A laboratory two-way gripper

Abstract

This utility model discloses a laboratory bidirectional gripper, belonging to the field of laboratory gripper technology. It includes: a base frame connected to an external driving device; a first gripper mounted at one end of the base frame and driven by a first cylinder installed inside the base frame; and a second gripper mounted at the end of the base frame away from the first gripper and driven by a second cylinder installed inside the base frame. The first and second grippers are used to grip test tubes of different sizes, and both are equipped with buffers. This utility model, through the arrangement of the first and second grippers, enables the gripping of two different sized containers on a single robot end effector even in confined workspaces, eliminating the need for manual gripper switching and improving work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of laboratory gripper technology, specifically to a two-way laboratory gripper. Background Technology

[0002] During the production of ternary precursor powder, foreign matter needs to be detected, requiring sampling and delivery to the laboratory for magnetic anomaly analysis. The sampled powder is placed in a container with a magnet and water added. After the magnet reacts with the water, it leaves a residue. This residue needs to be transferred from a large container to a small test tube. However, due to limited workspace, only one robot can be installed at this location. Using two different grippers to hold the large container and the small test tube requires manual switching, significantly reducing efficiency. To address these issues, this invention provides a laboratory bidirectional gripper. Utility Model Content

[0003] To address the aforementioned technical shortcomings, the purpose of this utility model is to provide a laboratory bidirectional gripper. By setting up a first gripper and a second gripper, it is possible to complete the gripping task of two different sized containers on a single robot end effector even in a limited workspace, without the need for manual switching of grippers by staff, thus improving work efficiency.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a laboratory bidirectional clamping gripper, comprising: A base frame, which is connected to an external driving device; The first gripper is mounted at one end of the base frame and is driven by a first cylinder installed inside the base frame. The second gripper is installed at the end of the base frame away from the first gripper and is driven by a second cylinder installed inside the base frame. The first and second grippers are used to hold test tubes of different sizes, and both the first and second grippers are equipped with buffer parts.

[0005] Preferably, the first gripper includes: Two first clamping rods are symmetrically mounted on the base frame. Their mounting ends are connected to the output rod of the first cylinder, and their clamping ends extend to the outside of the base frame and are folded away from the center of the base frame.

[0006] Preferably, a first groove is provided on the inner side of the mounting end of the first clamping rod, and a first connecting plate is installed inside the first groove by bolts. The first connecting plate is connected to the output rod of the first cylinder.

[0007] Preferably, the second gripper includes: Two second clamping rods are symmetrically mounted on the base frame, with their mounting ends connected to the output rod of the second cylinder, and the clamping ends of the second clamping rods extending straight to the outside of the base frame.

[0008] Preferably, a second groove is provided on the inner side of the mounting end of the second clamping rod, and a second connecting plate is installed inside the second groove by bolts. The second connecting plate is connected to the output rod of the second cylinder.

[0009] Preferably, both the first and second grippers are provided with arc-shaped grooves that are adapted to the buffer section.

[0010] Preferably, the buffer section includes: A rubber strip is fixedly installed at the opening of the arc-shaped groove, and a clamping assembly is connected between the rubber strip and the corresponding wall of the arc-shaped groove.

[0011] Preferably, the rubber strip has multiple protrusions on the side away from the corresponding arc groove.

[0012] Preferably, the clamping assembly includes: A top rod, one end of which is fixedly connected to a rubber strip, and the other end extends into a hollow groove provided on the wall of the arc-shaped groove, and slides and seals with the hollow groove; Two top blocks are located on both sides of the top rod and are slidably installed in the connecting grooves provided on the wall of the arc-shaped groove. Both connecting grooves are connected to the empty groove, and the opening of the connecting groove is located on the outside of the top block, and a sealing membrane is fixedly installed thereon.

[0013] Preferably, both the top rod and the top block are located in the radial direction of the arc-shaped groove.

[0014] The beneficial effects of this utility model are as follows: This invention, through the design of a first gripper and a second gripper, achieves the following: the first gripper adopts a folding structure to adapt to large-sized cans, while the second gripper adopts a linear structure to adapt to small test tubes. Furthermore, the first and second grippers are driven by a first cylinder and a second cylinder, respectively. This allows for the completion of gripping tasks for two different sized containers on a single robot end effector even in situations where workspace is limited. This avoids the cumbersome operation of manually switching grippers required in traditional solutions, significantly improving work efficiency.

[0015] This invention, through the design of a rubber band and clamping components, achieves both increased friction through the protrusions on the surface of the rubber band to ensure stable container gripping, and the engagement of the top rod and top block at the moment of contact to clamp the container from multiple angles, thereby further ensuring clamping stability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a laboratory bidirectional clamping gripper provided for an embodiment of the present invention.

[0018] Figure 2 This is a cross-sectional view of the base frame of this utility model.

[0019] Figure 3 This is an exploded view of the first clamping rod and the first connecting plate of this utility model.

[0020] Figure 4 This is an exploded view of the second clamping rod and the second connecting plate of this utility model.

[0021] Figure 5 This is an exploded view of the rubber belt, top rod, and hollow groove of this utility model.

[0022] Figure 6 This is a schematic diagram of the structure of the empty slot and the connecting slot of this utility model.

[0023] Explanation of reference numerals in the attached figures: 1. Base frame, 2. First clamping rod, 3. First cylinder, 4. Second clamping rod, 5. Second cylinder, 6. First settling groove, 7. First connecting plate, 8. Second settling groove, 9. Second connecting plate, 10. Arc groove, 11. Rubber belt, 12. Top rod, 13. Top block, 14. Connecting groove, 15. Sealing membrane, 16. Empty groove. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] This utility model provides a two-way gripper for laboratory use, such as Figures 1 to 6 As shown.

[0026] Example 1: A laboratory bidirectional gripper includes a base frame 1, which is connected to an external drive device, such as an industrial robot, providing the mounting base and movement power for the entire gripper. A first gripper is mounted on one end of the base frame 1, and a second gripper is mounted on the other end.

[0027] The first gripper includes two first gripping rods 2, which are symmetrically mounted on the base frame 1. The mounting end is connected to the output rod of the first cylinder 3 through the first connecting plate 7 in the first sink 6. The first cylinder 3 is installed inside the base frame 1, and the gripping end of the first gripping rod 2 is folded away from the center of the base frame 1.

[0028] The second gripper includes two second gripping rods 4, which are symmetrically mounted on the end of the base frame 1 away from the first gripper. The mounting end is connected to the output rod of the second cylinder 5 through the second connecting plate 9 in the second recess 8. The second cylinder 5 is mounted inside the base frame 1. The gripping end of the second gripping rod 4 extends straight to the outside of the base frame 1.

[0029] When it is necessary to clamp the small test tube, the second cylinder 5 is activated, and the output rod drives the second clamping rod 4 through the second connecting plate 9. Since the second clamping rod 4 extends in a straight line to the outside of the base frame 1, it is adapted to the size of the small test tube.

[0030] When a large can needs to be clamped, the first cylinder 3 is activated, and the output rod drives the first clamping rod 2 through the first connecting plate 7. Because the clamping end of the first clamping rod 2 is folded away from the center of the base frame 1, it can be adapted to the size of the large can.

[0031] The first cylinder 3 and the second cylinder 5 drive the first clamping rod 2 and the second clamping rod 4 to move, respectively. The difference between their folding and linear structures allows for differentiated clamping of large containers and small test tubes. The folding design of the first clamping rod 2 expands the clamping range, while the linear structure of the second clamping rod 4 ensures precise positioning of the small test tubes. Their combined action allows a single robot end effector to complete the gripping task of two different sized containers without switching grippers.

[0032] Example 2: Based on Example 1, this embodiment focuses on describing the structural design of the buffer section and its improvement on clamping stability.

[0033] Both the first and second grippers are equipped with arc-shaped grooves 10, which increase the contact area and improve gripping stability when holding large containers or small test tubes. A rubber band 11 is fixedly installed at the opening of the arc-shaped groove 10. The surface of the rubber band 11 has multiple protrusions to increase friction with the container surface and prevent slippage.

[0034] The clamping stability is further enhanced by a clamping assembly between the rubber band 11 and the wall of the arc-shaped groove 10. The clamping assembly includes a push rod 12, one end of which is fixedly connected to the rubber band 11, and the other end is slidably embedded in the empty groove 16 of the wall of the arc-shaped groove 10. The push rod 12 and the wall of the empty groove 16 are slidably sealed. During clamping, the push rod 12 is forced to move into the empty groove 16. At this time, the air inside the empty groove 16 is compressed, so that the push rod 12 provides support force to the rubber band 11, thereby further enhancing the clamping stability.

[0035] Example 3: Based on Embodiment 2, this embodiment adds a top block 13, which can apply clamping force to the container from multiple angles, improving the stability of clamping. The clamping assembly also includes two top blocks 13, which are located on both sides of the top rod 12 and are slidably installed in the corresponding connecting grooves 14. The connecting grooves 14 are connected to the empty grooves 16. A sealing membrane 15 is fixedly installed at the groove opening on the outside of the top block 13. The sealing membrane 15 is kept taut under its own elasticity, so that the top block 13 is always inside the connecting groove 14 when there is no external force. When clamping, the top rod 12 moves into the empty groove 16. At this time, the air inside the empty groove 16 and the connecting groove 14 is compressed, and pushes the top block 13 to slide out of the connecting groove 14 against the elasticity of the corresponding sealing membrane 15. This realizes the coordinated clamping of the top rod 12 and the top block 13, ensuring a uniform distribution of clamping force.

[0036] In addition, both the top rod 12 and the top block 13 are arranged along the radial direction of the arc groove 10 to ensure that the transmission path of the clamping force is perpendicular to the container surface, thereby ensuring the stability of the clamping.

[0037] Since this device is used in the process of detecting magnetic anomalies, the first clamping rod 2, the second clamping rod 4, the top rod 12, and the top block 13 are all made of engineering plastics.

[0038] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A laboratory bidirectional gripper, characterized in that, include: Base frame (1), which is connected to an external driving device; The first gripper is installed at one end of the base frame (1) and is driven by the first cylinder (3) installed inside the base frame (1); The second gripper is mounted on the base frame (1) at the end away from the first gripper and is driven by a second cylinder (5) mounted inside the base frame (1); The first and second grippers are used to hold test tubes of different sizes, and both the first and second grippers are equipped with buffer parts.

2. The laboratory bidirectional gripper as described in claim 1, characterized in that, The first gripper includes: Two first clamping rods (2) are symmetrically mounted on the base frame (1). Their mounting ends are connected to the output rod of the first cylinder (3), and their clamping ends extend to the outside of the base frame (1) and fold away from the center of the base frame (1).

3. A laboratory bidirectional gripper as described in claim 2, characterized in that, The first clamping rod (2) has a first groove (6) on the inner side of the mounting end. The first groove (6) is fitted with a first connecting plate (7) by bolts. The first connecting plate (7) is connected to the output rod of the first cylinder (3).

4. A laboratory bidirectional gripper as described in claim 1, characterized in that, The second gripper includes: Two second clamping rods (4) are symmetrically mounted on the base frame (1), and their mounting ends are connected to the output rod of the second cylinder (5). The clamping ends of the second clamping rods (4) extend straight to the outside of the base frame (1).

5. A laboratory bidirectional gripper as described in claim 4, characterized in that, The second clamping rod (4) has a second recess (8) on the inner side of its mounting end. The second recess (8) is fitted with a second connecting plate (9) by bolts. The second connecting plate (9) is connected to the output rod of the second cylinder (5).

6. A laboratory bidirectional gripper as described in claim 1, characterized in that, Both the first and second grippers are provided with arc-shaped grooves (10) that are adapted to the buffer section.

7. A laboratory bidirectional gripper as described in claim 6, characterized in that, The buffer section includes: A rubber strip (11) is fixedly installed at the opening of the arc groove (10), and a clamping assembly is connected between the rubber strip (11) and the groove wall of the corresponding arc groove (10).

8. A laboratory bidirectional gripper as described in claim 7, characterized in that, The rubber strip (11) has multiple protrusions on the side away from the corresponding arc groove (10).

9. A laboratory bidirectional gripper as described in claim 7, characterized in that, The clamping assembly includes: Top rod (12), one end of which is fixedly connected to rubber strip (11), and the other end extends into the empty groove (16) provided on the wall of the arc groove (10), and slides and seals with the empty groove (16); Two top blocks (13) are located on both sides of the top rod (12) and are slidably installed in the connecting grooves (14) provided on the wall of the arc groove (10). Both connecting grooves (14) are connected to the empty groove (16), and the opening of the connecting groove (14) is located outside the top block (13), and a sealing membrane (15) is fixedly installed thereon.

10. A laboratory bidirectional gripper as described in claim 9, characterized in that, The top rod (12) and the top block (13) are both located in the radial direction of the arc groove (10).

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