CN201929963U - Two-freedom motion mechanism and sampling device - Google Patents

Abstract

The utility model discloses a two-degree-of-freedom motion mechanism, which comprises a first motion part used for vertical linear motion and a second motion part connected with the first motion part for horizontal linear motion. The first motion part includes a vertical Straight support, screw rod, nut, vertical slide rod, slider, first motor and sample needle, the output shaft of the first motor is fixedly connected to one end of the screw rod, the other end of the screw rod is connected to the bottom of the vertical support, and the slider corresponds to The central axis of the vertical slide bar is arranged parallel to the central axis of the screw mandrel. The vertical slide bar is arranged in the middle of the slide block. The sample needle is fixed at one end of the slide block adjacent to the vertical slide bar. The slide bar The other end of the block is connected with the screw, and driven by the first motor, the sample needle moves vertically guided by the vertical slide bar and the outer circumference of the screw as the guide. The utility model also discloses a sampling device adopting the above-mentioned two-degree-of-freedom motion mechanism. The utility model has the advantages of wide application range, compact structure and the like.

Description

Two-degree-of-freedom motion mechanism and sampling device

technical field

The utility model relates to the field of medical equipment, in particular to a two-degree-of-freedom motion mechanism and a sampling device capable of performing puncture sampling with a wide application range.

Background technique

Please refer to FIG. 1 , which is a schematic diagram of a motion mechanism used in medical device products in the prior art. The movement mechanism adopts a double guide rod structure, and the screw rod 3 is driven to drive the slider 2 to move up and down on the guide part 4 through the forward rotation or reverse rotation of the motor 1 . By fixing the sampling needle on the slider 2 to make it move up and down, it can be used in a blood cell analysis device to puncture a test tube for sampling. This kind of kinematic mechanism has disadvantages: high processing precision, large size, and high cost.

Please refer to FIG. 2 , which is a schematic diagram of another two-degree-of-freedom motion mechanism in the prior art. The movement mechanism drives the slider 5 to move along the screw 6 through the screw 6 , and the sampling needle 9 is arranged on the slider 5 . The slide block 5 can rotate around the central axis of the screw mandrel 6 . This two-degree-of-freedom motion mechanism has the following disadvantages: it is not suitable for the puncture test tube sampling situation, because the central axis of the sampling needle 9 of this structure is far away from the central axis of the screw mandrel 6, and if the puncture is sampled, the sampling needle 9 is stressed. There is a large bending moment on the screw rod 6 through the slider 5, and the friction surface of the outer cylindrical surface of the slider 5 and the screw rod 6 is not smooth, so the friction force between the slider 5 and the screw rod 6 is very large, and it is easy to cause the screw rod 6 And the slider 5 is stuck or the step of the motor is lost. In addition, the position of the sampling needle 9 is limited, because the sampling needle of the sampling component rotates horizontally, theoretically the sampling needle can stay in many positions on the horizontally rotating circle, such as the sampling position, the counting pool position, the reaction pool position, etc. But in fact, limited by the size of the pool and the radius of rotation of the sampling needle, generally only 3 to 4 positions can be used. If more positions are added, installation and maintenance will be difficult. Therefore, the range of adaptation of the prior art two-degree-of-freedom motion mechanism shown in FIG. 2 is relatively small.

Utility model content

In order to solve the problem of the narrow adaptation range of the two degrees of freedom used in medical devices in the prior art, it is necessary to provide a two degrees of freedom motion mechanism with a wide adaptation range.

A preferred embodiment of the two-degree-of-freedom motion mechanism of the utility model includes a first motion part used for vertical linear motion and a second motion part connected with the first motion part for horizontal linear motion. The first motion part includes a vertical Support, screw rod, nut, vertical slide rod, slider, first motor and sample needle, the output shaft of the first motor is fixedly connected to one end of the screw rod, the other end of the screw rod is connected to the bottom of the vertical support, and the slider corresponds to the wire The central axis of the rod is set to be parallel to the central axis of the vertical slide bar and the central axis of the screw rod. The vertical slide bar is arranged in the middle of the slide block. The sample needle is fixed at one end of the slide block adjacent to the vertical slide bar. The slide block The other end is connected with the screw rod, driven by the first motor, the sample needle moves vertically with the vertical sliding rod as the main guide and the outer circumference of the screw rod as the guide

In the above-mentioned two-degree-of-freedom motion mechanism, one end of the slider includes an upper clamping part and a lower clamping part having a through hole corresponding to the screw rod, and the nut is clamped between the upper and lower clamping parts. One end of the output shaft screw rod of the motor is fixedly connected, the slider has a through hole adjacent to the middle part of the upper and lower clamping parts, the vertical slider passes through the through hole and is arranged on the vertical support, and the slider is far away from One end has a fixed part extending out, and the sample needle is fixed on the fixed part.

In the above-mentioned two-degree-of-freedom motion mechanism, the first motion part further includes a bearing, and the screw rod is connected to the bottom of the bracket through the bearing.

In the above-mentioned two-degree-of-freedom motion mechanism, the back of the vertical support includes a sliding part protruding backward, and the second moving part includes a horizontal support, a synchronous belt, a synchronous pulley, a horizontal slide bar and a second motor, and the synchronous pulley The horizontal direction is set on both sides of the horizontal support, and the horizontal support includes curling at the bottom and support parts for fixing and supporting the horizontal slide bar on both sides, and the sliding part of the vertical support is fixedly connected to one side of the synchronous belt .

In the above-mentioned two-degree-of-freedom motion mechanism, the relative position of the synchronous belt and the vertical support is fixed by screws and splints under the sliding part of the vertical support.

In the above-mentioned two-degree-of-freedom motion mechanism, the sliding part includes a sliding sleeve enclosing the horizontal sliding rod.

A sampling device of the present invention includes any one of the two-degree-of-freedom motion mechanisms described above.

Compared with the prior art, the two-degree-of-freedom motion mechanism of the utility model adopts the second motion part to realize the linear motion in the horizontal direction, instead of being limited to the circle with the central axis of the screw rod as the radius of the sample needle, effectively and reliably realizing larger Range, multi-position sampling, the length of the horizontal slider can be set according to the needs. And because the Yangben needle does not need to rotate, the distance between the sample needle and the screw rod can be relatively close, so that the screw rod will not be stuck, and the sample needle is small in hand, so it is easier to achieve puncture sampling. The sampling device of the utility model has compact structure and wide application range.

Description of drawings

Fig. 1 is a schematic diagram of a two-degree-of-freedom motion mechanism in the prior art.

Fig. 2 is a three-dimensional schematic diagram of another two-degree-of-freedom motion mechanism for counting.

Fig. 3 is a three-dimensional schematic diagram of an embodiment of the two-degree-of-freedom motion mechanism of the present invention.

Fig. 4 is a schematic cross-sectional view of the vertical movement part of the two-degree-of-freedom movement mechanism shown in Fig. 3 .

FIG. 5 is another schematic perspective view of the two-degree-of-freedom motion mechanism shown in FIG. 3 .

Detailed ways

The utility model will be described in further detail below through specific embodiments in conjunction with the accompanying drawings.

Please refer to FIG. 3 , which is a three-dimensional schematic diagram of a preferred embodiment of the two-degree-of-freedom motion mechanism of the present invention. The two-degree-of-freedom motion mechanism includes a first motion part V and a second motion part H connected to each other. The first movement part V is used for vertical linear movement, and the second movement part is used for horizontal linear movement.

Please refer to FIG. 4 , the first moving part V includes a vertical support 10 , a screw rod 11 , a nut 12 , a vertical sliding rod 13 , a slider 14 , a first motor 15 , a sample needle 16 and a bearing 17 . Wherein, the side of the vertical bracket 10 facing the viewing angle is omitted in FIG. 2 to illustrate the structure of the internal screw rod 11 and the vertical sliding rod 13 . The output shaft of the first motor 15 is fixedly connected to one end of the screw rod 11 , and the other end of the screw rod 11 is connected to the bottom of the vertical support 10 through a bearing 17 . The central axis of the vertical slide bar 13 and the central axis of the screw mandrel 11 are arranged in parallel. The vertical sliding rod 13 is arranged in the slider 14 adjacent to the screw rod 11 , the sample needle 16 is fixedly arranged at one end of the slider 14 , and the other end of the slider 14 is connected with the screw rod 11 . The vertical slide bar 13 is arranged between the sample needle 16 and the screw rod 11 . One end of the slider 14 includes an upper clamping part (not marked) and a lower clamping part (not marked) having a through hole corresponding to the screw rod 11, and the nut 12 is clamped between the upper and lower clamping parts. As shown in FIG. 4 , the output shaft of the first motor 15 is partially inserted between the upper and lower clamping parts, and inserted into one end of the screw rod 11 , and is fixedly connected with the screw rod 11 . When the slider 14 moves downward, the screw rod 11 can pass through the upper fixing part, the nut 12 and the lower fixing part. The sliding block 14 has a through hole adjacent to the upper and lower clamping parts, and the vertical sliding rod 13 is disposed on the vertical support 10 through the through hole. One end of the slider 14 away from the upper and lower clamping parts has an extended fixing part for fixing the sample needle 16 . The vertical slide rod 13 is located between the screw rod 11 and the sample needle 16 . The sample needle 16 is fixed on the fixing part and arranged adjacent to the vertical slide bar 13 . The first motor 15 rotates forwardly to drive the screw mandrel 11 to rotate. Since the nut 12 is clamped between the upper and lower clamping parts, its rotation is restricted, so the nut 12 pushes the slider 14 to move downward along the outer cylindrical surface of the vertical slide rod 13 and the screw rod 11, thereby driving the sample needle 16 down movement. Similarly, when the first motor 15 rotates in reverse, the sample needle 16 moves upward. The first motor 15 drives the sample needle 16 to move up and down, so that the puncture and sampling of the reagent in the test tube can be realized. That is, driven by the first motor, the sample needle 16 moves vertically with the vertical slide bar 13 as the main guide and the outer circumference of the screw rod 11 as the guide guide.

Please also refer to FIG. 5 , the back of the vertical support 10 includes a sliding portion (not shown) protruding backward, and the sliding portion includes a sliding sleeve 101 . The second moving part H includes a horizontal bracket 20 , a timing belt 22 , a timing pulley 23 , a horizontal slide bar 24 and a second motor 25 . The synchronous pulleys 23 are arranged horizontally on both sides of the horizontal support 20 , and the linear distance between the synchronous pulleys 23 is approximately equal to the horizontal slide bar 24 . The horizontal bracket 20 includes a curling edge 201 at the bottom and support portions 201 on both sides for fixing and supporting the horizontal sliding bar 24 . The sliding sleeve 101 encloses the horizontal sliding rod 24 . The synchronous belt 22 is driven to move horizontally under the rotation of the synchronous pulley 23 . The relative position of the synchronous belt 22 and the vertical support 10 is fixed by screws 29 and splints (not shown) below the sliding portion of the vertical support 10 . Therefore, when the timing belt 22 moves horizontally, the vertical bracket 10 moves horizontally along the horizontal slide bar 24 driven by the timing belt 22 . At the same time, a slot 102 is provided corresponding to the curling edge 201 under the vertical support 10 , and the curling edge 201 is stuck in the slot 102 . The slot 102 and the bead 201 are used to assist in guiding and prevent rotation when the vertical support 10 moves horizontally. The horizontal movement part H can realize staying and sampling at any position in the horizontal direction.

The structure of another embodiment of the two-degree-of-freedom motion mechanism of the present invention is similar to the structure of the two-degree-of-freedom motion mechanism in the above-mentioned embodiment. Viewed from an angle, the screw rod 11 is located between the sample needle 16 and the vertical slide rod 13 . Correspondingly, the upper and lower clamping parts of the slider 14 are also arranged in the middle, the nut 12 is fixedly arranged in the middle of the upper and lower clamping parts, and the screw rod passes through the upper clamping part, the nut 12 and the lower clamping part. The vertical slide bar 13 passes through the through hole of the slide block 14 and is fixed on the support 10 .

In other embodiments of the two-degree-of-freedom motion mechanism of the present invention, the first motion part and the second motion part are respectively rotated by 90 degrees, so that the first motion part realizes linear motion in the horizontal direction.

Compared with the prior art, the two-degree-of-freedom motion mechanism of the utility model adopts the second motion part to realize the linear motion in the horizontal direction, instead of being limited to the circle with the central axis of the screw rod as the radius of the sample needle, effectively and reliably realizing larger Range, multi-position sampling, the length of the horizontal slider can be set according to the needs. And because the Yangben needle does not need to rotate, the screw rod will not be stuck. In addition, the distance between the sample needle and the threaded rod can be relatively close, the force on the sample needle is small, and the puncture sampling can be realized relatively easily. The utility model also provides a sampling device adopting the above-mentioned free-degree motion mechanism, which has the characteristics of compact structure and wide application range.

The above content is a further detailed description of the utility model in conjunction with specific implementation methods, and it cannot be determined that the specific implementation of the utility model is only limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, without departing from the concept of the utility model, some simple deduction or substitutions can also be made, which should be regarded as belonging to the protection scope of the utility model.

Claims (7)

1. two degree-of-freedom motion mechanism, it is characterized in that: comprise being used for vertically straight-line first motion parts and second motion parts that is used for horizontal rectilinear motion that is connected with first motion parts, first motion parts comprises vertical rack, screw mandrel, nut, upright sliding bar, slide block, first motor and specimen needle, the output shaft of this first motor is fixedlyed connected with screw mandrel one end, the screw mandrel other end connects the vertical rack bottom, the corresponding screw mandrel of slide block is provided with the central axes setting of the central shaft and the screw mandrel of upright sliding bar, upright sliding bar is arranged on described slide block middle part, the contiguous upright sliding bar of specimen needle is fixedly installed on described slide block one end, the described slide block other end is connected with screw mandrel, under first motor-driven specimen needle with upright sliding bar take as the leading factor to, the screw mandrel excircle is for teaching to carrying out vertical motion.

2. two degree-of-freedom motion according to claim 1 mechanism, it is characterized in that: an end of described slide block comprises last clamping section and the following clamping section with through hole corresponding with screw mandrel, nut is clamped between the upper and lower clamping section, output shaft screw mandrel one end of first motor is fixedly connected, the contiguous middle part of clamping section up and down of slide block has through hole, upright sliding bar passes described through hole and is arranged on the described vertical rack, slide block has the fixed part that extends away from an end of clamping section up and down, and specimen needle is fixed on the fixed part.

3. two degree-of-freedom motion according to claim 2 mechanism, it is characterized in that: described first motion parts also comprises bearing, and described screw mandrel connects described frame bottom by described bearing.

4. two degree-of-freedom motion according to claim 3 mechanism, it is characterized in that: the back of described vertical rack comprises the sliding part that protrudes backward, second motion parts comprises horizontal stand, synchronous band, synchronous pulley, horizontal sliding bar and second motor, the synchronous pulley horizontal direction is arranged on the horizontal stand both sides, horizontal stand comprises the crimping that is positioned at the bottom and is arranged on the support sector with the support level slide bar of being used for fixing of both sides, the sliding part of described vertical rack be with a side to fixedly connected synchronously.

5. two degree-of-freedom motion according to claim 4 mechanism, it is characterized in that: the sliding part of described vertical rack will be synchronously with fixing with the relative position of vertical rack below by screw and clamping plate.

6. two degree-of-freedom motion according to claim 4 mechanism, it is characterized in that: described sliding part comprises the sliding sleeve that encases horizontal sliding bar.

7. sampling apparatus is characterized in that: comprise according to the arbitrary described two degree-of-freedom motion of claim 1-6 mechanism.

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