CN109807872A - It is a kind of can be in the mechanical arm of the flexible stable operation of three-dimensional space - Google Patents
It is a kind of can be in the mechanical arm of the flexible stable operation of three-dimensional space Download PDFInfo
- Publication number
- CN109807872A CN109807872A CN201711177138.9A CN201711177138A CN109807872A CN 109807872 A CN109807872 A CN 109807872A CN 201711177138 A CN201711177138 A CN 201711177138A CN 109807872 A CN109807872 A CN 109807872A
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- China
- Prior art keywords
- axis
- guide rail
- rail component
- motor
- synchronizing wheel
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Abstract
The invention discloses a kind of mechanical arms, belong to chemical luminescent detecting field.Mechanical arm, including X-axis guide rail component, Y-axis guide rail component, Z axis guide rail component, X-axis motor, y-axis motor, Z axis motor, mechanical gripper and mechanical gripper motor, the X-axis guide rail component is connected with X-axis motor, the Y-axis guide rail component is connected with y-axis motor, the Z axis guide rail component is connected with Z axis motor, and the mechanical gripper is connected with mechanical gripper motor；The Y-axis guide rail component is set on X-axis guide rail component, and the Z axis guide rail component is set on Y-axis guide rail component, and the mechanical gripper is set on Z axis guide rail component；The mechanical gripper includes clamping jaw, detection device, and the detection device is set to above clamping jaw.The present invention can be realized three-dimensional space flexibly stable operation and can detecte whether clip to reaction cup.
Description
Technical field
The present invention relates to chemical luminescent detecting field more particularly to mechanical arms.
Background technique
In medicine production, for reaction cup crawl mode there are mainly two types of, first is that by manually being grabbed
Operation, but production efficiency is lower, is easy error；Second is that automatically grabbed using machinery, but this kind of equipment is mainly logical
Cross ordinary motor drive chain and drive entire robot movement, the position error of the equipment it is larger and run it is unstable, reliably
Property it is poor, the regulation of position also be easy detent, it is inflexible, be not able to satisfy the precision requirement of work.In addition, in the prior art
Whether mechanical gripper can not perceive and clamp reaction cup, will be easy to cause sky when clamping jaw grabs reaction cup without detection device
Pawl phenomenon reduces detection efficiency in the case where the operation of not artificial monitoring device.
Summary of the invention
Problem to be solved: in view of the above problems, the present invention provide it is a kind of in the flexible stable operation of three-dimensional space and
Can detecte the mechanical arm for whether having reaction cup.In order to solve the above technical problems, the present invention adopts the following technical scheme: it is mechanical
Arm include X-axis guide rail component, Y-axis guide rail component, Z axis guide rail component, X-axis motor, y-axis motor, Z axis motor, mechanical gripper and
Mechanical gripper motor, the X-axis guide rail component are connected with X-axis motor, and the Y-axis guide rail component is connected with y-axis motor, institute
The Z axis guide rail component stated is connected with Z axis motor, and the mechanical gripper is connected with mechanical gripper motor；The Y-axis guide rail group
Part is set on X-axis guide rail component, and the Z axis guide rail component is set on Y-axis guide rail component, and the mechanical gripper is set to Z axis
On guide assembly；The mechanical gripper includes clamping jaw, detection device, and the detection device is set to above clamping jaw.Further
Technical solution, the detection device includes fixed block, optocoupler, spring, bar, baffle, is equipped with and slides in the fixed block
Slot, the bar are successively stopper, baffle and feeler lever from top to bottom, and the top of the stopper is set in sliding slot, described
Between the lower part and baffle of stopper, the baffle is fixed in stopper and between stopper and optocoupler spring pocket, described
Optocoupler be fixed on fixed block.Further technical solution, the X-axis guide rail component include that X-axis guide rail bracket, X-axis are straight
Line guide rail, X-axis synchronous belt, X-axis synchronizing wheel, X-axis slide block；The X-axis linear guide is set on X-axis guide rail bracket, the X
Axis sliding block is set in X-axis linear guide, and the X-axis synchronous belt and X-axis synchronizing wheel drive X-axis slide block in X-axis linear guide
It slidably reciprocates, the shaft of the X-axis synchronizing wheel is connected with X-axis motor；The Y-axis guide rail component include Y-axis guide rail bracket,
Y-axis linear guide, Y-axis synchronous belt, Y-axis synchronizing wheel, Y-axis sliding block；The Y-axis linear guide is set on Y-axis guide rail bracket, institute
The Y-axis sliding block stated is set in Y-axis linear guide, and the Y-axis synchronous belt and Y-axis synchronizing wheel drive Y-axis sliding block to lead in Y-axis straight line
It slidably reciprocates on rail, the shaft of the Y-axis synchronizing wheel is connected with y-axis motor；The Z axis guide rail component include Z axis polished rod,
Z axis linear bearing, Z axis synchronous belt, Z axis synchronizing wheel, the Z axis linear bearing are set on Z axis polished rod, and the Z axis is synchronous
Band and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, shaft and the Z axis electricity of the Z axis synchronizing wheel
Machine is connected.Further technical solution, the Y-axis guide rail branch are set up in X-axis slide block；The Z axis polished rod is sliding set on Y-axis
On block；The mechanical gripper is set on Z axis linear bearing.Further technical solution, the clamping jaw is by symmetrical clamping jaw
Arm and clamping opening are constituted, and clamping opening is located at the end of clamping jaw arm, and the clamping opening is arc-shaped.Further technical solution, the folder
The lower end inside of pawl arm is equipped with groove.
Workflow of the invention is: in X-direction, X-axis synchronous belt and X-axis synchronizing wheel drive X-axis slide block in X-axis straight line
It slidably reciprocates on guide rail, so that Y-axis guide rail branch be driven to slidably reciprocate in X-axis linear guide；In Y direction, Y-axis synchronous belt and
Y-axis synchronizing wheel drives Y-axis sliding block to slidably reciprocate in Y-axis linear guide, to drive Z axis polished rod branch in Y-axis linear guide
It slidably reciprocates；In Z-direction, Z axis synchronous belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, from
And drive the three-dimensional motion of mechanical claw hand.Mechanical gripper motor control clamping jaw promptly or unclamp, mechanical gripper be equipped with induction
Whether the detection device of reaction cup is had, if the clamp mouth part of clamping jaw has reaction cup, reaction cup is up pushed away the bar equipped with spring, is kept off
Baffle is driven up to push away while bar up moves, when baffle up pushes away, baffle blocks optocoupler, and optocoupler detects clamping jaw
Clamp mouth part have reaction cup, then clamping jaw is firmly grasped, complete crawl work；It is grabbed conversely, mechanical gripper is moved to next position
It takes.
Beneficial effect
Compared with prior art, the present invention has following remarkable advantage: 1, mechanical arm simple structure of the invention, using certainly
Dynamic crawl is respectively provided with motor in the X, Y, Z direction respectively, moves on control X, Y, Z-direction, trace arrangements are simple；Sliding is main
Using guide assembly, be conducive in this way using when position regulation it is convenient, accurate positioning, stability is good in operation, highly reliable,
It can satisfy the height precisely efficient requirement of crawl work.2, mechanical gripper of the invention is equipped with detection device and by skilful
Wonderful structure connection, can detect whether reaction cup when clamping jaw grabs, if so, crawl work is then completed, if without machinery
Handgrip moves to next position and is grabbed, and avoids sky pawl phenomenon, improves detection efficiency.3, detection of the invention dress
It is simple to set structure, high sensitivity and clamping jaw are efficiently cooperated, and the working efficiency of crawl is improved.4, clamping jaw arm of the present invention
Lower end inside is equipped with groove and clamping opening is arc-shaped that clamping jaw can be allowed to fit closely reaction cup, folder very securely, can steadily
The bottleneck of reaction cup is clamped, it is not easily to fall off.
Detailed description of the invention Fig. 1 is structural schematic diagram of the invention；Fig. 2 is the enlarged drawing of X-axis guide rail component of the invention；Fig. 3
For the enlarged drawing of Y-axis guide rail component of the invention；Fig. 4 is the enlarged drawing of Z axis guide rail component of the invention；Fig. 5 is of the invention
The enlarged drawing of mechanical gripper；Fig. 6 is the enlarged drawing of lever of the present invention；Figure label explanation: 1, X-axis guide rail component, 2, Y-axis guide rail
Component, 3, Z axis guide rail component, 4, X-axis motor, 5, y-axis motor, 6, Z axis motor, 7, mechanical gripper, 8, mechanical gripper motor；7-
1, fixed block, 7-2, optocoupler, 7-3, spring, 7-4, bar, 7-4-1, stopper, 7-4-2, baffle, 7-4-3, feeler lever, 7-5, gear
Piece, 7-6, clamping jaw；1-1, X-axis guide rail bracket, 1-2, X-axis linear guide, 1-3, X-axis synchronous belt, 1-4, X-axis slide block；2-1, Y-axis
Rail brackets, 2-2, Y-axis linear guide, 2-3, Y-axis synchronous belt, 2-4, Y-axis sliding block；3-1, Z axis polished rod, 3-2, Z axis linear axis
It holds, 3-3, Z axis synchronous belt, 3-4, Z axis synchronizing wheel.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
Embodiment is as shown in Figures 1 to 6, and mechanical arm includes X-axis guide rail component 1, Y-axis guide rail component 2, Z axis guide rail component
3, X-axis motor 4, y-axis motor 5, Z axis motor 6, mechanical gripper 7 and mechanical gripper motor 8, the X-axis guide rail component 1 and X-axis
Motor 4 is connected, and the Y-axis guide rail component 2 is connected with y-axis motor 5, and the Z axis guide rail component 3 is connected with Z axis motor 6,
The mechanical gripper 7 is connected with mechanical gripper motor 8；The Y-axis guide rail component 2 is set on X-axis guide rail component 1, described
Z axis guide rail component 3 be set to Y-axis guide rail component 2 on, the mechanical gripper 7 be set to Z axis guide rail component 3 on；The machinery
Handgrip 7 includes clamping jaw 7-6, detection device, and the detection device is set to above clamping jaw 7-6.
The detection device includes fixed block 7-1, optocoupler 7-2, spring 7-3, bar 7-4, baffle 7-5, and described consolidates
Determining to be equipped with sliding slot in block 7-1, the bar 7-4 is successively stopper 7-4-1, baffle 7-4-2 and feeler lever 7-4-3 from top to bottom,
The top of the stopper 7-4-1 is set in sliding slot, the spring 7-3 cover the lower part of stopper 7-4-1 and baffle 7-4-2 it
Between, the baffle 7-5 is fixed on stopper 7-4-1 and between stopper 7-4-1 and optocoupler 7-2, and the optocoupler 7-2 is solid
It is scheduled on fixed block 7-1.
The X-axis guide rail component 1 includes X-axis guide rail bracket 1-1, X-axis linear guide 1-2, X-axis synchronous belt 1-3, X-axis
Synchronizing wheel, X-axis slide block 1-4；The X-axis linear guide 1-2 is set on X-axis guide rail bracket 1-1, and the X-axis slide block 1-4 is set
In 1-2 in X-axis linear guide, the X-axis synchronous belt 1-3 and X-axis synchronizing wheel drive X-axis slide block 1-4 in X-axis linear guide 1-
It slidably reciprocates on 2, the shaft of the X-axis synchronizing wheel is connected with X-axis motor.
The Y-axis guide rail component 2 includes Y-axis guide rail bracket 2-1, Y-axis linear guide 2-2, Y-axis synchronous belt 2-3, Y-axis
Synchronizing wheel, Y-axis sliding block 2-4；The Y-axis linear guide 2-2 is set on Y-axis guide rail bracket 2-1, and the Y-axis sliding block 2-4 is set
In on Y-axis linear guide 2-2, the Y-axis synchronous belt 2-3 and Y-axis synchronizing wheel drive Y-axis sliding block 2-4 in Y-axis linear guide 2-
It slidably reciprocates on 3, the shaft of the Y-axis synchronizing wheel is connected with y-axis motor.
The Z axis guide rail component 3 is synchronous including Z axis polished rod 3-1, Z axis linear bearing 3-2, Z axis synchronous belt 3-3, Z axis
3-4 is taken turns, the Z axis linear bearing 3-2 is set on Z axis polished rod 3-1, the Z axis synchronous belt 3-3 and Z axis synchronizing wheel 3-4 band
Dynamic Z axis linear bearing 3-2 moves up and down on Z axis polished rod 3-1,6 phase of shaft and Z axis motor of the Z axis synchronizing wheel 3-4
Even.The Y-axis guide rail bracket 2-1 is set on X-axis slide block 1-4；The Z axis polished rod 3-1 is set on Y-axis sliding block 2-4；It is described
Mechanical gripper 7 be set to Z axis linear bearing 3-2 on.
The clamping jaw 7-6 is made of symmetrical clamping jaw arm and clamping opening, and clamping opening is located at the end of clamping jaw arm, the clamping opening
It is arc-shaped.The lower end inside of the clamping jaw arm is equipped with groove.
Claims (6)
1. mechanical arm, which is characterized in that including X-axis guide rail component, Y-axis guide rail component, Z axis guide rail component, X-axis motor, Y-axis electricity
Machine, Z axis motor, mechanical gripper and mechanical gripper motor, the X-axis guide rail component are connected with X-axis motor, and the Y-axis is led
Rail assembly is connected with y-axis motor, and the Z axis guide rail component is connected with Z axis motor, the mechanical gripper and mechanical gripping flashlight
Machine is connected；The Y-axis guide rail component is set on X-axis guide rail component, and the Z axis guide rail component is set on Y-axis guide rail component,
The mechanical gripper is set on Z axis guide rail component；The mechanical gripper includes clamping jaw, detection device, the detection dress
It is arranged in above clamping jaw.
2. mechanical arm according to claim 1, which is characterized in that the detection device includes fixed block, optocoupler, bullet
Spring, bar, baffle, are equipped with sliding slot in the fixed block, and the bar is successively stopper, baffle and feeler lever from top to bottom,
The top of the stopper is set in sliding slot, and the spring pocket between the lower part and baffle of stopper, fix by the baffle
In stopper and between stopper and optocoupler, the optocoupler is fixed on fixed block.
3. mechanical arm according to claim 1, which is characterized in that the X-axis guide rail component includes X-axis guide rail bracket, X
Axis linear guide, X-axis synchronous belt, X-axis synchronizing wheel, X-axis slide block；The X-axis linear guide is set on X-axis guide rail bracket, institute
The X-axis slide block stated is set in X-axis linear guide, and the X-axis synchronous belt and X-axis synchronizing wheel drive X-axis slide block to lead in X-axis straight line
It slidably reciprocates on rail, the shaft of the X-axis synchronizing wheel is connected with X-axis motor；The Y-axis guide rail component includes Y-axis guide rail
Bracket, Y-axis linear guide, Y-axis synchronous belt, Y-axis synchronizing wheel, Y-axis sliding block；The Y-axis linear guide is set to Y-axis guide rail bracket
On, the Y-axis sliding block is set in Y-axis linear guide, and the Y-axis synchronous belt and Y-axis synchronizing wheel drive Y-axis sliding block in Y-axis
It slidably reciprocates in linear guide, the shaft of the Y-axis synchronizing wheel is connected with y-axis motor；The Z axis guide rail component includes Z
Axis polished rod, Z axis linear bearing, Z axis synchronous belt, Z axis synchronizing wheel, the Z axis linear bearing are set on Z axis polished rod, the Z
Axis synchronous belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, the shaft of the Z axis synchronizing wheel and
Z axis motor is connected.
4. mechanical arm according to claim 3, which is characterized in that the Y-axis guide rail branch is set up in X-axis slide block；Institute
The Z axis polished rod stated is set on Y-axis sliding block；The mechanical gripper is set on Z axis linear bearing.
5. mechanical arm according to claim 1, which is characterized in that the clamping jaw is by symmetrical clamping jaw arm and clamping opening structure
At clamping opening is located at the end of clamping jaw arm, and the clamping opening is arc-shaped.
6. mechanical arm according to claim 5, which is characterized in that the lower end inside of the clamping jaw arm is equipped with groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711177138.9A CN109807872A (en) | 2017-11-22 | 2017-11-22 | It is a kind of can be in the mechanical arm of the flexible stable operation of three-dimensional space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711177138.9A CN109807872A (en) | 2017-11-22 | 2017-11-22 | It is a kind of can be in the mechanical arm of the flexible stable operation of three-dimensional space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109807872A true CN109807872A (en) | 2019-05-28 |
Family
ID=66601340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711177138.9A Pending CN109807872A (en) | 2017-11-22 | 2017-11-22 | It is a kind of can be in the mechanical arm of the flexible stable operation of three-dimensional space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109807872A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774590A (en) * | 2020-06-05 | 2020-10-16 | 安徽利锋机械科技有限公司 | Slide rail electric drill track with accurate positioning |
| CN114348634A (en) * | 2021-12-31 | 2022-04-15 | 南京国科医工科技发展有限公司 | Reaction cup carrying device |
| CN114770462A (en) * | 2022-04-18 | 2022-07-22 | 北京美联泰科生物技术有限公司 | Reagent box grabbing mechanism |
| CN115990868A (en) * | 2023-03-14 | 2023-04-21 | 莱铂赛智能装备(江苏)有限公司 | Truss manipulator for carrying gearbox shell |
-
2017
- 2017-11-22 CN CN201711177138.9A patent/CN109807872A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774590A (en) * | 2020-06-05 | 2020-10-16 | 安徽利锋机械科技有限公司 | Slide rail electric drill track with accurate positioning |
| CN114348634A (en) * | 2021-12-31 | 2022-04-15 | 南京国科医工科技发展有限公司 | Reaction cup carrying device |
| CN114770462A (en) * | 2022-04-18 | 2022-07-22 | 北京美联泰科生物技术有限公司 | Reagent box grabbing mechanism |
| CN115990868A (en) * | 2023-03-14 | 2023-04-21 | 莱铂赛智能装备(江苏)有限公司 | Truss manipulator for carrying gearbox shell |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190528 |
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| WD01 | Invention patent application deemed withdrawn after publication |