CN102023223A - Universal mechanical arm for automated instruments - Google Patents

Universal mechanical arm for automated instruments Download PDF

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Publication number
CN102023223A
CN102023223A CN 201010285171 CN201010285171A CN102023223A CN 102023223 A CN102023223 A CN 102023223A CN 201010285171 CN201010285171 CN 201010285171 CN 201010285171 A CN201010285171 A CN 201010285171A CN 102023223 A CN102023223 A CN 102023223A
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shaft
mounted
photosensor
connected
rotary
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CN 201010285171
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Chinese (zh)
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CN102023223B (en
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顾华
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顾华
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Abstract

The invention provides a universal mechanical arm for automated instruments. The universal mechanism comprises a vertical plate, wherein a slide rail is arranged on the vertical plate; a slide block is installed on the slide rail and is connected with a rotating support; the rotating support is provided with a rotating shaft, a rotating drive unit and a speed sensor; the rotating shaft is connected with the rotating drive unit; the top of the rotating shaft is provided with a rotating arm; the bottom of the vertical plate is provided with a lifting drive unit; the lifting drive unit is connected with the rotating support; the rotating support is provided with a photoelectric stop dog; the vertical plate is provided with a first photoelectric sensor and a second photoelectric sensor; and the first photoelectric sensor and the second photoelectric sensor are respectively connected with the vertical plate through a position regulator. The rotating angle and vertical displacement of the universal mechanical arm provided by the invention can be regulated according to needs; and the universal mechanical arm provided by the invention is high in compatibility, and is suitable for various automated instruments.

Description

自动化仪器通用机械臂 Automated instrument Universal Manipulator

技术领域 FIELD

[0001] 本发明涉及一种机械臂,具体地说是一种自动化仪器通用机械臂。 [0001] The present invention relates to a manipulator, particularly a robot arm, an automated instrument general.

背景技术 Background technique

[0002] 目前各种自动化检测仪器普遍采用机械臂完成自动加液、取样、移位、装夹等动作,但各仪器上使用的机械臂多为专用产品,在生产时就已设定好了旋转角度及垂直位移,只可供一种仪器使用,不具备兼容性,生产厂家需生产多种型号的机械臂产品来供给各种不同的仪器使用,生产成本较高。 [0002] There is currently widely used in various automatic testing equipment robotic arm to complete the automatic dosing, sampling, shift, etc. clamping action, but the use of the robot arm on each instrument plurality of special products, in the production of the already set up vertical displacement and rotation angle, an instrument for use only, have no compatibility, manufacturers need to produce a variety of models of a robot arm to supply products using various instruments, higher production costs.

发明内容 SUMMARY

[0003] 本发明的目的是提供一种自动化仪器通用机械臂,它的旋转角度及垂直位移均可根据需要进行调节,兼容性高,适用于多种自动化仪器。 [0003] The object of the present invention is to provide a general-purpose robot arm automated instrument, its vertical displacement and the rotation angle can be adjusted as needed, high compatibility, for a variety of automated equipment.

[0004] 本发明为实现上述目的,通过以下技术方案实现:包括立板,立板上设置滑轨,滑轨上安装滑块,滑块与旋转支座连接,旋转支座上安装转轴、旋转驱动装置和测速传感器,转轴与旋转驱动装置连接,转轴顶端安装旋转臂,立板底部安装升降驱动装置,升降驱动装置与旋转支座连接,旋转支座上设置光电挡块,立板上安装第一光电传感器和第二光电传感器,第一光电传感器和第二光电传感器分别通过位置调节装置与立板连接。 [0004] To achieve the above object of the present invention is achieved by the following technical solution: a vertical plate, slide plate is provided upright, the mounting slider, the slider and the rotary bearing connecting the upper rail, is mounted on a rotating support shaft, rotation and the driving speed sensor means, drive means connected to the rotary shaft, the rotary spindle mounting to the top arm, a bottom riser lifting drive is mounted, lifting the rotary drive means connected to the support, the stopper is provided on the photoelectric rotating support, the first mounting plate stand a photosensor and a second photosensor, a first photosensor and the second photosensor means are connected by a vertical plate position adjustment. 所述旋转驱动装置有一个安装在旋转支座上的步进电机,步进电机的输出轴上安装第一同步轮,第一同步轮通过同步带与第二同步轮连接,第二同步轮安装在转轴上。 The rotary drive means has a rotary support mounted on the stepping motor, the stepping motor output shaft is mounted a first synchronizing gear, a first synchronous wheel is connected via a timing belt to a second synchronous wheel, a second wheel is mounted synchronization on the shaft. 所述升降驱动装置有一个与立板连接的底座,底座上安装直线步进电机,直线步进电机的螺杆顶端与旋转支座接触。 The lift driving means has a base connected to the upright plate, the linear stepping motor mounted on the base, the linear stepping motor of the screw tip in contact with the rotating support. 所述位置调节装置有一个开设在滑轨侧面的滑槽,滑槽内分别安装第一滑动片和第二滑动片,第一滑动片上安装第一光电传感器,第二滑动片上安装第二光电传感器。 Said position adjusting means has a slide opening in the side surface of the chute, the chute are attached to the first slide and the second slide, a first photosensor mounted on a first slide, the second photosensor mounted on the second slide plate . 所述转轴是空心转轴。 The rotary shaft is a hollow shaft. 转轴的底端与旋转支座之间安装推力球轴承。 Thrust ball bearing mounted between the bottom end of the rotating support shaft.

[0005] 本发明的优点在于:旋转驱动装置的旋转角度及升降驱动装置的垂直位移均可根据实际需要进行调整,可满足多种自动化仪器的使用需要,兼容性强,便于企业批量生产,大幅度降低了生产成本;旋转及升降时定位精确,噪音低;操作方便、位置可微调等。 [0005] The advantage of the present invention is that: the rotation angle and the vertical displacement drive means driving the lifting device can be adjusted according to actual needs, can meet a variety of needs to use an automated instrument, compatibility, ease of production companies, large amplitude reduces the production cost; precise positioning and lifting rotated, low noise; easy operation, the position can be adjusted and the like.

附图说明 BRIEF DESCRIPTION

[0006] 图1是本发明的结构示意图。 [0006] FIG. 1 is a structural diagram of the present invention.

具体实施方式 Detailed ways

[0007] 本发明所述的自动化仪器通用机械臂包括立板1,立板1上设置滑轨2,滑轨2 上安装滑块3,滑块3与旋转支座4连接,旋转支座4上安装转轴5、旋转驱动装置和测速传感器16,转轴5与旋转驱动装置连接,转轴5顶端安装旋转臂6,立板1底部安装升降驱动装置,升降驱动装置与旋转支座4连接,旋转支座4上设置光电挡块13,立板1上安装第一光电传感器14和第二光电传感器15,第一光电传感器14和第二光电传感器15 分别通过位置调节装置与立板1连接。 [0007] The general robot arm automated instrument according to the present invention includes a riser 1, a rail is provided on the upright plate 2, the slider 3 is mounted on the rail 2, the slider 3 is connected to the rotating carrier 4, the rotating support base 4 the mounting shaft 5, the rotation speed sensor 16 and the driving means, the rotary shaft 5 and drive means connected to the rotary shaft 5 is mounted to the top arm 6, a bottom vertical lifting drive plate 1 is mounted, lifting the rotary drive means connected to the support 4, rotation support photoelectric seat provided on the stopper 413, a first photosensor mounted on a vertical plate 14 and the second photosensor 15, a first photosensor 14 and the second photosensor means 15 are connected by a vertical plate position adjustment. 旋转臂6同转轴5 —起在旋转驱动装置的驱动下旋转,测速传感器16能够检测旋转驱动装置的转速,并结合旋转驱动装置的运行时间计算出旋转角度,当旋转驱动装置的旋转角度达到预先设定值时自动停止,旋转角度的设定值可根据不同仪器的需要来进行设定。 Rotary arm 6 with the rotary shaft 5 - starting at a rotation driving means for rotating, speed sensor 16 can detect the rotational speed of the rotary drive means, and binding the runtime rotary drive means calculates the rotation angle when the rotation angle of the rotary driving means reaches a predetermined automatic stop set value, the set value of the rotation angle can be set according to the needs of different instruments. 旋转支座4可带动转轴5及旋转臂6沿滑轨2 在升降驱动装置的驱动下沿垂直方向升降,光电挡块13随旋转支座4 一同升降,在上升过程中,当光电挡块13上升至第一光电传感器14的测量位置时,第一光电传感器14向升降驱动装置发出到位信号,提示已上升至预定位置,升降驱动装置停止工作;在下降过程中,当光电挡块13下降至第二光电传感器15的测量位置时,第二光电传感器15向升降驱动装置发出到位信号,提示已下降至预定位置,升降驱动装置停止工作。 4 rotating support shaft 5 can be driven and the rotating arm 6 along the rail 2 in the elevator in the vertical direction of the vertical motion drive apparatus, the photoelectric stopper 13 along with the rotation of the lifting support 4, during ascent, when the photoelectric stopper 13 when raised to a first measurement position of the photosensor 14, the photosensor 14 issues a first elevation drive means to place the signal, suggesting that has risen to a predetermined position, the elevation drive means is stopped; during descent, when the stopper 13 is lowered to the photoelectric the second photoelectric sensor 15 of the measurement position, the second photo sensor 15 issues a signal to place the lift driving means has dropped to a predetermined position of the tips, the lift driving means is stopped. 第一光电传感器14和第二光电传感器15的位置可通过位置调节装置进行调节,通过调节第一光电传感器14和第二光电传感器15的位置来控制升降驱动装置的垂直位移,以满足各种不同仪器的需要。 The first photosensor 14 and the position sensor 15 may be adjusted by the position adjusting means to control the vertical displacement of the lifting drive by adjusting the position of the first photosensor 14 and the second photosensor 15, a second photoelectric to meet a variety of different required equipment.

[0008] 本发明所述的旋转驱动装置可以采用多种结构,其中优选的结构为:所述旋转驱动装置有一个安装在旋转支座4上的步进电机7,步进电机7的输出轴上安装第一同步轮8,第一同步轮8通过同步带9与第二同步轮10连接,第二同步轮10安装在转轴5上。 [0008] The rotary drive apparatus according to the present invention can take a variety of configurations, preferred is a configuration wherein: the rotation driving means has a stepping motor rotating the output shaft 7 of the support 4, the stepping motor 7 is mounted mounting a first timing pulley 8, a first synchronous wheel 8 is connected to the second synchronizing gear 10 through a timing belt 9, the second synchronous wheel 10 is mounted on the shaft 5. 这种结构具有定位精确,噪音低等优点。 This structure has a positioning accuracy, low noise. 当然本发明所述的旋转驱动装置还可以采用普通电机驱动,或采用齿轮或链轮、链条结构进行传动,但这些结构定位精确度较低,噪音较大,与优选方案有所差距。 Of course, the rotary driving device according to the present invention may also be employed ordinary motor drive, or a gear or sprocket, transmission chain structure, but the structure is positioned less accurate, noisy, a gap between the preferred embodiment.

[0009] 本发明所述的升降驱动装置可以采用多种结构,其中优选的结构为:所述升降驱动装置有一个与立板1连接的底座11,底座11上安装直线步进电机12,直线步进电机12的螺杆顶端与旋转支座4接触。 [0009] The elevation driving device according to the present invention can take a variety of configurations, preferred is a configuration wherein: said lift driving means has a base connected to a vertical plate 11, the linear stepper motor 12 mounted on the base 11, a straight line 4 contacts the stepping motor 12 and the rotary bearing to the top of the screw. 这种结构具有垂直行程长、定位精确、成本低廉等优点。 This structure has a long vertical stroke, positioning accuracy, and low cost. 当然本发明所述的升降驱动装置还可以采用步进电机带动同步轮、同步带或带动丝杠螺母机构等多种结构驱动,但这些结构在垂直行程、定位精确程度以及成本方面均与优选方案有所差距。 Of course, the lifting drive of the present invention may also be employed to drive the stepper motor synchronous wheel, drive belt or screw nut drive means and other structures, but these structures in the vertical travel, the positioning accuracy of both cost and the preferred embodiment some gaps.

[0010] 本发明所述的位置调节装置用于调节第一光电传感器14和第二光电传感器15的垂直位置,为实现这一功能,可采用多种结构实现,其中优选的结构为:所述位置调节装置有一个开设在滑轨2侧面的滑槽17,滑槽17内分别安装第一滑动片18和第二滑动片19,第一滑动片18上安装第一光电传感器14,第二滑动片19上安装第二光电传感器15。 [0010] The present invention, position adjustment means for adjusting the vertical position of the first photosensor 14 and the second photosensor 15 to achieve this function, a variety of structures can be implemented, a structure is preferred: the position adjusting means has a chute opening 17 in the rail 2 side, a first slide 18 and a second slide 19 are mounted in the chute 17, a first photosensor 14 is mounted on a first slide 18, second slide chip mounted on the second photosensor 15 19. 这种结构具有操作方便、位置可微调的优点。 This structure is easy to operate, can fine-tune the position of advantage. 当然本发明所述的位置调节装置还可以采用其它多种结构实现,例如可在立板1上设置多个定位孔,在第一光电传感器14和第二光电传感器15上分别设置定位销,使用时将定位销插入相应位置的定位孔内进行定位,通过选择不同位置的定位孔来实现调节位置的目的,但这种结构操作较为繁琐,并且位置不能微调,因此与优选方案有所差距。 Of course, the position of the adjusting device of the present invention may also be employed to achieve a variety of other structures, for example, a plurality of positioning holes may be provided on the riser 1, a positioning pin 14 on the first photosensor and the second photosensor 15, respectively, using when the positioning pins into the positioning hole corresponding to the position for positioning, adjusting the position of the object is achieved by selecting different positions of the positioning holes, but this arrangement operation is more complicated, and the location can not be trimmed, a gap between the preferred embodiment.

[0011] 本发明为了进一步提高兼容性,可将本发明所述的转轴5制成空心转轴,空心转轴的空腔可用于存放与旋转臂6连接的导线、吸液管或牵引绳等部件,可供各种不同功能的仪器使用。 [0011] In order to further improve the compatibility of the present invention, the shaft can be made according to the present invention, the hollow shaft 5, the hollow shaft cavity may be used to store the wire 6 is connected to the rotary arm, pipette or rope traction member, for a variety of different functions of the instrument.

[0012] 本发明为了减小转轴5与旋转支座4之间的摩擦力,可在转轴5的底端与旋转支座4之间安装推力球轴承20,推力球轴承20能够有效减小转轴5与旋转支座4之间的摩擦力,并且不受轴向压力影响,可确保转轴5顺畅转动。 [0012] The present invention is to reduce the friction between the bearing 4 and the rotary shaft 5, can be mounted on the bottom end of the thrust ball bearing rotary shaft 5 between the bearing 20 4, thrust ball bearing 20 can be effectively reduced shaft frictional force between the pivot mounting 4 and 5, the axial pressure and is not affected to ensure smooth rotation of the shaft 5.

Claims (6)

1.自动化仪器通用机械臂,其特征在于:包括立板(1),立板(1)上设置滑轨(2), 滑轨(2)上安装滑块(3),滑块(3)与旋转支座(4)连接,旋转支座(4)上安装转轴(5)、 旋转驱动装置和测速传感器(16),转轴(5)与旋转驱动装置连接,转轴(5)顶端安装旋转臂(6),立板(1)底部安装升降驱动装置,升降驱动装置与旋转支座(4)连接,旋转支座(4)上设置光电挡块(13),立板(1)上安装第一光电传感器(14)和第二光电传感器(15),第一光电传感器(14)和第二光电传感器(15)分别通过位置调节装置与立板(1)连接。 1. General automated instrument robotic arm comprising: a vertical plate (1), the vertical plates (1) arranged on the rail (2), the slide rail mounting (3), the slider (3) (2) connected to the rotary support (4), the rotary support (4) mounting shaft (5), the rotational speed sensor and the drive means (16), the shaft (5) connected to the rotary drive means, the shaft (5) mounted to the top rotary arm a bottom lifting drive (6), the vertical plates (1) is mounted, lifting the rotary drive means support (4) is connected, is provided a photoelectric stopper (13), the vertical plates (1) (4) of the rotary bearing installation a photosensor (14) and the second photosensor (15), a first photosensor (14) and the second photosensor (15) respectively by the position adjusting means connected to the vertical plates (1).
2.根据权利要求1所述的自动化仪器通用机械臂,其特征在于:所述旋转驱动装置有一个安装在旋转支座(4)上的步进电机(7),步进电机(7)的输出轴上安装第一同步轮(8),第一同步轮⑶通过同步带(9)与第二同步轮(10)连接,第二同步轮(10)安装在转轴(5)上。 The robot arm according to general automated instrument as claimed in claim 1, wherein: said rotational driving means has a stepping motor mounted on a rotating support (4) (7), the stepping motor (7) a first synchronous wheel mounted on the output shaft (8), a first timing pulley ⑶ second synchronous wheel (10) is connected by a timing belt (9), a second synchronous wheel (10) mounted on the shaft (5).
3.根据权利要求1所述的自动化仪器通用机械臂,其特征在于:所述升降驱动装置有一个与立板(1)连接的底座(11),底座(11)上安装直线步进电机(12),直线步进电机(12)的螺杆顶端与旋转支座(4)接触。 The robot arm according to general automated instrument as claimed in claim 1, wherein: said lift driving means has a base vertical plate (1) is connected (11), mounted on a linear stepper motor (11) of the base ( 12), the pivot mounting screw top linear stepper motor (12) (4) in contact.
4.根据权利要求1所述的自动化仪器通用机械臂,其特征在于:所述位置调节装置有一个开设在滑轨(2)侧面的滑槽(17),滑槽(17)内分别安装第一滑动片(18)和第二滑动片(19),第一滑动片(18)上安装第一光电传感器(14),第二滑动片(19)上安装第二光电传感器(15)。 The robot arm according to general automated instrument as claimed in claim 1, wherein: said opening in a sliding rail (2) side of the chute (17), the chute (17) are mounted on position adjustment means mounting the first photosensor (14) on a slide (18) and a second slide (19), a first slide (18), mounting a second photosensor (15) on a second slide (19).
5.根据权利要求1或2所述的自动化仪器通用机械臂,其特征在于:所述转轴(5)是空心转轴。 The automated instrument or the general-purpose robot arm according to claim 1, wherein: said shaft (5) is a hollow shaft.
6.根据权利要求1或2所述的自动化仪器通用机械臂,其特征在于:转轴(5)的底端与旋转支座(4)之间安装推力球轴承(20)。 6. The automated instrument or the common robot arm according to claim 1 or 2, wherein: mounting thrust ball bearing (20) between the shaft (5) and the bottom end of the rotary support (4).
CN2010102851715A 2010-09-17 2010-09-17 Universal mechanical arm for automated instruments CN102023223B (en)

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CN103592448A (en) * 2013-11-22 2014-02-19 合肥天一生物技术研究所 Full-automatic centrifugal interpretoscope
CN105092872A (en) * 2014-04-17 2015-11-25 湖南长沙天地人生物科技有限公司 Automatic sample injection instrument and rotating lifting assembly thereof
CN107350374A (en) * 2014-12-17 2017-11-17 佛山市艾乐博机器人科技有限公司 A kind of automatic manipulator
CN104493814A (en) * 2014-12-20 2015-04-08 河南机电高等专科学校 Automatic universal mechanical arm
CN104493814B (en) * 2014-12-20 2017-04-12 河南机电高等专科学校 Automatic universal mechanical arm
CN106311922A (en) * 2016-08-31 2017-01-11 佛山市顺德区天本模具制造有限公司 Novel stamping robot

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