CN105619452A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN105619452A CN105619452A CN201610102035.5A CN201610102035A CN105619452A CN 105619452 A CN105619452 A CN 105619452A CN 201610102035 A CN201610102035 A CN 201610102035A CN 105619452 A CN105619452 A CN 105619452A
- Authority
- CN
- China
- Prior art keywords
- axis
- guide assembly
- motor
- synchronizing wheel
- line slideway
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm, and belongs to the field of chemiluminescence measurement. The mechanical arm comprises an X-axis guide rail assembly, a Y-axis guide rail assembly, a Z-axis guide rail assembly, an X-axis motor, a Y-axis motor, a Z-axis motor, a mechanical gripper and a mechanical gripper motor. The X-axis guide rail assembly is connected with the X-axis motor. The Y-axis guide rail assembly is connected with the Y-axis motor. The Z-axis guide rail assembly is connected with the Z-axis motor. The mechanical gripper is connected with the mechanical gripper motor. The Y-axis guide rail assembly is arranged on the X-axis guide rail assembly. The Z-axis guide rail assembly is arranged on the Y-axis guide rail assembly. The mechanical gripper is arranged on the Z-axis guide rail assembly. The mechanical gripper comprises a clamping jaw and a detection device, and the detection device is arranged above the clamping jaw. The mechanical arm can run in three-dimensional space flexibly and stably, and can detect whether a reaction cup is clamped or not.
Description
Technical field
The present invention relates to chemical luminescent detecting field, particularly relate to mechanical arm.
Background technology
In medicine production, the mode captured for reaction cup mainly has two kinds, and one is by manually carrying out grasping manipulation, but production efficiency is relatively low, it is easy to make mistakes; Two is adopt machinery automatically to capture, but this kind equipment drives the whole robot movement of chain-driving mainly by common electric machine, the position error of this equipment is relatively big and runs unstable, poor reliability, the regulation and control of position are easily screens also, underaction, it is impossible to meet the precision requirement of work.
It addition, mechanical gripper of the prior art is without detecting device, when jaw captures reaction cup, it is impossible to whether perception clamps reaction cup, will easily cause sky pawl phenomenon, when not having artificial monitoring device to run, reduce detection efficiency.
Summary of the invention
Problem to be solved: for problem above, the present invention provides a kind of in the flexible stable operation of three dimensions and the mechanical arm that the cup that whether responds can be detected.
For solving above technical problem, the present invention adopts the following technical scheme that
Mechanical arm includes X-axis guide assembly, Y-axis guide assembly, Z axis guide assembly, X-axis motor, y-axis motor, Z axis motor, mechanical gripper and mechanical gripper motor, described X-axis guide assembly is connected with X-axis motor, described Y-axis guide assembly is connected with y-axis motor, described Z axis guide assembly is connected with Z axis motor, and described mechanical gripper is connected with mechanical gripper motor;
Described Y-axis guide assembly is located on X-axis guide assembly, and described Z axis guide assembly is located on Y-axis guide assembly, and described mechanical gripper is located on Z axis guide assembly;
Described mechanical gripper includes jaw, detecting device, and described detecting device is located at above jaw.
Further technical scheme, described detecting device includes fixed block, optocoupler, spring, pin, catch, described fixed block is provided with chute, described pin is stopper, baffle plate and feeler lever from top to bottom successively, the top of described stopper is located in chute, described spring housing is between the bottom and baffle plate of stopper, and described catch is fixed in stopper and between stopper and optocoupler, and described optocoupler is fixed on fixed block.
Further technical scheme, described X-axis guide assembly includes X-axis rail brackets, X-axis line slideway, X-axis Timing Belt, X-axis synchronizing wheel, X-axis slide block; Described X-axis line slideway is located on X-axis rail brackets, described X-axis slide block is located on X-axis line slideway, described X-axis Timing Belt and X-axis synchronizing wheel drive X-axis slide block to slidably reciprocate on X-axis line slideway, and the rotating shaft of described X-axis synchronizing wheel is connected with X-axis motor;
Described Y-axis guide assembly includes Y-axis rail brackets, Y-axis line slideway, Y-axis Timing Belt, Y-axis synchronizing wheel, Y-axis slide block; Described Y-axis line slideway is located on Y-axis rail brackets, described Y-axis slide block is located on Y-axis line slideway, described Y-axis Timing Belt and Y-axis synchronizing wheel drive Y-axis slide block to slidably reciprocate on Y-axis line slideway, and the rotating shaft of described Y-axis synchronizing wheel is connected with y-axis motor;
Described Z axis guide assembly includes Z axis polished rod, Z axis linear bearing, Z axis Timing Belt, Z axis synchronizing wheel, described Z axis linear bearing is located on Z axis polished rod, described Z axis Timing Belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, and the rotating shaft of described Z axis synchronizing wheel is connected with Z axis motor.
Further technical scheme, described Y-axis rail brackets is located on X-axis slide block; Described Z axis polished rod is located on Y-axis slide block; Described mechanical gripper is located on Z axis linear bearing.
Further technical scheme, described jaw is made up of symmetrical jaw arm and jaws, and jaws is positioned at the end of jaw arm, and described jaws is curved.
Further technical scheme, the lower end inside of described jaw arm is provided with groove.
The workflow of the present invention is:
In X-direction, X-axis Timing Belt and X-axis synchronizing wheel drive X-axis slide block to slidably reciprocate on X-axis line slideway, slidably reciprocate on X-axis line slideway thus driving Y-axis guide rail to prop up;
In Y direction, Y-axis Timing Belt and Y-axis synchronizing wheel drive Y-axis slide block to slidably reciprocate on Y-axis line slideway, slidably reciprocate on Y-axis line slideway thus driving Z axis polished rod to prop up;
In Z-direction, Z axis Timing Belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, thus the three-dimensional motion of driving mechanical cleft hand.
Mechanical gripper motor controls firmly grasping or unclamping of jaw, mechanical gripper is provided with the detecting device sensing the cup that whether responds, the cup if the clamp mouth part of jaw responds, reaction cup up pushes away the pin equipped with spring, and pin drives catch up to push away while up moving, when catch up pushes away time, catch blocks optocoupler, optocoupler detects that the clamp mouth part of jaw responds cup, then jaw is promptly, completes to capture work; Otherwise, mechanical gripper moves to next position and captures.
Beneficial effect
Compared with prior art, the present invention possesses following remarkable advantage:
1, the mechanical arm simple structure of the present invention, adopts and automatically captures, and is respectively provided with motor respectively in the X, Y, Z direction, controls motion in X, Y, Z-direction, and trace arrangements is simple; Sliding and mainly adopt guide assembly, when being so conducive to using, the regulation and control of position are convenient, accurate positioning, and good stability in operation is highly reliable, it is possible to meet the accurate high efficiency requirement of height capturing work.
2, the mechanical gripper of the present invention is provided with detecting device and is connected by structure cleverly, it is possible to detect whether, when jaw captures, the cup that responds, if having, then complete to capture work, capturing if not having mechanical gripper to move to next position, it is to avoid empty pawl phenomenon, improve detection efficiency.
3, the structure of the detecting device of the present invention is simple, highly sensitive, and jaw efficiently coordinates, and improves the work efficiency of crawl.
4, the lower end inside of jaw arm of the present invention is provided with groove, and jaws is curved that jaw can be allowed to fit tightly reaction cup, folder very firm, it is possible to the bottleneck of clamping reaction cup steadily, difficult drop-off.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the enlarged drawing of the X-axis guide assembly of the present invention;
Fig. 3 is the enlarged drawing of the Y-axis guide assembly of the present invention;
Fig. 4 is the enlarged drawing of the Z axis guide assembly of the present invention;
Fig. 5 is the enlarged drawing of the mechanical gripper of the present invention;
Fig. 6 is the enlarged drawing of lever of the present invention;
Number in the figure illustrates: 1, X-axis guide assembly, 2, Y-axis guide assembly, 3, Z axis guide assembly, 4, X-axis motor, 5, y-axis motor, 6, Z axis motor, 7, mechanical gripper, 8, mechanical gripper motor; 7-1, fixed block, 7-2, optocoupler, 7-3, spring, 7-4, pin, 7-4-1, stopper, 7-4-2, baffle plate, 7-4-3, feeler lever, 7-5, catch, 7-6, jaw; 1-1, X-axis rail brackets, 1-2, X-axis line slideway, 1-3, X-axis Timing Belt, 1-4, X-axis slide block; 2-1, Y-axis rail brackets, 2-2, Y-axis line slideway, 2-3, Y-axis Timing Belt, 2-4, Y-axis slide block; 3-1, Z axis polished rod, 3-2, Z axis linear bearing, 3-3, Z axis Timing Belt, 3-4, Z axis synchronizing wheel.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further detailed explanation.
Embodiment
As shown in Figures 1 to 6, mechanical arm includes X-axis guide assembly 1, Y-axis guide assembly 2, Z axis guide assembly 3, X-axis motor 4, y-axis motor 5, Z axis motor 6, mechanical gripper 7 and mechanical gripper motor 8, described X-axis guide assembly 1 is connected with X-axis motor 4, described Y-axis guide assembly 2 is connected with y-axis motor 5, described Z axis guide assembly 3 is connected with Z axis motor 6, and described mechanical gripper 7 is connected with mechanical gripper motor 8; Described Y-axis guide assembly 2 is located on X-axis guide assembly 1, and described Z axis guide assembly 3 is located on Y-axis guide assembly 2, and described mechanical gripper 7 is located on Z axis guide assembly 3; Described mechanical gripper 7 includes jaw 7-6, detecting device, and described detecting device is located at above jaw 7-6.
Described detecting device includes fixed block 7-1, optocoupler 7-2, spring 7-3, pin 7-4, catch 7-5, described fixed block 7-1 is provided with chute, described pin 7-4 is stopper 7-4-1, baffle plate 7-4-2 and feeler lever 7-4-3 from top to bottom successively, the top of described stopper 7-4-1 is located in chute, described spring 7-3 is enclosed between the bottom of stopper 7-4-1 and baffle plate 7-4-2, described catch 7-5 is fixed on stopper 7-4-1 and between stopper 7-4-1 and optocoupler 7-2, and described optocoupler 7-2 is fixed on fixed block 7-1.
Described X-axis guide assembly 1 includes X-axis rail brackets 1-1, X-axis line slideway 1-2, X-axis Timing Belt 1-3, X-axis synchronizing wheel, X-axis slide block 1-4; Described X-axis line slideway 1-2 is located on X-axis rail brackets 1-1, described X-axis slide block 1-4 is located at 1-2 on X-axis line slideway, described X-axis Timing Belt 1-3 and X-axis synchronizing wheel drive X-axis slide block 1-4 to slidably reciprocate on X-axis line slideway 1-2, and the rotating shaft of described X-axis synchronizing wheel is connected with X-axis motor.
Described Y-axis guide assembly 2 includes Y-axis rail brackets 2-1, Y-axis line slideway 2-2, Y-axis Timing Belt 2-3, Y-axis synchronizing wheel, Y-axis slide block 2-4; Described Y-axis line slideway 2-2 is located on Y-axis rail brackets 2-1, described Y-axis slide block 2-4 is located on Y-axis line slideway 2-2, described Y-axis Timing Belt 2-3 and Y-axis synchronizing wheel drive Y-axis slide block 2-4 to slidably reciprocate on Y-axis line slideway 2-3, and the rotating shaft of described Y-axis synchronizing wheel is connected with y-axis motor.
Described Z axis guide assembly 3 includes Z axis polished rod 3-1, Z axis linear bearing 3-2, Z axis Timing Belt 3-3, Z axis synchronizing wheel 3-4, described Z axis linear bearing 3-2 is located on Z axis polished rod 3-1, described Z axis Timing Belt 3-3 and Z axis synchronizing wheel 3-4 drives Z axis linear bearing 3-2 to move up and down on Z axis polished rod 3-1, and the rotating shaft of described Z axis synchronizing wheel 3-4 is connected with Z axis motor 6. Described Y-axis rail brackets 2-1 is located on X-axis slide block 1-4; Described Z axis polished rod 3-1 is located on Y-axis slide block 2-4; Described mechanical gripper 7 is located on Z axis linear bearing 3-2.
Described jaw 7-6 is made up of symmetrical jaw arm and jaws, and jaws is positioned at the end of jaw arm, and described jaws is curved. The lower end inside of described jaw arm is provided with groove.
Claims (6)
1. mechanical arm, it is characterized in that, including X-axis guide assembly, Y-axis guide assembly, Z axis guide assembly, X-axis motor, y-axis motor, Z axis motor, mechanical gripper and mechanical gripper motor, described X-axis guide assembly is connected with X-axis motor, described Y-axis guide assembly is connected with y-axis motor, described Z axis guide assembly is connected with Z axis motor, and described mechanical gripper is connected with mechanical gripper motor;
Described Y-axis guide assembly is located on X-axis guide assembly, and described Z axis guide assembly is located on Y-axis guide assembly, and described mechanical gripper is located on Z axis guide assembly;
Described mechanical gripper includes jaw, detecting device, and described detecting device is located at above jaw.
2. mechanical arm according to claim 1, it is characterized in that, described detecting device includes fixed block, optocoupler, spring, pin, catch, described fixed block is provided with chute, described pin is stopper, baffle plate and feeler lever from top to bottom successively, and the top of described stopper is located in chute, and described spring housing is between the bottom and baffle plate of stopper, described catch is fixed in stopper and between stopper and optocoupler, and described optocoupler is fixed on fixed block.
3. mechanical arm according to claim 1, it is characterised in that described X-axis guide assembly includes X-axis rail brackets, X-axis line slideway, X-axis Timing Belt, X-axis synchronizing wheel, X-axis slide block; Described X-axis line slideway is located on X-axis rail brackets, described X-axis slide block is located on X-axis line slideway, described X-axis Timing Belt and X-axis synchronizing wheel drive X-axis slide block to slidably reciprocate on X-axis line slideway, and the rotating shaft of described X-axis synchronizing wheel is connected with X-axis motor;
Described Y-axis guide assembly includes Y-axis rail brackets, Y-axis line slideway, Y-axis Timing Belt, Y-axis synchronizing wheel, Y-axis slide block; Described Y-axis line slideway is located on Y-axis rail brackets, described Y-axis slide block is located on Y-axis line slideway, described Y-axis Timing Belt and Y-axis synchronizing wheel drive Y-axis slide block to slidably reciprocate on Y-axis line slideway, and the rotating shaft of described Y-axis synchronizing wheel is connected with y-axis motor;
Described Z axis guide assembly includes Z axis polished rod, Z axis linear bearing, Z axis Timing Belt, Z axis synchronizing wheel, described Z axis linear bearing is located on Z axis polished rod, described Z axis Timing Belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, and the rotating shaft of described Z axis synchronizing wheel is connected with Z axis motor.
4. mechanical arm according to claim 3, it is characterised in that described Y-axis rail brackets is located on X-axis slide block; Described Z axis polished rod is located on Y-axis slide block; Described mechanical gripper is located on Z axis linear bearing.
5. mechanical arm according to claim 1, it is characterised in that described jaw is made up of symmetrical jaw arm and jaws, and jaws is positioned at the end of jaw arm, and described jaws is curved.
6. mechanical arm according to claim 5, it is characterised in that the lower end inside of described jaw arm is provided with groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102035.5A CN105619452A (en) | 2016-02-24 | 2016-02-24 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102035.5A CN105619452A (en) | 2016-02-24 | 2016-02-24 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105619452A true CN105619452A (en) | 2016-06-01 |
Family
ID=56034987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610102035.5A Pending CN105619452A (en) | 2016-02-24 | 2016-02-24 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105619452A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263067A (en) * | 2017-07-11 | 2017-10-20 | 成都东友包装有限公司 | Improve the method that steel case installs convenience |
| CN107350995A (en) * | 2017-07-11 | 2017-11-17 | 成都东友包装有限公司 | A kind of steel case installation support meanss |
| CN108802416A (en) * | 2017-05-05 | 2018-11-13 | 北京普利生仪器有限公司 | The sample adding device and sample analyser of sample analyser |
| CN109202875A (en) * | 2018-10-30 | 2019-01-15 | 国网江苏省电力有限公司镇江供电分公司 | The loading and unloading mechanical arm of strain insulator mechanism for assembling-disassembling |
| CN109557327A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Grab a glass judgment method |
| CN110823521A (en) * | 2016-08-04 | 2020-02-21 | 彭爱勤 | Pluggable receiving and transmitting optical module automatic detection system |
| CN112623304A (en) * | 2020-06-19 | 2021-04-09 | 虫极科技（北京）有限公司 | Snatch mechanism and lid cutlery box equipment |
| CN112623305A (en) * | 2020-06-19 | 2021-04-09 | 虫极科技（北京）有限公司 | Apparatus for lidded cutlery boxes and method of control |
| WO2021168970A1 (en) * | 2020-02-26 | 2021-09-02 | 五邑大学 | 3d vision-based small robotic arm transport cart |
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| CN105129418A (en) * | 2015-09-09 | 2015-12-09 | 苏州博众精工科技有限公司 | Dual-purpose feeding clamping claw |
| CN205363875U (en) * | 2016-02-24 | 2016-07-06 | 南京诺尔曼生物技术有限公司 | Mechanical arm |
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| CN101417422A (en) * | 2008-12-05 | 2009-04-29 | 上海耀皮康桥汽车玻璃有限公司 | Automatic original-glass fetching manipulator of automobile glass pre-treatment production line |
| CN102806558A (en) * | 2011-06-01 | 2012-12-05 | 苏州长光华医生物医学工程有限公司 | Manipulator for gripping blood type cards automatically |
| CN102990458A (en) * | 2012-11-26 | 2013-03-27 | 西北工业大学 | Three-dimensional automatic feeding, discharging and detecting device |
| WO2015036119A1 (en) * | 2013-09-13 | 2015-03-19 | Schaefer Förderanlagen- und Maschinenbau GmbH | Device for loading a load carrier such as a pallet or similar |
| CN204076250U (en) * | 2014-09-11 | 2015-01-07 | 北京国电通网络技术有限公司 | Double track digital control horizontal beam type manipulator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823521A (en) * | 2016-08-04 | 2020-02-21 | 彭爱勤 | Pluggable receiving and transmitting optical module automatic detection system |
| CN108802416A (en) * | 2017-05-05 | 2018-11-13 | 北京普利生仪器有限公司 | The sample adding device and sample analyser of sample analyser |
| CN107263067A (en) * | 2017-07-11 | 2017-10-20 | 成都东友包装有限公司 | Improve the method that steel case installs convenience |
| CN107350995A (en) * | 2017-07-11 | 2017-11-17 | 成都东友包装有限公司 | A kind of steel case installation support meanss |
| CN109557327A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Grab a glass judgment method |
| CN109557327B (en) * | 2017-09-26 | 2022-04-29 | 深圳市新产业生物医学工程股份有限公司 | Cup grabbing judgment method |
| CN109202875A (en) * | 2018-10-30 | 2019-01-15 | 国网江苏省电力有限公司镇江供电分公司 | The loading and unloading mechanical arm of strain insulator mechanism for assembling-disassembling |
| WO2021168970A1 (en) * | 2020-02-26 | 2021-09-02 | 五邑大学 | 3d vision-based small robotic arm transport cart |
| CN112623304A (en) * | 2020-06-19 | 2021-04-09 | 虫极科技（北京）有限公司 | Snatch mechanism and lid cutlery box equipment |
| CN112623305A (en) * | 2020-06-19 | 2021-04-09 | 虫极科技（北京）有限公司 | Apparatus for lidded cutlery boxes and method of control |
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Application publication date: 20160601 |