A hybrid end effector

Abstract

The utility model relates to a kind of composite end effector, the effector is fixedly arranged at the end of mechanical arm, including mounting seat, two clamping rods, piston type liquid level gun, driving assembly and switching component, two The clamping rod is parallel and horizontally arranged, and one end of clamping rod is slidably connected with the mounting seat;The piston type liquid level gun is vertically arranged, and the top of piston type liquid level gun is fixedly connected with the mounting seat;The driving assembly is used to drive two The clamping rod opens and closes or drives the piston rod of piston type liquid level gun to move;The switching component is used to switch the driving object of driving assembly.The utility model can realize grabbing and detecting task without replacing different end effector, improve the flexibility and adaptability of equipment, and the utility model reduces the type and quantity of equipment, reduces equipment purchase and maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of laboratory automation equipment technology, specifically a composite end effector. Background Technology

[0002] In automated biochemistry laboratories, frequent liquid handling is required, including various pipetting operations such as aspiration, quantification, and dilution. These operations are performed using pipettes mounted on robotic arms. A mechanism allows for the pressing and releasing of the pipette's piston rod, achieving liquid aspiration and dispensing operations similar to manual methods. Simultaneously, automated biochemistry laboratories also utilize robotic arms equipped with mechanical grippers to handle and transfer various containers and consumables. Therefore, at least two sets of robotic arms are needed to handle liquid and consumable processing respectively. This places greater demands on laboratory space and funding. Combining these two functions would achieve a higher level of automation integration.

[0003] While some end effector designs attempt to integrate multiple functions, they still face the following challenges: how to achieve multiple functions within a limited space while maintaining system simplicity and stability; the switching speed and accuracy between different functions directly affect overall operational efficiency; and multiple functions may require independent power sources, increasing cost and maintenance complexity. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a composite end effector to solve the problems of multiple power sources required for multiple actuators, which increases costs and results in a bulky structure.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a composite end effector, the actuator being fixedly mounted at the end of a robotic arm, comprising a mounting base, two clamping rods, a piston-type liquid level gun, a drive assembly, and a switching assembly. The two clamping rods are parallel to each other and horizontally arranged, with one end of each clamping rod slidably connected to the mounting base. The piston-type liquid level gun is vertically arranged, with its top fixedly connected to the mounting base. The drive assembly is used to drive the two clamping rods to open and close or to drive the piston rod of the piston-type liquid level gun to move. The switching assembly is used to switch the drive object of the drive assembly. The working principle of this utility model is as follows: by switching the driving object through the switching component, the two parallel clamping rods that are slidably connected to the mounting base can be driven to slide, or the piston rod of the piston-type liquid level gun that is fixedly connected to the mounting base can be driven to move, so as to realize different functional operations.

[0006] Preferably, the drive assembly includes a motor, two racks, a first external gear, a transmission rod, a telescopic rod, and a second transmission unit. The two racks are parallel to each other and spaced apart. The opposite ends of the two racks are fixedly connected to two clamping rods, respectively. The racks are perpendicular to the clamping rods and are arranged opposite each other. The racks are slidably connected to the mounting base, and the sliding direction is consistent with the extension line of the racks. The first external gear is located between the two racks and meshes with both racks simultaneously. The first external gear is rotatably connected to the mounting base. A first internal gear is located at the center of the first external gear. The transmission rod is vertical and coaxial with the first external gear. A second external gear is located on the transmission rod, and the second external gear can mesh with the first internal gear. The second transmission unit is used to move the piston rod axially by utilizing the circumferential rotation of the transmission rod.

[0007] Preferably, the second transmission unit includes a second internal gear, a transmission belt, a screw, and a transmission sleeve. The second internal gear and the transmission rod are coaxial and located above the first external gear. Both ends of the second internal gear are rotatably connected to the mounting base. The screw and the piston rod are coaxial, and the bottom of the screw and the top of the piston rod are rotatably connected. The transmission sleeve is provided with a thread adapted to the screw and is sleeved on the screw. The transmission sleeve is rotatably connected to the mounting base. The outer circumference of the second internal gear and the transmission sleeve is provided with annular grooves. The transmission belt is tensioned in the annular grooves of the transmission sleeve and the second internal gear.

[0008] Preferably, the switching assembly includes an electric telescopic rod, the bottom of which has a square hole, the output shaft of the motor is adapted to and slidably inserted into the square hole, the fixed end of the electric telescopic rod is fixedly disposed above the transmission rod, the movable end of the electric telescopic rod is rotatably connected to the top of the transmission rod, and the electric telescopic rod is vertically disposed; the second external gear is fixedly disposed in the middle of the transmission rod; the first external gear and the second internal gear are spaced apart in the vertical direction, and the length of the second external gear is less than the space between the first external gear and the second internal gear.

[0009] Preferably, the second internal gear and the first internal gear are spur gears, and both are provided with a first guide angle on the side near the second external gear to facilitate meshing with the second external gear.

[0010] Preferably, a first limiting plate and a second limiting plate are rotatably connected to the transmission rod, and the first limiting plate, the second limiting plate and the mounting base are slidably connected in the vertical direction. The first limiting plate and the second limiting plate are located on the side where the first external gear and the second internal gear are separated. The end faces of the first external gear and the second internal gear are provided with positioning holes. Positioning blocks that can be inserted into the positioning holes are fixedly provided on the end faces of the first limiting plate and the second limiting plate. The positioning blocks on the first limiting plate and the second limiting plate are alternately connected to the positioning holes.

[0011] Preferably, the mounting base is provided with a groove that matches the rack, and the groove has a T-shaped cross-section.

[0012] Preferably, one of the clamping rods is provided with a through hole for avoiding the rack.

[0013] Preferably, the second external gear has a second guide angle at both ends.

[0014] Preferably, the clamping rod is provided with an anti-slip layer.

[0015] Compared with the prior art, the technical solution of this application has the following technical effects: By integrating the gripping rod and piston-type level gun into a single device, this invention can meet a variety of operational needs. It eliminates the need to change different end effectors for gripping and detection tasks, improving the flexibility and adaptability of the equipment. The multi-functional design reduces the types and number of devices required, lowering equipment purchase and maintenance costs. The switching component allows for quick and accurate switching between gripping and level detection modes without manual intervention, improving operational efficiency. When performing multiple tasks, frequent changes to the end effector are unnecessary, significantly saving time on changeover and debugging, and increasing production efficiency. Through its rational design, this invention integrates multiple functions into a small space, without occupying additional work area. Compared to multiple independent devices, this invention is lighter overall, reducing the burden on the robotic arm and extending the equipment's lifespan. Attached Figure Description 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.

[0016] Figure 1 This is a schematic diagram showing the position of the rack in this utility model.

[0017] Figure 2 This is a schematic diagram of the driving component and switching component of this utility model.

[0018] Figure 3 This is a schematic diagram of the first internal gear of this utility model.

[0019] Figure 4 This is a schematic diagram of the first external gear of this utility model.

[0020] Figure 5 This is a schematic diagram of the transmission rod of this utility model.

[0021] In the diagram: 1. Mounting base; 2. Clamping rod; 3. Rack; 4. First sliding section; 5. Motor; 6. First external gear; 7. Transmission sleeve; 8. Screw; 9. Transmission belt; 10. First limiting plate; 11. Transmission rod; 12. Second sliding section; 13. Telescopic rod; 14. Second internal gear; 15. Piston rod; 16. Annular groove; 17. Piston-type liquid level gun; 18. First guide angle; 19. First internal gear; 20. Second guide angle; 21. Connecting block; 22. Second limiting plate; 23. Positioning block; 24. Second external gear; 25. Connecting sleeve; 26. Square hole. Detailed Implementation

[0022] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0023] like Figure 1 As shown, a composite end effector is provided. The actuator is fixedly mounted at the end of a robotic arm, and the robotic arm, controlled by a program, moves the actuator sequentially to different positions. This actuator includes a mounting base 1, two clamping rods 2, a piston-type level gun 17, a drive assembly, and a switching assembly. The two clamping rods 2 are parallel and horizontally arranged, with one end of each rod slidably connected to the mounting base 1. The piston-type level gun 17 is vertically arranged, and its top is fixedly connected to the mounting base 1. The drive assembly is used to drive the two clamping rods 2 to open and close or to move the piston rod 15 of the piston-type level gun 17. The switching assembly is used to switch the object driven by the drive assembly. The opening and closing of the two clamping rods 2 is used to move the container. When the piston rod 15 of the piston-type level gun 17 moves, liquid can be pushed for transfer operations. In this embodiment, one end of each of the two clamping rods 2 is fixedly provided with a coaxial first sliding section 4 and a second sliding section 12. The mounting base 1 is provided with a sliding groove for relative movement of the first sliding section 4 and the second sliding section 12, with the sliding direction perpendicular to the clamping rods 2. The piston-type liquid level gun 17 and the mounting base 1 are detachably connected for easy maintenance. The end of the robotic arm is fixedly connected to the top of the mounting base.

[0024] like Figure 1 , 2As shown in Figure 4, preferably, the drive assembly includes a motor 5, two racks 3, a first external gear 6, a transmission rod 11, a telescopic rod 13, and a second transmission unit. The two racks 3 are parallel to each other and spaced apart. The opposite ends of the two racks 3 are fixedly connected to two clamping rods 2, respectively. The racks 3 and clamping rods 2 are perpendicular and opposite to each other. The racks 3 and mounting base 1 are slidably connected, and the sliding direction is consistent with the extension line of the racks 3. The first external gear 6 is located between the two racks 3 and meshes with both racks 3 simultaneously. The first external gear 6 is rotatably connected to the mounting base 1. A first internal gear 19 is located at the center of the first external gear 6. The transmission rod 11 is vertical and coaxial with the first external gear 6. A second external gear 24 is located on the transmission rod 11, and the second external gear 24 can mesh with the first internal gear 19. The second transmission unit is used to move the piston rod 15 axially by utilizing the circumferential rotation of the transmission rod 11. When the two racks 3 are in the initial state, the first external gear 6 is located at the midpoint of the length direction of the racks 3. The motor 5 drives the first external gear 6 to rotate in both directions, causing the racks 3 on both sides to move in opposite directions, thereby achieving the clamping function through the clamping rod 2. When the transmission rod 11 is lifted, causing the second external gear 24 on it to disengage from the first internal gear 19, the power of the motor 5 is transmitted to the second transmission unit through the transmission rod 11, which is converted into the linear motion of the piston rod 15. The clamping rod 2 and the racks 3 are both in a horizontal state. In this embodiment, a coaxial connecting sleeve 25 is fixedly provided on the lower section of the first external gear 6, and the connecting sleeve 25 is used to rotatably connect with the mounting base 1.

[0025] like Figure 1 , 2 As shown in Figure 3, preferably, the second transmission unit includes a second internal gear 14, a transmission belt 9, a screw 8, and a transmission sleeve 7. The second internal gear 14 and the transmission rod 11 are coaxial and located above the first external gear 6. Both ends of the second internal gear 14 are rotatably connected to the mounting base 1. The screw 8 and the piston rod 15 are coaxial, and the bottom of the screw 8 and the top of the piston rod 15 are rotatably connected. The transmission sleeve 7 is provided with a thread adapted to the screw 8 and is sleeved on the screw 8. The transmission sleeve 7 is rotatably connected to the mounting base 1. The outer circumference of the second internal gear 14 and the transmission sleeve 7 is provided with an annular groove 16. The transmission belt 9 is tensioned in the annular groove 16 of the transmission sleeve 7 and the second internal gear 14. In this embodiment, when the transmission rod 11 drives the second internal gear 14 to rotate, the transmission belt 9 drives the transmission sleeve 7 to rotate synchronously. Then, by utilizing the threaded engagement between the transmission sleeve 7 and the screw 8, the rotational motion is converted into the linear motion of the screw 8 and the piston rod 15. The transmission belt 9 has sufficient friction with the transmission sleeve 7 and the second internal gear 14 to prevent slippage. To facilitate the maintenance of the piston-type liquid level gun 17, the piston-type liquid level gun 17 is fixedly mounted on the side of the mounting base 1. A connecting block 21 is fixedly provided on the side of the mounting base 1. The two ends of the transmission sleeve 7 are rotatably connected to the connecting block 21. The connecting block 21 has a channel through which the transmission belt 9 passes.

[0026] like Figure 2 As shown, preferably, the switching assembly includes an electric telescopic rod 13. A square hole 26 is provided at the bottom of the transmission rod 11. The output shaft of the motor 5 is adapted to and slidably inserted into the square hole 26. The fixed end of the electric telescopic rod 13 is fixedly disposed above the transmission rod 11, and the movable end of the electric telescopic rod 13 is rotatably connected to the top of the transmission rod 11. The electric telescopic rod 13 is vertically positioned. The second external gear 24 is fixedly disposed in the middle of the transmission rod 11. The first external gear 6 and the second internal gear 14 are spaced apart in the vertical direction, and the length of the second external gear 24 is less than the space between the first external gear 6 and the second internal gear 14. The electric telescopic rod 13 raises and lowers as a whole by pushing and pulling the transmission rod 11, ensuring that the square hole 26 at its bottom remains connected to the output shaft of the motor 5 while simultaneously driving the second external gear 24 in the middle to engage or disengage with the first internal gear 19 or the second internal gear 14 above it, thereby achieving drive mode switching. The switching mechanism has a compact and ingenious structure. By setting up a liftable linkage component on the transmission path, the overall structure of the machine is simplified and the working efficiency is improved. The second external gear 24 has chamfers 20 on both sides in the tooth thickness direction, so that the second external gear 24 can smoothly mesh with the first external gear 6 or the first internal gear 19.

[0027] like Figure 3 , 4 As shown, preferably, the second internal gear 14 and the first internal gear 19 are spur gears, and both have a first guide angle 18 on the side near the second external gear 24 to facilitate meshing with the second external gear 24. By setting the first guide angle 18 at the tooth ends of the first internal gear 19 and the second internal gear 14, it plays a centering and guiding role when the second external gear 24 moves axially to mesh with it, forcing the transmission rod 11 to produce a small radial displacement to achieve automatic tooth profile alignment. That is, the end faces of the second internal gear 14 and the first internal gear 19 are chamfered on both sides in the tooth thickness direction.

[0028] like Figure 2As shown, preferably, a horizontally arranged first limiting plate 10 and second limiting plate 22 are rotatably connected to the transmission rod 11. The first limiting plate 10, the second limiting plate 22, and the mounting base 1 are slidably connected in the vertical direction. The first limiting plate 10 and the second limiting plate 22 are located on the side where the first external gear 6 and the second internal gear 14 are separated. The end faces of the first external gear 6 and the second internal gear 14 are provided with positioning holes. The end faces of the first limiting plate 10 and the second limiting plate 22 are each fixedly provided with positioning blocks 23 that can be inserted into the positioning holes. The positioning blocks 23 on the first limiting plate 10 and the second limiting plate 22 alternately engage with the positioning holes on the end faces of the second internal gear 14 and the first external gear 6, respectively. When the transmission rod 11 is raised and lowered by the electric telescopic rod 13, the first limiting plate 10 and the second limiting plate 22 slide accordingly, causing the positioning blocks 23 at their ends to alternately insert into the positioning holes on the end faces of the first external gear 6 or the second internal gear 14, locking the inactive gear. This ensures that in one working mode, the gear in the other transmission path is reliably fixed, preventing accidental rotation due to inertia or external interference, thus improving the accuracy of switching actions and the overall stability of the actuator. In this embodiment, vertical sliding grooves are respectively provided on both sides of the first limiting plate 10 and the second limiting plate 22 in the mounting base 1. The ends of the first limiting plate 10 and the second limiting plate 22 cooperate with the sliding grooves, and the first limiting plate 10 and the second limiting plate 22 always remain in a horizontal state. Mode 1: The transmission rod 11 descends until the second external gear 24 meshes with the first internal gear 19, and the second external gear 24 disengages from the second internal gear 14. At the same time, the first limiting plate 10 moves until its positioning block 23 is inserted into the positioning hole on the end face of the second internal gear 14, locking it and preventing it from spinning freely. Mode 2: The transmission rod 11 rises until the second external gear 24 meshes with the second internal gear 14, and the second external gear 24 disengages from the first internal gear 19. Simultaneously, the second limiting plate 22 moves until its positioning block 23 inserts into the positioning hole on the end face of the first external gear 6, locking it and preventing it from spinning freely. The core principle is that the lifting and lowering movement of the transmission rod 11 synchronously drives the limiting plate to ensure that one gear is always locked, thus transmitting power only in the currently required transmission path and preventing interference. During the switching phase, the motor 5 operates at a lower speed. The positioning hole on the first external gear 6 is located on the downward-facing end face of the connecting sleeve 25.

[0029] Preferably, the mounting base 1 is provided with a sliding groove adapted to the rack 3, and the sliding groove has a T-shaped cross-section to ensure stable movement of the rack 3.

[0030] Preferably, one of the clamping rods 2 is provided with a through hole for avoiding the rack 3. This through hole provides a physical channel for the rack 3 that drives the opposite clamping rod 2, allowing it to pass through the clamping rod 2 on this side without interference during movement.

[0031] Preferably, the second external gear 24 is provided with second guide angles 20 at both ends. The second guide angles 20 are chamfers on both sides of the gear end face in the thickness direction.

[0032] Preferably, the clamping rod 2 is provided with an anti-slip layer. The anti-slip layer increases the coefficient of friction between the clamping rod 2 and the contact surface of the container, and the anti-slip layer is made of rubber.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A composite end effector, wherein the actuator is fixedly mounted at the end of a robotic arm, characterized in that: The device includes a mounting base (1), two clamping rods (2), a piston-type liquid level gun (17), a drive assembly, and a switching assembly. The two clamping rods (2) are parallel to each other and horizontally arranged, with one end of the clamping rod (2) slidably connected to the mounting base (1). The piston-type liquid level gun (17) is vertically arranged, with its top fixedly connected to the mounting base (1). The drive assembly is used to drive the two clamping rods (2) to open and close or to drive the piston rod (15) of the piston-type liquid level gun (17) to move. The switching assembly is used to switch the drive object of the drive assembly.

2. A composite end effector according to claim 1, characterized in that: The drive assembly includes a motor (5), two racks (3), a first external gear (6), a transmission rod (11), a telescopic rod (13), and a second transmission unit. The two racks (3) are parallel to each other and spaced apart. The opposite ends of the two racks (3) are fixedly connected to two clamping rods (2) respectively. The rack (3) and the clamping rod (2) are perpendicular. The two racks (3) are arranged opposite each other. The rack (3) and the mounting base (1) are slidably connected and the sliding direction is consistent with the extension line of the rack (3). The first external gear (6) is set in the middle of the two racks (3) and meshes with the two racks (3) at the same time. The first external gear (6) and the mounting base (1) are rotatably connected. The first internal gear (19) is set in the center of the first external gear (6). The transmission rod (11) is vertical and coaxial with the first external gear (6). The second external gear (24) is set on the transmission rod (11). The second external gear (24) can mesh with the first internal gear (19). The second transmission unit is used to make the piston rod (15) move axially by using the circumferential rotation of the transmission rod (11).

3. A composite end effector according to claim 2, characterized in that: The second transmission unit includes a second internal gear (14), a transmission belt (9), a screw (8), and a transmission sleeve (7). The second internal gear (14) and the transmission rod (11) are coaxial and located above the first external gear (6). The two ends of the second internal gear (14) are rotatably connected to the mounting base (1). The screw (8) and the piston rod (15) are coaxial. The bottom of the screw (8) and the top of the piston rod (15) are rotatably connected. The transmission sleeve (7) is provided with a thread that matches the screw (8) and is sleeved on the screw (8). The transmission sleeve (7) is rotatably connected to the mounting base (1). The outer circle of the second internal gear (14) and the transmission sleeve (7) is provided with an annular groove (16). The transmission belt (9) is tensioned in the annular groove (16) of the transmission sleeve (7) and the second internal gear (14).

4. A composite end effector according to claim 3, characterized in that: The switching assembly includes an electric telescopic rod (13), and a square hole (26) is provided at the bottom of the transmission rod (11). The output shaft of the motor (5) is adapted to the square hole (26) and slidably inserted into the square hole (26). The fixed end of the electric telescopic rod (13) is fixedly arranged above the transmission rod (11), and the movable end of the electric telescopic rod (13) is rotatably connected to the top of the transmission rod (11). The electric telescopic rod (13) is vertically arranged. The second external gear (24) is fixedly arranged in the middle of the transmission rod (11). The first external gear (6) and the second internal gear (14) are spaced apart in the vertical direction. The length of the second external gear (24) is less than the space between the first external gear (6) and the second internal gear (14).

5. A composite end effector according to claim 4, characterized in that: The second internal gear (14) and the first internal gear (19) are spur gears, and a first guide angle (18) is provided on the side near the second external gear (24) to facilitate meshing with the second external gear (24).

6. A composite end effector according to claim 4, characterized in that: The transmission rod (11) is rotatably connected to a horizontally arranged first limiting plate (10) and a second limiting plate (22). The first limiting plate (10), the second limiting plate (22) and the mounting base (1) are slidably connected in the vertical direction. The first limiting plate (10) and the second limiting plate (22) are located on the side where the first external gear (6) and the second internal gear (14) are separated. The end faces of the first external gear (6) and the second internal gear (14) are provided with positioning holes. The end faces of the first limiting plate (10) and the second limiting plate (22) are fixedly provided with positioning blocks (23) that can be inserted into the positioning holes. The positioning blocks (23) on the first limiting plate (10) and the second limiting plate (22) are alternately connected to the positioning holes.

7. A composite end effector according to claim 2, characterized in that: The mounting base (1) is provided with a sliding groove that is adapted to the rack (3), and the sliding groove has a T-shaped cross section.

8. A composite end effector according to claim 1, characterized in that: One of the clamping rods (2) is provided with a through hole for avoiding the rack (3).

9. A composite end effector according to claim 2, characterized in that: The second external gear (24) is provided with a second guide angle (20) at both ends.

10. A composite end effector according to claim 1, characterized in that: The clamping rod (2) is provided with an anti-slip layer.

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