A stable grab glass basket mechanical arm gripper

Abstract

This utility model provides a stable gripping robotic arm for a glass slide basket, comprising: a vision positioning component, which is fixed to the side of the gripping component for visual positioning of the glass slide basket; the vision positioning component includes a mounting frame, on which a vision camera for visual positioning is mounted via a fixing bracket. Compared with the prior art, this utility model has the following advantages: by setting the vision positioning component, the vision camera located on the mounting frame captures the glass slide basket for precise positioning in conjunction with a lighting lamp; grippers one and two grippers move towards each other under the drive of a bidirectional cylinder; after the elastic arc plate on the outer wall of the cylinder abuts against the inner wall of the arc-shaped vertical plate, the elastic arc plate can increase the clamping force and protect the cylinder through deformation; at the same time, the supporting arc plate at the bottom can abut against the bottom edge of the cylinder to support it, thereby ensuring the stability of the gripping.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm gripper technology, and specifically relates to a robotic arm gripper for stable grasping of glass slide baskets. Background Technology

[0002] Existing robotic grippers for slide baskets suffer from drawbacks such as insufficient operational precision, poor structural adaptability, and weak stability when dealing with multi-component slide baskets consisting of frames, clamping devices, and fixing components. These defects mainly stem from minute dimensional differences and assembly tolerances between slide basket components, making it difficult for the robotic arm to achieve consistent positioning and clamping force control during gripping. This can easily lead to slide slippage or excessive clamping causing breakage. In high-throughput automated processing, these problems are further amplified, affecting experimental repeatability and the reliability of results.

[0003] Conventional solutions include using flexible grippers, adding vision guidance systems, or custom gripper designs. While flexible grippers can improve adaptability, they reduce gripping rigidity and are prone to vibration deviations during rapid movements. Vision guidance systems can improve positioning accuracy but significantly increase system complexity and cost, and their recognition effect on reflective or transparent slide baskets is limited. Custom grippers, while able to match specific models of slide baskets, lack versatility and are difficult to adapt to structural changes from different manufacturers or batches. This necessitates redesigning the gripper when the equipment is replaced or upgraded, increasing maintenance difficulty and operating costs. Therefore, we aim to design a robotic arm gripper with a novel structure to solve this problem. Utility Model Content

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a stable gripper for grasping glass slide baskets, thereby solving the problems mentioned in the background section.

[0005] This utility model is achieved through the following technical solution: a stable gripping robotic arm gripper for glass slide baskets, comprising: a visual positioning component, the visual positioning component being fixed to the side of the gripping component for visual positioning of the glass slide basket, the visual positioning component including a mounting frame, a visual camera for visual positioning being mounted on the upper side of the mounting frame via a fixing frame, and an auxiliary lighting lamp being fixed to the lower end of the side of the mounting frame away from the gripping component via multiple connecting rods; The grasping component includes a telescopic robotic arm. A drive module is installed at the lower end of the telescopic robotic arm to provide power. Grippers 1 and 2 are slidably installed on the left and right sides of the lower end of the drive module, respectively, to adapt to the cylinder at the upper end of the slide basket for easy grasping. In actual use, the telescopic robotic arm is fixedly connected to an external two-axis module. With the telescopic robotic arm, three-axis motion can be realized, thereby enabling accurate grasping of the slide basket based on the information from the vision positioning component.

[0006] In a preferred embodiment, the mounting bracket has an L-shaped cross-section, with one end of the mounting bracket away from the gripping component extending downward to form a circular through hole.

[0007] In a preferred embodiment, the mounting bracket is fixed to the upper end of the circular through hole near the gripping component, the upper end of the vision camera is fixedly connected to the side of the mounting bracket near the circular through hole, and its lower end passes downward through the circular through hole to the end of the mounting bracket away from the gripping component.

[0008] In a preferred embodiment, the lighting lamp is a circular LED lamp, and the lower end of the vision camera extends downward into the interior of the lighting lamp. The inner diameter of the lighting lamp is the same as the inner diameter of the circular through hole, and the centers of the two are collinear. In actual use, the center of the vision camera lens is collinear with the center of the lighting lamp, and the lens is slightly higher than the lower end of the lighting lamp to avoid light irradiation affecting the lens clarity.

[0009] In a preferred embodiment, the drive module is equipped with a bidirectional cylinder for synchronously driving gripper one and gripper two. A piston rod is provided on the left and right sides of the bidirectional cylinder and passes through both ends of the drive module. In actual use, gripper one and gripper two have the same structure and are arranged in a mirror image.

[0010] In a preferred embodiment, the second gripper includes an arc-shaped vertical plate, a horizontal plate is provided at the top of the arc-shaped vertical plate, and a slider is provided on the front and rear sides of the upper end of the horizontal plate.

[0011] In a preferred embodiment, a connecting block is provided at the middle of the upper end of the horizontal plate, and the two connecting blocks are respectively fixedly connected to the outer ends of the two piston rods.

[0012] In a preferred embodiment, the arc-shaped vertical plate has a cross-section of one-third circular arc, a supporting arc plate is provided on the inner side of the lower end of the arc-shaped vertical plate, and an elastic arc plate is fixed on the inner wall of the lower side of the arc-shaped vertical plate, with the lower end of the elastic arc plate abutting against the upper side of the supporting arc plate.

[0013] After adopting the above technical solution, the beneficial effects of this utility model are as follows: 1. By setting up a visual positioning component, activating the external dual-axis module and telescopic robotic arm to adjust the visual positioning component, when the visual camera on the mounting frame captures the slide basket, the three-axis movement distance is calculated through the positioning system algorithm, and then the external dual-axis module and telescopic robotic arm can accurately move the gripping component to the top of the slide basket, and then the gripping work can be performed. A lighting lamp is installed on the mounting frame below the position of the visual camera and is set in a ring structure. The purpose is to improve the brightness of the position below the visual camera, so that the visual camera can obtain position information more clearly and reduce the accuracy error caused by insufficient brightness.

[0014] 2. By setting up the gripping components, gripper two and gripper one move towards each other under the drive of the bidirectional cylinder. The arc-shaped vertical plate drives the supporting arc plate on its lower side to approach the cylinder of the slide basket. After the outer wall of the cylinder abuts against the elastic arc plate on the inner wall of the arc-shaped vertical plate, the elastic arc plate can increase the clamping force and protect the cylinder through deformation. At the same time, the supporting arc plate at the bottom can abut against the bottom edge of the cylinder to support it, thereby ensuring the stability of the clamping. Attached Figure Description

[0015] 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.

[0016] Figure 1 This is a schematic diagram of the overall structure of a robotic arm gripper for stable grasping of glass slides according to the present invention.

[0017] Figure 2 This is a schematic diagram of the gripper 1 and gripper 2 of the robotic arm gripper for stable grasping of glass slide baskets according to this utility model.

[0018] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at point A in the middle.

[0019] Figure 4 This is a schematic diagram of the visual positioning component of a robotic arm gripper for stable grasping of glass slide baskets according to the present invention.

[0020] Figure 5 This is a schematic diagram of a suitable glass slide basket structure.

[0021] In the diagram, 100 is the visual positioning component, 110 is the lighting lamp, 120 is the connecting rod, 130 is the mounting bracket, 140 is the visual camera, and 150 is the fixing bracket. 200-Grasping component, 210-Telescopic robotic arm, 220-Drive module, 230-Grassor 1, 240-Grassor 2, 241-Slider, 242-Connecting block, 243-Horizontal plate, 244-Arc-shaped vertical plate, 245-Elastic arc-shaped plate, 246-Supporting arc plate. Detailed Implementation

[0022] 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.

[0023] As the first embodiment of this utility model: Please see Figures 1 to 5 A robotic arm gripper for stable grasping of a glass slide basket includes: a vision positioning component 100, which is fixed to the side of a gripping component 200 for visual positioning of the glass slide basket. The vision positioning component 100 includes a mounting frame 130, a vision camera 140 for visual positioning is mounted on the upper side of the mounting frame 130 via a fixing frame 150, and an auxiliary lighting lamp 110 is fixed to the lower end of the side of the mounting frame 130 away from the gripping component 200 via multiple connecting rods 120. The gripping component 200 includes a telescopic robotic arm 210. A drive module 220 is installed at the lower end of the telescopic robotic arm 210 to provide power. A gripper 1 230 and a gripper 240 are slidably installed on the left and right sides of the lower end of the drive module 220, respectively, to adapt to the cylinder at the upper end of the slide basket for easy gripping. In actual use, the telescopic robotic arm 210 is fixedly connected to an external two-axis module. With the telescopic robotic arm 210, three-axis motion can be realized, thereby enabling accurate gripping of the slide basket based on the information from the vision positioning component 100.

[0024] The mounting bracket 130 has an L-shaped cross-section, with one end of the mounting bracket 130 away from the gripping component 200 extending downward to form a circular through hole.

[0025] The mounting bracket 150 is fixed to the upper end of the circular through hole near the gripping component 200. The upper end of the vision camera 140 is fixedly connected to the side of the mounting bracket 150 near the circular through hole, and its lower end passes through the circular through hole to the end of the mounting bracket 130 away from the gripping component 200.

[0026] The illumination lamp 110 is a circular LED lamp. The lower end of the vision camera 140 extends downward into the interior of the illumination lamp 110. The inner diameter of the illumination lamp 110 is the same as the inner diameter of the circular through hole, and the centers of the two are collinear. In actual use, the center of the lens of the vision camera 140 is collinear with the center of the illumination lamp 110, and the lens is slightly higher than the lower end of the illumination lamp 110 to avoid light irradiation affecting the lens clarity.

[0027] Specifically, by setting up the visual positioning component 100, in actual use, the entire device, together with the external dual-axis module and the telescopic robotic arm 210 on the gripping component 200, forms a three-axis motion system. When it is necessary to grip the slide basket, the external dual-axis module and the telescopic robotic arm 210 are activated to adjust the visual positioning component 100. When the visual camera 140 located on the mounting frame 130 captures the slide basket, the three-axis movement distance is calculated by the positioning system algorithm (the positioning system algorithm calculation adopts existing technology, as long as it meets the requirements of accurate movement and positioning). Then, the external dual-axis module and the telescopic robotic arm 210 can accurately move the gripping component 200 to the top of the slide basket, and then the gripping work can be performed. A lighting lamp 110 is installed on the mounting frame 130 below the position of the visual camera 140 and is set in a ring structure. The purpose is to improve the brightness of the position below the visual camera 140, so that the visual camera 140 can obtain position information more clearly and reduce the accuracy error caused by insufficient brightness.

[0028] As a second embodiment of this utility model: Please see Figures 1 to 5 The drive module 220 is equipped with a bidirectional cylinder for synchronously driving gripper 1 230 and gripper 2 240. A piston rod is set on the left and right sides of the bidirectional cylinder and passes through both ends of the drive module 220. In actual use, gripper 1 230 and gripper 2 240 have the same structure and are set in a mirror structure.

[0029] The second gripper 240 includes an arc-shaped vertical plate 244, a horizontal plate 243 is arranged at the top of the arc-shaped vertical plate 244, and a slider 241 is arranged on the front and rear sides of the upper end of the horizontal plate 243 respectively.

[0030] A connecting block 242 is provided at the middle of the upper end of the horizontal plate 243. The two connecting blocks 242 are fixedly connected to the outer ends of the two piston rods respectively.

[0031] The arc-shaped vertical plate 244 has a cross-section of one-third circular arc structure. A supporting arc plate 246 is provided on the inner side of the lower end of the arc-shaped vertical plate 244. An elastic arc plate 245 is fixed on the inner wall of the lower side of the arc-shaped vertical plate 244. The lower end of the elastic arc plate 245 abuts against the upper side of the supporting arc plate 246.

[0032] Based on the first embodiment described above, further, by setting the gripping component 200, in actual use, after the visual positioning component 100 is positioned, the gripping component 200 is adjusted by the external dual-axis module and the telescopic robotic arm 210 so that the gripper 240 and gripper 1 230 are located on the upper side of the slide basket. Then, the bidirectional synchronous cylinder located in the drive module 220 can be activated. At this time, gripper 240 and gripper 1 230 move towards each other under the drive of the bidirectional cylinder, and the arc-shaped vertical plate 244 drives the supporting arc plate 246 on its lower side to move closer to the cylinder of the slide basket (see the appendix of the instruction manual for details). Figure 5 (Specific structure of the cylinder) After the outer wall of the cylinder abuts against the elastic arc plate 245 on the inner wall of the arc vertical plate 244, the elastic arc plate 245 can increase the clamping force and protect the cylinder through deformation. At the same time, the supporting arc plate 246 located at the bottom can abut against the bottom edge of the cylinder to support it, thereby ensuring the stability of clamping.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic gripper for stable grasping of a glass slide basket, comprising: A visual positioning component (100) is characterized in that the visual positioning component (100) is fixed to the side of the grasping component (200) for visual positioning of the wave plate basket. The visual positioning component (100) includes a mounting frame (130). A visual camera (140) for visual positioning is mounted on the upper side of the mounting frame (130) through a fixing frame (150). An auxiliary lighting lamp (110) is fixed to the lower end of the side of the mounting frame (130) away from the grasping component (200) through multiple connecting rods (120). The gripping component (200) includes a telescopic robotic arm (210). A drive module (220) is installed at the lower end of the telescopic robotic arm (210) to provide power. A gripper 1 (230) and a gripper 2 (240) are slidably installed on the left and right sides of the lower end of the drive module (220) to adapt to the cylinder at the upper end of the slide basket for easy gripping.

2. The robotic gripper for stable grasping of a glass slide basket as described in claim 1, characterized in that: The mounting bracket (130) has an L-shaped cross-section, and a circular through hole is formed at one end of the mounting bracket (130) away from the gripping component (200).

3. The robotic gripper for stable grasping of a glass slide basket as described in claim 1, characterized in that: The mounting bracket (150) is fixed on the upper end of the circular through hole near the gripping component (200). The upper end of the vision camera (140) is fixedly connected to the side of the mounting bracket (150) near the circular through hole, and its lower end passes through the circular through hole to the end of the mounting bracket (130) away from the gripping component (200).

4. The robotic gripper for stable grasping of a glass slide basket as described in claim 3, characterized in that: The lighting lamp (110) is a ring-shaped LED lamp. The lower end of the vision camera (140) extends downward into the interior of the lighting lamp (110). The inner diameter of the lighting lamp (110) is the same as the inner diameter of the circular through hole, and the centers of the two are collinear.

5. The robotic gripper for stable grasping of a glass slide basket as described in claim 1, characterized in that: The drive module (220) is equipped with a bidirectional cylinder for synchronously driving gripper one (230) and gripper two (240). A piston rod is provided on the left and right sides of the bidirectional cylinder and passes through both ends of the drive module (220).

6. The robotic gripper for stable grasping of a glass slide basket as described in claim 5, characterized in that: The second gripper (240) includes an arc-shaped vertical plate (244), and a horizontal plate (243) is provided at the top of the arc-shaped vertical plate (244). A slider (241) is provided on the front and rear sides of the upper end of the horizontal plate (243).

7. The robotic gripper for stable grasping of a glass slide basket as described in claim 6, characterized in that: A connecting block (242) is provided at the middle of the upper end of the horizontal plate (243), and the two connecting blocks (242) are respectively fixedly connected to the outer ends of the two piston rods.

8. The robotic gripper for stable grasping of a glass slide basket as described in claim 1, characterized in that: The arc-shaped vertical plate (244) has a cross-section of one-third circular arc structure. A supporting arc plate (246) is provided on the inner side of the lower end of the arc-shaped vertical plate (244). An elastic arc plate (245) is fixed on the inner wall of the lower side of the arc-shaped vertical plate (244). The lower end of the elastic arc plate (245) abuts against the upper side of the supporting arc plate (246).

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