper shell 151 and lower shell 152 facilitates the replacement and maintenance of the airbag 130 and the eccentric portion 120.

[0042] In this embodiment, the rotating component 120 is fixed on the housing 150, and part of the output shaft extends into the interior of the housing 150 and is connected to the eccentric part 120, so that the eccentric part 120 can be driven to rotate by the rotating component 110.

[0043] In this embodiment, the gripping device 100 grips the reagent card 200 in the following manner: Figures 3-6 Taking the movement from position A to position B as an example, in this embodiment, the housing 150 of the gripping device 100 is mounted on a six-axis robot controlled by a PLC. The PLC can control the six-axis robot to drive the gripping device 100 to move along the X, Y, and Z axes in a geodetic coordinate system. Furthermore, the reagent card 200 is placed on a base with positions A and B, and each position on the base has corresponding coordinates. These coordinates are input to the PLC. Proximity sensors are installed at both positions A and B, and when the reagent card 200 is at position A or B, it will send a corresponding signal to the PLC. Simultaneously, the rotating component is connected to the PLC signal. The specific steps are as follows.

[0044] ①For example Figure 3 As shown, when it is necessary to grab the reagent card, the reagent card 200 is located at position A. The proximity sensor at position A sends a signal. When the PLC receives the signal at position A, it drives the six-axis robot to move the gripping device 100 directly above the coordinate position corresponding to position A. The PLC controls the rotating part 110 to rotate, thereby driving the eccentric part 120 to rotate 180 degrees in the forward direction and compress the airbag 130.

[0045] ②. For example Figure 4 As shown, the PLC controls the six-axis robot to move downwards until the gripping device 100 moves to the upper surface of the reagent card 200. Then, the PLC controls the rotating part 110 to rotate 180 degrees in the opposite direction and release the airbag 130, thereby creating a negative pressure environment to grip the reagent card 200.

[0046] ③. The PLC controls the six-axis robot to move the reagent card 200 to position B according to the coordinates of position B. Then the PLC controls the rotating part 110 to rotate 180 degrees in the forward direction, squeeze the air bag 130, and release the reagent card 200.

[0047] ④. When the PLC receives the signal from the proximity sensor at position B, the PLC controls the six-axis robot to move upward, raising the gripping device 100, and controls the rotating part 110 to rotate 180 degrees in the opposite direction again, releasing the airbag 130, and the entire process ends.

[0048] In this embodiment, the reagent card 200 is grasped by the airbag 130, suction cup 140, rotating component 120, eccentric part 120, and shell 150. The overall structure is simple, inexpensive, operates with low noise, and is easy to maintain. When repair or replacement is required, the airbag 130 and suction cup 140 can be directly repaired or replaced.

[0049] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A gripping device, characterized in that include: A rotating component, wherein the rotating component is fixedly arranged; An eccentric part is connected to the rotating component, enabling the rotating component to drive the eccentric part to rotate eccentrically; An airbag is fixedly arranged and has a first opening. The eccentric rotation of the eccentric part can compress the airbag, reducing the space inside the airbag. The eccentric rotation of the eccentric part can release the airbag. The airbag returns to its original position under elastic action, increasing the space inside the airbag.

2. The gripping device according to claim 1, characterized in that Also includes: The housing has an airbag located inside it, and the housing has a second opening corresponding to the first opening.

3. The gripping device according to claim 2, characterized in that The housing is provided with a clearance window, allowing the eccentric portion to extend out of the inner wall of the housing through the clearance window.

4. The gripping device of claim 2, wherein The rotating component is fixed to the housing, and the rotating component includes an output shaft, at least a portion of which extends into the interior of the housing and is connected to the eccentric portion.

5. The gripping device of claim 2, wherein The housing includes an upper shell and a lower shell, which are fastened together to secure the upper shell and the lower shell, so that the space between the upper shell and the lower shell is used to install the airbag.

6. The gripping device according to claim 5, characterized in that The upper and lower shells are detachably connected.

7. The gripping device of claim 1, wherein A suction cup is installed at the first opening.

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