CN202592382U - Automatic mechanical gripper device - Google Patents
Automatic mechanical gripper device Download PDFInfo
- Publication number
- CN202592382U CN202592382U CN 201220217518 CN201220217518U CN202592382U CN 202592382 U CN202592382 U CN 202592382U CN 201220217518 CN201220217518 CN 201220217518 CN 201220217518 U CN201220217518 U CN 201220217518U CN 202592382 U CN202592382 U CN 202592382U
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- China
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- handgrip
- bracing strut
- axle
- spindle motor
- axis
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Abstract
The utility model discloses an automatic mechanical gripper device, aiming at improving the automation degree and the working efficiency of a mechanical gripper device. The automatic mechanical gripper device is provided with an X-axis bracket, wherein a Y-axis bracket which is arranged in an inclined angle of 90 degrees with the X-axis bracket is arranged at the lower end of the X-axis bracket; a Z-axis bracket is arranged at the lower side of the front end of the Y-axis bracket; a gripper mechanism is arranged at the lower end of the Z-axis bracket; an executing mechanism is driven by a transmission mechanism to enable the Y-axis bracket to move along the length direction of the X-axis bracket, enable the Z-axis bracket to move along the length direction of the Y-axis bracket, and enable to a gripper mechanism to move along the length direction of the Z-axis bracket; and a control mechanism is connected with and is used for controlling the transmission mechanism. Compared with the prior art, the mechanical gripper device is enabled to realize the action of transferring microplates in three-dimensional directions by arranging the transmission mechanism, the executing mechanism and the control mechanism for transmission control on an X-axis, an Y-axis and a Z-axis respectively, and the automation degree is increased.
Description
Technical field
The utility model relates to a kind of mechanical gripping arm device, especially a kind ofly can carry out automation and detects the automated machine gripper equipment whether successfully grasp microplate.
Background technology
In full-automatic medical treatment detection device, the microplate of the detection that participates in because different experiments stage necessary operations workbench is different, needs microplate between the different operating platform, to shift.Existing method generally adopts manual intervention, transmits combination up-down dual mode, adopts the manual intervention mode, and then automation journey is low, and efficient is low, and operator's labour intensity is big, and is unfavorable for the job requirement of man-machine separation; Adopt to transmit to combine up-down mode, device structure is complicated, and equipment occupation space is bigger, is unfavorable for the installation of equipment.
Summary of the invention
The purpose of the utility model provides a kind of automated machine gripper equipment, and the technical problem that solve is to improve the automaticity and the operating efficiency of mechanical gripping arm device.
For addressing the above problem; The utility model adopts following technical scheme: a kind of automated machine gripper equipment; Have transmission mechanism, controlling organization and executing agency, said automated machine gripper equipment is provided with the X bracing strut, and the lower end of said X bracing strut is provided with the X bracing strut and is the Y bracing strut that 90 ° of angles are provided with; Front end downside at the Y bracing strut is provided with the Z bracing strut; Said Z bracing strut lower end is provided with handgrip mechanism, said transmission mechanism driving execution mechanism make the Y bracing strut along X bracing strut length direction move, the Z bracing strut along Y bracing strut length direction move, handgrip mechanism moves along Z bracing strut length direction, controlling organization connects the control transmission mechanism;
Said executing agency is included in the X axis rail that X bracing strut lower end edge X bracing strut length direction is provided with; The lower end of said X axis rail is nested with X axle take-up housing; Said Y bracing strut is fastened on the X axle take-up housing, along being provided with the Y axis rail on the Y bracing strut length direction, is nested with Y axle slide block at the front end downside of Y bracing strut on the Y axis rail; Said Z bracing strut is fastened on the Y axle slide block through the y-axis motor holder; Said Z bracing strut is provided with screw mandrel, the screw mandrel lifting platform that has been threaded on the said screw mandrel, and said screw mandrel lifting platform connects handgrip mechanism;
Said transmission mechanism comprises the X spindle motor that is arranged on the Y bracing strut; On the output shaft of X spindle motor, be provided with X shaft pulley with groove; Said X shaft pulley and the X through-drive band engagement that is arranged on the X bracing strut with groove, said X through-drive band is parallel with the X bracing strut, when said X spindle motor rotates; The X shaft pulley makes the Y bracing strut move along the X axis rail along rolling on the groove face of X through-drive band;
Said y-axis motor holder is provided with y-axis motor; The y-axis motor output shaft is provided with the Y shaft pulley with groove; Said Y shaft pulley and the Y through-drive band engagement that is arranged on Y bracing strut lower end with groove; When said y-axis motor rotated, the Y shaft pulley made the Z bracing strut move along the Y axis rail along rolling on the groove face of Y through-drive band;
Said y-axis motor holder is provided with the Z spindle motor; The output shaft of said Z spindle motor is provided with the Z shaft pulley with groove; Be connected with Z axle belt synchronizing wheel on the said screw mandrel with groove; Be with Z through-drive band between said Z shaft pulley and the Z axle belt synchronizing wheel with groove; Said Z shaft pulley and Z axle belt synchronizing wheel mesh with Z through-drive band respectively, and said Z shaft pulley drives Z axle belt synchronizing wheel through Z through-drive band (36) and rotates, and makes the screw mandrel lifting platform drive handgrip mechanism and moves axially along screw mandrel;
Said handgrip mechanism comprises the handgrip support that is fastened on the screw mandrel lifting platform; The lower end of said handgrip support is provided with the handgrip motor; Said handgrip motor shaft is connected to the handgrip gear shaft; Said handgrip support is provided with handgrip axle Connection Block, and the handgrip gear shaft stretches in the handgrip Connection Block and meshes with the handgrip ratch group that is arranged on handgrip Connection Block both sides, drives the handgrip sheet opening and closing that are arranged on handgrip ratch group both sides;
Said controlling organization comprises the X axle control driver that is arranged on the Y bracing strut, is arranged on the Y/Z axle control driver on the Y bracing strut, and X axle control driver connects control X spindle motor, and Y/Z axle control driver connects control y-axis motor and Z spindle motor respectively.
The described Y bracing strut of the utility model is provided with X spindle motor holder; Said X spindle motor is arranged on the X spindle motor holder; On X spindle motor holder, be connected with an X axial compression belt wheel and the 2nd X axial compression belt wheel with groove; Said first, second X axial compression belt wheel is arranged on a side of X shaft pulley, and said X through-drive band is enclosed within on the X shaft pulley and meshes with the X shaft pulley, and the two ends of said X through-drive band coincide with an X axial compression belt wheel and the 2nd X axial compression belt wheel respectively.
Be connected with a Y axial compression belt wheel and the 2nd Y axial compression belt wheel between described y-axis motor holder of the utility model and the Y axle slide block; Said first, second Y axial compression belt wheel is arranged on a side of Y shaft pulley; Said Y through-drive band is enclosed within on the Y shaft pulley and with the Y shaft pulley and meshes, and the two ends of said Y through-drive band coincide with first, second Y axial compression belt wheel respectively.
The described Z bracing strut of the utility model is provided with the guide rail that is provided with along Z bracing strut length direction; Be nested with Z axle slide block on the said guide rail; Said Z axle slide block is provided with handgrip support link; Said handgrip support link connects the screw mandrel lifting platform, and said Z axle slide block connects the handgrip support through handgrip support link.
Be provided with the handgrip belt mechanism between described handgrip gear shaft of the utility model and the handgrip motor; Handgrip belt pulley with groove that said handgrip belt mechanism is coupling by the handgrip belt synchronizing wheel with groove that is coupling with the handgrip gear shaft, with the output shaft of handgrip motor and the handgrip driving-belt with groove are formed, are with transmission through handgrip driving-belt formation between said handgrip belt synchronizing wheel and the handgrip belt pulley.
The described handgrip ratch of the utility model group is made up of left handgrip ratch and right handgrip ratch, and said left handgrip ratch and right handgrip ratch insert in the handgrip Connection Block from the two ends of handgrip Connection Block respectively and be meshed with the gear parts of handgrip gear shaft.
The described handgrip sheet of the utility model is made up of left handgrip sheet and right handgrip sheet, and said left handgrip sheet is connected left handgrip ratch, and right handgrip sheet is connected on the right handgrip ratch.
The described Z bracing strut of the utility model is provided with first photoelectric sensor, and said first photoelectric sensor connects Y/Z axle control driver.
One side of the described Z spindle motor of the utility model, the side of y-axis motor holder are provided with second photoelectric sensor, and said second photoelectric sensor connects Y/Z axle control driver.
Between the utility model described X spindle motor holder and the X bracing strut, the Y bracing strut is provided with the 3rd photoelectric sensor, said the 3rd photoelectric sensor connects X axle control driver.
The utility model compared with prior art; Be employed in and on X axle, Y axle and three directions of Z axle of mechanical gripping arm device transmission mechanism, executing agency and controlling organization be set respectively and carry out transmission and control; Make the mechanical gripping arm device can realize shifting on the three-dimensional microplate action; Realize that automation detects microplate, improve automaticity and avoid manual intervention, and simple in structure.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2-the 1st, the syndeton sketch map of the transmission mechanism of the utility model X axle and the executing agency of X axle
Fig. 2-the 2nd, the syndeton sketch map of the transmission mechanism of the utility model X axle and the executing agency of X axle
Fig. 3-the 1st, the decomposition texture sketch map of the transmission mechanism of the utility model Y axle and the executing agency of Y axle.
Fig. 3-the 2nd, the plan structure sketch map of the transmission mechanism of the utility model Y axle and the executing agency of Y axle.
Fig. 3-the 3rd, Fig. 3-2 is along the cutaway view of A-A direction.
Fig. 3-the 4th, the internal structure cutaway view of the transmission mechanism of the utility model Y axle and the executing agency of Y axle.
Fig. 4-the 1st, the decomposition texture sketch map of the transmission mechanism of the utility model Z axle and the executing agency of Z axle.
Fig. 4-the 2nd, the structural representation one of the transmission mechanism of the utility model Z axle and the executing agency of Z axle.
Fig. 4-the 3rd, the structural representation two of the transmission mechanism of the utility model Z axle and the executing agency of Z axle.
Fig. 5-the 1st, the external structure sketch map of the utility model handgrip mechanism.
Fig. 5-the 2nd, Fig. 5-1 is along the cutaway view of B-B direction.
Fig. 5-the 3rd, Fig. 5-1 is along the cutaway view of C-C direction.
Fig. 5-the 4th, the decomposition texture sketch map of the utility model handgrip mechanism.
Fig. 5-the 5th, the package assembly sketch map of the utility model handgrip mechanism.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is done further explain.
As shown in Figure 1, the automated machine gripper equipment of the utility model is provided with X bracing strut 1, and X bracing strut 1 is the strip rectangle; Be provided with the Y bracing strut 2 that is 90 ° of angles settings in the lower end of X bracing strut 1; Said X bracing strut 1 is arranged on the centre position of Y bracing strut 2, and this Y bracing strut 2 is the rectangle laminated structure, vertically is provided with Z bracing strut 3 at the downside of Y bracing strut 2; The lower end of Z bracing strut 3 is provided with handgrip mechanism 4; Said controlling organization, transmission mechanism and executing agency's three great institutions are controlled Y bracing strut 2 respectively and are moved along the length direction of X bracing strut 1, and control Z bracing strut 3 length directions along the Y bracing strut move, and control handgrip mechanism 4 length directions along Z bracing strut 3 move;
The front end of said Y bracing strut 2 is provided with C font control panel fixed mount 201, and this control panel fixed mount 201 is coated on outside the transmission mechanism of Y axle and Z axle;
Said controlling organization by the X axle control driver 5 that is arranged on Y bracing strut 2 rear ends, be arranged on the Y/Z axle control driver 6 on control panel fixed mount 201 front end surface and the handgrip control driver 77 that is provided with on the control panel fixed mount 201 of Y/Z axle control driver 6 adjacent sides is formed.
The executing agency of the transmission mechanism of the transmission mechanism of the X axle in the said composition transmission mechanism, the transmission mechanism of Y axle and Z axle, the executing agency that forms the X axle in the executing agency, Y axle and the executing agency of Z axle are realized by following structure respectively:
Shown in Fig. 2-1 and Fig. 2-2; On Y bracing strut 2, the front end of X axle control driver 5 is provided with X spindle motor holder 16; X spindle motor holder 16 is made up of two parts; Be respectively X through-drive wheel seat 19 and X spindle motor seat 101; Said X through-drive wheel seat 19 is L font structure with X spindle motor seat 101; And X through-drive wheel seat 19 is connected and fixed through screw with X spindle motor seat 101 lower end lateral pieces branches relatively; Make the space that constitutes the transmission mechanism that can hold the X axle between it; The transmission mechanism of X axle by the outside at X spindle motor seat 101 be provided with X spindle motor 13 that output shaft passes X spindle motor seat 101, be coupling X axial compression belt wheel 17 between X through-drive wheel seat 19 and the X spindle motor seat 101 and the 2nd X axial compression belt wheel 18 and be arranged on an X axial compression belt wheel 17 and the 2nd X axial compression belt wheel 18 between the X shaft pulley 14 with groove of lower end form, on the two ends wheel shaft of an X axial compression belt wheel 17 and the 2nd X axial compression belt wheel 18, be respectively equipped with X axle bearing 102 and X axial compression belt wheel nut 103, X shaft pulley 14 is coupling on the output shaft of X spindle motor 13;
The executing agency of X axle is made up of through the X through-drive band 15 that X through-drive tape holder is fastened on X bracing strut 1 one sides, the X spindle motor holder 16 the X axis rail 11 and the two ends that are arranged on X axle take-up housing 12 on the Y bracing strut 2 and between the lower end of X bracing strut 1, be nested in the X axle take-up housing 12; Have groove on the X through-drive band 15; Laterally arrange with X bracing strut 1; The groove face of X through-drive band 15 installs around on X shaft pulley 14; And with 14 engagements of X shaft pulley; The shiny surface at the two ends of X through-drive band 15 all installs around in the upper end of an X axial compression belt wheel 17 and the 2nd X axial compression belt wheel 18, and X through-drive band 15 is compressed by an X axial compression belt wheel 17 and the 2nd X axial compression belt wheel 18, between X axis rail 11 and X bracing strut 1, is provided with X spindle guide rail chair 103; Said X spindle motor 13 receives X axle control driver control; Y bracing strut 2 can be moved along the length direction of X bracing strut 1, on the outside of X bracing strut 1 side, Y bracing strut 2, be provided with X-direction origin position washer 104, be provided with the first wire-protecting plate 105 with outside, the Y bracing strut 2 of the X bracing strut 1 of X-direction origin position washer 104 relative sides; On the first wire-protecting plate 105, be provided with the second wire-protecting plate 106; And cover on the first wire-protecting plate 105, the Y bracing strut 2 between said X through-drive wheel seat 19 and the X-direction origin position washer 104 is provided with the 3rd photoelectric sensor 9, the three photoelectric sensors 9 and connects X axle control driver 5.
Shown in Fig. 3-1,3-2, Fig. 3-3 and Fig. 3-4; Executing agency's part of Y axle is made up of the Y through-drive band 26 with groove that is fixed on Y bracing strut 2 lower ends through Y axle belt fixed frame 202, the Y axis rail 21 that is arranged on Y bracing strut 2 lower ends, the Y axle slide blocks 22 that are nested in outside the Y axis rail 21; Y through-drive band 26 is arranged on a side of Y axis rail 21, and along the length direction setting of Y bracing strut 2; On Y axle slide block 22, be fixedly connected with y-axis motor holder 23; Said control panel fixed mount 201 is fastened on the y-axis motor holder 23; This y-axis motor holder 23 is made up of first plane 203 that is crisscross arranged up and down and second plane 204, and the elevation of water on second plane 204 is higher than the elevation of water on first plane 203;
Between first plane 203 and Y axle slide block 22, be connected with a Y axial compression belt wheel 27 and the 2nd Y axial compression belt wheel 28 of the transmission mechanism that belongs to the Y axle; The one Y axial compression belt wheel 27 and the 2nd Y axial compression belt wheel 28 all are arranged on the same straight line; End at a Y axial compression belt wheel 27 and the 2nd Y axial compression belt wheel 28 is respectively equipped with Y shaft pulley baffle plate 206; The other end is provided with Y axle bearing 207; Upper end card at Y shaft pulley baffle plate 206 has Y axle jump ring 208; Side between the one Y axial compression belt wheel 27 and the 2nd Y axial compression belt wheel 28 is provided with the Y shaft pulley 25 with groove, and Y shaft pulley 25 is coupling on the output shaft of the y-axis motor 24 that is arranged on 203 lower ends, first plane, and y-axis motor 24 connects Y/Z axle control driver 6; Be provided with Y axle limited block 205 on the right side on first plane 203; The groove face of said Y through-drive band 26 install around outside Y shaft pulley 25 and with its engagement, Y through-drive band 26 also installs around with the outer surface of a Y axial compression belt wheel 27 and the 2nd Y axial compression belt wheel 28, and Y through-drive band 26 is compressed by a Y axial compression belt wheel 27 and the 2nd Y axial compression belt wheel 28.
Shown in Fig. 4-3, be connected through handgrip support 41 between said Z bracing strut 3 and the handgrip mechanism 4.
Shown in Fig. 4-1 and 4-2; The lower end on second plane 204 of said y-axis motor holder 23 vertically is provided with Z spindle motor plate brace 302; On Z spindle motor plate brace 302, be connected with Z spindle motor plate 303 through screw; Z spindle motor 33 in the transmission mechanism of Z axle is arranged on the Z spindle motor plate 303, and the Z spindle motor connects Y/Z control driver 77, and output shaft passes in the Z spindle motor plate 303; Be arranged in the space between the Z spindle motor plate 303 and second plane 204; On the output shaft of Z spindle motor plate 303, be provided with Z shaft pulley 34, on the lateral surface on second plane 204, be provided with second photoelectric sensor, 8, the second photoelectric sensors 8 and link to each other with Y/Z axle control driver 6 through lead with groove; Said Z bracing strut 3 is arranged on a side on second plane 204; Adjacent with second photoelectric sensor 8; On the Z axle travel switch plate washer 312 on the Z bracing strut 3, be plugged with first photoelectric sensor 7, said first photoelectric sensor 7 connects Y/Z axle control driver 6 through lead;
Said handgrip mechanism 4 is fastened on the handgrip drain pan Connection Block 310.
Shown in Fig. 5-1, the outside of said handgrip mechanism 4 is a L font structure, and the part of the handgrip motor 42 in the running part of handgrip mechanism is vertically exposed outside handgrip mechanism 4, and is arranged in the handgrip motor cover 311.
Shown in Fig. 5-2, Fig. 5-3,5-4 and Fig. 5-5; Handgrip mechanism 4 has L shaped shell 47; The chamber 406 that the running part of ccontaining handgrip mechanism is arranged in the L shaped shell 47; Handgrip motor 42 output shafts insert in the chamber 406 down, and said handgrip motor 42 connects handgrip control driver 77, is provided with handgrip belt mechanism 48 in the chamber 406; Handgrip belt mechanism 48 is made up of the handgrip belt pulley 401 with groove, the handgrip driving-belt 407 that has the handgrip belt synchronizing wheel 49 of groove and have a groove; Handgrip belt pulley 401 is coupling on the output shaft of handgrip motor 42, in chamber 406, is provided with handgrip gear shaft block 408, in chamber 406, is provided with the handgrip gear shaft 43 that is coupling on handgrip gear shaft block 408 and the handgrip axle Connection Block 44 that is arranged on chamber 406 interior lower end; The Lower Half of this handgrip gear shaft 43 is a gear; The first half is an axle, and the gear parts of said handgrip gear shaft 43 inserts in the handgrip axle Connection Block 44, the first half of the handgrip gear shaft 43 handgrip belt synchronizing wheel 49 that is coupling; Said handgrip driving-belt 407 is enclosed within on handgrip belt synchronizing wheel 49 and the handgrip belt pulley 401 and is engaged with and forms the band transmission, is respectively equipped with the first handgrip bearing 409 and the second handgrip bearing 410 in the upper end of handgrip belt synchronizing wheel 49 and the lower end of handgrip gear shaft 43; On a side of L shaped shell 47, be stamped handgrip casing cover 411; Said handgrip axle Connection Block 44 is provided with first through hole 412 and second through hole 413 that runs through along its length; Be communicated with the gear control 414 of settling handgrip gear shaft 43 between this first through hole 412 and second through hole 413; In first through hole 412 and second through hole 413, be connected with handgrip ratch group 45; Said handgrip ratch group 45 is made up of with right handgrip ratch 403 left handgrip ratch 402, and said left handgrip ratch 402 inserts from the two ends of handgrip Connection Block 44 respectively in first through hole 412 and second through hole 413 with right handgrip ratch 403 and is meshed with the gear parts of handgrip gear shaft 43; Be provided with left handgrip contiguous block 415 in the outer end of left handgrip ratch 402; The outer end of right handgrip ratch 403 is provided with right handgrip contiguous block 416; Be respectively equipped with left handgrip sheet 404 and right handgrip sheet 405 on said left handgrip contiguous block 415 and the right handgrip contiguous block 416; At the finger 417 that is respectively equipped with pectination on the left handgrip sheet 404 and on the right handgrip sheet 405, the front end of finger 417 is provided with the finger flanging 418 of 90 ° of inside bendings.
When X axle control driver 5 drives 13 rotations of X spindle motor; X spindle motor 13 drives X shaft pulley 14 and rotates; X shaft pulley 14 moves along X through-drive band 15; Drive Y bracing strut, Z bracing strut, handgrip mechanism move along X axis rail 11 length directions through X axle take-up housing 12 together, have realized the X-direction motion of the utility model automated machine gripper equipment.
When Y/Z axle control driver 6 drives y-axis motor 24 rotations; Y-axis motor 24 drives Y shaft pulley 25 and rotates; Y shaft pulley 25 moves along Y through-drive band 26; Drive described Z bracing strut, handgrip mechanism and move along Y axis rail 21 length directions through Y axle slide block 22 together, realized the Y direction motion of the utility model automated machine gripper equipment.
When Y/Z axle control driver 6 drives 33 rotations of Z spindle motor; Z spindle motor 33 drives Z shaft pulley 34 and rotates; Z through-drive band 36 moves under the drive of Z shaft pulley 34; The motion of Z shaft pulley 34 drives Z axle belt synchronizing wheel 35 and rotates, and Z axle belt synchronizing wheel 35 rotating band movable wire bars 31 rotate, and screw mandrel 31 rotating band movable wire bar lifting platforms 32 move up and down; Screw mandrel lifting platform 32 moves up and down and drives handgrip support 41 along screw mandrel 31 axially-movables, realizes the Z-direction motion of the automated machine gripper equipment of the utility model.
When sending, handgrip control driver 77 catches or when unclamping the microplate instruction; When handgrip control driver 77 drives 42 rotations of handgrip motor; Handgrip motor 42 drives handgrip belt pulley 401 and rotates; Handgrip belt pulley 401 will drive 407 motions of handgrip driving-belt; Handgrip driving-belt 407 drives handgrip gear shafts 43 through handgrip belt synchronizing wheel 49 and rotates, and handgrip gear shaft 43 rotates and drives left handgrip sheet ratch 402, right handgrip sheet ratch 403 opens or also drive left handgrip sheet 404 when closing up and right handgrip sheet 405 opens or closes up, and realizes catching or unclamping the microplate function; And through detecting handgrip motor 25 feedacks, handgrip control driver 77 will judge whether automatically that success picks up microplate.
When carrying out the action of transfer microplate for the first time; Y/Z axle control driver 6, X axle control driver 5 are carried out initialization directive respectively; And accomplish the initialization action through gathering first photoelectric sensor 7, the information of second photoelectric sensor 8, the information of the 3rd photoelectric sensor respectively, simultaneously, handgrip control driver 77 is also carried out initialization directive; Accomplish initialization action through detecting handgrip motor 42 feedacks, guarantee that with this automated machine gripper equipment obtains initial position;
When Y/Z axle control driver 6 sends that Z-direction is mentioned up and down or when putting down movement instruction; Z axis drive motor 42 will drive handgrip support 41 and move up and down; Realization is mentioned handgrip mechanism 4 or is put down, thereby realizes grabbing microplate is placed on the workbench of differing heights;
When Y/Z axle control driver 6 sends Y direction inside and outside movement instruction; Y axis drive motor 24 will drive y-axis motor holder 23 and be fixed on control panel fixed mount 1 on the y-axis motor holder 23, Y/Z axle control driver 6, handgrip control driver 7, Y axis drive motor 24, Z axis drive motor 33, Z bracing strut 3, handgrip support 41 and handgrip mechanism 4 and move along the Y direction of device together, realize grabbing microplate is transferred to the diverse location place of Y direction;
When X axle control driver 5 sends X-direction side-to-side movement instruction; X axis drive motor 13 will drive 2 side-to-side movements of Y bracing strut through X shaft pulley 15, X axle take-up housing 12; 2 of Y bracing struts drive control panel fixed mount 201, Y/Z axle control driver 6, handgrip control driver 77, Y axis drive motor 24, Z axis drive motor 33, Z bracing strut 3, handgrip support 41 and handgrip mechanism 4 and move along the device X-direction, thereby realize shifting the diverse location place that institute's microplate of grabbing arrives X-direction;
In the time need carrying out the transfer work on the different operating table top to microplate; X axle control driver 5, Y/Z axle control driver 6 and handgrip control driver 77 are realized the transfer microplate function of automation equipment in the three-dimensional space that X axle, Y axle and Z axle are formed with collaborative work.
Claims (10)
1. automated machine gripper equipment; Have transmission mechanism, controlling organization and executing agency; It is characterized in that: said automated machine gripper equipment is provided with X bracing strut (1); The lower end of said X bracing strut (1) is provided with X bracing strut (1) and is the Y bracing strut (2) that 90 ° of angles are provided with; Front end downside at Y bracing strut (2) is provided with Z bracing strut (3); Said Z bracing strut (3) lower end is provided with handgrip mechanism (4), said transmission mechanism driving execution mechanism make Y bracing strut (2) along X bracing strut (1) length direction move, Z bracing strut (3) along Y bracing strut (2) length direction move, handgrip mechanism (4) moves along Z bracing strut (3) length direction, controlling organization connects the control transmission mechanism;
Said executing agency is included in the X axis rail (11) that X bracing strut (1) lower end edge X bracing strut (1) length direction is provided with; The lower end of said X axis rail (11) is nested with X axle take-up housing (12); Said Y bracing strut (2) is fastened on the X axle take-up housing (12); At the front end downside of Y bracing strut (2) along being provided with Y axis rail (21) on Y bracing strut (2) length direction; Be nested with Y axle slide block (22) on the Y axis rail (21), said Z bracing strut (3) is fastened on the Y axle slide block (22) through y-axis motor holder (23), and said Z bracing strut (3) is provided with screw mandrel (31); The screw mandrel lifting platform (32) that has been threaded on the said screw mandrel (31), said screw mandrel lifting platform (32) connects handgrip mechanism (4);
Said transmission mechanism comprises the X spindle motor (13) that is arranged on the Y bracing strut (2); On the output shaft of X spindle motor (13), be provided with X shaft pulley (14) with groove; Said X shaft pulley (14) and X through-drive band (15) engagement that is arranged on the X bracing strut (1) with groove; Said X through-drive band (15) is parallel with X bracing strut (1); When said X spindle motor (13) rotated, X shaft pulley (14) made Y bracing strut (2) move along X axis rail (11) along rolling on the groove face of X through-drive band (15);
Said y-axis motor holder (23) is provided with y-axis motor (24); Y-axis motor (24) output shaft is provided with the Y shaft pulley (25) with groove; Said Y shaft pulley (25) and Y through-drive band (26) engagement that is arranged on Y bracing strut (1) lower end with groove; When said y-axis motor (24) rotated, Y shaft pulley (25) made Z bracing strut (3) move along Y axis rail (21) along rolling on the groove face of Y through-drive band (26);
Said y-axis motor holder (23) is provided with Z spindle motor (33); The output shaft of said Z spindle motor (33) is provided with the Z shaft pulley (34) with groove; Be connected with Z axle belt synchronizing wheel (35) on the said screw mandrel (31) with groove; Be with Z through-drive band (36) between said Z shaft pulley (34) and the Z axle belt synchronizing wheel (35) with groove; Said Z shaft pulley (34) meshes with Z through-drive band (36) respectively with Z axle belt synchronizing wheel (35); Said Z shaft pulley (34) drives Z axle belt synchronizing wheel (35) through Z through-drive band (36) and rotates, and makes screw mandrel lifting platform (32) drive handgrip mechanism (4) and moves axially along screw mandrel (31);
Said handgrip mechanism comprises the handgrip support (41) that is fastened on the screw mandrel lifting platform (32); The lower end of said handgrip support (41) is provided with handgrip motor (42); Said handgrip motor (42) is connected with handgrip gear shaft (43); Said handgrip support (41) is provided with handgrip axle Connection Block (44); Handgrip gear shaft (43) stretches in the handgrip Connection Block (44) and meshes with the handgrip ratch group (45) that is arranged on handgrip Connection Block (44) both sides, drives handgrip sheet (46) opening and closing that are arranged on handgrip ratch group (45) both sides;
Said controlling organization comprises the X axle control driver (5) that is arranged on the Y bracing strut (2); Be arranged on the Y/Z axle control driver (6) on the Y bracing strut (2); X axle control driver (5) connects control X spindle motor (13), and Y/Z axle control driver (6) connects control y-axis motor (24) and Z spindle motor (33) respectively.
2. automated machine gripper equipment according to claim 1; It is characterized in that: said Y bracing strut (2) is provided with X spindle motor holder (16); Said X spindle motor (13) is arranged on the X spindle motor holder (16); On X spindle motor holder (16), be connected with an X axial compression belt wheel (17) and the 2nd X axial compression belt wheel (18) with groove; Said first, second X axial compression belt wheel (17,18) is arranged on a side of X shaft pulley (14); Said X through-drive band (15) is enclosed within last and X shaft pulley (14) engagement of X shaft pulley (14), and the two ends of said X through-drive band (15) coincide with an X axial compression belt wheel (17) and the 2nd X axial compression belt wheel (18) respectively.
3. automated machine gripper equipment according to claim 2; It is characterized in that: be connected with a Y axial compression belt wheel (27) and the 2nd Y axial compression belt wheel (28) between said y-axis motor holder (23) and the Y axle slide block (22); Said first, second Y axial compression belt wheel (27,28) is arranged on a side of Y shaft pulley (25); Said Y through-drive band (26) is enclosed within Y shaft pulley (25) and upward and with Y shaft pulley (25) meshes, and the two ends of said Y through-drive band (26) coincide with first, second Y axial compression belt wheel (27,28) respectively.
4. automated machine gripper equipment according to claim 3; It is characterized in that: said Z bracing strut (3) is provided with the guide rail (38) that is provided with along Z bracing strut (3) length direction; Be nested with Z axle slide block (39) on the said guide rail (38); Said Z axle slide block (39) is provided with handgrip support link (301); Said handgrip support link (301) connects screw mandrel lifting platform (32), and said Z axle slide block (39) connects handgrip support (41) through handgrip support link (301).
5. automated machine gripper equipment according to claim 4; It is characterized in that: be provided with handgrip belt mechanism (48) between said handgrip gear shaft (43) and the handgrip motor (42); Said handgrip belt mechanism (48) is passed through handgrip driving-belt (407) formation and is with transmission by the handgrip belt synchronizing wheel (49) with groove that is coupling with handgrip gear shaft (43), forms with output shaft the handgrip belt pulley (401) with groove that is coupling and the handgrip driving-belt (407) with groove of handgrip motor (42) between said handgrip belt synchronizing wheel (49) and the handgrip belt pulley (401).
6. automated machine gripper equipment according to claim 5; It is characterized in that: said handgrip ratch group (45) is made up of left handgrip ratch (402) and right handgrip ratch (403), and said left handgrip ratch (402) and right handgrip ratch (403) insert in the handgrip Connection Block (44) from the two ends of handgrip Connection Block (44) respectively and be meshed with the gear parts of handgrip gear shaft (43).
7. automated machine gripper equipment according to claim 6; It is characterized in that: said handgrip sheet (46) is made up of left handgrip sheet (404) and right handgrip sheet (405); Said left handgrip sheet (404) is connected left handgrip ratch (402), and right handgrip sheet (405) is connected on the right handgrip ratch (403).
8. automated machine gripper equipment according to claim 7 is characterized in that: said Z bracing strut (3) is provided with first photoelectric sensor (7), and said first photoelectric sensor (7) connects Y/Z axle control driver (6).
9. automated machine gripper equipment according to claim 8; It is characterized in that: the side of a side of said Z spindle motor (33), y-axis motor holder (23) is provided with second photoelectric sensor (8), and said second photoelectric sensor (8) connects Y/Z axle control driver (6).
10. automated machine gripper equipment according to claim 9; It is characterized in that: between said X spindle motor holder (16) and the X bracing strut (1), Y bracing strut (2) is provided with the 3rd photoelectric sensor (9), said the 3rd photoelectric sensor (9) connects X axle control driver (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220217518 CN202592382U (en) | 2012-05-07 | 2012-05-07 | Automatic mechanical gripper device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220217518 CN202592382U (en) | 2012-05-07 | 2012-05-07 | Automatic mechanical gripper device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202592382U true CN202592382U (en) | 2012-12-12 |
Family
ID=47309964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220217518 Expired - Lifetime CN202592382U (en) | 2012-05-07 | 2012-05-07 | Automatic mechanical gripper device |
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| Country | Link |
|---|---|
| CN (1) | CN202592382U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN105128000A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Floating guide rod and fixed sliding sleeve compound echelon transmission manipulator |
| CN106802353A (en) * | 2017-03-16 | 2017-06-06 | 烟台德瑞生物科技有限公司 | Automatic enzyme immune luminescence analyzer |
| CN109702731A (en) * | 2018-10-12 | 2019-05-03 | 苏州神运机器人有限公司 | It is a kind of to adapt to the big pressing robot of height difference between working faces |
| CN113522779A (en) * | 2021-06-21 | 2021-10-22 | 江南大学附属医院 | Automatic sorting system for pathological small specimens |
-
2012
- 2012-05-07 CN CN 201220217518 patent/CN202592382U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN105128000A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Floating guide rod and fixed sliding sleeve compound echelon transmission manipulator |
| CN106802353A (en) * | 2017-03-16 | 2017-06-06 | 烟台德瑞生物科技有限公司 | Automatic enzyme immune luminescence analyzer |
| CN109702731A (en) * | 2018-10-12 | 2019-05-03 | 苏州神运机器人有限公司 | It is a kind of to adapt to the big pressing robot of height difference between working faces |
| CN113522779A (en) * | 2021-06-21 | 2021-10-22 | 江南大学附属医院 | Automatic sorting system for pathological small specimens |
| CN113522779B (en) * | 2021-06-21 | 2022-04-15 | 江南大学附属医院 | Automatic sorting system for pathological small specimens |
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| C14 | Grant of patent or utility model | ||
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Owner name: SHENZHEN AIKANG BIOTECHNOLOGY CO., LTD. Free format text: FORMER NAME: SHENZHEN AIKANG ELECTRONICS CO., LTD. |
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| CP03 | Change of name, title or address |
Address after: 518131 Guangdong city of Shenzhen province Baoan District streets of Min Kang Lu Zhang Hang Industrial Park building B Patentee after: Shenzhen Aikang Biotechnology Co., Ltd. Address before: 518131 Guangdong city of Shenzhen province Baoan District streets of Min Kang Lu Zhang Hang Industrial Park B building, five floor, three or four Patentee before: Shenzhen Aikang Electronics Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518131 building B, Zhangkeng Industrial Park, Minkang Road, Minzhi street, Bao'an District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aikang Biotechnology Co.,Ltd. Address before: 518131 building B, Zhangkeng Industrial Park, Minkang Road, Minzhi street, Bao'an District, Shenzhen, Guangdong Province Patentee before: AIKANG MEDTECH Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121212 |