CN111515974A - Test tube operation platform between medical isolation - Google Patents
Test tube operation platform between medical isolation Download PDFInfo
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- CN111515974A CN111515974A CN202010371624.XA CN202010371624A CN111515974A CN 111515974 A CN111515974 A CN 111515974A CN 202010371624 A CN202010371624 A CN 202010371624A CN 111515974 A CN111515974 A CN 111515974A
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- manipulator
- test tube
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a test tube operating platform for a medical isolation chamber, which comprises a mechanical hand library device, a mechanical hand suspension device, a mechanical hand supporting device, a base supporting device and a translation mechanism, wherein the translation mechanism drives the mechanical hand library device to translate, and can be used for extracting and placing test tubes in the isolation chamber. The invention can adapt to the isolation of each pilot tube and carry out isolation operation on the test tube; the invention can operate various test tubes, and can improve the efficiency; the invention greatly improves the safety factor.
Description
Technical Field
The invention relates to the field of safe operation of medical protection areas and medical isolation areas, in particular to an isolation room test tube operating device.
Background
Viral blood test tube work area needs artificial contact operation in medical field, has infected the risk, and artificial error more can cause economic loss, and operating personnel also can be direct risk to the injure and death, in order to solve this kind of problem, designs a medical isolation room test tube operation platform earlier.
Disclosure of Invention
Aiming at the technical problems, the technical scheme adopted by the invention is as follows: a test tube operating platform for a medical isolation room comprises a mechanical hand library device, a mechanical hand suspension device, a mechanical hand supporting device and a base supporting device.
The manipulator library device is arranged on a manipulator suspension device, the manipulator suspension device is arranged on a manipulator supporting device, and the manipulator supporting device is arranged on a base supporting device.
The manipulator library device comprises a circular test tube operating manipulator, a square test tube operating manipulator, an irregular test tube operating manipulator, a circular test tube manipulator stroke cylinder, a circular test tube manipulator clamping device oil path pipe, a manipulator supporting plate, a rotating shaft bottom plate, a manipulator rotating shaft, a square manipulator stroke cylinder, an irregular manipulator stroke cylinder, a square manipulator clamping device oil path pipe, an irregular manipulator clamping device oil path pipe and a rotating shaft fixing plate, wherein the circular test tube operating manipulator, the square test tube operating manipulator, the irregular test tube operating manipulator are fixed under the manipulator supporting plate, the circular test tube manipulator stroke cylinder, the square manipulator stroke cylinder and the irregular manipulator stroke cylinder are fixed on the manipulator supporting plate, telescopic shafts of the circular test tube manipulator, the square test tube manipulator and the irregular manipulator stroke cylinder are connected with the circular test tube operating manipulator through, The test tube manipulator comprises a square test tube manipulator, an irregular test tube manipulator, a circular test tube manipulator clamping device oil path pipe, a square manipulator clamping device oil path pipe and an irregular manipulator clamping device oil path pipe, wherein the circular test tube manipulator, the square test tube manipulator and the irregular test tube manipulator clamping device oil path pipe are circular test tube manipulator, square test tube manipulator and irregular test tube manipulator driving devices, a rotating shaft bottom plate is fixed on a manipulator supporting plate through an inner clamping groove, and a rotating shaft fixing plate is fixed above a manipulator rotating shaft.
Manipulator linkage include manipulator transposition motor, transposition action wheel, transposition from driving wheel, transposition in the middle of the transposition from driving wheel, transposition belt pulley belt, hang bottom plate, hang board and backup pad mounting hole, transposition action wheel, transposition in the middle of the transposition from driving wheel, transposition fix on hanging the bottom plate surface from the driving wheel, transposition, the transposition belt pulley belt carry out the transmission cooperation from driving wheel and transposition action wheel, transposition from the driving wheel in the middle of through the transposition, the transposition connect the manipulator rotation axis with the manipulator rotation axis and rotate, manipulator transposition motor fix on hanging the board surface.
The manipulator supporting device comprises a supporting plate, a supporting plate bottom plate, a stepping motor, a driving wheel, a driven wheel, an upper middle driven wheel, a lower middle driven wheel, a motor belt, a vertical shaft guide sleeve, four bearing support plates, four bearing seal plates and a motor bearing seat, wherein the stepping motor is arranged on the upper surface of the supporting plate, the rotating shaft of the stepping motor is connected with the driving wheel through the supporting plate, the driving wheel, the upper middle driven wheel, the lower middle driven wheel and the driven wheel are arranged on the supporting plate bottom plate, the motor belt is in transmission fit with the motor belt through the driving wheel, the upper middle driven wheel and the lower middle driven wheel, the number of the vertical shaft guide sleeves is four, the four bearing support plates are respectively and fixedly arranged on the supporting plate, the upper surface of each bearing support plate is fixedly arranged on the supporting plate and positioned above, is positioned below the motor belt.
The base supporting device comprises a Z-axis motor, a ball screw, a motor mounting plate, a motor supporting plate, a vertical shaft, an elastic coupling, a coupling middle plate, a coupling fixing plate, a ball nut, a connecting plate, a base lower plate, a base upper plate, a fixing plate, a servo motor driving wheel, a servo motor driven wheel, a servo motor middle upper driven wheel, a belt, a ball bearing and a servo motor middle lower driven wheel, wherein the Z-axis motor is mounted on the motor mounting plate, the motor mounting plate is fixed on the motor supporting plate, the number of the vertical shafts is four, two ends of the vertical shaft penetrate through the upper surface of the connecting plate and the lower surface of the motor supporting plate and are fixed on the base lower plate, the fixing plate is fixedly mounted on the base lower plate, the base upper plate is mounted on the base lower, the motor layer board install in vertical scroll top and vertical scroll fixed connection, the motor mounting panel install in motor layer board top, Z axle motor fix in motor mounting panel top, Z axle motor transmission shaft pass through motor mounting panel, shaft coupling fixed plate and ball screw and be connected, ball bearing pass through ball screw and install inside base hypoplastron and base upper plate, servo motor and servo motor action wheel be connected, servo motor action wheel, servo motor theory of following, servo motor in the middle of go up from the driving wheel, servo motor from the driving wheel down carry out the transmission cooperation through the belt from the driving wheel in the middle of the servo motor.
Further, circular test tube manipulator, square test tube manipulator, irregularly shaped test tube manipulator do linear motion through circular test tube manipulator stroke cylinder, square manipulator stroke cylinder, irregularly shaped manipulator stroke cylinder respectively, through circular test tube manipulator clamping device oil circuit pipe, square manipulator clamping device oil circuit pipe, irregularly shaped manipulator clamping device oil circuit union coupling hydro-cylinder carry out clamping motion.
Furthermore, the transposition driven wheel is connected with the manipulator rotating shaft, and the transposition belt pulley belt drives the transposition driven wheel to rotate through the transposition middle driven wheel when the manipulator transposition motor rotates.
Further, the action wheel be connected with step motor, step motor rotate the time motor belt through in the middle from the driving wheel, in the middle from the driving wheel drive from the theory of following down rotate.
Furthermore, when the servo motor rotates, the servo motor driving wheel, the upper driven wheel in the middle of the servo motor, the lower driven wheel in the middle of the servo motor and the servo motor driven wheel are driven by the belt to rotate.
Furthermore, the elastic coupling is arranged on the motor supporting plate and has the function of limiting, buffering and protecting the Z-axis stroke.
Furthermore, the manipulator library device, the manipulator suspension device and the manipulator supporting device slide through the vertical shaft.
Furthermore, square test tube manipulator, circular test tube manipulator stroke cylinder, irregularly shaped manipulator stroke cylinder pass through the manipulator layer board and be connected with circular test tube manipulator, square test tube manipulator, irregularly shaped test tube manipulator.
Furthermore, the manipulator rotating shaft is fixedly connected to the rotating shaft fixing plate through a suspension bottom plate and a transposition driven wheel.
Furthermore, the servo motor rotates to drive four ball screws fixed on the connecting plate to rotate.
Compared with the prior art, the invention has the beneficial effects that: (1) the invention can adapt to the isolation of each pilot tube and carry out isolation operation on the test tube; (2) the invention can operate various test tubes, and can improve the efficiency; (3) the invention greatly improves the safety factor.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the robot library apparatus of the present invention.
Fig. 3 is a schematic structural diagram of the robot suspension device of the present invention.
Fig. 4 and 5 are schematic structural views of the robot supporting device of the present invention.
Fig. 6 is a schematic structural diagram of the base support device of the present invention.
Reference numbers in the figures: 1-a robot magazine device; 2-a manipulator suspension device; 3-a manipulator support; 4-a base support means; 101-circular test tube handling robot; 102-square test tube handling manipulators; 103-irregular-shaped test tube handling manipulator; 104-round test tube manipulator stroke cylinder; 105-circular test tube manipulator clamping device oil pipe; 106-robot blade; 107-rotating shaft bottom plate; 108-robot rotation axis; 109-square manipulator stroke cylinder; 110-irregular-shaped manipulator stroke cylinder; 111-square manipulator clamping device oil pipe; 112-an irregular-shaped manipulator clamping device oil line pipe; 113-rotation axis fixing plate; 201-manipulator indexing motor; 202-indexing drive wheel; 203-indexing the driven wheel; 204-indexing intermediate driven wheel; 205-indexing a pulley belt; 206-a suspension mat; 207-a suspension plate; 208-support plate mounting holes; 301-a support plate; 302-support plate base plate; 303-a stepper motor; 304-a driving wheel; 305-slave theory; 306-intermediate upper driven wheel; 307-middle lower driven wheel; 308-motor belt; 309-vertical shaft guide sleeve; 310-a bearing plate; 311-bearing sealing plate; 312-motor bearing seat; 401-Z axis motor; 402-ball screw; 403-motor mounting plate; 404-a motor support plate; 405-vertical axis; 406-an elastic coupling; 407-coupler middle plate; 408-a coupling fixing plate; 409-ball nut; 410-a connecting plate; 411-a base; 412-base lower plate; 413-base upper plate; 414-a fixed plate; 415-a servo motor; 416-a servomotor drive wheel; 417-servo motor slave theory; 418-servo motor middle upper driven wheel; 419-a belt; 420-ball bearings; 421-servo motor middle lower driven wheel.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): as shown in fig. 1, 2, 3, 4, 5 and 6, the medical isolation room test tube operating platform comprises a manipulator library device 1, a manipulator suspension device 2, a manipulator support device 3 and a base support device 4.
The manipulator library device 1 is installed on a manipulator suspension device 2, the manipulator suspension device 2 is installed on a manipulator support device 3, and the manipulator support device 3 is installed on a base support device 4.
The manipulator library device 1 comprises a circular test tube manipulator 101, a square test tube manipulator 102, an irregular test tube manipulator 103, a circular test tube manipulator stroke cylinder 104, a circular test tube manipulator clamping device oil path pipe 105, a manipulator supporting plate 106, a rotating shaft bottom plate 107, a manipulator rotating shaft 108, a square manipulator stroke cylinder 109, an irregular manipulator stroke cylinder 110, a square manipulator clamping device oil path pipe 111, an irregular manipulator clamping device oil path pipe 112 and a rotating shaft fixing plate 113, a circular test tube manipulator 101, a square test tube manipulator 102, an irregular test tube manipulator 103, a telescopic shaft of the circular test tube manipulator 104, a square manipulator stroke cylinder 109 and an irregular manipulator stroke cylinder 110 which are fixed on the manipulator supporting plate 106 and the round test tube manipulator 101, the irregular test tube manipulator 103, a telescopic shaft of the circular test tube manipulator 104, the irregular manipulator stroke cylinder 109 and the manipulator stroke cylinder, The test tube manipulator comprises a square test tube manipulator 102 and an irregular test tube manipulator 103 which are connected, a circular test tube manipulator clamping device oil path pipe 105, a square manipulator clamping device oil path pipe 111 and an irregular manipulator clamping device oil path pipe 112 are circular test tube manipulator 101, a square test tube manipulator 102 and an irregular test tube manipulator 103 driving device, a rotating shaft bottom plate 107 is fixed on a manipulator supporting plate 106 through an internal clamping groove, and a rotating shaft fixing plate 113 is fixed above a manipulator rotating shaft 108.
The manipulator suspension device 2 comprises a manipulator indexing motor 201, an indexing driving wheel 202, an indexing driven wheel 203, an indexing intermediate driven wheel 204, an indexing belt pulley 205, a suspension bottom plate 206, a suspension plate 207 and a support plate mounting hole 208, wherein the indexing driving wheel 202, the indexing intermediate driven wheel 204 and the indexing driven wheel 203 are fixed on the surface of the suspension bottom plate 206, the indexing belt pulley 205 is in transmission fit with the indexing driving wheel 202 and the indexing driven wheel 203 through the indexing intermediate driven wheel 204, the indexing driven wheel 203 is connected with the manipulator rotating shaft 108 in a rotating mode, and the manipulator indexing motor 201 is fixed on the surface of the suspension plate 207.
The manipulator rotating shaft can rotate 360 degrees through the transposition driving wheel and the transposition driven wheel in cooperation with the transmission belt to rotate the corresponding manipulator required by the test tube to a specified position for next operation.
The manipulator supporting device 3 comprises a supporting plate 301, a supporting plate bottom plate 302, a stepping motor 303, a driving wheel 304, a driven wheel 305, an upper middle driven wheel 306, a lower middle driven wheel 307, a motor belt 308, a vertical shaft guide sleeve 309, a bearing supporting plate 310, a bearing sealing plate 311 and a motor bearing seat 312, wherein the stepping motor 303 is arranged on the upper surface of the supporting plate 301, the rotating shaft of the stepping motor 303 is connected with the driving wheel 304 through the supporting plate 301, the driving wheel 304, the upper middle driven wheel 306, the lower middle driven wheel 307 and the driven wheel 305 are arranged on the supporting plate bottom plate 302, the motor belt 308 is in transmission fit with the motor belt 308 through the driving wheel 304, the upper middle driven wheel 306 and the lower middle driven wheel 307, the number of the vertical shaft guide sleeves 309 is four, the bearing supporting plate 310 is fixedly arranged on the supporting plate 301 and is fixedly arranged on the upper surface of, below the motor belt 308.
The base supporting device 4 comprises a Z-axis motor 401, a ball screw 402, a motor mounting plate 403, a motor supporting plate 404, a vertical shaft 405, an elastic coupling 406, a coupling middle plate 407, a coupling fixing plate 408, a ball nut 409, a connecting plate 410, a base 411, a base lower plate 412, a base upper plate 413, a fixing plate 414, a servo motor 415, a servo motor driving wheel 416, a servo motor driven wheel 417, a servo motor middle upper driven wheel 418, a belt 419, a ball bearing 420 and a servo motor middle lower driven wheel 421, wherein the Z-axis motor 401 is mounted on the motor mounting plate 403, the motor mounting plate 403 is fixed on the motor supporting plate 404, the number of the vertical shafts 405 is four, two ends of the vertical shaft 405 penetrate through the upper surface of the connecting plate 410 and the lower surface of the motor supporting plate 404 and are fixed on the base lower plate 412, the fixing plate 414 is fixedly mounted on, the base lower plate 412 is fixed on the base 411, the motor supporting plate 404 is installed above a vertical shaft 405 and fixedly connected with the vertical shaft 405, the motor mounting plate 403 is installed above the motor supporting plate 404, the Z-axis motor 401 is fixed above the motor mounting plate 403, a transmission shaft of the Z-axis motor 401 is connected with the ball screw 402 through the motor mounting plate 403 and the coupling fixing plate 408, the ball bearing 420 is installed inside the base lower plate 412 and the base upper plate 413 through the ball screw 402, the servo motor 415 is connected with the servo motor driving wheel 416, the servo motor driven wheel 417, the servo motor middle upper driven wheel 418 and the servo motor middle lower driven wheel 421 are in transmission fit through a belt 419.
The circular test tube manipulator 101, the square test tube manipulator 102 and the irregular test tube manipulator 103 respectively do linear motion through a circular test tube manipulator stroke cylinder 104, a square manipulator stroke cylinder 109 and an irregular manipulator stroke cylinder 110, and are connected with the oil cylinder for clamping motion through a circular test tube manipulator clamping device oil path pipe 105, a square manipulator clamping device oil path pipe 111 and an irregular manipulator clamping device oil path pipe 112.
The index driven pulley 203 is connected to the robot rotation shaft 108, and when the robot index motor 201 rotates, the index pulley belt 205 rotates the index driven pulley 203 via the index intermediate driven pulley 204. The driving wheel 304 is connected with the stepping motor 303, and when the stepping motor 303 rotates, the motor belt 308 drives the driven wheel 305 to rotate through the middle upper driven wheel 306 and the middle lower driven wheel 307. When the servo motor 415 rotates, the servo motor driving wheel 416, the servo motor middle upper driven wheel 418, the servo motor middle lower driven wheel 421 and the servo motor driven wheel 417 are driven to rotate through a belt 419; the elastic coupling 406 is mounted on the motor support plate 404 and performs limiting and buffering protection on the Z-axis stroke. The robot library device 1, the robot suspension device 2, and the robot support device 3 slide on the vertical shaft 405.
The square test tube manipulator 102, the round test tube manipulator stroke cylinder 104 and the irregular test tube manipulator stroke cylinder 110 are connected with the round test tube manipulator 101, the square test tube manipulator 102 and the irregular test tube manipulator 103 through manipulator supporting plates 106.
The robot rotation shaft 108 is fixedly connected to the rotation shaft fixing plate 113 via a suspension base plate 206 and an index follower 203. The servo motor 415 rotates to drive the four ball screws 402 fixed on the connecting plate 410 to rotate.
The test tube is located in the range of the operation radius of the device, the servo motor rotates 415, the belt 419 rotates in a matched mode with the servo motor driving wheel 416 and the servo motor driven wheel 417 to drive the manipulator to perform rotary positioning in the safe operation range through the connecting plate 401, the Z-axis motor 401 rotates to perform safe height coordinate positioning through the ball nut 409, the elastic coupling 406 performs limit protection on the stroke, the 303-step motor rotates to drive the middle upper driven wheel 306 and the middle lower driven wheel 307 and the driven wheel 305 to perform actual operation accurate positioning through the 308 motor belt, the needed manipulator rotates to the target position through 201 indexing motor rotation according to the shape of the test tube, the 104, 109 and 110 air cylinders slowly approach the target, and the test tube is clamped to operate through the operation of the oil cylinders connected with 105, 111 and 112.
Claims (10)
1. The utility model provides a test tube operation platform between medical isolation which characterized in that: comprises a manipulator library device (1), a manipulator suspension device (2), a manipulator support device (3) and a base support device (4);
the manipulator library device (1) is arranged on a manipulator suspension device (222), the manipulator suspension device (2) is arranged on a manipulator supporting device (3), and the manipulator supporting device (333) is arranged on a base supporting device (4);
the manipulator library device (1) comprises a circular test tube manipulator (1010), a square test tube manipulator (102), an irregular test tube manipulator (103), a circular test tube manipulator stroke cylinder (1040), a circular test tube manipulator clamping device oil path pipe (105), a manipulator supporting plate (106), a rotating shaft bottom plate (107), a manipulator rotating shaft (108), a square manipulator stroke cylinder (109), an irregular manipulator stroke cylinder (110), a square manipulator clamping device oil path pipe (111), an irregular manipulator clamping device oil path pipe (112) and a rotating shaft fixing plate (113), the circular test tube manipulator (101), the square test tube manipulator (102), the irregular test tube manipulator (103) are fixed under the manipulator supporting plate (106), and the circular test tube manipulator stroke cylinder (104), A square manipulator stroke cylinder (109) and an irregular manipulator stroke cylinder (110) are fixed on a manipulator support plate (106), telescopic shafts of the cylinders are connected with a circular test tube operating manipulator (101), a square test tube operating manipulator (102) and an irregular test tube operating manipulator (103) through the manipulator support plate (106), the circular test tube manipulator clamping device oil path pipe (105), the square manipulator clamping device oil path pipe (111) and the irregular manipulator clamping device oil path pipe (112) are driving devices of the circular test tube operating manipulator (101), the square test tube operating manipulator (102) and the irregular test tube operating manipulator (103), a rotating shaft bottom plate (107) is fixed on the manipulator support plate (106) through an internal clamping groove, and a rotating shaft fixing plate (113) is fixed above a manipulator rotating shaft (108);
the manipulator suspension device (2) comprises a manipulator indexing motor (201), an indexing driving wheel (202), an indexing driven wheel (203), an indexing middle driven wheel (204), an indexing belt pulley belt (205), a suspension base plate (206), a suspension plate (207) and a support plate mounting hole (208), wherein the indexing driving wheel (202), the indexing middle driven wheel (204) and the indexing driven wheel (203) are fixed on the surface of the suspension base plate (206), the indexing belt pulley belt (205) is in transmission fit with the indexing driving wheel (202) and the indexing driven wheel (203) through the indexing middle driven wheel (204), the indexing driven wheel (203) is connected with a manipulator rotating shaft (108) to drive the manipulator rotating shaft (108) to rotate, and the manipulator indexing motor (201) is fixed on the surface of the suspension plate (207);
the manipulator supporting device (3) comprises a supporting plate (301), a supporting plate bottom plate (302), a stepping motor (303), a driving wheel (304), a driven wheel (305), an upper middle driven wheel (306), a lower middle driven wheel (307), a motor belt (308), a vertical shaft guide sleeve (309), a bearing supporting plate (310), a bearing sealing plate (311) and a motor bearing seat (312), wherein the stepping motor (303) is arranged on the upper surface of the supporting plate (301), the rotating shaft of the stepping motor (303) is connected with the driving wheel (304) through the supporting plate (301), the driving wheel (304), an upper middle driven wheel (306), a lower middle driven wheel (307) and the driven wheel (305) are arranged on the supporting plate bottom plate (302), and the motor belt (308) is in transmission fit with the motor belt (308) through the driving wheel (304), the upper middle driven wheel (306) and the lower middle driven wheel (307), the number of the vertical shaft guide sleeves (309) is four, the bearing supporting plates (310) are fixedly arranged on the supporting plate (301) respectively and fixedly arranged on the upper surface of the supporting plate (301) and positioned above the motor belt (308), and the bearing sealing plate (311) is fixedly arranged on the lower surface of the supporting plate bottom plate (302) and positioned below the motor belt (308);
the base supporting device (4) comprises a Z-axis motor (401), a ball screw (402), a motor mounting plate (403), a motor supporting plate (404), a vertical shaft (405), an elastic coupling (406), a coupling middle plate (407), a coupling fixing plate (408), a ball nut (409), a connecting plate (410), a base (411), a base lower plate (412), a base upper plate (413), a fixing plate (414), a servo motor (415), a servo motor driving wheel (416), a servo motor driven wheel (417), a servo motor middle upper driven wheel (418), a belt (419), a ball bearing (420) and a servo motor middle lower driven wheel (421), wherein the Z-axis motor (401) is mounted on the motor mounting plate (403), the motor mounting plate (403) is fixed on the motor supporting plate (404), the vertical shafts (405) are four, and two ends of the vertical shaft (405) penetrate through the upper surface of the connecting plate (410) and the lower surface of the motor supporting plate (404) The Z-axis motor is characterized in that the Z-axis motor is fixed on a base lower plate (412) through a ball screw (402), a transmission shaft of the Z-axis motor (401) is connected with the ball screw (402) through the motor mounting plate (403) and a coupling fixing plate (408), the ball bearing (420) is arranged inside the base lower plate (412) and the base upper plate (413) through the ball screw (402), and the servo motor (415) is connected with a servo motor driving wheel (416), the servo motor driving wheel (416), the servo motor driven wheel (417), the middle upper driven wheel (418) of the servo motor and the middle lower driven wheel (421) of the servo motor are in transmission fit through a belt (419).
2. The medical isolation room test tube operating platform of claim 1, wherein: the test tube manipulator is characterized in that the circular test tube manipulator (101), the square test tube manipulator (102) and the irregular test tube manipulator (103) respectively do linear motion through a circular test tube manipulator stroke cylinder (104), a square manipulator stroke cylinder (109) and an irregular manipulator stroke cylinder (110), and are connected with an oil cylinder for clamping motion through a circular test tube manipulator clamping device oil path pipe (105), a square manipulator clamping device oil path pipe (111) and an irregular manipulator clamping device oil path pipe (112).
3. The medical isolation room test tube operating platform of claim 1, wherein: the indexing driven wheel (203) is connected with a manipulator rotating shaft (108), and when the manipulator indexing motor (201) rotates, the indexing belt pulley (205) drives the indexing driven wheel (203) to rotate through the indexing middle driven wheel (204).
4. The medical isolation room test tube operating platform of claim 1, wherein: the driving wheel (304) is connected with the stepping motor (303), and when the stepping motor (303) rotates, the motor belt (308) drives the driven wheel (305) to rotate through the middle upper driven wheel (306) and the middle lower driven wheel (307).
5. The medical isolation room test tube operating platform of claim 1, wherein: when the servo motor (415) rotates, the servo motor driving wheel (416), the servo motor middle upper driven wheel (418), the servo motor middle lower driven wheel (421) and the servo motor driven wheel (417) are driven to rotate through a belt (419).
6. The medical isolation room test tube operating platform of claim 1, wherein: the elastic coupling (406) is arranged on the motor supporting plate (404) and has a limiting and buffering protection effect on the Z-axis stroke.
7. The medical isolation room test tube operating platform of claim 1, wherein: the manipulator library device (1), the manipulator suspension device (2) and the manipulator supporting device (3) slide through a vertical shaft (405).
8. The medical isolation room test tube operating platform of claim 1, wherein: the test tube manipulator is characterized in that the square test tube manipulator (102), the round test tube manipulator stroke cylinder (104) and the irregular test tube manipulator stroke cylinder (110) are connected with the round test tube manipulator (101), the square test tube manipulator (102) and the irregular test tube manipulator (103) through manipulator supporting plates (106).
9. The medical isolation room test tube operating platform of claim 1, wherein: the manipulator rotating shaft (108) is fixedly connected to the rotating shaft fixing plate (113) through a suspension bottom plate (206) and a transposition driven wheel 203.
10. The medical isolation room test tube operating platform of claim 1, wherein: the servo motor (415) rotates to drive the four ball screws 402 fixed on the connecting plate (410) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010371624.XA CN111515974A (en) | 2020-05-06 | 2020-05-06 | Test tube operation platform between medical isolation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010371624.XA CN111515974A (en) | 2020-05-06 | 2020-05-06 | Test tube operation platform between medical isolation |
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| CN111515974A true CN111515974A (en) | 2020-08-11 |
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| CN202010371624.XA Pending CN111515974A (en) | 2020-05-06 | 2020-05-06 | Test tube operation platform between medical isolation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446537A (en) * | 2022-11-10 | 2022-12-09 | 深圳市动能世纪科技有限公司 | Chip variable-pitch combined welding mechanism |
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| CN103624775A (en) * | 2013-11-28 | 2014-03-12 | 华南理工大学 | Synchronous belt deceleration plane joint robot |
| CN104647398A (en) * | 2015-01-12 | 2015-05-27 | 上海交通大学 | Collaborative double manipulators used for fruit picking |
| WO2017202153A1 (en) * | 2016-05-23 | 2017-11-30 | 浙江万能弹簧机械有限公司 | Modularized robot for bending wire rod |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| CN109176485A (en) * | 2018-10-16 | 2019-01-11 | 新松机器人联合研究院（潍坊）有限公司 | Four axis robot of flapping articulation |
| CN109249413A (en) * | 2018-11-07 | 2019-01-22 | 昌河飞机工业（集团）有限责任公司 | A kind of combination clamping device |
| CN210207708U (en) * | 2019-07-19 | 2020-03-31 | 南京林业大学 | Mechanical arm for automatically inspecting coaxiality of stepped shaft workpiece |
| CN110834348A (en) * | 2019-11-12 | 2020-02-25 | 徐州普瑞赛思物联网科技有限公司 | High-speed intelligent robot that goes up unloading |
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| CN115446537A (en) * | 2022-11-10 | 2022-12-09 | 深圳市动能世纪科技有限公司 | Chip variable-pitch combined welding mechanism |
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