CN106272368B - A kind of automatic quick test tube stopper removing machine device people and take lid method - Google Patents
A kind of automatic quick test tube stopper removing machine device people and take lid method Download PDFInfo
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- CN106272368B CN106272368B CN201610807290.XA CN201610807290A CN106272368B CN 106272368 B CN106272368 B CN 106272368B CN 201610807290 A CN201610807290 A CN 201610807290A CN 106272368 B CN106272368 B CN 106272368B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of automatic quick test tube stopper removing machine device people and take lid method, it includes pedestal, the X-axis mechanical arm of control front-rear direction movement is installed on the pedestal, the X-axis mechanical arm is vertically installed with the Z axis mechanical arm that control moves up and down, the Y-axis mechanical arm that control moves left and right is vertically installed on the Z axis mechanical arm, stopper removing machine tool hand is installed on the Y-axis mechanical arm；One end of the stopper removing machine tool hand is equipped with mechanical arm rotating drive mechanism, and the other end is equipped with cap taking mechanism.Blood sampling test tube can be automatically performed takes lid task, can be adapted to the blood sampling test tube and rack for test tube of different size, and test tube cap can be recycled.
Description
Technical field
The present invention relates to field of medical device, particularly a kind of automatic quick test tube stopper removing machine device people and lid method is taken.
Background technology
Test tube is widely used in the fields such as hospital, scientific research institutions, biochemistry.Test tube used in most of, is one
The plain cylindrical form teat glass of root upper end opening lower end closed.Staff is doing chemical experiment or laboratory assay, inspection
When, most frequent operation is the opening and recycling to test tube cap.In actual use, there are various problems when, such as
Blood sampling test tube used in hospital laboratory, due to the vacuum negative pressure type test tube of use, in possible test tube after the completion of taking a blood sample still
There are negative pressure, need to open test tube cap in blood examination.Since negative pressure influences in test tube, some test tubes is caused to be not easy to beat
It opens, it is time-consuming and laborious.In the into colored cultivating process of microorganism, Bacteria Culture, test tube seedling and test tube, it is required for opening test tube
Lid operation, frequency of uncapping is high, heavy workload.In the chemical experiment with quite dangerous, manually take lid risk big.
At present, complete above-mentioned task is mostly artificial hand operation.Artificial the drawbacks of uncapping is：During uncapping,
The risk that test tube may be caused to destroy, and pollute invisible spectro biological sample.Test tube substantial amounts, manual operation efficiency is low, holds
It is easily introduced human error.The present apparatus is full-automatic test tube stopper removing machine device people, and test tube can be rapidly completed automatically takes lid task, can
To be adapted to the test tube of different size and rack for test tube, and test tube cap can be recycled, avoid staff frequently complete it is identical
The drawbacks of task, alleviates intensity of workers.The device is suitable for pipelining, can greatly improve operation effect
Rate reduces cost.
Invention content
The technical problem to be solved by the present invention is to provide a kind of automatic quick test tube stopper removing machine device people and lid method is taken, it can be certainly
It is dynamic to complete the blood sampling test tube and rack for test tube that take lid task, different size is adapted to of blood sampling test tube, and test tube cap can be carried out
Recycling.
In order to solve the above-mentioned technical problem, the present invention proposes following technical scheme：A kind of automatic quick test tube stopper removing machine device
People, it includes pedestal, and the X-axis mechanical arm of control front-rear direction movement is equipped on the pedestal, and the X-axis mechanical arm is vertically pacified
Equipped with the Z axis mechanical arm that control moves up and down, the Y-axis mechanical arm that control moves left and right is vertically installed on the Z axis mechanical arm,
Stopper removing machine tool hand is installed on the Y-axis mechanical arm；
One end of the stopper removing machine tool hand is equipped with mechanical arm rotating drive mechanism, and the other end is equipped with cap taking mechanism.
The X-axis mechanical arm is mounted on by screw on pedestal, and the X-axis mechanical arm includes X-axis stepper motor, the X
The output shaft of shaft step motor is connected by shaft coupling with ball screw, is coordinated on the ball screw and is equipped with ball nut,
X-axis sliding table is installed at the top of the ball nut, the bottom of the X-axis sliding table is installed with cunning
Block, the sliding block are slidably matched with slide block guide rail composition, and protection cap is provided at the top of the mounting box of the ball screw.
The Z axis mechanical arm is mounted by means of bolts on the X-axis sliding table of X-axis mechanical arm, the Z axis machinery
The structure of arm is identical with the structure of X-axis mechanical arm, the Z axis mechanical arm include Z axis stepper motor, the Z axis stepper motor with
Ball lead screw drive mechanism is connected, and the ball wire rod mechanism driving Z axis sliding table moves up and down.
The Y-axis mechanical arm is mounted by means of bolts on the Z axis sliding table of Z axis mechanical arm, the Y-axis machinery
The structure of arm is identical with the structure of X-axis mechanical arm, the Y-axis mechanical arm include y-axis stepper motor, the y-axis stepper motor with
Ball lead screw drive mechanism is connected, and the ball wire rod mechanism drives Y-axis sliding table side-to-side movement.
Solenoid valve is installed at the Z axis stepper motor, the solenoid valve can start after Y-axis orients completion, and
Inhibit the rotation of Z axis stepper motor.
The stopper removing machine tool hand is fixedly mounted on by stopper removing machine tool hand pedestal on the Y-axis sliding table of Y-axis mechanical arm.
The mechanical arm rotating drive mechanism includes direct current generator, and the direct current generator is mounted in stopper removing machine tool hand pedestal
Portion, the output shaft of the direct current generator are equipped with the first roller gear, and first roller gear is engaged with the second roller gear,
Mechanical rocker arm is installed on the output shaft of second roller gear, the end of the mechanical rocker arm is equipped with stopper removing machine
Structure.
The cap taking mechanism includes test tube clamp, and the combination of each two test tube clamp is installed as a complete clip, described two
Test tube clamp is hinged by axle sleeve shaft, and the top of the test tube clamp is equipped with spring pedestal, is equipped with spiral between spring pedestal two-by-two
Spring, for helical spring always in compressive state, the lower end of the test tube clamp is provided with cam follower plate, the cam follower plate
Flat slave mode cam mechanism is formed with cam engagement, the cam is mounted on camshaft, and the camshaft passes through turbine snail
Bar retarder is connected with the first direct current generator of camshaft, and the bottom end of the test tube clamp is provided with test tube clamp sleeve, the test tube clamp
The bottom end of sleeve is provided with test tube clamp lower edge, forms cylindrical sleeve after the test tube clamp sleeve combination, under the test tube clamp
Edge is matched with the lower edge of test tube cap；One layer of rubber buffer is inlaid on the inner wall of the test tube clamp lower edge；The test tube
The clip of folder composition shares multigroup.
Camera is equipped at the stepper motor of the X-axis mechanical arm, Z axis mechanical arm and Y-axis mechanical arm, in stopper removing machine tool
The lower section of hand is also equipped with camera, and the camera is all connected with server by radio communication, and the server can incite somebody to action
Real-time pictures are transmitted to operating personnel's tablet client.
Automatically the method for taking lid is carried out using quick test tube stopper removing machine device people automatic described in right any one, including following
Step：
The first step：Positioning stage, under original state, stopper removing machine tool hand is turned to towards rack for test tube direction, test tube clamp
In opening state, cam follower plate and cam far stop point contact, and Y-axis mechanical arm vertical direction rises to highest point, electromagnetism
Valve locking, by floor installation in assembly line designating step position, the test tube equipped with sample is fixed on test tube in advance for robot
In frame, rack for test tube is stuck in by sliding slot on assembly line conveyer belt, and test tube can be horizontal or longitudinal on conveyer belt, when rack for test tube together with
When test tube is moved to X-axis mechanical arm centre position, the sensor of mechanical arm pedestal receives signal, passes to controller, passes through PLC
Microcontroller controls belt-driven motor stalls；
Second step：X-axis stepper motor starts, and X-axis sliding table is driven along slide block guide rail by roller screw mechanism
It is mobile, so as to which Y-axis mechanical arm be driven to be moved along X-axis, when stopper removing machine tool hand and rack for test tube are generally aligned in the same plane position in X-direction
When putting, X-axis stepper motor stops operating；
Third walks：Y-axis stepper motor starts, and Y-axis sliding table is driven along slide block guide rail by roller screw mechanism
It is mobile, so as to which stopper removing machine tool hand be driven to be moved along Y-axis, when stopper removing machine tool hand is moved to right over rack for test tube, start direct current
Motor, direct current generator, by power transmission to output shaft, and then drive machinery to turn by the first roller gear and the second roller gear
Arm is rotated around output shaft, and position sensor is equipped with below test tube clamp, is adjusted respectively by direct current generator and y-axis stepper motor and takes lid
Manipulator rotational angle and along Y direction displacement, after each pair of test tube clamp is aligned respectively with each test tube cap, positioning is completed；
4th step：Take the lid stage, under original state, test tube clamp is in opening state, and cam follower plate and the remote of cam are stopped
Stop is engaged, and helical spring is in decrement maximum rating, and Z axis stepper motor starts, and Z is driven by roller screw mechanism
Axis sliding table is moved down along slide block guide rail, so as to which stopper removing machine tool hand be driven to be moved down along Z axis, until test tube cap
When being moved to test tube clamp sleeve inner and test tube clamp lower edge and being less than test tube cap lower edge position, Z axis stepper motor stops operating；
5th step：First direct current generator starts, by turbine and worm retarder by power transmission to camshaft, so as to drive
Cam slowly rotates 90 ° around camshaft, and cam follower plate is closely stopped a little by far stopping a little to be moved to, and test tube clamp is in spiral bullet at this time
Rotate around the axis closure under the action of spring restoring force, and test tube clamp lower edge is stuck in the lower edge position of test tube cap；
6th step：Z axis stepper motor startup rotates backward, by roller screw mechanism drive Z axis sliding table along
Slide block guide rail moves up, and so as to which stopper removing machine tool hand be driven to be moved up along Z axis, is taken off until stopper removing machine tool hand clips test tube cap
From test tube nozzle, start solenoid valve so that Z axis mechanical arm locking prevents Y-axis mechanical arm from gliding along Z axis, so far, takes lid task
It completes；
7th step：Recovery stage, y-axis stepper motor startup rotate backward, and Y-axis are driven to slide work by roller screw mechanism
Make platform to move backward along slide block guide rail, so as to which stopper removing machine tool hand be driven to move backward along Y-axis, when stopper removing machine tool hand is moved to
When above test tube cap recycling box, y-axis stepper motor stops operating, and X-axis stepper motor starts, and X is driven by roller screw mechanism
Axis sliding table is moved along slide block guide rail, so as to which stopper removing machine tool hand be driven to be moved along X-axis so that stopper removing machine tool hand is finely tuned
When right over to test tube cap recycling box, motor stalls,
8th step：The startup of first direct current generator rotates backward, by turbine and worm retarder by power transmission to camshaft,
So as to slowly rotate 90 ° around camshaft with moving cam, cam follower plate is far stopped a little by closely stopping a little to be moved to, at this time test tube clamp
Rotate around the axis opening under the action of helical spring restoring force, and after test tube clamp is flared to maximum open, test tube cap is in gravity
Under the action of fall into test tube cap recycling box, complete the recycling task of test tube cap；
9th step：Complete to take test tube and the rack for test tube after lid under the drive of conveyer belt together as assembly line moves, until
Next process is analyzed sample for staff, is detected；Complete one group of test tube take lid task after, repeat above-mentioned step
Suddenly, which continues next group of test tube to be carried out lid is taken to operate.
The method have the advantages that：
1st, this patent efficiently solves staff and manually wins test tube by designing a kind of automatic quick stopper removing machine device people
Lid substantial amounts, manual operation is time-consuming and laborious, efficiency is low, and has the danger of damage sample, and the defects of may pollute sample.Machine
Device people mainly uses the control model of " host computer+embedded system+slave computer " three-level distributed structure.The control of control system
Device is made of host computer and Arduino control panels, and host computer is the tablet computer based on android system, to be equipped with insertion
The router of formula system is carried out wireless communication as server, using the AVR single chip on Arduino control panels as slave computer.It is flat
Plate computer is responsible for the vision signal that reception camera transmits and gives Arduino control panels with control instruction is sent, and control panel is then responsible for
The control instruction that tablet computer is sent is received, and is converted into matched control signal controlling machine tool hand and completes specified move
Make.Each motor is controlled by microcontroller into line program, and be automatically performed test tube cap takes each recycling task of lid.But work people
Member can also be remotely controlled stopper removing machine tool hand by tablet computer client and carry out manual intervention, and operation scene is monitored and referred to
It waves.
2nd, the robot possesses Cartesian robot arm, can be moved in three directions of X, Y, Z axis, the scope of application is more
Greatly.Even if rack for test tube is in the different location of conveyer belt, by adjusting X, Y, Z axis mechanical arm, it can cause stopper removing machine tool hand
The location of test tube of lid to be taken can accurately be reached.Manipulator can rotate 180 °, if rack for test tube is on conveyer belt workbench
Neither being in horizontal and being not in longitudinal state, but there is certain angle offset, it can be by adjusting stopper removing machine tool hand
Rotational angle realizes the positioning work to test tube position.
3rd, the test tube of different model size can be matched, can also be completed to other types by replacing test tube clamp
Bottle cap takes lid task.The stopper removing machine device people primary can complete to take lid task to 5 test tubes, can also be by increasing test tube
It presss from both sides to complete to take lid task to more test tubes.The device uses pipelining, and can effectively improve test tube takes lid efficiency, fits
For places such as the more large and medium-sized hospital of specimen amount, physical examination unit, scientific research institution, biochemical research institutes.
4th, during being rotated around the axis due to test tube clamp, helical spring decrement slowly becomes smaller, and restoring force also gradually becomes
It is small, it can prevent clamping force is excessive test tube is caused to destroy.Meanwhile test tube clamp lower edge can cover one layer of rubber with test tube contact position
Pad, can further buffer impact force of the test tube clamp to test tube.
5th, the rotation of each motor, high degree of automation, by changing corresponding control journey are controlled by AVR single chip
Sequence can be completed to take lid task to different model test tube；
6th, stopper removing machine tool hand is internally provided with position sensor, and more accurately test tube can be positioned；
7th, the robot can not only complete to take lid task to test tube, additionally it is possible to complete to other type bottle caps（Bottle cap
Outer diameter is more than bottle outer diameter）Take lid task.
8th, test tube clamp can very easily be controlled the folding of test tube clamp, be clamped using cam mechanism, spring lever principle
The size of power is determined that spring model is replaceable by spring.
9th, control system host computer can not only use tablet computer, can also use office desk-top, notebook electricity
Brain facilitates staff that the operating status of robot is monitored and is intervened in office.
10th, by increasing the quantity of test tube clamp inside stopper removing machine tool hand, more enough disposable completions take more test tubes
Lid and recycling task.For example, columns and number of rows by increasing test tube clamp.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is automatic quick test tube stopper removing machine device people's overall structure diagram of the invention.
Fig. 2 is automatic quick test tube stopper removing machine device people's main structure diagram of the invention.
Fig. 3 is automatic quick test tube stopper removing machine device people's left view structural representation of the invention.
Fig. 4 is that automatic quick test tube stopper removing machine device people of the invention recycles test tube cap schematic diagram.
Fig. 5 is the mechanical arm structure diagram of the present invention.
Fig. 6 is the stopper removing machine tool hand structure diagram of the present invention.
Fig. 7 is to take lid arrangement A partial enlarged views in Fig. 6 of the present invention.
Fig. 8 be the present invention take lid test tube clamp overall structure diagram.
Fig. 9 be the present invention take lid test tube clamp assembling structure schematic diagram.
Figure 10 is that the present invention is taken under lid state, and stopper removing machine tool hand test tube clamp and test tube coordinate sectional view.
Figure 11 is automatic quick test tube stopper removing machine device people's control system architecture figure of the present invention.
In figure：Pedestal 1, X-axis mechanical arm 2, Z axis mechanical arm 3, Y-axis mechanical arm 4, stopper removing machine tool hand 5, X-axis stepper 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 hand pedestal 14, screw 15, direct current generator 16, the first roller gear 17, second circle
Stud wheel 18, output shaft 19, worm type of reduction gearing 20, the first direct current generator 21, camshaft 22, cam 23, 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, rack for test tube 34, sliding slot 35, shaft coupling 36, ball nut 37, sliding block 38, slide block guide rail 39, ball-screw 40,
Protection cap 41, solenoid valve 42, test tube cap recycling box 43, mechanical rocker arm 44.
Specific embodiment
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Embodiment 1：
Such as Fig. 1-11, a kind of automatic quick test tube stopper removing machine device people, it includes pedestal 1, control is equipped on the pedestal 1
The X-axis mechanical arm 2 of front-rear direction movement, the X-axis mechanical arm 2 are vertically installed with the Z axis mechanical arm 3 that control moves up and down, institute
It states and the Y-axis mechanical arm 4 that control moves left and right is vertically installed on Z axis mechanical arm 3, stopper removing machine is installed on the Y-axis mechanical arm 4
Tool hand 5；
Further, one end of the stopper removing machine tool hand 5 is equipped with mechanical arm rotating drive mechanism, and the other end, which is equipped with, to be taken
Lid mechanism.
Further, the X-axis mechanical arm 2 is mounted on by screw on pedestal 1, and the X-axis mechanical arm 2 is walked including X-axis
Stepper motor 6, the output shaft of the X-axis stepper motor 6 is connected by shaft coupling 36 with ball screw 40, on the ball screw 40
Cooperation is equipped with ball nut 37, and the top of the ball nut 37 is installed with X-axis sliding table 8, and the X-axis is slided
The bottom of workbench 8 is installed with sliding block 38, and the sliding block 38 is slidably matched with the composition of slide block guide rail 39, the ball screw
Protection cap 41 is provided at the top of 40 mounting box.
Further, the 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 the Z axis mechanical arm 3 is identical with the structure of X-axis mechanical arm 2, and the Z axis mechanical arm 3 includes Z axis stepper motor
12, the Z axis stepper motor 12 is connected with ball lead screw drive mechanism, and the ball wire rod mechanism drives Z axis sliding table
11 move up and down.
Further, the 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 the Y-axis mechanical arm 4 is identical with the structure of X-axis mechanical arm 2, and the Y-axis mechanical arm 4 includes y-axis stepper motor
10, the y-axis stepper motor 10 is connected with ball lead screw drive mechanism, and the ball wire rod mechanism drives Y-axis sliding table
13 side-to-side movements.
Further, the X, Y, Z axis robotic arm is conveyed using roller bearing screw body, ensures motion accuracy, is improved
Stability.
Further, solenoid valve 42 is installed, the solenoid valve 42 can be oriented in Y-axis at the Z axis stepper motor 12
Start after completing, and Z axis stepper motor 12 is inhibited to rotate.By at Z axis mechanical arm stepper motor install solenoid valve 42,
Y-axis orientation starts solenoid valve and inhibits motor rotation after completing, and then prevents Y-axis mechanical arm from gliding along Z axis mechanical arm.
Further, the stopper removing machine tool hand 5 is fixedly mounted on the Y-axis of Y-axis mechanical arm 4 by stopper removing machine tool hand pedestal 14
On sliding table 13.
Further, the mechanical arm rotating drive mechanism includes direct current generator 16, and the direct current generator 16 is mounted on and takes
Inside lid robot base 14, the output shaft of the direct current generator 16 is equipped with the first roller gear 17, first Cylinder Gear
Wheel 17 is engaged with the second roller gear 18, and mechanical rocker arm 44 is installed on the output shaft 19 of second roller gear 18,
The end of the mechanical rocker arm 44 is equipped with cap taking mechanism.
Further, the cap taking mechanism includes test tube clamp 25, and the combination of each two test tube clamp 25 is installed as one completely
Clip, described two test tube clamps 25 are hinged by 27 shaft 24 of axle sleeve, and the top of the test tube clamp 25 is equipped with spring pedestal 26, and two
Helical spring 31 is equipped between two spring pedestals 26, helical spring 31 is always in compressive state, the lower end of the test tube clamp 25
Cam follower plate 28 is provided with, the cam follower plate 28 is matched with cam 23 is combined into flat slave mode cam mechanism, described convex
Wheel 23 is mounted on camshaft 22, and the camshaft 22 passes through turbine and worm retarder 20 and 21 phase of the first direct current generator of camshaft
Even, the bottom end of the test tube clamp 25 is provided with test tube clamp sleeve 29, and the bottom end of the test tube clamp sleeve 29 is provided under test tube clamp
Edge 30 forms cylindrical sleeve after the combination of test tube clamp sleeve 29, and the test tube clamp lower edge 30 is following with test tube cap 32
Edge matches；One layer of rubber buffer is inlaid on the inner wall of the test tube clamp lower edge 30；The clip that the test tube clamp 25 forms
It is shared multigroup.
Further, it is equipped with camera shooting at the stepper motor of the X-axis mechanical arm 2, Z axis mechanical arm 3 and Y-axis mechanical arm 4
Head is also equipped with camera in the lower section of stopper removing machine tool hand 5, and the camera is all connected with server by radio communication, institute
Real-time pictures can be transmitted to operating personnel's tablet client by stating server.
Embodiment 2：
Automatically the method for taking lid is carried out using quick test tube stopper removing machine device people automatic described in right any one, including following
Step：
The first step：Positioning stage, under original state, stopper removing machine tool hand 5 is turned to towards 34 direction of rack for test tube, test tube
In opening state, cam follower plate 28 and cam 23 far stop point contact folder 25, and 4 vertical direction of Y-axis mechanical arm rises to most
Eminence, electromagnetic valve locking, robot are installed on assembly line designating step position by pedestal 1, and the test tube 33 equipped with sample is pre-
First be fixed in rack for test tube 34, rack for test tube 34 is stuck in by sliding slot 35 on assembly line conveyer belt, test tube 34 can it is horizontal or it is longitudinal in
On conveyer belt, when rack for test tube is moved to X-axis mechanical arm centre position together with test tube, the sensor of mechanical arm pedestal receives letter
Number, controller is passed to, belt-driven motor stalls are controlled by PLC microcontrollers；
Second step：X-axis stepper motor 6 starts, and X-axis sliding table 8 is driven to be led along sliding block by roller screw mechanism 7
Rail 39 moves, so as to which Y-axis mechanical arm be driven to be moved along X-axis, when stopper removing machine tool hand 5 and rack for test tube 34 are located at together in X-direction
During one plan-position, X-axis stepper motor 6 stops operating；
Third walks：Y-axis stepper motor 10 starts, and Y-axis sliding table 13 is driven along sliding block by roller screw mechanism
Guide rail moves, so as to which stopper removing machine tool hand 5 be driven to be moved along Y-axis, when stopper removing machine tool hand 5 is moved to 34 surface of rack for test tube,
Start direct current generator 16, direct current generator 16 is by the first roller gear 17 and the second roller gear 18 by power transmission to output shaft
19, and then mechanical rocker arm 44 is driven to be rotated around output shaft 19,25 lower section of test tube clamp is equipped with position sensor, passes through direct current generator 16
5 rotational angle of stopper removing machine tool hand is adjusted respectively with y-axis stepper motor 10 and along Y direction displacement, when each pair of test tube clamp 25 is distinguished
After being aligned with each test tube cap 32, positioning is completed；
4th step：Take the lid stage, under original state, test tube clamp 25 is in opening state, cam follower plate 28 and cam 23
Remote point contact cooperation of stopping, helical spring 31 is in decrement maximum rating, and Z axis stepper motor 12 starts, and passes through roller bearing silk
Thick stick mechanism drives Z axis sliding table 11 to be moved down along slide block guide rail, so as to drive stopper removing machine tool hand 5 downward along Z axis
It is mobile, when test tube cap 32 is moved to 29 inside of test tube clamp sleeve and test tube clamp lower edge 30 is less than 32 lower edge position of test tube cap, Z
Shaft step motor 12 stops operating；
5th step：First direct current generator 21 starts, by turbine and worm retarder 20 by power transmission to camshaft 22, from
And with moving cam 23 around slowly 90 ° of the rotation of camshaft 22, cam follower plate 28 is closely stopped a little by far stopping a little to be moved to, and is tried at this time
24 rotations are closed pipe clamp 25 around the shaft under the action of 31 restoring force of helical spring, and test tube clamp lower edge 30 is stuck under test tube cap 32
Edge position；
6th step：The startup of Z axis stepper motor 12 rotates backward, and Z axis sliding table 11 is driven by roller screw mechanism
It is moved up along slide block guide rail, so as to which stopper removing machine tool hand 5 be driven to be moved up along Z axis, until stopper removing machine tool hand 5 clips examination
Pipe lid 32 is detached from 33 nozzle of test tube, starts solenoid valve 42 so that and 3 locking of Z axis mechanical arm prevents Y-axis mechanical arm 4 from gliding along Z axis,
So far, lid task is taken to complete；
7th step：Recovery stage, the startup of y-axis stepper motor 10 rotate backward, and Y-axis are driven to slide by roller screw mechanism
Workbench 13 is moved backward along slide block guide rail, so as to which stopper removing machine tool hand 5 be driven to be moved backward along Y-axis, when stopper removing machine tool hand 5
When being moved to test tube cap 43 top of recycling box, y-axis stepper motor 10 stops operating, and X-axis stepper motor 6 starts, and passes through roller bearing silk
Thick stick mechanism 7 drives X-axis sliding table 8 to be moved along slide block guide rail 39, so as to which stopper removing machine tool hand 5 be driven to be moved along X-axis, makes
Stopper removing machine tool hand 5 when finely tuning to test tube cap 43 surface of recycling box, motor 6 stops operating,
8th step：The startup of first direct current generator 21 rotates backward, by turbine and worm retarder 20 by power transmission to convex
Wheel shaft 22, so as to which, around slowly 90 ° of the rotation of camshaft 22, cam follower plate 28 is far stopped by closely stopping a little to be moved to moving cam 23
Point, 24 rotating opening around the shaft under the action of 31 restoring force of helical spring of test tube clamp 25 at this time, when test tube clamp 25 is flared to most
After big opening, test tube cap 32 is fallen under gravity into test tube cap recycling box 43, completes the recycling task of test tube cap 32；
9th step：Complete to take test tube 33 and the rack for test tube 34 after lid under the drive of conveyer belt together as assembly line moves
It is dynamic, until next process, analyzes sample for staff, is detected；Complete one group of test tube take lid task after, in repetition
Step is stated, which continues next group of test tube to be carried out lid is taken to operate.
Embodiment 3：
As shown in figure 11, the automatic quick test tube stopper removing machine device people's control system of the present invention, robot mainly use " host computer
The control model of+embedded system+slave computer " three-level distributed structure.The control device of control system by host computer and
Arduino control panels form, and host computer is the tablet computer based on android system, to be equipped with the router of embedded system
It is carried out wireless communication as server, using the AVR single chip on Arduino control panels as slave computer.Tablet computer is responsible for reception
The vision signal and transmission control instruction that camera transmits give Arduino control panels, and control panel is then responsible for receiving tablet computer hair
The control instruction sent, and be converted into matched control signal controlling machine tool hand and complete required movement.Each motor passes through
Microcontroller is controlled into line program, and be automatically performed test tube cap takes each recycling task of lid.But staff can also pass through tablet
Computer client remote control stopper removing machine tool hand carries out manual intervention, and operation scene is monitored and commanded.
By above-mentioned description, those skilled in the art completely can be in the model without departing from this invention technological thought
In enclosing, various changes and amendments are carried out 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 (7)
1. a kind of automatic quick test tube stopper removing machine device people, it is characterised in that：It includes pedestal（1）, the pedestal（1）On be equipped with
Control the X-axis mechanical arm of front-rear direction movement（2）, the X-axis mechanical arm（2）It is vertically installed with the Z axis machine that control moves up and down
Tool arm（3）, the Z axis mechanical arm（3）On be vertically installed with the Y-axis mechanical arm that moves left and right of control（4）, the Y-axis mechanical arm
（4）On stopper removing machine tool hand is installed（5）；
The stopper removing machine tool hand（5）One end mechanical arm rotating drive mechanism is installed, the other end is equipped with cap taking mechanism；
The X-axis mechanical arm（2）Pedestal is mounted on by screw（1）On, the X-axis mechanical arm（2）Including X-axis stepper motor
（6）, the X-axis stepper motor（6）Output shaft pass through shaft coupling（36）With ball screw（40）It is connected, the ball screw
（40）Upper cooperation is equipped with ball nut（37）, the ball nut（37）Top be installed with X-axis sliding table
（8）, the X-axis sliding table（8）Bottom be installed with sliding block（38）, the sliding block（38）With slide block guide rail（39）Structure
Into being slidably matched, the ball screw（40）Mounting box at the top of be provided with protection cap（41）；
The Z axis mechanical arm（3）It is mounted by means of bolts on X-axis mechanical arm（2）X-axis sliding table（8）On, the Z
Shaft mechanical arm（3）Structure and X-axis mechanical arm（2）Structure it is identical, the Z axis mechanical arm（3）Including Z axis stepper motor
（12）, the Z axis stepper motor（12）It is connected with ball lead screw drive mechanism, the ball wire rod mechanism driving Z axis slides work
Make platform（11）It moves up and down；
The cap taking mechanism includes test tube clamp（25）, each two test tube clamp（25）Combination is installed as a complete clip, described
Two test tube clamps（25）Pass through axle sleeve（27）Shaft（24）It is hinged, the test tube clamp（25）Top be equipped with spring pedestal（26）,
Spring pedestal two-by-two（26）Between be equipped with helical spring（31）, helical spring（31）Always in compressive state, the test tube clamp
（25）Lower end be provided with cam follower plate（28）, the cam follower plate（28）With cam（23）With being combined into flat slave mode
Cam mechanism, the cam（23）Mounted on camshaft（22）On, the camshaft（22）Pass through turbine and worm retarder（20）
With the first direct current generator of camshaft（21）It is connected, the test tube clamp（25）Bottom end be provided with test tube clamp sleeve（29）, the examination
Pipe clamp sleeve（29）Bottom end be provided with test tube clamp lower edge（30）, the test tube clamp sleeve（29）Cylindrical shroud is formed after combination
Cylinder, the test tube clamp lower edge（30）With test tube cap（32）Lower edge match；The test tube clamp lower edge（30）Inner wall on inlay
Embedded with one layer of rubber buffer；The test tube clamp（25）The clip of composition shares multigroup.
2. a kind of automatic quick test tube stopper removing machine device people according to claim 1, it is characterised in that：The Y-axis mechanical arm
（4）It is mounted by means of bolts on Z axis mechanical arm（3）Z axis sliding table（11）On, the Y-axis mechanical arm（4）Structure
With X-axis mechanical arm（2）Structure it is identical, the Y-axis mechanical arm（4）Including y-axis stepper motor（10）, the y-axis stepper motor
（10）It is connected with ball lead screw drive mechanism, the ball wire rod mechanism drives Y-axis sliding table（13）Side-to-side movement.
3. a kind of automatic quick test tube stopper removing machine device people according to claim 1, it is characterised in that：The Z axis stepping electricity
Machine（12）Place is equipped with solenoid valve（42）, the solenoid valve（42）It can start, and Z axis is inhibited to walk after Y-axis orients completion
Stepper motor（12）Rotation.
4. a kind of automatic quick test tube stopper removing machine device people according to claim 1, it is characterised in that：The stopper removing machine tool hand
（5）Pass through stopper removing machine tool hand pedestal（14）It is fixedly mounted on Y-axis mechanical arm（4）Y-axis sliding table（13）On.
5. a kind of automatic quick test tube stopper removing machine device people according to claim 1, it is characterised in that：The mechanical arm rotation
Driving mechanism includes direct current generator（16）, the direct current generator（16）Mounted on stopper removing machine tool hand pedestal（14）Inside, it is described straight
Galvanic electricity machine（16）Output shaft the first roller gear is installed（17）, first roller gear（17）With the second roller gear
（18）Engagement, second roller gear（18）Output shaft（19）On be installed with mechanical rocker arm（44）, the machinery turn
Arm（44）End cap taking mechanism is installed.
6. a kind of automatic quick test tube stopper removing machine device people according to claim 1, it is characterised in that：The X-axis mechanical arm
（2）, Z axis mechanical arm（3）With Y-axis mechanical arm（4）Stepper motor at be equipped with camera, in stopper removing machine tool hand（5）Lower section
Camera is also installed, the camera is all connected with server by radio communication, and the server can be by real-time pictures
It is transmitted to operating personnel's tablet client.
7. the method for taking lid automatically is carried out using quick test tube stopper removing machine device people automatic described in claim 1-6 any one,
It is characterized in that, includes the following steps：
The first step：Positioning stage, under original state, stopper removing machine tool hand（5）It turns to towards rack for test tube（34）Direction, test tube
Folder（25）In opening state, cam follower plate（28）With cam（23）Remote point contact of stopping, Y-axis mechanical arm（4）Vertical direction
Highest point, electromagnetic valve locking are risen to, robot passes through pedestal（1）Assembly line designating step position is installed on, equipped with sample
Test tube（33）It is fixed on rack for test tube in advance（34）It is interior, rack for test tube（34）Pass through sliding slot（35）It is stuck on assembly line conveyer belt, tries
Pipe（34）Can be horizontal or longitudinal on conveyer belt, when rack for test tube is moved to X-axis mechanical arm centre position together with test tube, mechanical arm
The sensor of pedestal receives signal, passes to controller, and belt-driven motor stalls are controlled by PLC microcontrollers；
Second step：X-axis stepper motor（6）Start, pass through roller screw mechanism（7）Drive X-axis sliding table（8）Along sliding block
Guide rail（39）It is mobile, so as to which Y-axis mechanical arm be driven to be moved along X-axis, when stopper removing machine tool hand（5）And rack for test tube（34）In X-axis side
To when being generally aligned in the same plane position, X-axis stepper motor（6）It stops operating；
Third walks：Y-axis stepper motor（10）Start, Y-axis sliding table is driven by roller screw mechanism（13）Along sliding block
Guide rail moves, so as to drive stopper removing machine tool hand（5）It is moved along Y-axis, when stopper removing machine tool hand（5）It is moved to rack for test tube（34）On just
Fang Shi starts direct current generator（16）, direct current generator（16）Pass through the first roller gear（17）With the second roller gear（18）It will be dynamic
Power is transmitted to output shaft（19）, and then drive mechanical rocker arm（44）Around output shaft（19）Rotation, test tube clamp（25）Lower section is equipped with position
Sensor is put, passes through direct current generator（16）And y-axis stepper motor（10）Stopper removing machine tool hand is adjusted respectively（5）Rotational angle and along Y
Axis direction displacement, when each pair of test tube clamp（25）Respectively with each test tube cap（32）After alignment, positioning is completed；
4th step：Take the lid stage, under original state, test tube clamp（25）In opening state, cam follower plate（28）With cam
（23）Remote point contact cooperation of stopping, helical spring（31）In decrement maximum rating, Z axis stepper motor（12）Start, lead to
It crosses roller screw mechanism and drives Z axis sliding table（11）It is moved down along slide block guide rail, so as to drive stopper removing machine tool hand（5）
It is moved down along Z axis, until test tube cap（32）It is moved to test tube clamp sleeve（29）Internal and test tube clamp lower edge（30）Less than examination
Pipe lid（32）During lower edge position, Z axis stepper motor（12）It stops operating；
5th step：First direct current generator（21）Start, pass through turbine and worm retarder（20）By power transmission to camshaft（22）,
So as to moving cam（23）Around camshaft（22）Slowly 90 ° of rotation, cam follower plate（28）Closely stopped by far stopping a little to be moved to
Point, at this time test tube clamp（25）In helical spring（31）Under the action of restoring force around the shaft（24）Rotation is closed, test tube clamp lower edge
（30）It is stuck in test tube cap（32）Lower edge position；
6th step：Z axis stepper motor（12）Startup rotates backward, and Z axis sliding table is driven by roller screw mechanism（11）
It is moved up along slide block guide rail, so as to drive stopper removing machine tool hand（5）It is moved up along Z axis, until stopper removing machine tool hand（5）Folder
Test tube cap（32）It is detached from test tube（33）Nozzle starts solenoid valve（42）So that Z axis mechanical arm（3）Locking prevents Y-axis mechanical
Arm（4）It glides along Z axis, so far, lid task is taken to complete；
7th step：Recovery stage, y-axis stepper motor（10）Startup rotates backward, and Y-axis is driven to slide work by roller screw mechanism
Make platform（13）It is moved backward along slide block guide rail, so as to drive stopper removing machine tool hand（5）It is moved backward along Y-axis, when stopper removing machine tool
Hand（5）It is moved to test tube cap recycling box（43）During top, y-axis stepper motor（10）It stops operating, X-axis stepper motor（6）Start,
Pass through roller screw mechanism（7）Drive X-axis sliding table（8）Along slide block guide rail（39）It is mobile, so as to drive stopper removing machine tool
Hand（5）It is moved along X-axis so that stopper removing machine tool hand（5）It finely tunes to test tube cap recycling box（43）During surface, motor（6）Stop
Rotation,
8th step：First direct current generator（21）Startup rotates backward, and passes through turbine and worm retarder（20）By power transmission to convex
Wheel shaft（22）, so as to moving cam（23）Around camshaft（22）Slowly 90 ° of rotation, cam follower plate（28）By a movement of closely stopping
To far stopping a little, test tube clamp at this time（25）In helical spring（31）Under the action of restoring force around the shaft（24）Rotating opening works as examination
Pipe clamp（25）After being flared to maximum open, test tube cap（32）Fall under gravity into test tube cap recycling box（43）It is interior, it completes
Test tube cap（32）Recycling task；
9th step：It completes to take the test tube after lid（33）With rack for test tube（34）Together as assembly line moves under the drive of conveyer belt
It is dynamic, until next process, analyzes sample for staff, is detected；Complete one group of test tube take lid task after, in repetition
Step is stated, which continues next group of test tube to be carried out lid is taken to operate.
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