CN205363875U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN205363875U CN205363875U CN201620139396.2U CN201620139396U CN205363875U CN 205363875 U CN205363875 U CN 205363875U CN 201620139396 U CN201620139396 U CN 201620139396U CN 205363875 U CN205363875 U CN 205363875U
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- axis
- guide assembly
- motor
- synchronizing wheel
- line slideway
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Abstract
The utility model discloses a mechanical arm belongs to the chemiluminiscence test field. Mechanical arm, including X axle guide rail subassembly, Y axle guide rail subassembly, Z axle guide rail subassembly, X axle motor, Y axle motor, Z axle motor, mechanical tongs and mechanical tongs motor, X axle guide rail subassembly and X axle motor link to each other, Y axle guide rail subassembly and Y axle motor link to each other, Z axle guide rail subassembly and Z axle motor link to each other, mechanical tongs and mechanical tongs motor link to each other, Y axle guide rail subassembly locate on the X axle guide rail subassembly, Z axle guide rail subassembly locate on the Y axle guide rail subassembly, mechanical tongs locate on the Z axle guide rail subassembly, mechanical tongs include clamping jaw, detection device, detection device locate clamping jaw top. The utility model discloses can realize in the nimble stable operation of three dimensions and can detect whether press from both sides the reaction cup.
Description
Technical field
This utility model relates to chemical luminescent detecting field, particularly relates to mechanical arm.
Background technology
In medicine production, the mode captured for reaction cup mainly has two kinds, and one is by manually carrying out grasping manipulation, but production efficiency is relatively low, it is easy to make mistakes；Two is adopt machinery automatically to capture, but this kind equipment drives the whole robot movement of chain-driving mainly by common electric machine, the position error of this equipment is relatively big and runs unstable, poor reliability, the regulation and control of position are easily screens also, underaction, it is impossible to meet the precision requirement of work.
It addition, mechanical gripper of the prior art is without detecting device, when jaw captures reaction cup, it is impossible to whether perception clamps reaction cup, will easily cause sky pawl phenomenon, when not having artificial monitoring device to run, reduce detection efficiency.
Utility model content
Problem to be solved: for problem above, this utility model provides a kind of in the flexible stable operation of three dimensions and the mechanical arm that the cup that whether responds can be detected.
For solving above technical problem, this utility model adopts the following technical scheme that
Mechanical arm includes X-axis guide assembly, Y-axis guide assembly, Z axis guide assembly, X-axis motor, y-axis motor, Z axis motor, mechanical gripper and mechanical gripper motor, described X-axis guide assembly is connected with X-axis motor, described Y-axis guide assembly is connected with y-axis motor, described Z axis guide assembly is connected with Z axis motor, and described mechanical gripper is connected with mechanical gripper motor；
Described Y-axis guide assembly is located on X-axis guide assembly, and described Z axis guide assembly is located on Y-axis guide assembly, and described mechanical gripper is located on Z axis guide assembly；
Described mechanical gripper includes jaw, detecting device, and described detecting device is located at above jaw.
Further technical scheme, described detecting device includes fixed block, optocoupler, spring, pin, catch, described fixed block is provided with chute, described pin is stopper, baffle plate and feeler lever from top to bottom successively, the top of described stopper is located in chute, described spring housing is between the bottom and baffle plate of stopper, and described catch is fixed in stopper and between stopper and optocoupler, and described optocoupler is fixed on fixed block.
Further technical scheme, described X-axis guide assembly includes X-axis rail brackets, X-axis line slideway, X-axis Timing Belt, X-axis synchronizing wheel, X-axis slide block；Described X-axis line slideway is located on X-axis rail brackets, described X-axis slide block is located on X-axis line slideway, described X-axis Timing Belt and X-axis synchronizing wheel drive X-axis slide block to slidably reciprocate on X-axis line slideway, and the rotating shaft of described X-axis synchronizing wheel is connected with X-axis motor；
Described Y-axis guide assembly includes Y-axis rail brackets, Y-axis line slideway, Y-axis Timing Belt, Y-axis synchronizing wheel, Y-axis slide block；Described Y-axis line slideway is located on Y-axis rail brackets, described Y-axis slide block is located on Y-axis line slideway, described Y-axis Timing Belt and Y-axis synchronizing wheel drive Y-axis slide block to slidably reciprocate on Y-axis line slideway, and the rotating shaft of described Y-axis synchronizing wheel is connected with y-axis motor；
Described Z axis guide assembly includes Z axis polished rod, Z axis linear bearing, Z axis Timing Belt, Z axis synchronizing wheel, described Z axis linear bearing is located on Z axis polished rod, described Z axis Timing Belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, and the rotating shaft of described Z axis synchronizing wheel is connected with Z axis motor.
Further technical scheme, described Y-axis rail brackets is located on X-axis slide block；Described Z axis polished rod is located on Y-axis slide block；Described mechanical gripper is located on Z axis linear bearing.
Further technical scheme, described jaw is made up of symmetrical jaw arm and jaws, and jaws is positioned at the end of jaw arm, and described jaws is curved.
Further technical scheme, the lower end inside of described jaw arm is provided with groove.
Workflow of the present utility model is:
In X-direction, X-axis Timing Belt and X-axis synchronizing wheel drive X-axis slide block to slidably reciprocate on X-axis line slideway, slidably reciprocate on X-axis line slideway thus driving Y-axis guide rail to prop up；
In Y direction, Y-axis Timing Belt and Y-axis synchronizing wheel drive Y-axis slide block to slidably reciprocate on Y-axis line slideway, slidably reciprocate on Y-axis line slideway thus driving Z axis polished rod to prop up；
In Z-direction, Z axis Timing Belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, thus the three-dimensional motion of driving mechanical cleft hand.
Mechanical gripper motor controls firmly grasping or unclamping of jaw, mechanical gripper is provided with the detecting device sensing the cup that whether responds, the cup if the clamp mouth part of jaw responds, reaction cup up pushes away the pin equipped with spring, and pin drives catch up to push away while up moving, when catch up pushes away time, catch blocks optocoupler, optocoupler detects that the clamp mouth part of jaw responds cup, then jaw is promptly, completes to capture work；Otherwise, mechanical gripper moves to next position and captures.
Beneficial effect
Compared with prior art, this utility model possesses following remarkable advantage:
1, mechanical arm simple structure of the present utility model, adopts and automatically captures, and is respectively provided with motor respectively in the X, Y, Z direction, controls motion in X, Y, Z-direction, and trace arrangements is simple；Sliding and mainly adopt guide assembly, when being so conducive to using, the regulation and control of position are convenient, accurate positioning, and good stability in operation is highly reliable, it is possible to meet the accurate high efficiency requirement of height capturing work.
2, mechanical gripper of the present utility model is provided with detecting device and is connected by structure cleverly, the cup that responds can be detected whether when jaw captures, if having, then complete to capture work, if not having mechanical gripper to move to next position to capture, avoid sky pawl phenomenon, improve detection efficiency.
3, structure of the detecting device of the present utility model is simple, highly sensitive, and jaw efficiently coordinates, and improves the work efficiency of crawl.
4, the lower end inside of this utility model jaw arm is provided with groove, and jaws is curved that jaw can be allowed to fit tightly reaction cup, folder very firm, it is possible to the bottleneck of clamping reaction cup steadily, difficult drop-off.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the enlarged drawing of X-axis guide assembly of the present utility model；
Fig. 3 is the enlarged drawing of Y-axis guide assembly of the present utility model；
Fig. 4 is the enlarged drawing of Z axis guide assembly of the present utility model；
Fig. 5 is the enlarged drawing of mechanical gripper of the present utility model；
Fig. 6 is the enlarged drawing of this utility model lever；
Number in the figure illustrates: 1, X-axis guide assembly, 2, Y-axis guide assembly, 3, Z axis guide assembly, 4, X-axis motor, 5, y-axis motor, 6, Z axis motor, 7, mechanical gripper, 8, mechanical gripper motor；7-1, fixed block, 7-2, optocoupler, 7-3, spring, 7-4, pin, 7-4-1, stopper, 7-4-2, baffle plate, 7-4-3, feeler lever, 7-5, catch, 7-6, jaw；1-1, X-axis rail brackets, 1-2, X-axis line slideway, 1-3, X-axis Timing Belt, 1-4, X-axis slide block；2-1, Y-axis rail brackets, 2-2, Y-axis line slideway, 2-3, Y-axis Timing Belt, 2-4, Y-axis slide block；3-1, Z axis polished rod, 3-2, Z axis linear bearing, 3-3, Z axis Timing Belt, 3-4, Z axis synchronizing wheel.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is described in further detail.
Embodiment
As shown in Figures 1 to 6, mechanical arm includes X-axis guide assembly 1, Y-axis guide assembly 2, Z axis guide assembly 3, X-axis motor 4, y-axis motor 5, Z axis motor 6, mechanical gripper 7 and mechanical gripper motor 8, described X-axis guide assembly 1 is connected with X-axis motor 4, described Y-axis guide assembly 2 is connected with y-axis motor 5, described Z axis guide assembly 3 is connected with Z axis motor 6, and described mechanical gripper 7 is connected with mechanical gripper motor 8；Described Y-axis guide assembly 2 is located on X-axis guide assembly 1, and described Z axis guide assembly 3 is located on Y-axis guide assembly 2, and described mechanical gripper 7 is located on Z axis guide assembly 3；Described mechanical gripper 7 includes jaw 7-6, detecting device, and described detecting device is located at above jaw 7-6.
Described detecting device includes fixed block 7-1, optocoupler 7-2, spring 7-3, pin 7-4, catch 7-5, described fixed block 7-1 is provided with chute, described pin 7-4 is stopper 7-4-1, baffle plate 7-4-2 and feeler lever 7-4-3 from top to bottom successively, the top of described stopper 7-4-1 is located in chute, described spring 7-3 is enclosed between the bottom of stopper 7-4-1 and baffle plate 7-4-2, described catch 7-5 is fixed on stopper 7-4-1 and between stopper 7-4-1 and optocoupler 7-2, and described optocoupler 7-2 is fixed on fixed block 7-1.
Described X-axis guide assembly 1 includes X-axis rail brackets 1-1, X-axis line slideway 1-2, X-axis Timing Belt 1-3, X-axis synchronizing wheel, X-axis slide block 1-4；Described X-axis line slideway 1-2 is located on X-axis rail brackets 1-1, described X-axis slide block 1-4 is located at 1-2 on X-axis line slideway, described X-axis Timing Belt 1-3 and X-axis synchronizing wheel drive X-axis slide block 1-4 to slidably reciprocate on X-axis line slideway 1-2, and the rotating shaft of described X-axis synchronizing wheel is connected with X-axis motor.
Described Y-axis guide assembly 2 includes Y-axis rail brackets 2-1, Y-axis line slideway 2-2, Y-axis Timing Belt 2-3, Y-axis synchronizing wheel, Y-axis slide block 2-4；Described Y-axis line slideway 2-2 is located on Y-axis rail brackets 2-1, described Y-axis slide block 2-4 is located on Y-axis line slideway 2-2, described Y-axis Timing Belt 2-3 and Y-axis synchronizing wheel drive Y-axis slide block 2-4 to slidably reciprocate on Y-axis line slideway 2-3, and the rotating shaft of described Y-axis synchronizing wheel is connected with y-axis motor.
Described Z axis guide assembly 3 includes Z axis polished rod 3-1, Z axis linear bearing 3-2, Z axis Timing Belt 3-3, Z axis synchronizing wheel 3-4, described Z axis linear bearing 3-2 is located on Z axis polished rod 3-1, described Z axis Timing Belt 3-3 and Z axis synchronizing wheel 3-4 drives Z axis linear bearing 3-2 to move up and down on Z axis polished rod 3-1, and the rotating shaft of described Z axis synchronizing wheel 3-4 is connected with Z axis motor 6.Described Y-axis rail brackets 2-1 is located on X-axis slide block 1-4；Described Z axis polished rod 3-1 is located on Y-axis slide block 2-4；Described mechanical gripper 7 is located on Z axis linear bearing 3-2.
Described jaw 7-6 is made up of symmetrical jaw arm and jaws, and jaws is positioned at the end of jaw arm, and described jaws is curved.The lower end inside of described jaw arm is provided with groove.
Claims (6)
1. mechanical arm, it is characterized in that, including X-axis guide assembly, Y-axis guide assembly, Z axis guide assembly, X-axis motor, y-axis motor, Z axis motor, mechanical gripper and mechanical gripper motor, described X-axis guide assembly is connected with X-axis motor, described Y-axis guide assembly is connected with y-axis motor, described Z axis guide assembly is connected with Z axis motor, and described mechanical gripper is connected with mechanical gripper motor；
Described Y-axis guide assembly is located on X-axis guide assembly, and described Z axis guide assembly is located on Y-axis guide assembly, and described mechanical gripper is located on Z axis guide assembly；
Described mechanical gripper includes jaw, detecting device, and described detecting device is located at above jaw.
2. mechanical arm according to claim 1, it is characterized in that, described detecting device includes fixed block, optocoupler, spring, pin, catch, described fixed block is provided with chute, described pin is stopper, baffle plate and feeler lever from top to bottom successively, and the top of described stopper is located in chute, and described spring housing is between the bottom and baffle plate of stopper, described catch is fixed in stopper and between stopper and optocoupler, and described optocoupler is fixed on fixed block.
3. mechanical arm according to claim 1, it is characterised in that described X-axis guide assembly includes X-axis rail brackets, X-axis line slideway, X-axis Timing Belt, X-axis synchronizing wheel, X-axis slide block；Described X-axis line slideway is located on X-axis rail brackets, described X-axis slide block is located on X-axis line slideway, described X-axis Timing Belt and X-axis synchronizing wheel drive X-axis slide block to slidably reciprocate on X-axis line slideway, and the rotating shaft of described X-axis synchronizing wheel is connected with X-axis motor；
Described Y-axis guide assembly includes Y-axis rail brackets, Y-axis line slideway, Y-axis Timing Belt, Y-axis synchronizing wheel, Y-axis slide block；Described Y-axis line slideway is located on Y-axis rail brackets, described Y-axis slide block is located on Y-axis line slideway, described Y-axis Timing Belt and Y-axis synchronizing wheel drive Y-axis slide block to slidably reciprocate on Y-axis line slideway, and the rotating shaft of described Y-axis synchronizing wheel is connected with y-axis motor；
Described Z axis guide assembly includes Z axis polished rod, Z axis linear bearing, Z axis Timing Belt, Z axis synchronizing wheel, described Z axis linear bearing is located on Z axis polished rod, described Z axis Timing Belt and Z axis synchronizing wheel drive Z axis linear bearing to move up and down on Z axis polished rod, and the rotating shaft of described Z axis synchronizing wheel is connected with Z axis motor.
4. mechanical arm according to claim 3, it is characterised in that described Y-axis rail brackets is located on X-axis slide block；Described Z axis polished rod is located on Y-axis slide block；Described mechanical gripper is located on Z axis linear bearing.
5. mechanical arm according to claim 1, it is characterised in that described jaw is made up of symmetrical jaw arm and jaws, and jaws is positioned at the end of jaw arm, and described jaws is curved.
6. mechanical arm according to claim 5, it is characterised in that the lower end inside of described jaw arm is provided with groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620139396.2U CN205363875U (en) | 2016-02-24 | 2016-02-24 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620139396.2U CN205363875U (en) | 2016-02-24 | 2016-02-24 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205363875U true CN205363875U (en) | 2016-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620139396.2U Active CN205363875U (en) | 2016-02-24 | 2016-02-24 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205363875U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619452A (en) * | 2016-02-24 | 2016-06-01 | 南京诺尔曼生物技术有限公司 | Mechanical arm |
| CN106290953A (en) * | 2016-07-25 | 2017-01-04 | 钢研纳克检测技术有限公司 | A kind of auto injection control system in Multi-example detects |
| CN108852194A (en) * | 2018-07-17 | 2018-11-23 | 烟台冰镜智能科技有限公司 | A kind of clean robot for preventing multiple wall dampness from breeding bacterium |
-
2016
- 2016-02-24 CN CN201620139396.2U patent/CN205363875U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619452A (en) * | 2016-02-24 | 2016-06-01 | 南京诺尔曼生物技术有限公司 | Mechanical arm |
| CN106290953A (en) * | 2016-07-25 | 2017-01-04 | 钢研纳克检测技术有限公司 | A kind of auto injection control system in Multi-example detects |
| CN108852194A (en) * | 2018-07-17 | 2018-11-23 | 烟台冰镜智能科技有限公司 | A kind of clean robot for preventing multiple wall dampness from breeding bacterium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 197 Yaogu Avenue, Jiangbei new district, Nanjing City, Jiangsu Province, 210000 Patentee after: Nanjing Norman Biotechnology Co.,Ltd. Address before: 210031 4 / F, Block E, talent building, No.10 Xinghuo Road, high tech Zone, Nanjing City, Jiangsu Province Patentee before: NANJING NORMAN BIOLOGICAL TECHNOLOGY Co.,Ltd. |