CN110975714A - double-ZR module - Google Patents
double-ZR module Download PDFInfo
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- CN110975714A CN110975714A CN201911086183.2A CN201911086183A CN110975714A CN 110975714 A CN110975714 A CN 110975714A CN 201911086183 A CN201911086183 A CN 201911086183A CN 110975714 A CN110975714 A CN 110975714A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 188
- 238000012546 transfer Methods 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 claims description 33
- 230000009977 dual effect Effects 0.000 claims description 23
- 230000009467 reduction Effects 0.000 claims description 5
- 238000012360 testing method Methods 0.000 abstract description 34
- 239000007788 liquid Substances 0.000 abstract description 18
- 238000002474 experimental method Methods 0.000 abstract description 9
- 238000005119 centrifugation Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F31/00—Mixers with shaking, oscillating, or vibrating mechanisms
- B01F31/20—Mixing the contents of independent containers, e.g. test tubes
- B01F31/201—Holders therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F31/00—Mixers with shaking, oscillating, or vibrating mechanisms
- B01F31/20—Mixing the contents of independent containers, e.g. test tubes
- B01F31/26—Mixing the contents of independent containers, e.g. test tubes the containers being submitted to a wobbling movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/06—Test-tube stands; Test-tube holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/54—Supports specially adapted for pipettes and burettes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B5/00—Other centrifuges
- B04B5/04—Radial chamber apparatus for separating predominantly liquid mixtures, e.g. butyrometers
- B04B5/0407—Radial chamber apparatus for separating predominantly liquid mixtures, e.g. butyrometers for liquids contained in receptacles
- B04B5/0414—Radial chamber apparatus for separating predominantly liquid mixtures, e.g. butyrometers for liquids contained in receptacles comprising test tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F2101/00—Mixing characterised by the nature of the mixed materials or by the application field
- B01F2101/2202—Mixing compositions or mixers in the medical or veterinary field
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- Health & Medical Sciences (AREA)
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Abstract
The invention is suitable for the technical field of detection equipment, and provides a double-ZR module, which comprises a first transmission rod, a second transmission rod, a first working arm, a second working arm, a first rotation driving assembly, a second rotation driving assembly, a first lifting driving assembly and a second lifting driving assembly; the second transmission rod is sleeved outside the first transmission rod; the first working arm and the second working arm are respectively connected to the first transmission rod and the second transmission rod; the first rotation driving assembly and the second rotation driving assembly are respectively connected with the first transmission rod and the second transmission rod; the first lifting driving assembly and the second lifting driving assembly are respectively connected with the first transmission rod and the second transmission rod. Because the rotation and the lift of first transfer line and second transfer line are controlled respectively and can be on same instrument, integrated removal to the test tube, get and put multiple functions such as sample liquid, shake even and centrifugation, improved function diversity such as experiment auxiliary assembly, greatly reduced experiment operating personnel's intensity of labour, possess more excellent man-machine efficiency.
Description
Technical Field
The invention relates to the technical field of detection equipment, in particular to a double-ZR module.
Background
The test tube is very common in occasions such as medical treatment detection, laboratory, and the laboratory personnel often need utilize the test tube to carry out a series of experiments, in order to reduce laboratory personnel intensity of labour, improves experimental efficiency, adopts the automatic experiment auxiliary assembly of program control to snatch, the dropping liquid, absorb, shake a series of experimental operations such as even or centrifugation to the test tube among the traditional scheme.
Conventional experimental auxiliary equipment comprises pipettors, stirrers, centrifuges and the like, and the experimental auxiliary equipment can realize a plurality of common experimental operations under the control of a software program according to the setting, but the problem of single function is common.
Disclosure of Invention
The invention aims to provide a double-ZR module, aiming at solving the technical problem that the traditional experiment auxiliary equipment is single in function.
The invention is realized in such a way that a double-ZR module comprises a first transmission rod, a second transmission rod, a first working arm, a second working arm, a first rotation driving component, a second rotation driving component, a first lifting driving component and a second lifting driving component;
the first transmission rod is sleeved outside the second transmission rod;
the first working arm and the second working arm are respectively connected to the first transmission rod and the second transmission rod;
the first rotation driving assembly and the second rotation driving assembly are respectively connected with the first transmission rod and the second transmission rod and are respectively used for controlling the rotation action of the first transmission rod and the rotation action of the second transmission rod;
the first lifting driving assembly and the second lifting driving assembly are respectively connected with the first transmission rod and the second transmission rod and are respectively used for controlling the lifting action of the first transmission rod and the lifting action of the second transmission rod.
In an embodiment of the present invention, the first rotation driving component includes a first rotation driving motor, a first rotation transmission belt, and a first outer cylinder, the first outer cylinder is sleeved outside the first transmission rod, the first transmission rod is fixed relative to the first outer cylinder in a circumferential direction thereof and is capable of sliding relative to the first outer cylinder in an axial direction thereof, the first rotation transmission belt is sleeved on an outer side wall of the first outer cylinder, and the first rotation driving motor drives the first outer cylinder and the first transmission rod to rotate circumferentially through the first rotation transmission belt.
In one embodiment of the invention, the first rotary drive motor is in reduction transmission with the first transmission rod.
In an embodiment of the present invention, the second rotation driving assembly includes a second rotation driving motor, a second rotation transmission belt, and a second outer cylinder, the second outer cylinder is sleeved outside the second transmission rod, the second transmission rod is fixed relative to the second outer cylinder in a circumferential direction thereof and can slide relative to the second outer cylinder in an axial direction thereof, the second rotation transmission belt is sleeved on an outer sidewall of the second outer cylinder, and the second rotation driving motor drives the second outer cylinder and the second transmission rod to rotate circumferentially through the second rotation transmission belt; or
The second rotation driving assembly comprises a second rotation driving motor, the second rotation driving motor is connected to one end, far away from the second working arm, of the second transmission rod, and the second rotation driving motor directly drives the second transmission rod to rotate in the circumferential direction.
In one embodiment of the invention, the first rotary driving motor and the first transmission rod are in speed reduction transmission; and/or the second rotary driving motor and the second transmission rod are in speed reduction transmission.
In one embodiment of the present invention, the first lifting drive assembly includes a first lifting drive motor, a first lifting transmission belt, and a first connection assembly, the first connection assembly includes a first bearing part, the first bearing part is connected with the first transmission belt, the first transmission belt is fixed relative to the first bearing part in the axial direction of the first transmission belt and can rotate relative to the first bearing part in the circumferential direction of the first transmission belt, and the first lifting drive motor is connected with the first connection assembly through the first lifting transmission belt and is used for controlling the lifting motion of the first transmission belt through the first connection assembly.
In an embodiment of the present invention, the second elevation drive assembly includes a second elevation drive motor, a second elevation transmission belt, and a second connection assembly, the second connection assembly includes a second bearing connected to the second transmission rod, the second transmission rod is fixed relative to the second bearing in an axial direction thereof and is capable of rotating relative to the second bearing in a circumferential direction thereof, and the second elevation drive motor is connected to the second connection assembly through the second elevation transmission belt and is configured to control an elevation motion of the second transmission rod through the second connection assembly.
In an embodiment of the present invention, the dual ZR module further includes a guide rod disposed in a direction parallel to the first transmission rod, the first connection assembly further includes a first slider capable of sliding along the guide rod and connected to the first bearing, the second connection assembly further includes a second slider capable of sliding along the guide rod and connected to the second bearing, and the first slider and the second slider clamp the first lifting transmission belt and the second lifting transmission belt, respectively.
In an embodiment of the present invention, the first bearing includes a first extending portion, the first slider includes a first abutting hole, the extending directions of the first extending portion and the first abutting hole are perpendicular to the guide rod, the first extending portion is inserted into the first abutting hole, and the first extending portion is in clearance fit with the first abutting hole; the second bearing piece comprises a second extending portion, the second sliding block comprises a second abutting hole, the extending direction of the second extending portion and the second abutting hole is perpendicular to the guide rod, the second extending portion is inserted into the second abutting hole, and the second extending portion is in clearance fit with the second abutting hole.
In one embodiment of the present invention, the dual ZR module further includes a support member, and the first rotation driving assembly, the second rotation driving assembly, the first lifting driving assembly and the second lifting driving assembly are fixed on the support member.
The ZR module according to the present invention is a robot arm module that can move in the Z-axis direction (i.e., in the vertical direction) in a spatial rectangular coordinate system and can rotate around the R direction (the circumferential direction around the Z-axis) in a spatial polar coordinate system.
The implementation of the double-ZR module provided by the invention at least has the following beneficial effects:
through rotation drive assembly and the lift drive assembly that sets up respectively, the rotation and the lift of first transfer line of control and second transfer line respectively, and then the rotation and the lift action of first work arm of control and second work arm, can be on same platform instrument, different actions through first work arm and second work arm, integrated removal to the test tube, get and put appearance liquid, multiple functions such as even and centrifugation of shaking, the function diversity such as experiment auxiliary assembly has been improved greatly, thus, the experimenter need not remove the test tube when carrying out different operations to the test tube and reset in the instrument of difference, greatly reduced its intensity of labour, possess more excellent man-machine efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a dual ZR module provided in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view of another angle of the dual ZR module of FIG. 1;
fig. 3 is a schematic view of the driving principle of the first rotating driving assembly and the first lifting driving assembly of the dual ZR module in fig. 2.
Reference numerals referred to in the above figures are detailed below:
11-a first transfer lever; 12-a second transmission rod; 111-a first working arm; 121-a second working arm; 21-a first rotary drive motor; 22-a first rotating belt; 23-a first outer barrel; 31-a second rotary drive motor; 32-a second rotating belt; 33-a second outer barrel; 41-a first lifting drive motor; 42-a first lifting belt; 43-a first connection assembly; 51-a second elevation drive motor; 52-a second elevator belt; 53-a second connection assembly; 531-second bearing; 5311-a second extension; 532-a second slider; 5321-a second abutment hole; 6-a guide rod; 70-test tube; 71-test tube tray; 72-a receiving groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.
Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a dual ZR module, including a first transmission rod 11, a second transmission rod 12, a first working arm 111, a second working arm 121, a first rotation driving assembly, a second rotation driving assembly, a first lifting driving assembly, and a second lifting driving assembly;
the first transmission rod 11 is sleeved outside the first transmission rod 11;
the first working arm 111 and the second working arm 121 are respectively connected to the first transmission rod 11 and the second transmission rod 12;
the first rotation driving assembly and the second rotation driving assembly are respectively connected with the first transmission rod 11 and the second transmission rod 12 and are respectively used for controlling the rotation action of the first transmission rod 11 and the rotation action of the second transmission rod 12;
the first lifting driving assembly and the second lifting driving assembly are respectively connected with the first transmission rod 11 and the second transmission rod 12 and are respectively used for controlling the lifting action of the first transmission rod 11 and the lifting action of the second transmission rod 12.
The beneficial effects of this embodiment include, through the rotation and the lift of the first transfer line 11 of first rotation drive subassembly and the first lift drive subassembly control that set up respectively, the rotation and the lift of the second rotation drive subassembly and the second lift drive subassembly control second transfer line 12 that set up respectively, and then the rotation and the lift action of control first work arm 111 and second work arm 121, can be on same instrument, through the different actions of first work arm 111 and second work arm 121, integrated removal to test tube 70, get and put appearance liquid, multiple functions such as shake even and centrifugation, function diversity such as experiment auxiliary assembly has greatly been improved, thus, the experimenter needn't move test tube 70 to different instruments and reset when needing to carry out different operations to test tube 70, greatly reduced its intensity of labour, possess more excellent man-machine efficiency.
The ZR module according to the present invention is a robot arm module that can move in the Z-axis direction (i.e., in the vertical direction) of a spatial rectangular coordinate system and can rotate around the R direction (the circumferential direction around the Z-axis) of a spatial polar coordinate system.
Referring to fig. 1 and fig. 2, as an alternative of this embodiment, the dual ZR module further includes a fixed test tube tray 71, and a plurality of accommodating grooves 72 for accommodating test tubes 70 are disposed on the test tube tray 71. The dual ZR module provided in this embodiment works as follows: the second working arm 121 and the first working arm 111 are respectively provided with a liquid taking and placing component and a clamping component for respectively taking and placing the experimental liquid and clamping the test tube 70 from the containing groove 72, and the second working arm 121 is controlled by the second lifting driving component and the second rotating driving component to realize lifting and rotating actions for injecting the experimental liquid into the test tube 70 or sucking the experimental liquid from the test tube 70, so as to realize taking and placing of the liquid in the test tube 70; the first working arm 111 is controlled by the first lifting driving component and the first rotating driving component to realize lifting and rotating actions, and is used for taking and placing the test tube 70 from the accommodating groove 72, realizing the movement of the test tube 70, shaking up the experimental liquid in the test tube 70 through the lifting action, or carrying out centrifugal treatment on the liquid in the test tube 70 through high-speed rotating action.
In another alternative of this embodiment, the present embodiment provides a dual ZR module that operates as follows: the second working arm 121 and the first working arm 111 are respectively provided with a liquid taking and placing assembly and a test tube tray 71, a plurality of accommodating grooves 72 for accommodating test tubes 70 are formed in the test tube tray 71, the test tubes 70 for experiments are placed in the accommodating grooves 72 in advance, and the second working arm 121 is controlled by the second lifting driving assembly and the second rotating driving assembly to realize lifting and rotating actions for injecting the test tubes 70 or sucking the experiment liquid from the test tubes 70 so as to take and place the liquid in the test tubes 70; the first working arm 111 performs lifting and rotating actions under the control of the first lifting driving assembly and the first rotating driving assembly, so as to move the position of the test tube tray 71, shake up the test liquid in the test tube 70 through the lifting actions, or perform centrifugal treatment on the liquid in the test tube 70 through high-speed rotation.
Referring to fig. 1 and 2, in an embodiment of the present invention, the first rotation driving assembly includes a first rotation driving motor 21, a first rotation driving belt 22 and a first outer cylinder 23, the first outer cylinder 23 is sleeved outside the first transmission rod 11, the first transmission rod 11 is fixed to the first outer cylinder 23 in a circumferential direction thereof and can slide relative to the first outer cylinder 23 in an axial direction thereof, the first rotation driving belt 22 is sleeved on an outer side wall of the first outer cylinder 23, and the first rotation driving motor 21 drives the first outer cylinder 23 and the first transmission rod 11 to rotate in the circumferential direction through the first rotation driving belt 22.
Thus, the rotating force provided by the first rotating driving motor 21 is transmitted to the first outer cylinder 23 through the first rotating transmission belt 22, the first transmission rod 11 is relatively fixed with the first outer cylinder 23 in the circumferential direction, and the rotation of the first outer cylinder 23 further drives the first transmission rod 11 to rotate, so as to realize the rotating action of the first working arm 111; meanwhile, since the first driving lever 11 can slide in the axial direction thereof relative to the first outer cylinder 23, the first driving lever 11 can still perform a lifting motion under the control of the first lifting driving assembly.
As a specific solution of this embodiment, a clamping groove extending along an axial direction of the first transmission rod 11 is formed on an outer side wall of the first transmission rod 11, a protruding structure matching with the clamping groove is provided in the first outer cylinder 23, and the clamping groove matches with the protruding structure, so that the first transmission rod 11 can relatively slide with the first outer cylinder 23 in an axial direction thereof while being relatively fixed with the first outer cylinder 23 in a circumferential direction thereof.
As a more preferable scheme of this embodiment, the spline groove extending along the axial direction of the first transmission rod 11 is formed in the outer wall of the first transmission rod 11, the ball is disposed in the first outer cylinder 23, and the first outer cylinder 23 and the first transmission rod 11 are connected through the ball and the spline groove, so that not only circumferential fixing and axial relative sliding of the first transmission rod 11 and the first outer cylinder 23 can be realized, but also the sliding friction force of the first transmission rod 11 and the first outer cylinder 23 in the axial direction of the first transmission rod 11 can be greatly reduced, thereby effectively preventing the equipment from being worn, and prolonging the service life and the maintenance period of the dual ZR module.
Referring to fig. 1 and 2, in one embodiment of the present invention, the first rotating driving motor 21 and the first driving rod 11 are driven to reduce speed. Because driving motor's rotational speed is generally very fast, the speed reduction transmission between first rotation driving motor 21 and the first transfer line 11 can make the rotational speed of first transfer line 11 be less than first rotation driving motor 21's rotational speed, when preventing that first arm from rotating to throw away experimental liquid too fast, because the turned angle of first transfer line 11 is less than first rotation driving motor's turned angle, can also carry out more accurate control to the rotation action of first transfer line 11.
Referring to fig. 1 and fig. 2, as a specific solution of this embodiment, the radius of the first rotating transmission belt 22 is set on the rotating shaft sleeve of the first rotating driving motor 21, which is far smaller than the radius of the first rotating transmission belt 22 sleeved on the first outer cylinder 23, so that the rotating speed of the first transmission rod 11 is far smaller than the rotating speed of the first rotating driving motor 21, which can effectively prevent the first working arm 111 from rotating too fast, and improve the control precision of the rotating action of the first transmission rod 11.
Referring to fig. 1 and fig. 2, as a more preferable scheme of the present embodiment, a rotating shaft of the first rotating driving motor 21 is connected with a gear, an outer side wall of the first outer cylinder 23 is provided with a tooth structure, an inner tooth is provided in the first rotating transmission belt 22, the first rotating transmission belt 22 is sleeved on the first rotating driving motor 21 and the first outer cylinder 23, and the inner tooth of the first rotating transmission belt 22 is engaged with the gear of the first rotating driving motor 21 and the tooth structure of the first outer cylinder 23, so as to prevent the first rotating transmission belt 22 from slipping between the first rotating driving motor 21 and the first outer cylinder 23, and further improve the accuracy of controlling the rotating action of the first transmission rod 11.
Referring to fig. 1 to 3, in an embodiment of the present invention, the second rotation driving assembly includes a second rotation driving motor 31, a second rotation transmission belt 32 and a second outer cylinder 33, the second outer cylinder 33 is sleeved outside the second transmission rod 12, the second transmission rod 12 is fixed to the second outer cylinder 33 in a circumferential direction thereof and can slide relative to the second outer cylinder 33 in an axial direction thereof, the second rotation transmission belt 32 is sleeved on an outer side wall of the second outer cylinder 33, and the second rotation driving motor 31 drives the second outer cylinder 33 and the second transmission rod 12 to rotate in a circumferential direction through the second rotation transmission belt 32.
In this way, the rotating force provided by the second rotating driving motor 31 is transmitted to the second outer cylinder 33 through the second rotating transmission belt 32, the second transmission rod 12 is fixed relative to the second outer cylinder 33 in the circumferential direction, and the rotation of the second outer cylinder 33 further drives the rotation of the second transmission rod 12, so as to realize the rotating action of the second working arm 121; meanwhile, since the second transmission rod 12 can slide in the axial direction thereof relative to the second outer cylinder 33, the second transmission rod 12 can still perform the lifting motion under the control of the second lifting drive assembly.
As a specific solution of this embodiment, a slot extending along an axial direction of the second transmission rod 12 is formed on an outer side wall of the second transmission rod 12, and a protrusion structure matching with the slot is provided in the second outer cylinder 33, and the slot and the protrusion structure match with each other, so that the second transmission rod 12 can slide relative to the second outer cylinder 33 in an axial direction while being fixed relative to the second outer cylinder 33 in a circumferential direction thereof.
As a more preferable scheme of this embodiment, the outer wall of the second transmission rod 12 is provided with a spline groove extending along the axial direction thereof, a ball is disposed in the second outer cylinder 33, and the second outer cylinder 33 and the second transmission rod 12 are connected through the ball and the spline groove, so that not only circumferential fixing and axial relative sliding of the second transmission rod 12 and the second outer cylinder 33 can be realized, but also the sliding friction force of the second transmission rod 12 and the second outer cylinder 33 in the axial direction of the second transmission rod 12 can be greatly reduced, thereby effectively preventing equipment abrasion, and prolonging the service life and the maintenance cycle of the dual ZR module.
Alternatively, the second rotation driving assembly includes a second rotation driving motor 31, the second rotation driving motor 31 is connected to an end of the second transmission rod 12 away from the second working arm 121, and the second rotation driving motor 31 directly drives the second transmission rod 12 to rotate along the circumferential direction. The second rotation driving motor 31 directly drives the second transmission rod 12 to rotate, so as to realize the rotation action of the second working arm 121; however, compared to the solution that the second rotation driving motor 31 transmits the rotation torque to the second transmission rod 12 through the second rotation transmission belt 32 and the second outer cylinder 33, in order to enable the second transmission rod 12 to rotate and simultaneously achieve the function of axial movement, a connection rod matched with the second transmission rod 12 needs to be provided, and the second transmission rod 12 is fixed relative to the connection rod in the circumferential direction and can slide relative to the connection rod in the axial direction; alternatively, the second transmission rod 12 and the connecting rod are connected through a ball spline structure.
Referring to fig. 1 to 3, in an embodiment of the present invention, the first rotating driving motor 21 and the first driving rod 11 are in deceleration transmission; and/or the second rotary drive motor 31 and the second transmission rod 12. Because the rotational speed of driving motor is generally very fast, rotate between driving motor and the transfer line and reduce speed transmission, can make the rotational speed of transfer line be less than the rotational speed of rotating driving motor, prevent that the arm from rotating too fast and throwing away experimental liquid, because the turned angle of transfer line is less than the turned angle of transmission driving motor, can also carry out more accurate control to the rotation action of transfer line.
Referring to fig. 1 to fig. 3, as a specific solution of the present embodiment, the first rotation driving component is arranged as described above, the second rotation driving motor 31 transmits the rotation torque to the second transmission rod 12 through the second rotation transmission belt 32 and the second outer cylinder 33, the radius of the second rotation transmission belt 32 is set on the rotation shaft sleeve of the second rotation driving motor 31 and is far smaller than the radius of the second rotation transmission belt 32 set on the second outer cylinder 33, so that the rotation speed of the second transmission rod 12 is far smaller than the rotation speed of the second rotation driving motor 31, which can effectively prevent the second working arm 121 from rotating too fast, and improve the control accuracy of the rotation action of the second transmission rod 12.
Referring to fig. 1 to 3, it is more preferable that a gear is connected to a rotating shaft of the second rotating driving motor 31, a tooth-shaped structure is disposed on an outer side wall of the second outer cylinder 33, an inner tooth is disposed in the second rotating transmission belt 32, the second rotating transmission belt 32 is sleeved on the second rotating driving motor 31 and the second outer cylinder 33, and the inner tooth of the second rotating transmission belt 32 is engaged with the gear of the second rotating driving motor 31 and the tooth-shaped structure of the second outer cylinder 33, so as to prevent the second rotating transmission belt 32 from slipping between the second rotating driving motor 31 and the second outer cylinder 33, and further improve the accuracy of controlling the rotating motion of the second transmission rod 12.
As another specific solution of the embodiment, the first rotation driving assembly is arranged as described above, the second rotation driving motor 31 is connected to one end of the second transmission rod 12 far from the second working arm 121, the second rotation driving motor 31 is connected to the planetary reducer, and the planetary reducer is connected to the second transmission rod 12 through a ball spline structure, so that the rotation speed of the second transmission rod 12 is far less than the rotation speed of the second rotation driving motor 31, which can effectively prevent the second working arm 121 from rotating too fast, and improve the control precision of the rotation action of the second transmission rod 12.
Referring to fig. 1 to 3, in an embodiment of the present invention, the first lifting driving assembly includes a first lifting driving motor 41, a first lifting belt 42 and a first connecting assembly 43, the first connecting assembly 43 includes a first bearing part, the first bearing part is connected to the first driving rod 11, the first driving rod 11 is fixed to the first bearing part in an axial direction thereof and can rotate relative to the first bearing part in a circumferential direction thereof, the first lifting driving motor 41 is connected to the first connecting assembly 43 through the first lifting belt 42 and is configured to control a lifting operation of the first driving rod 11 through the first connecting assembly 43.
In this way, the lifting force provided by the first lifting driving motor 41 is transmitted to the first connecting assembly 43 through the first lifting transmission belt 42, and since the first connecting assembly 43 is connected to the first transmission rod 11 through the first bearing member, the first transmission rod 11 is fixed relative to the first bearing member in the axial direction thereof, thereby realizing the lifting action of the first working arm 111; meanwhile, the first transmission rod 11 can rotate relative to the first bearing part in the circumferential direction, and the first transmission rod 11 can still rotate under the control of the first rotation driving component; in addition, because the first lifting driving motor 41 and the first lifting transmission belt 42 are adopted to control the lifting of the first connecting assembly 43, the rotating motor can be adopted as the first lifting driving motor 41, and thus the first lifting driving motor 41 can adopt the motor equipment with the same specification as the first rotating driving motor 21, which is beneficial to simplifying the operation and maintenance of the double-ZR module and reducing the production and use cost thereof.
It should be understood that it is also possible to directly control the first connecting member 43 by using the lifting motor, or the first lifting driving motor 41 and the first lifting belt 42 may be regarded as the first lifting motor as a whole in this embodiment.
As a preferable mode of the present embodiment, the first lifting driving motor 41 and the first driving lever 11 are driven to reduce the speed of the lifting operation of the first driving lever 11, so as to improve the control accuracy of the lifting operation of the first driving lever 11.
Referring to fig. 2 and 3, in an embodiment of the present invention, the second elevation driving assembly includes a second elevation driving motor 51, a second elevation driving belt 52 and a second connecting assembly 53, the second connecting assembly 53 includes a second bearing 531, the second bearing 531 is connected to the second transmission rod 12, the second transmission rod 12 is fixed to the second bearing 531 in an axial direction thereof and can rotate relative to the second bearing 531 in a circumferential direction thereof, and the second elevation driving motor 51 is connected to the second connecting assembly 53 through the second elevation driving belt 52 and is configured to control the elevation motion of the second transmission rod 12 through the second connecting assembly 53.
In this way, the lifting force provided by the second lifting drive motor 51 is transmitted to the second connecting assembly 53 through the second lifting transmission belt 52, and since the second connecting assembly 53 is connected to the second driving lever 12 through the second bearing 531, the second driving lever 12 is fixed relative to the second bearing 531 in the axial direction thereof, thereby achieving the lifting motion of the second working arm 121; at the same time, the second transfer bar 12 is able to rotate in its circumferential direction with respect to the second bearing 531, the second transfer bar 12 still being able to perform a rotary motion under the control of the second rotary drive assembly; in addition, because the second lifting driving motor 51 and the second lifting transmission belt 52 are adopted to control the lifting of the second connecting assembly 53, the rotating motor can be adopted as the second lifting driving motor 51, and thus the second lifting driving motor 51 can adopt the motor equipment with the same specification as that of the second rotating driving motor 31, which is beneficial to simplifying the operation and maintenance of the double-ZR module and reducing the production and use cost thereof.
As a preferable mode of the present embodiment, the second elevation driving motor 51 and the second transmission rod 12 are driven at a reduced speed to reduce the speed of the elevation operation of the second transmission rod 12, thereby improving the control accuracy of the elevation operation of the second transmission rod 12.
Referring to fig. 2 and 3, in an embodiment of the present invention, the dual ZR module further includes a guide bar 6, the guide bar 6 is disposed in a direction parallel to the first transmission bar 11, the first connecting assembly 43 further includes a first slider capable of sliding along the guide bar 6 and connected to the first bearing member, the second connecting assembly 53 further includes a second slider 532 capable of sliding along the guide bar 6 and connected to the second bearing member 531, and the first slider and the second slider 532 clamp the first lifting belt 42 and the second lifting belt 52, respectively. Such setting is favorable to guiding the slip direction of first coupling assembling 43 and second coupling assembling 53, and can prevent that the spatial position of first transfer line 11 and second transfer line 12 from leading to the fact the restriction to the position overall arrangement of first lift drive subassembly and second lift drive subassembly for each drive assembly's spatial arrangement is more reasonable, can effectively reduce the space volume that two ZR modules occupy.
Referring to fig. 2 and 3, in an embodiment of the present invention, the first bearing includes a first extending portion, the first sliding block includes a first abutting hole, the extending directions of the first extending portion and the first abutting hole are perpendicular to the guide rod 6, the first extending portion is inserted into the first abutting hole, and the first extending portion is in clearance fit with the first abutting hole; the second bearing 531 includes a second extending portion 5311, the second slider 532 includes a second abutting hole 5321, the extending directions of the second extending portion 5311 and the second abutting hole 5321 are perpendicular to the guide rod 6, the second extending portion 5311 is inserted into the second abutting hole 5321, and the second extending portion 5311 is in clearance fit with the second abutting hole 5321.
In this way, the first slide block may not be strictly matched with the first bearing member, so that the first slide block and the first bearing member can slide in a small range in a direction perpendicular to the guide rod 6 in the case that the first lifting drive motor 41 has a certain vibration or in the case that the guide rod 6 and the first transmission rod 11 are not strictly parallel, and can play a role in protecting the first lifting drive assembly; the technical effects of the arrangement between the second slider 532 and the second bearing 531 are similar, and the description thereof is omitted.
In one embodiment of the present invention, the dual ZR module further includes a support member, and the first rotation driving assembly, the second rotation driving assembly, the first lifting driving assembly and the second lifting driving assembly are fixed on the support member. Specifically, the first rotation driving motor 21, the second rotation driving motor 31, the first elevation driving motor 41, the second elevation driving motor 51 and the guide rod 6 are fixedly arranged on a support member, and a fixed pulley for sleeving and fixing the first rotation transmission belt 22, the second rotation transmission belt 32, the first elevation transmission belt 42 and the second elevation transmission belt 52 is further fixedly arranged on the support member.
Referring to fig. 2, as a specific solution of the present embodiment, a first lifting driving motor 41 and a first lifting driving belt 52 are fixed on a supporting member, a second lifting driving motor 51 and a second lifting driving belt 52 are fixed on the supporting member and located above a first lifting driving assembly, a first working arm 111 and a second working arm 121 are respectively connected to the upper ends of a first driving rod 11 and a second driving rod 12, the second driving rod 12 is sleeved outside the first driving rod 11, the first driving rod 11 passes through the second driving rod 12, and the lower end of the first driving rod 11 is connected to the first lifting driving assembly; first rotation driving assembly and second rotation driving assembly set up inside support piece, and when necessary, guide arm 6 can pass the face that first rotation drive belt 22 encloses and/or the face that second rotation drive belt 32 encloses, and such design layout is more reasonable, can effectively reduce the space volume that two ZR modules occupy.
The invention is not to be considered as limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (10)
1. A dual ZR module, comprising:
a first drive lever;
the first transmission rod is sleeved outside the second transmission rod;
the first working arm is connected to the first transmission rod;
the second working arm is connected to the second transmission rod;
the first rotating driving component is connected with the first transmission rod and is used for controlling the rotating action of the first transmission rod;
the second rotation driving assembly is connected with the second transmission rod and is used for controlling the rotation action of the second transmission rod;
the first lifting driving assembly is connected with the first transmission rod and is used for controlling the lifting action of the first transmission rod; and
and the second lifting driving assembly is connected with the second transmission rod and is used for controlling the lifting action of the second transmission rod.
2. The dual ZR module according to claim 1, wherein the first rotation driving component includes a first rotation driving motor, a first rotation driving belt and a first outer cylinder, the first outer cylinder is sleeved outside the first transmission rod, the first transmission rod is fixed to the first outer cylinder in a circumferential direction thereof and can slide relative to the first outer cylinder in an axial direction thereof, the first rotation driving belt is sleeved on an outer sidewall of the first outer cylinder, and the first rotation driving motor drives the first outer cylinder and the first transmission rod to rotate through the first rotation driving belt.
3. The dual ZR module as in claim 2, wherein said first rotary drive motor is in underdrive communication with said first transfer bar.
4. The dual ZR module according to claim 2, wherein the second rotational driving assembly includes a second rotational driving motor, a second rotational driving belt and a second outer cylinder, the second outer cylinder is disposed outside the second transmission rod, the second transmission rod is fixed to the second outer cylinder in a circumferential direction thereof and is capable of sliding in an axial direction thereof, the second rotational driving belt is disposed on an outer sidewall of the second outer cylinder, and the second rotational driving motor drives the second outer cylinder and the second transmission rod to rotate through the second rotational driving belt; or
The second rotation driving assembly comprises a second rotation driving motor, the second rotation driving motor is connected to one end, far away from the second working arm, of the second transmission rod, and the second rotation driving motor directly drives the second transmission rod to rotate.
5. The dual ZR module of claim 4, wherein the first rotary drive motor is underdriven with respect to the first transfer bar; and/or the second rotary driving motor and the second transmission rod are in speed reduction transmission.
6. The dual ZR module according to claim 1, wherein the first lift driving assembly includes a first lift driving motor, a first lift driving belt, and a first connecting assembly, the first connecting assembly includes a first bearing member, the first bearing member connects to the first driving rod, the first driving rod is fixed in its axial direction relative to the first bearing member and can rotate in its circumferential direction relative to the first bearing member, the first lift driving motor connects to the first connecting assembly through the first lift driving belt, and is used for controlling the lift of the first driving rod through the first connecting assembly.
7. The dual ZR module according to claim 6, wherein the second lift drive assembly includes a second lift drive motor, a second lift belt, and a second linkage assembly, the second linkage assembly including a second bearing connected to the second drive bar, the second drive bar being fixed relative to the second bearing in an axial direction thereof and rotatable relative to the second bearing in a circumferential direction thereof, the second lift drive motor being connected to the second linkage assembly via the second lift belt and being configured to control the lift of the second drive bar via the second linkage assembly.
8. The dual ZR module according to claim 7, further comprising a guide bar disposed in a direction parallel to said first drive bar, said first link assembly further comprising a first shoe slidable along said guide bar and coupled to said first bearing member, said second link assembly further comprising a second shoe slidable along said guide bar and coupled to said second bearing member, said first and second shoes gripping said first and second lift belts, respectively.
9. The dual ZR module according to claim 8, wherein the first bearing includes a first extension, the first slider includes a first abutting hole, the first extension and the first abutting hole extend in a direction perpendicular to the guide bar, the first extension is inserted into the first abutting hole, and the first extension is in clearance fit with the first abutting hole; the second bearing piece comprises a second extending portion, the second sliding block comprises a second abutting hole, the extending direction of the second extending portion and the second abutting hole is perpendicular to the guide rod, the second extending portion is inserted into the second abutting hole, and the second extending portion is in clearance fit with the second abutting hole.
10. The dual ZR module according to any one of claims 1-9, further comprising a support member, said first rotational drive assembly, said second rotational drive assembly, said first lift drive assembly and said second lift drive assembly being secured to said support member.
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| CN201911086183.2A CN110975714B (en) | 2019-11-08 | 2019-11-08 | double-ZR module |
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| CN201911086183.2A CN110975714B (en) | 2019-11-08 | 2019-11-08 | double-ZR module |
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| CN110975714A true CN110975714A (en) | 2020-04-10 |
| CN110975714B CN110975714B (en) | 2022-04-22 |
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| CN110975714B (en) | 2022-04-22 |
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