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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CN
China
Prior art keywords
photoelectric sensor
rotating shaft
rotary support
rotating
slide
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Granted
Application number
CN 201010285171
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Chinese (zh)
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CN102023223B (en
Inventor
顾华
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Jinan Qili Medical Devices Co ltd
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Individual
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Priority to CN2010102851715A priority Critical patent/CN102023223B/en
Publication of CN102023223A publication Critical patent/CN102023223A/en
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Publication of CN102023223B publication Critical patent/CN102023223B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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

Self-reacting device universal machine arm
Technical field
The present invention relates to a kind of mechanical arm, specifically a kind of self-reacting device universal machine arm.
Background technology
Present various robotization detecting instrument generally adopts mechanical arm to finish actions such as automatic liquid feeding, sampling, displacement, clamping, but the mechanical arm that uses on each instrument mostly is special product, the anglec of rotation and perpendicular displacement when producing, have just been configured, use for a kind of instrument only, do not possess compatibility, manufacturer need produce the mechanical arm product of multiple model and supply with various instrument use, and production cost is higher.
Summary of the invention
The purpose of this invention is to provide a kind of self-reacting device universal machine arm, its anglec of rotation and perpendicular displacement all can be regulated as required, and be compatible high, is applicable to multiple self-reacting device.
The present invention for achieving the above object, be achieved through the following technical solutions: comprise riser, slide rail is set on the riser, slide block is installed on the slide rail, slide block is connected with rotary support, rotating shaft is installed on the rotary support, rotating driving device and tachogenerator, rotating shaft is connected with rotating driving device, pivot arm is installed on the rotating shaft top, lifting drive is installed in the riser bottom, and lifting drive is connected with rotary support, and the photoelectricity block is set on the rotary support, first photoelectric sensor and second photoelectric sensor are installed on the riser, and first photoelectric sensor is connected with riser by apparatus for adjusting position respectively with second photoelectric sensor.Described rotating driving device has a stepper motor that is installed on the rotary support, and first synchronizing wheel is installed on the output shaft of stepper motor, and first synchronizing wheel is connected with second synchronizing wheel by being with synchronously, and second synchronizing wheel is installed in the rotating shaft.Described lifting drive has a base that is connected with riser, and linear stepping motor is installed on the base, and the screw tip of linear stepping motor contacts with rotary support.Described apparatus for adjusting position has a chute that is opened in the slide rail side, and first slide and second slide are installed respectively in the chute, and first photoelectric sensor is installed on first slide, and second photoelectric sensor is installed on second slide.Described rotating shaft is a hollow rotating shaft.Installed thrust ball bearing between the bottom of rotating shaft and the rotary support.
The invention has the advantages that: the anglec of rotation of rotating driving device and the perpendicular displacement of lifting drive all can be adjusted according to actual needs, can satisfy the use needs of multiple self-reacting device, compatible strong, be convenient to enterprise and produce in batches, reduced production cost significantly; The location is accurate when rotation and lifting, and noise is low; Easy to operate, position is fine-tuning etc.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Embodiment
Self-reacting device universal machine arm of the present invention comprises riser 1, slide rail 2 is set on the riser 1, slide block 3 is installed on the slide rail 2, slide block 3 is connected with rotary support 4, rotating shaft 5 is installed on the rotary support 4, rotating driving device and tachogenerator 16, rotating shaft 5 is connected with rotating driving device, pivot arm 6 is installed on rotating shaft 5 tops, lifting drive is installed in riser 1 bottom, lifting drive is connected with rotary support 4, photoelectricity block 13 is set on the rotary support 4, and installation first photoelectric sensor 14 and second photoelectric sensor, 15, the first photoelectric sensors 14 are connected with riser 1 by apparatus for adjusting position respectively with second photoelectric sensor 15 on the riser 1.Pivot arm 6 rotates under the driving of rotating driving device together with rotating shaft 5, tachogenerator 16 can detect the rotating speed of rotating driving device, and in conjunction with calculating working time of rotating driving device the anglec of rotation, automatically stop when the anglec of rotation of rotating driving device reaches preset value, the setting value of the anglec of rotation can be set according to the needs of different instruments.Rotary support 4 can drive rotating shaft 5 and pivot arm 6 along slide rail 2 vertically lifting under the driving of lifting drive, photoelectricity block 13 is with together lifting of rotary support 4, in uphill process, when photoelectricity block 13 rises to the measuring position of first photoelectric sensor 14, first photoelectric sensor 14 sends the signal that puts in place to lifting drive, prompting has risen to the precalculated position, and lifting drive quits work; In the decline process, when photoelectricity block 13 dropped to the measuring position of second photoelectric sensor 15, second photoelectric sensor 15 sent the signal that puts in place to lifting drive, and prompting has dropped to the precalculated position, and lifting drive quits work.The position of first photoelectric sensor 14 and second photoelectric sensor 15 can be regulated by apparatus for adjusting position, control the perpendicular displacement of lifting drive by the position of regulating first photoelectric sensor 14 and second photoelectric sensor 15, to satisfy the needs of various different instruments.
Rotating driving device of the present invention can adopt multiple structure, wherein preferred construction is: described rotating driving device has a stepper motor 7 that is installed on the rotary support 4, first synchronizing wheel 8 is installed on the output shaft of stepper motor 7, first synchronizing wheel 8 is by being with 9 to be connected with second synchronizing wheel 10 synchronously, and second synchronizing wheel 10 is installed in the rotating shaft 5.Advantages such as this structure has the location accurately, and noise is low.Certain rotating driving device of the present invention can also adopt common electric machine to drive, or adopts gear or sprocket wheel, chain structure to carry out transmission, but these structural orientation degree of accuracy are lower, and noise is bigger, with preferred version gap to some extent.
Lifting drive of the present invention can adopt multiple structure, wherein preferred construction is: described lifting drive has a base 11 that is connected with riser 1, linear stepping motor 12 is installed on the base 11, and the screw tip of linear stepping motor 12 contacts with rotary support 4.This structure has advantages such as vertical stroke is long, the location is accurate, with low cost.Certain lifting drive of the present invention can also adopt stepper motor to drive synchronizing wheel, band or drive multiple structure such as screw-nut body and drive synchronously, but these structures aspect vertical stroke, location levels of precision and cost all with preferred version gap to some extent.
Apparatus for adjusting position of the present invention is used to regulate the upright position of first photoelectric sensor 14 and second photoelectric sensor 15, for realizing this function, can adopt multiple structure to realize, wherein preferred construction is: described apparatus for adjusting position has a chute 17 that is opened in slide rail 2 sides, first slide 18 and second slide 19 are installed respectively in the chute 17, install on first slide 18 second photoelectric sensor 15 is installed on first photoelectric sensor, 14, the second slides 19.This structure has the advantage easy to operate, that the position is fine-tuning.Certain apparatus for adjusting position of the present invention can also adopt other multiple structure to realize, for example a plurality of pilot holes can be set on riser 1, on first photoelectric sensor 14 and second photoelectric sensor 15, register pin is set respectively, during use register pin is inserted in the pilot hole of relevant position and position, realize the purpose of adjusting position by the pilot hole of selecting diverse location, but this structure operation is comparatively loaded down with trivial details, and the position can not finely tune, therefore with preferred version gap to some extent.
The present invention is compatible in order further to improve, and rotating shaft 5 of the present invention can be made hollow rotating shaft, and the cavity of hollow rotating shaft can be used for depositing the parts such as lead, pipette or traction rope that are connected with pivot arm 6, can use for the instrument of various difference in functionalitys.
The present invention is in order to reduce the friction force between rotating shaft 5 and the rotary support 4, can be between the bottom of rotating shaft 5 and rotary support 4 installed thrust ball bearing 20, thrust ball bearing 20 can effectively reduce the friction force between rotating shaft 5 and the rotary support 4, and not influenced by axle pressure, can guarantee rotating shaft 5 smooth and easy rotations.

Claims (6)

1. self-reacting device universal machine arm, it is characterized in that: comprise riser (1), slide rail (2) is set on the riser (1), slide rail (2) is gone up slide block (3) is installed, slide block (3) is connected with rotary support (4), rotary support (4) is gone up rotating shaft (5) is installed, rotating driving device and tachogenerator (16), rotating shaft (5) is connected with rotating driving device, pivot arm (6) is installed on rotating shaft (5) top, lifting drive is installed in riser (1) bottom, lifting drive is connected with rotary support (4), photoelectricity block (13) is set on the rotary support (4), riser (1) is gone up first photoelectric sensor (14) and second photoelectric sensor (15) is installed, and first photoelectric sensor (14) is connected with riser (1) by apparatus for adjusting position respectively with second photoelectric sensor (15).
2. self-reacting device universal machine arm according to claim 1, it is characterized in that: described rotating driving device has a stepper motor (7) that is installed on the rotary support (4), first synchronizing wheel (8) is installed on the output shaft of stepper motor (7), first synchronizing wheel (8) is connected with second synchronizing wheel (10) by being with (9) synchronously, and second synchronizing wheel (10) is installed in the rotating shaft (5).
3. self-reacting device universal machine arm according to claim 1, it is characterized in that: described lifting drive has a base (11) that is connected with riser (1), base (11) is gone up linear stepping motor (12) is installed, and the screw tip of linear stepping motor (12) contacts with rotary support (4).
4. self-reacting device universal machine arm according to claim 1, it is characterized in that: described apparatus for adjusting position has a chute (17) that is opened in slide rail (2) side, first slide (18) and second slide (19) are installed respectively in the chute (17), first slide (18) is gone up first photoelectric sensor (14) is installed, and second slide (19) is gone up second photoelectric sensor (15) is installed.
5. self-reacting device universal machine arm according to claim 1 and 2 is characterized in that: described rotating shaft (5) is a hollow rotating shaft.
6. self-reacting device universal machine arm according to claim 1 and 2 is characterized in that: installed thrust ball bearing (20) between the bottom of rotating shaft (5) and the rotary support (4).
CN2010102851715A 2010-09-17 2010-09-17 Universal mechanical arm for automated instruments Expired - Fee Related CN102023223B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010102851715A CN102023223B (en) 2010-09-17 2010-09-17 Universal mechanical arm for automated instruments

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010102851715A CN102023223B (en) 2010-09-17 2010-09-17 Universal mechanical arm for automated instruments

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CN102023223A true CN102023223A (en) 2011-04-20
CN102023223B CN102023223B (en) 2012-07-25

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102529824A (en) * 2011-10-31 2012-07-04 浙江工业大学 Automatic electric retractable footboard for cross-country vehicle
CN103592448A (en) * 2013-11-22 2014-02-19 合肥天一生物技术研究所 Full-automatic centrifugal interpretoscope
CN104493814A (en) * 2014-12-20 2015-04-08 河南机电高等专科学校 Automatic universal mechanical arm
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
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
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
CN107618857A (en) * 2017-10-21 2018-01-23 广东九御酒业有限公司 A kind of cutting agency applied to the production of wine lid
CN110658346A (en) * 2018-06-28 2020-01-07 深圳迈瑞生物医疗电子股份有限公司 Propelling mechanism, sample feeding device and sample rack propelling method
CN112683317A (en) * 2020-12-23 2021-04-20 浙江澍源智能技术有限公司 Auxiliary adjustment area array, linear array detector mounting device and mounting method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11276932A (en) * 1998-03-30 1999-10-12 Japan Tobacco Inc Centrifugal separator
CN2408450Y (en) * 2000-01-26 2000-11-29 张勇 Full automatic sampler
CN101352854A (en) * 2008-07-17 2009-01-28 上海交通大学 Remote operation planar redundant manipulator automated guided intelligent element, system and method
CN201514411U (en) * 2009-10-23 2010-06-23 深圳市凯特生物医疗电子科技有限公司 Three-dimensional motion manipulator for biochemical analyzer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11276932A (en) * 1998-03-30 1999-10-12 Japan Tobacco Inc Centrifugal separator
CN2408450Y (en) * 2000-01-26 2000-11-29 张勇 Full automatic sampler
CN101352854A (en) * 2008-07-17 2009-01-28 上海交通大学 Remote operation planar redundant manipulator automated guided intelligent element, system and method
CN201514411U (en) * 2009-10-23 2010-06-23 深圳市凯特生物医疗电子科技有限公司 Three-dimensional motion manipulator for biochemical analyzer

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102529824A (en) * 2011-10-31 2012-07-04 浙江工业大学 Automatic electric retractable footboard for cross-country vehicle
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
CN107618857A (en) * 2017-10-21 2018-01-23 广东九御酒业有限公司 A kind of cutting agency applied to the production of wine lid
CN110658346A (en) * 2018-06-28 2020-01-07 深圳迈瑞生物医疗电子股份有限公司 Propelling mechanism, sample feeding device and sample rack propelling method
CN112683317A (en) * 2020-12-23 2021-04-20 浙江澍源智能技术有限公司 Auxiliary adjustment area array, linear array detector mounting device and mounting method

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