CN106272368A - A kind of the most quickly test tube stopper removing machine device people and take lid method - Google Patents

A kind of the most quickly test tube stopper removing machine device people and take lid method Download PDF

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Publication number
CN106272368A
CN106272368A CN201610807290.XA CN201610807290A CN106272368A CN 106272368 A CN106272368 A CN 106272368A CN 201610807290 A CN201610807290 A CN 201610807290A CN 106272368 A CN106272368 A CN 106272368A
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CN
China
Prior art keywords
test tube
axis
described
mechanical arm
removing machine
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Application number
CN201610807290.XA
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Chinese (zh)
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CN106272368B (en
Inventor
翟文海
曾进
余振
张露
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三峡大学
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Priority to CN201610807290.XA priority Critical patent/CN106272368B/en
Publication of CN106272368A publication Critical patent/CN106272368A/en
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Publication of CN106272368B publication Critical patent/CN106272368B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Abstract

The present invention relates to a kind of the most quickly test tube stopper removing machine device people and take lid method, it includes base, it is provided with on described base and controls the X-axis mechanical arm that fore-and-aft direction moves, described X-axis mechanical arm is vertically installed with the Z axis mechanical arm controlling to move up and down, it is vertically installed with the Y-axis mechanical arm controlling to move left and right on described Z axis mechanical arm, described Y-axis mechanical arm is provided with stopper removing machine tool hands;One end of described stopper removing machine tool hands is provided with mechanical arm rotating drive mechanism, and the other end is provided with cap taking mechanism.Can be automatically performed blood sampling test tube takes lid task, can the blood sampling test tube of adaptive different size and test tube rack, and test tube cap can be reclaimed.

Description

A kind of the most quickly test tube stopper removing machine device people and take lid method

Technical field

The present invention relates to field of medical device, particularly a kind of the most quickly test tube stopper removing machine device people and take lid method.

Background technology

Test tube is widely used in the fields such as hospital, scientific research institutions, biochemistry.Most of used test tubes, are one The plain cylindrical form teat glass of root upper end open lower end closed.Staff is doing chemical experiment or laboratory assay, inspection Time, most frequent operation is to open test tube cap and reclaim.In actual use, various problem is had to occur, such as time The blood sampling test tube that hospital laboratory is used, due to the vacuum negative pressure type test tube used, after having taken a blood sample in possible test tube still There is negative pressure, need when blood examination to open test tube cap.Due to negative pressure impact in test tube, some test tubes are caused to be not easy to beat Open, waste time and energy.In microorganism, antibacterial culturing, test tube Seedling and test tube become the cultivating process of flower, it is required for test tube is opened Lid operation, frequency of uncapping is high, and workload is big.In the chemical experiment with quite dangerous, manually take lid risk big.

At present, complete above-mentioned task mostly is artificial hand operation.The drawback manually uncapped is: during uncapping, It is likely to result in the risk that test tube destroys, and pollutes invisible spectro biological specimen.Test tube substantial amounts, manual operation efficiency is low, holds It is easily introduced personal error.This device is full-automatic test tube stopper removing machine device people, it is possible to be automatically rapidly completed test tube takes lid task, can With test tube and the test tube rack of adaptive different size, and test tube cap can be reclaimed, it is to avoid staff frequently completes identical The drawback of task, alleviates intensity of workers.This device is applicable to assembly line work, it is possible to be greatly improved operation effect Rate, reduces cost.

Summary of the invention

Present invention solves the technical problem that and be to provide a kind of the most quickly test tube stopper removing machine device people and take lid method, it is possible to from That has moved blood sampling test tube takes lid task, can the blood sampling test tube of adaptive different size and test tube rack, and test tube cap can be carried out Reclaim.

In order to solve above-mentioned technical problem, the present invention proposes techniques below scheme: a kind of the most quickly test tube stopper removing machine device People, it includes base, described base is provided with and controls the X-axis mechanical arm that fore-and-aft direction moves, and described X-axis mechanical arm is vertically pacified The Z axis mechanical arm moved up and down equipped with control, described Z axis mechanical arm is vertically installed with the Y-axis mechanical arm controlling to move left and right, Stopper removing machine tool hands is installed on described Y-axis mechanical arm;

One end of described stopper removing machine tool hands is provided with mechanical arm rotating drive mechanism, and the other end is provided with cap taking mechanism.

Described X-axis mechanical arm is arranged on base by screw, and described X-axis mechanical arm includes X-axis motor, described X The output shaft of shaft step motor is connected with ball screw by shaft coupling, described ball screw coordinates and is provided with ball nut, The top of described ball nut is installed with X-axis sliding table, and the bottom of described X-axis sliding table is installed with cunning Block, described slide block is slidably matched with slide block guide rail composition, and the mounting box top of described ball screw is provided with protection cap.

Described Z axis mechanical arm is mounted by means of bolts on the X-axis sliding table of X-axis mechanical arm, described Z axis machinery The structure of arm is identical with the structure of X-axis mechanical arm, and described Z axis mechanical arm includes Z axis motor, described Z axis motor with Ball lead screw drive mechanism is connected, and described ball wire rod mechanism drives Z axis sliding table to move up and down.

Described Y-axis mechanical arm is mounted by means of bolts on the Z axis sliding table of Z axis mechanical arm, described Y-axis machinery The structure of arm is identical with the structure of X-axis mechanical arm, and described Y-axis mechanical arm includes y-axis stepper motor, described y-axis stepper motor with Ball lead screw drive mechanism is connected, and described ball wire rod mechanism drives Y-axis sliding table side-to-side movement.

Being provided with electromagnetic valve at described Z axis motor, described electromagnetic valve can start after Y-axis has oriented, and Suppression Z axis motor rotates.

Described stopper removing machine tool hands is fixedly mounted on the Y-axis sliding table of Y-axis mechanical arm by stopper removing machine tool hands pedestal.

Described mechanical arm rotating drive mechanism includes that direct current generator, described direct current generator are arranged in stopper removing machine tool hands pedestal Portion, the output shaft of described direct current generator is provided with the first roller gear, described first roller gear and the engagement of the second roller gear, Being installed with mechanical rocker arm on the output shaft of described second roller gear, the end of described mechanical rocker arm is provided with stopper removing machine Structure.

Described cap taking mechanism includes that test tube clamp, the combination of each two test tube clamp are installed as a complete clip, said two Test tube clamp is hinged by axle sleeve rotating shaft, and the top of described test tube clamp is provided with spring pedestal, is provided with spiral two-by-two between spring pedestal Spring, helical spring is in compressive state all the time, and the lower end of described test tube clamp is provided with cam follower plate, described cam follower plate Forming flat slave mode cam mechanism with cam engagement, described cam is arranged on camshaft, and described camshaft passes through turbine snail Bar decelerator is connected with camshaft the first direct current generator, and the bottom of described test tube clamp is provided with test tube clamp sleeve, described test tube clamp The bottom of sleeve is provided with test tube clamp lower edge, forms cylindrical sleeve, under described test tube clamp after described test tube clamp sleeve combination Edge matches with the lower limb of test tube cap;One layer of rubber buffer it is inlaid with on the inwall of described test tube clamp lower edge;Described test tube The clip of folder composition has many groups.

It is equipped with photographic head, at stopper removing machine tool at the motor of described X-axis mechanical arm, Z axis mechanical arm and Y-axis mechanical arm The lower section of hands is also provided with photographic head, and described photographic head all passes through radio communication and is connected with server, and described server can be by Real-time pictures is transmitted to operator's flat board client.

Use the method that described in right any one, the most quickly test tube stopper removing machine device people takes lid automatically, including following Step:

The first step: positioning stage, under original state, stopper removing machine tool hands turns to towards direction, test tube rack place, and test tube clamp is in Open mode, cam follower plate and cam far stop point cantact, and Y-axis mechanical arm vertical direction rises to highest point, electromagnetic valve lock Only, robot is by floor installation in streamline designating step position, and the test tube equipped with sample is fixed in test tube rack in advance, Test tube rack is stuck on streamline conveyer belt by chute, and test tube can be horizontal or longitudinal on conveyer belt, when test tube rack is together with test tube When moving to X-axis mechanical arm centre position, the sensor of mechanical arm base receives signal, passes to controller, by PLC monolithic Machine controls belt-driven motor stalls;

Second step: X-axis motor starts, drives X-axis sliding table to move along slide block guide rail by roller screw mechanism, Thus drive Y-axis mechanical arm to move along X-axis, when stopper removing machine tool hands and test tube rack are generally aligned in the same plane position in X-direction, X-axis motor stops operating;

3rd step: y-axis stepper motor starts, drives Y-axis sliding table to move along slide block guide rail by roller screw mechanism, Thus drive stopper removing machine tool hands to move along Y-axis, when stopper removing machine tool hands moves to test tube rack, start direct current generator, Power is transmitted to output shaft by direct current generator by the first roller gear and the second roller gear, and then driving mechanical pivoted arm is around defeated Shaft rotates, and is provided with position sensor, adjusts stopper removing machine tool hands respectively by direct current generator and y-axis stepper motor below test tube clamp Rotational angle and along Y direction displacement, after every pair of test tube clamp aligns with each test tube cap respectively, location completes;

4th step: take the lid stage, under original state, test tube clamp is in open mode, and cam follower plate far stops a little with cam Contact coordinates, and helical spring is in decrement maximum rating, and Z axis motor starts, and drives Z axis sliding by roller screw mechanism Station of starting building moves down along slide block guide rail, thus drives stopper removing machine tool hands to move down along Z axis, until test tube cap moves To test tube clamp sleeve inner and test tube clamp lower edge less than test tube cap lower edge position time, Z axis motor stops operating;

5th step: the first direct current generator starts, is transmitted power to camshaft by turbine and worm decelerator, thus band moving cam Slowly rotate 90 ° around camshaft, cam follower plate is by a movement of far stopping to closely stopping a little, and now test tube clamp returns at helical spring Rotate around the axis under the effect of multiple power Guan Bi, and test tube clamp lower edge is stuck in the lower edge position of test tube cap;

6th step: the startup of Z axis motor rotates backward, drives Z axis sliding table along slide block by roller screw mechanism Guide rail moves up, thus drives stopper removing machine tool hands to move up along Z axis, until stopper removing machine tool hands clips test tube cap and departs from examination The pipe mouth of pipe, starts electromagnetic valve so that Z axis mechanical arm locking, prevents Y-axis mechanical arm from gliding along Z axis, so far, takes lid task and complete;

7th step: recovery stage, y-axis stepper motor startup rotates backward, and drives Y-axis sliding table by roller screw mechanism It is moved rearwards by along slide block guide rail, thus drives stopper removing machine tool hands to be moved rearwards by along Y-axis, when stopper removing machine tool hands moves to test tube Time above lid recycling box, y-axis stepper motor stops operating, and X-axis motor starts, and drives X-axis sliding by roller screw mechanism Station of starting building moves along slide block guide rail, thus drives stopper removing machine tool hands to move along X-axis so that the fine setting of stopper removing machine tool hands is to examination Time directly over lid recycling box, motor stalls,

8th step: the first direct current generator startup rotates backward, and is transmitted power to camshaft by turbine and worm decelerator, thus Band moving cam slowly rotates 90 ° around camshaft, and cam follower plate is by a movement of closely stopping to far stopping a little, and now test tube clamp is at spiral shell Rotating around the axis under the effect of rotation spring-return power and open, after test tube clamp is flared to maximum open, test tube cap is at the work of gravity With falling in test tube cap recycling box, complete the recovery task of test tube cap;

9th step: complete the test tube after taking lid together with test tube rack is under the drive of conveyer belt along with streamline moves, to next Individual operation, is analyzed sample for staff, detects;Complete one group of test tube take lid task after, repeat the above steps, should Device continues next group test tube is taken lid operation.

The method have the advantages that:

1, this patent is by a kind of the most quickly stopper removing machine device people of design, efficiently solves staff and manually wins test tube cap number Measuring huge, manual operation is wasted time and energy, efficiency is low, and has the danger damaging sample, and may pollute the defect of sample.Robot The main control model using " host computer+embedded system+slave computer " three-level distributed structure.The control device of control system Being made up of host computer and Arduino panel, host computer is panel computer based on android system, with equipped with embedded system The router of system carries out radio communication as server, with the AVR single chip on Arduino panel as slave computer.Flat board electricity Brain is responsible for receiving the video signal that transmits of photographic head and sends control instruction to Arduino panel, and panel is then responsible for reception The control instruction that panel computer sends, and be converted into matched control signal and control mechanical hand and complete required movement.Respectively Motor all carries out programme-control by single-chip microcomputer, and be automatically performed test tube cap takes each recovery task of lid.But, staff also may be used To carry out manual intervention by panel computer client remote control stopper removing machine tool hands, operation scene is monitored and commands.

2, this robot has Cartesian robot arm, can move in three directions of X, Y, Z axis, and the scope of application is more Greatly.Even if test tube rack is in the diverse location of conveyer belt, by adjusting X, Y, Z axis mechanical arm, all so that stopper removing machine tool hands Can accurately arrive the test tube location of lid to be taken.Mechanical hand can rotate 180 °, if test tube rack is on conveyer belt workbench Neither be in and horizontal be not in again longitudinal state, but certain angle is had to offset, can be by adjusting stopper removing machine tool hands Rotational angle realizes the location work to test tube position.

3, the test tube of different model size can be mated by replacing test tube clamp, it is also possible to complete other type Bottle cap take lid task.This stopper removing machine device people can once complete 5 test tubes are taken lid task, it is also possible to by increasing test tube Press from both sides and more test tubes have been taken lid task.This device uses assembly line work, and can be effectively improved test tube takes lid efficiency, suitable For places such as the more big-and-middle-sized hospital of specimen amount, health check-up unit, scientific research institution, biochemical research institutes.

4, during rotating around the axis due to test tube clamp, helical spring decrement slowly diminishes, and restoring force the most gradually becomes Little, it is possible to prevent that clamping force is excessive causes test tube to destroy.Meanwhile, test tube clamp lower edge and test tube contact position can cover one layer of rubber Pad, it is possible to the buffering test tube clamp impulsive force to test tube further.

5, controlled the rotation of each motor by AVR single chip, automaticity is high, controls journey accordingly by amendment Sequence can complete different model test tube is taken lid task;

6, it is provided with position sensor inside stopper removing machine tool hands, can more accurately test tube be positioned;

7, this robot can not only complete to take test tube lid task, additionally it is possible to completes other type bottle cap (bottle cap external diameter More than bottle external diameter) take lid task.

8, test tube clamp uses cam mechanism, spring lever principle, can control the folding of test tube clamp very easily, clamping The size of power is determined by spring, and spring model is replaceable.

9, control system host computer is possible not only to use panel computer, it is also possible to use office desk-top, notebook electricity Brain, facilitates staff be monitored the running status of robot in office and intervene.

10, by increasing the quantity of the internal test tube clamp of stopper removing machine tool hands, more test tubes are taken by the most enough disposably completing Lid and the task of recovery.Such as, by increasing columns and the row of test tube clamp.

Accompanying drawing explanation

The invention will be further described with embodiment below in conjunction with the accompanying drawings.

Fig. 1 is the present invention quick test tube stopper removing machine device people's overall structure schematic diagram automatically.

Fig. 2 is the present invention quick test tube stopper removing machine device people main TV structure schematic diagram automatically.

Fig. 3 is the present invention quick test tube stopper removing machine device people's left view structural representation automatically.

Fig. 4 is that the present invention quick test tube stopper removing machine device people automatically reclaims test tube cap schematic diagram.

Fig. 5 is the mechanical arm structural representation of the present invention.

Fig. 6 is the stopper removing machine tool hands structural representation of the present invention.

Fig. 7 be the present invention Fig. 6 in take lid arrangement A partial enlarged drawing.

Fig. 8 be the present invention take lid test tube clamp overall structure schematic diagram.

Fig. 9 is that the lid test tube clamp that takes of the present invention assembles structural representation.

Figure 10 be the present invention take under lid state, stopper removing machine tool hands test tube clamp coordinates sectional view with test tube.

Figure 11 is the most quickly test tube stopper removing machine device people's Control system architecture figure of the present invention.

In figure: base 1, X-axis mechanical arm 2, Z axis mechanical arm 3, Y-axis mechanical arm 4, stopper removing machine tool hands 5, X-axis motor 6, Ball wire rod mechanism 7, X-axis sliding table 8, reinforcing plate 9, y-axis stepper motor 10, Z axis sliding table 11, Z axis stepping electricity Machine 12, Y-axis sliding table 13, stopper removing machine tool hands pedestal 14, screw 15, direct current generator the 16, first roller gear the 17, second circle Stud wheel 18, output shaft 19, worm type of reduction gearing the 20, first direct current generator 21, camshaft 22, cam 23, rotating shaft 24, test tube Folder 25, spring pedestal 26, axle sleeve 27, cam follower plate 28, test tube clamp sleeve 29, test tube clamp lower edge 30, helical spring 31, test tube Lid 32, test tube 33, test tube rack 34, chute 35, shaft coupling 36, ball nut 37, slide block 38, slide block guide rail 39, ball-screw 40, Protection cap 41, electromagnetic valve 42, test tube cap recycling box 43, mechanical rocker arm 44.

Detailed description of the invention

Below in conjunction with the accompanying drawings embodiments of the present invention are described further.

Embodiment 1:

Such as Fig. 1-11, a kind of the most quickly test tube stopper removing machine device people, it includes base 1, before and after described base 1 is provided with control The X-axis mechanical arm 2 that direction is moved, described X-axis mechanical arm 2 is vertically installed with the Z axis mechanical arm 3 controlling to move up and down, described Z axis It is vertically installed with the Y-axis mechanical arm 4 controlling to move left and right on mechanical arm 3, described Y-axis mechanical arm 4 is provided with stopper removing machine tool hands 5;

Further, one end of described stopper removing machine tool hands 5 is provided with mechanical arm rotating drive mechanism, and the other end is provided with stopper removing machine Structure.

Further, described X-axis mechanical arm 2 is arranged on base 1 by screw, and described X-axis mechanical arm 2 includes that X-axis walks Entering motor 6, the output shaft of described X-axis motor 6 is connected with ball screw 40, on described ball screw 40 by shaft coupling 36 Coordinating and be provided with ball nut 37, the top of described ball nut 37 is installed with X-axis sliding table 8, and described X-axis is slided The bottom of workbench 8 is installed with slide block 38, and described slide block 38 is slidably matched with slide block guide rail 39 composition, described ball screw The mounting box top of 40 is provided with protection cap 41.

Further, described Z axis mechanical arm 3 is mounted by means of bolts on the X-axis sliding table 8 of X-axis mechanical arm 2 On, the structure of described Z axis mechanical arm 3 is identical with the structure of X-axis mechanical arm 2, and described Z axis mechanical arm 3 includes Z axis motor 12, described Z axis motor 12 is connected with ball lead screw drive mechanism, and described ball wire rod mechanism drives Z axis sliding table 11 move up and down.

Further, described Y-axis mechanical arm 4 is mounted by means of bolts on the Z axis sliding table 11 of Z axis mechanical arm 3 On, the structure of described Y-axis mechanical arm 4 is identical with the structure of X-axis mechanical arm 2, and described Y-axis mechanical arm 4 includes y-axis stepper motor 10, described y-axis stepper motor 10 is connected with ball lead screw drive mechanism, and described ball wire rod mechanism drives Y-axis sliding table 13 side-to-side movements.

Further, described X, Y, Z axis robotic arm all uses roller bearing screw body to pass on, it is ensured that motion accuracy, improves Stability.

Further, being provided with electromagnetic valve 42 at described Z axis motor 12, described electromagnetic valve 42 can orient in Y-axis Start after completing, and suppress Z axis motor 12 to rotate.By at Z axis mechanical arm motor install electromagnetic valve 42, Y-axis starts electromagnetic valve suppression electric machine rotation after having oriented, and then prevents Y-axis mechanical arm from gliding along Z axis mechanical arm.

Further, described stopper removing machine tool hands 5 is fixedly mounted on the Y-axis of Y-axis mechanical arm 4 by stopper removing machine tool hands pedestal 14 On sliding table 13.

Further, described mechanical arm rotating drive mechanism includes that direct current generator 16, described direct current generator 16 are arranged on and take Lid robot base 14 is internal, and the output shaft of described direct current generator 16 is provided with the first roller gear 17, described first Cylinder Gear Wheel 17 engages with the second roller gear 18, and the output shaft 19 of described second roller gear 18 is installed with mechanical rocker arm 44, The end of described mechanical rocker arm 44 is provided with cap taking mechanism.

Further, described cap taking mechanism includes test tube clamp 25, each two test tube clamp 25 combination be installed as one complete Clip, said two test tube clamp 25 is hinged by axle sleeve 27 rotating shaft 24, and the top of described test tube clamp 25 is provided with spring pedestal 26, and two Being provided with helical spring 31 between two spring pedestals 26, helical spring 31 is in compressive state, the lower end of described test tube clamp 25 all the time Being provided with cam follower plate 28, described cam follower plate 28 coordinates the flat slave mode cam mechanism of composition with cam 23, described convex Wheel 23 is arranged on camshaft 22, and described camshaft 22 is by turbine and worm decelerator 20 and camshaft the first direct current generator 21 phase Even, the bottom of described test tube clamp 25 is provided with test tube clamp sleeve 29, and the bottom of described test tube clamp sleeve 29 is provided with under test tube clamp Edge 30, forms cylindrical sleeve after the combination of described test tube clamp sleeve 29, and described test tube clamp lower edge 30 is following with test tube cap 32 Edge matches;One layer of rubber buffer it is inlaid with on the inwall of described test tube clamp lower edge 30;The clip of described test tube clamp 25 composition Total many groups.

Further, it is equipped with shooting at the motor of described X-axis mechanical arm 2, Z axis mechanical arm 3 and Y-axis mechanical arm 4 Head, is also provided with photographic head in the lower section of stopper removing machine tool hands 5, and described photographic head all passes through radio communication and is connected with server, institute State server to transmit real-time pictures to operator's flat board client.

Embodiment 2:

Use the method that described in right any one, the most quickly test tube stopper removing machine device people takes lid automatically, including following step Rapid:

The first step: positioning stage, under original state, stopper removing machine tool hands 5 turns to towards direction, test tube rack 34 place, test tube clamp 25 Being in open mode, cam follower plate 28 and cam 23 far stop point cantact, and Y-axis mechanical arm 4 vertical direction rises to highest point, Electromagnetic valve locking, robot is installed on streamline designating step position by base 1, and the test tube 33 equipped with sample is fixed in advance In test tube rack 34, test tube rack 34 is stuck on streamline conveyer belt by chute 35, and test tube 34 can be horizontal or longitudinal in conveyer belt On, when test tube rack moves to X-axis mechanical arm centre position together with test tube, the sensor of mechanical arm base receives signal, transmission To controller, by PLC Single-chip Controlling belt-driven motor stalls;

Second step: X-axis motor 6 starts, drives X-axis sliding table 8 along slide block guide rail 39 by roller screw mechanism 7 Mobile, thus drive Y-axis mechanical arm to move along X-axis, when stopper removing machine tool hands 5 and test tube rack 34 are positioned at same flat in X-direction During position, face, X-axis motor 6 stops operating;

3rd step: y-axis stepper motor 10 starts, drives Y-axis sliding table 13 along slide block guide rail by roller screw mechanism Mobile, thus drive stopper removing machine tool hands 5 to move along Y-axis, when stopper removing machine tool hands 5 moves to test tube rack 34, start Direct current generator 16, power is transmitted to output shaft 19 by direct current generator 16 by the first roller gear 17 and the second roller gear 18, And then driving mechanical pivoted arm 44 rotates around output shaft 19, below test tube clamp 25, it is provided with position sensor, by direct current generator 16 and Y Shaft step motor 10 adjusts stopper removing machine tool hands 5 rotational angle and respectively along Y direction displacement, when every pair of test tube clamp 25 respectively with respectively After test tube cap 32 alignment, location completes;

4th step: take the lid stage, under original state, test tube clamp 25 is in open mode, and cam follower plate 28 is remote with cam 23 The point cantact that stops coordinates, and helical spring 31 is in decrement maximum rating, and Z axis motor 12 starts, by roller screw machine Structure drives Z axis sliding table 11 to move down along slide block guide rail, thus drives stopper removing machine tool hands 5 to move down along Z axis, Until test tube cap 32 moves when being less than test tube cap 32 lower edge position to test tube clamp sleeve 29 inside and test tube clamp lower edge 30, Z axis walks Enter motor 12 to stop operating;

5th step: the first direct current generator 21 starts, is transmitted power to camshaft 22 by turbine and worm decelerator 20, thus carries Moving cam 23 slowly rotates 90 ° around camshaft 22, cam follower plate 28 by a movement of far stopping to closely stopping a little, now test tube clamp 25 24 rotate Guan Bi under the effect of helical spring 31 restoring force around the shaft, and test tube clamp lower edge 30 is stuck in the lower edge position of test tube cap 32 Put;

6th step: Z axis motor 12 start rotate backward, by roller screw mechanism drive Z axis sliding table 11 along Slide block guide rail moves up, thus drives stopper removing machine tool hands 5 to move up along Z axis, until stopper removing machine tool hands 5 clips test tube cap 32 depart from test tube 33 mouth of pipe, start electromagnetic valve 42 so that Z axis mechanical arm 3 locking, prevent Y-axis mechanical arm 4 from gliding along Z axis, extremely This, take lid task and complete;

7th step: recovery stage, y-axis stepper motor 10 startup rotates backward, and drives Y-axis slip work by roller screw mechanism Platform 13 is moved rearwards by along slide block guide rail, thus drives stopper removing machine tool hands 5 to be moved rearwards by along Y-axis, when stopper removing machine tool hands 5 moves Time above test tube cap recycling box 43, y-axis stepper motor 10 stops operating, and X-axis motor 6 starts, by roller screw machine Structure 7 drives X-axis sliding table 8 to move along slide block guide rail 39, thus drives stopper removing machine tool hands 5 to move along X-axis so that take When lid mechanical hand 5 is finely tuned to test tube cap recycling box 43, motor 6 stops operating,

8th step: the first direct current generator 21 startup rotates backward, and is transmitted power to camshaft by turbine and worm decelerator 20 22, thus band moving cam 23 slowly rotates 90 ° around camshaft 22, cam follower plate 28 by a movement of closely stopping to far stopping a little, Now test tube clamp 25 24 rotating opening around the shaft under the effect of helical spring 31 restoring force, opens when test tube clamp 25 is flared to maximum After Kou, test tube cap 32 falls under gravity in test tube cap recycling box 43, completes the recovery task of test tube cap 32;

9th step: complete the test tube after taking lid 33 together with test tube rack 34 is under the drive of conveyer belt along with streamline moves, extremely Next operation, is analyzed sample for staff, detects;Complete one group of test tube take lid task after, repeat above-mentioned step Suddenly, this device continues next group test tube is taken lid operation.

Embodiment 3:

As shown in figure 11, the present invention quick test tube stopper removing machine device people's control system automatically, robot mainly uses " host computer+embedding Embedded system+slave computer " control model of three-level distributed structure.The control device of control system is by host computer and Arduino Panel forms, and host computer is panel computer based on android system, using the router equipped with embedded system as service Device carries out radio communication, with the AVR single chip on Arduino panel as slave computer.Panel computer is responsible for receiving photographic head and is passed The video signal come and transmission control instruction are to Arduino panel, and panel is then responsible for receiving the control that panel computer sends Instruction, and be converted into matched control signal and control mechanical hand and complete required movement.Each motor is all entered by single-chip microcomputer Line program controls, and be automatically performed test tube cap takes each recovery task of lid.But, staff can also pass through panel computer client End remote control stopper removing machine tool hands carries out manual intervention, is monitored operation scene and commands.

By above-mentioned description, those skilled in the art completely can be at the model without departing from this invention technological thought In enclosing, carry out various change and amendment all within protection scope of the present invention.The unaccomplished matter of the present invention, belongs to ability The common knowledge of field technique personnel.

Claims (10)

1. the quickest test tube stopper removing machine device people, it is characterised in that: it includes that base (1), described base are provided with on (1) Controlling the X-axis mechanical arm (2) that fore-and-aft direction moves, described X-axis mechanical arm (2) is vertically installed with the Z axis machine controlling to move up and down Mechanical arm (3), described Z axis mechanical arm (3) is vertically installed with the Y-axis mechanical arm (4) controlling to move left and right, described Y-axis mechanical arm (4) stopper removing machine tool hands (5) is installed on;
One end of described stopper removing machine tool hands (5) is provided with mechanical arm rotating drive mechanism, and the other end is provided with cap taking mechanism.
One the most according to claim 1 quick test tube stopper removing machine device people automatically, it is characterised in that: described X-axis mechanical arm (2) being arranged on base (1) by screw, described X-axis mechanical arm (2) includes X-axis motor (6), described X-axis motor (6) output shaft is connected with ball screw (40) by shaft coupling (36), and the upper cooperation of described ball screw (40) is provided with ball Nut (37), the top of described ball nut (37) is installed with X-axis sliding table (8), described X-axis sliding table (8) bottom is installed with slide block (38), and described slide block (38) is slidably matched with slide block guide rail (39) composition, described ball wire The mounting box top of bar (40) is provided with protection cap (41).
One the most according to claim 1 quick test tube stopper removing machine device people automatically, it is characterised in that: described Z axis mechanical arm (3) it is mounted by means of bolts on the X-axis sliding table (8) of X-axis mechanical arm (2), the structure of described Z axis mechanical arm (3) Identical with the structure of X-axis mechanical arm (2), described Z axis mechanical arm (3) includes Z axis motor (12), described Z axis motor (12) being connected with ball lead screw drive mechanism, described ball wire rod mechanism drives Z axis sliding table (11) to move up and down.
One the most according to claim 1 quick test tube stopper removing machine device people automatically, it is characterised in that: described Y-axis mechanical arm (4) it is mounted by means of bolts on the Z axis sliding table (11) of Z axis mechanical arm (3), the structure of described Y-axis mechanical arm (4) Identical with the structure of X-axis mechanical arm (2), described Y-axis mechanical arm (4) includes y-axis stepper motor (10), described y-axis stepper motor (10) being connected with ball lead screw drive mechanism, described ball wire rod mechanism drives Y-axis sliding table (13) side-to-side movement.
One the most according to claim 3 quick test tube stopper removing machine device people automatically, it is characterised in that: described Z axis stepping electricity Machine (12) place is provided with electromagnetic valve (42), and described electromagnetic valve (42) can start after Y-axis has oriented, and suppress Z axis to walk Enter motor (12) to rotate.
One the most according to claim 1 quick test tube stopper removing machine device people automatically, it is characterised in that: described stopper removing machine tool hands (5) it is fixedly mounted on the Y-axis sliding table (13) of Y-axis mechanical arm (4) by stopper removing machine tool hands pedestal (14).
One the most according to claim 1 quick test tube stopper removing machine device people automatically, it is characterised in that: described mechanical arm rotates It is internal that drive mechanism includes that direct current generator (16), described direct current generator (16) are arranged on stopper removing machine tool hands pedestal (14), described directly The output shaft of stream motor (16) is provided with the first roller gear (17), described first roller gear (17) and the second roller gear (18) engagement, the output shaft (19) of described second roller gear (18) is installed with mechanical rocker arm (44), and described machinery turns The end of arm (44) is provided with cap taking mechanism.
8. according to a kind of the most quickly test tube stopper removing machine device people described in claim 1 or 7, it is characterised in that: described stopper removing machine Structure includes that test tube clamp (25), each two test tube clamp (25) combination are installed as a complete clip, said two test tube clamp (25) Hinged by axle sleeve (27) rotating shaft (24), the top of described test tube clamp (25) is provided with spring pedestal (26), spring pedestal two-by-two (26) being provided with helical spring (31) between, helical spring (31) is in compressive state all the time, and the lower end of described test tube clamp (25) sets Being equipped with cam follower plate (28), described cam follower plate (28) coordinates the flat slave mode cam mechanism of composition, institute with cam (23) Stating cam (23) to be arranged on camshaft (22), described camshaft (22) is by turbine and worm decelerator (20) and camshaft first Direct current generator (21) is connected, and the bottom of described test tube clamp (25) is provided with test tube clamp sleeve (29), described test tube clamp sleeve (29) Bottom be provided with test tube clamp lower edge (30), form cylindrical sleeve, described test tube after the combination of described test tube clamp sleeve (29) Folder lower edge (30) matches with the lower limb of test tube cap (32);It is inlaid with one layer of rubber on the inwall of described test tube clamp lower edge (30) Cushion pad;The clip that described test tube clamp (25) forms has many groups.
One the most according to claim 1 quick test tube stopper removing machine device people automatically, it is characterised in that: described X-axis mechanical arm (2), it is equipped with photographic head, in the lower section of stopper removing machine tool hands (5) at the motor of Z axis mechanical arm (3) and Y-axis mechanical arm (4) Also being provided with photographic head, described photographic head all passes through radio communication and is connected with server, and described server can be by real-time pictures Transmission is to operator's flat board client.
10. use the method that described in claim 1-9 any one, the most quickly test tube stopper removing machine device people takes lid automatically, its It is characterised by, comprises the following steps:
The first step: positioning stage, under original state, stopper removing machine tool hands (5) turns to towards test tube rack (34) direction, place, test tube Folder (25) is in open mode, and cam follower plate (28) and cam (23) far stop point cantact, Y-axis mechanical arm (4) vertical direction Rising to highest point, electromagnetic valve locking, robot is installed on streamline designating step position, equipped with sample by base (1) Test tube (33) is fixed in test tube rack (34) in advance, and test tube rack (34) is stuck on streamline conveyer belt by chute (35), examination Pipe (34) can be horizontal or longitudinal on conveyer belt, when test tube rack moves to X-axis mechanical arm centre position together with test tube, and mechanical arm The sensor of base receives signal, passes to controller, by PLC Single-chip Controlling belt-driven motor stalls;
Second step: X-axis motor (6) starts, drives X-axis sliding table (8) along slide block by roller screw mechanism (7) Guide rail (39) is mobile, thus drives Y-axis mechanical arm to move along X-axis, when stopper removing machine tool hands (5) and test tube rack (34) are in X-axis side In time being generally aligned in the same plane position, X-axis motor (6) stops operating;
3rd step: y-axis stepper motor (10) starts, drives Y-axis sliding table (13) along slide block by roller screw mechanism Guide rail moves, thus drives stopper removing machine tool hands (5) to move along Y-axis, when stopper removing machine tool hands (5) movement is just gone up to test tube rack (34) Fang Shi, starts direct current generator (16), and direct current generator (16) will be dynamic by the first roller gear (17) and the second roller gear (18) Power is transmitted to output shaft (19), and then driving mechanical pivoted arm (44) rotates around output shaft (19), and test tube clamp (25) lower section is provided with position Put sensor, adjust stopper removing machine tool hands (5) rotational angle respectively and along Y by direct current generator (16) and y-axis stepper motor (10) Direction of principal axis displacement, after every pair of test tube clamp (25) aligns with each test tube cap (32) respectively, location completes;
4th step: take the lid stage, under original state, test tube clamp (25) is in open mode, cam follower plate (28) and cam (23) the point cantact that far stops coordinates, and helical spring (31) is in decrement maximum rating, and Z axis motor (12) starts, logical Crossing roller screw mechanism drives Z axis sliding table (11) to move down along slide block guide rail, thus drives stopper removing machine tool hands (5) Move down along Z axis, until test tube cap (32) is mobile internal to test tube clamp sleeve (29) and test tube clamp lower edge (30) is less than examination During lid (32) lower edge position, Z axis motor (12) stops operating;
5th step: the first direct current generator (21) starts, is transmitted power to camshaft (22) by turbine and worm decelerator (20), Thus band moving cam (23) slowly rotates 90 ° around camshaft (22), cam follower plate (28) by a movement of far stopping to closely stopping Point, now test tube clamp (25) (24) rotation around the shaft under the effect of helical spring (31) restoring force closes, test tube clamp lower edge (30) the lower edge position of test tube cap (32) it is stuck in;
6th step: Z axis motor (12) startup rotates backward, and drives Z axis sliding table (11) by roller screw mechanism Move up along slide block guide rail, thus drive stopper removing machine tool hands (5) to move up along Z axis, until stopper removing machine tool hands (5) presss from both sides Test tube cap (32) and depart from test tube (33) mouth of pipe, start electromagnetic valve (42) so that Z axis mechanical arm (3) locking, prevent Y-axis machinery Arm (4) glides along Z axis, so far, takes lid task and completes;
7th step: recovery stage, y-axis stepper motor (10) startup rotates backward, and drives Y-axis slip work by roller screw mechanism Station (13) is moved rearwards by along slide block guide rail, thus drives stopper removing machine tool hands (5) to be moved rearwards by along Y-axis, when stopper removing machine tool When hands (5) moves to test tube cap recycling box (43) top, y-axis stepper motor (10) stops operating, and X-axis motor (6) starts, Drive X-axis sliding table (8) mobile along slide block guide rail (39) by roller screw mechanism (7), thus drive stopper removing machine tool Hands (5) moves along X-axis so that time directly over stopper removing machine tool hands (5) fine setting to test tube cap recycling box (43), motor (6) stops Rotate,
8th step: the first direct current generator (21) startup rotates backward, by turbine and worm decelerator (20) by power transmission to the most convex Wheel shaft (22), thus band moving cam (23) slowly rotates 90 ° around camshaft (22), cam follower plate (28) is by a movement of closely stopping To far stopping a little, now test tube clamp (25) (24) rotating opening around the shaft under the effect of helical spring (31) restoring force, works as examination After pipe clamp (25) is flared to maximum open, test tube cap (32) falls under gravity in test tube cap recycling box (43), completes The recovery task of test tube cap (32);
9th step: complete the test tube after taking lid (33) together with test tube rack (34) is under the drive of conveyer belt along with streamline moves Dynamic, to next operation, for staff, sample is analyzed, detects;Complete one group of test tube take lid task after, repeat on Stating step, this device continues next group test tube is taken lid operation.
CN201610807290.XA 2016-09-07 2016-09-07 A kind of automatic quick test tube stopper removing machine device people and take lid method CN106272368B (en)

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CN106892008A (en) * 2017-02-07 2017-06-27 浙江农林大学 A kind of general crop field walking robot platform
CN107983438A (en) * 2018-01-24 2018-05-04 赵志云 A kind of medical inspection rack for test tube easy to sampling
CN108185882A (en) * 2017-09-15 2018-06-22 佛山市上欧陶瓷卫浴实业有限公司 It is a kind of easy to remove and with crawl function sanitary hanger
CN108417117A (en) * 2018-04-11 2018-08-17 燕山大学 Demonstrate the mechanism and control interface of " Hanoi Tower Issue " algorithm
CN108465231A (en) * 2018-05-24 2018-08-31 安徽工程大学 A kind of billiard table with automatic racking device
CN108479050A (en) * 2018-05-24 2018-09-04 安徽工程大学 The automatic swing ball method of billiard table
CN109019004A (en) * 2018-09-27 2018-12-18 霸州市辉月网络技术有限公司 A kind of pile transhipment mechanical device with flexible clamping gripper

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CN108465231A (en) * 2018-05-24 2018-08-31 安徽工程大学 A kind of billiard table with automatic racking device
CN108479050A (en) * 2018-05-24 2018-09-04 安徽工程大学 The automatic swing ball method of billiard table
CN109019004A (en) * 2018-09-27 2018-12-18 霸州市辉月网络技术有限公司 A kind of pile transhipment mechanical device with flexible clamping gripper

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