CN207522613U - The XYZ telecontrol equipments of cup robot - Google Patents
The XYZ telecontrol equipments of cup robot Download PDFInfo
- Publication number
- CN207522613U CN207522613U CN201721561363.8U CN201721561363U CN207522613U CN 207522613 U CN207522613 U CN 207522613U CN 201721561363 U CN201721561363 U CN 201721561363U CN 207522613 U CN207522613 U CN 207522613U
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- China
- Prior art keywords
- fixed
- guide rail
- xyz
- sliding blocks
- sliding
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Abstract
The utility model is related to the field of medical instrument technology.Purpose is to provide a kind of XYZ telecontrol equipments of cup robot, which should have the characteristics that flexible movements, accurate positioning, working efficiency are high.Technical solution is：The XYZ telecontrol equipments of cup robot, it is characterised in that：The device includes being mounted on the XY mechanisms that double Z-axis mechanisms is driven to move horizontally on platform and double Z-axis mechanisms for driving mechanical claw Mechanism with being oriented to extraction sector vertical shift.
Description
Technical field
The utility model is related to the field of medical instrument technology, and in particular to a kind of XYZ sportswear of automatic cup robot
It puts.
Background technology
The principle of cup is using the air in drain tank the methods of burning, pumping, makes tank absorption in human body appointed part
Negative pressure is formed, stimulation is generated and causes contrafluxion, reach the effect of certain.Traditional cup usually relies on manual operation simultaneously
A people is at least needed to be assisted, mainly using glass jar and pumping tank two kinds of tanks tool, during use labor intensive and efficiency compared with
It is low, and not yet go out the relevant device for being now able to realize automatic cup in the market, it requires further improvement.
Utility model content
The purpose of the utility model is to overcome the deficiencies in above-mentioned background technology, provide a kind of XYZ fortune of cup robot
Dynamic device, the device should have the characteristics that flexible movements, accurate positioning, working efficiency are high.
The technical solution of the utility model is：
The XYZ telecontrol equipments of cup robot, it is characterised in that：The device, which includes being mounted on, drives double Z axis machines on platform
The XY mechanisms that structure moves horizontally and double Z-axis mechanisms for driving mechanical claw Mechanism with being oriented to extraction sector vertical shift；
The XY mechanisms include being horizontally fixed on respectively in two parallel beams of platform and two Y equipped with Y sliding blocks
Guide rail, both ends and Y sliding blocks are fixed and transmit translation motor power equipped with the X guide rails of X sliding blocks, two translation motors, to X sliding blocks
Synchronous belt component；The synchronous belt component includes two synchronous belts, drive the outer synchronous pulleys of two synchronous belts with it is interior same
Step belt wheel is arranged on two adjacent corner areas of platform and is located at the outside and inside of corner areas respectively simultaneously, by translation electricity
The driving wheel of machine driving is arranged on platform other two adjacent corner areas, and two idle pulleys are set on each Y sliding blocks；The Y is led
Rail is arranged between adjacent outer synchronous pulley and driving wheel, and two Y guide rails are arranged parallel to and perpendicular to X guide rails；Often
The both ends of synchronous belt are separately fixed at X sliding blocks towards two sides of Y guide rail, every synchronous belt and are disposed therein a Y
The outer synchronous pulley of guide rail side, driving wheel, an idle pulley engagement and also with being arranged on the interior synchronous of another Y guide rail side
Belt wheel, an idle pulley engagement；
Double Z-axis mechanisms include fixing with X sliding blocks and being equipped with the stent of the first lifting motor, for solid mechanical pawl machine
Structure and equipped with the second lifting motor aluminium section bar, for fixed guide extraction sector and pass through slide construction can vertical sliding it is fixed
Connecting plate of the position on aluminium section bar, leads to the screw structure by transmitting the first lifting motor power drive aluminium section bar vertical shift
Cross the gear ＆ rack structure for transmitting the second lifting motor power drive connecting plate vertical shift.
In every synchronous belt, the band body connected between X sliding blocks and idle pulley is parallel to X guide rails, and connect idle pulley with
Driving wheel with body, connection driving wheel with outer synchronous pulley with body, connect the band body of inter-sync band wheel and idle pulley each parallel to Y
Guide rail.
The line of two end fixed points of one synchronous belt and two end fixed points of another synchronous belt
Line intersects, and the line of the end fixed point of two synchronous belts and X guide rail parallels or vertical.
The screw structure includes the screw that can be rotationally located on stent around vertical axis and is nibbled with wire rod thread
The screw sliding block being slidably matched can be formed with stent by merging；The screw is fixed with the first lifting motor shaft, aluminium section bar and silk
Bar sliding block is fixed.
The slide construction includes the sliding rail being fixed on vertically on aluminium section bar and the connecting plate sliding block coordinated with sliding rail；Institute
Connecting plate is stated to fix with connecting plate sliding block.
The gear ＆ rack structure includes the rack being fixed on vertically on sliding rail and is fixed with the second lifting motor shaft
And with rack meshed gears.
The beneficial effects of the utility model are：
The utility model is moved by XY mechanisms and the cooperation of double Z-axis mechanisms to drive mechanical claw Mechanism and be oriented to extraction sector
It is dynamic, actions, flexible movements, the accurate positionings such as tank, locking acupuncture point, pumping, deflation and closed cans is taken effectively to carry so as to fulfill automatic
High working efficiency.
Description of the drawings
Fig. 1 is the overlooking the structure diagram of the utility model.
Fig. 2 is that the power of Tu1Zhong XY mechanisms transmits schematic diagram.
Fig. 3 is the front view of double Z-axis mechanisms (including mechanical claw Mechanism with being oriented to extraction sector).
Fig. 4 is the stereogram of double Z-axis mechanisms (including mechanical claw Mechanism with being oriented to extraction sector).
Specific embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model be not limited to
Lower embodiment.
As shown in Figure 1, the XYZ telecontrol equipments of cup robot, XY mechanisms, installation including platform 1, on platform
Elevating mechanism in XY mechanisms.For double Z-axis mechanisms to be driven to move horizontally, double Z-axis mechanisms are respectively used to band for the XY mechanisms
Dynamic mechanical claw Mechanism A is with being oriented to extraction sector B vertical shifts.
As shown in Figure 1, the platform is horizontal positioned rectangular frame.The XY mechanisms include two horizontally disposed Y
Guide rail 21, horizontally disposed X guide rails 23, horizontally slidable positions horizontally slidable the Y sliding blocks 22 being located in Y guide rail
X sliding blocks 24, two translation motors 31, synchronous belt components on X guide rails.Two Y guide rails are separately fixed at the two of platform
It in parallel beams 11, is mutually parallel between Y guide rail, both ends and the Y sliding blocks of X guide rails are fixed and X guide rails are perpendicular to Y guide rail.
The synchronous belt component is by transmitting translation motor power X sliding blocks to be driven to move in the horizontal direction.It is described same
It is lazy that step band component includes outer 43, four, the driving wheel 42, two of synchronous pulley 41, the two inter-sync band wheel of two synchronous belts 4, two
Wheel 44.The outer synchronous pulley, driving wheel, inter-sync band wheel, idle pulley pivot center be vertical direction.
As shown in Fig. 2, the outer synchronous pulley, driving wheel, inter-sync band wheel are rotatably positioned in the corner region of platform
Domain, wherein, two adjacent corner areas of platform set outer synchronous pulley and inter-sync band wheel simultaneously, and outer synchronous pulley is arranged on
The outer fix of corner areas, inter-sync band wheel are arranged on the inner side of corner areas, other two adjacent corner of platform
Region sets driving wheel and translation motor respectively, and each translation motor is operated alone a driving wheel, rotatable on each Y sliding blocks
Ground positions two idle pulleys.Every Y guide rail is then arranged between adjacent outer synchronous pulley and driving wheel.
The both ends of the synchronous belt are fixed with X sliding blocks, and synchronous belt and outer synchronous pulley, inter-sync band wheel, driving wheel,
Idle pulley engages.Two sides that the both ends of every synchronous belt are separately fixed at X sliding blocks towards Y guide rail (are located at X in Fig. 2
The side of sliding block left and right directions), every synchronous belt and it is disposed therein the outer synchronous pulley of a Y guide rail side, driving wheel, one
The engagement of a idle pulley and also with being arranged on the inter-sync band wheel of another Y guide rail side, an idle pulley engages.On the X sliding blocks
Share the end fixed point of 4 synchronous belts, the line of two end fixed points of a synchronous belt and the two of another synchronous belt
The line of a end fixed point intersects, and an end of an end fixed point of a synchronous belt and another synchronous belt
The line of fixed point and X guide rail parallels are vertical.In every synchronous belt, the band body connected between X sliding blocks and idle pulley is parallel
In X guide rails, and connect idle pulley and driving wheel with body, connection driving wheel and outer synchronous pulley band body, connect inter-sync band
The band body of wheel and idle pulley is each parallel to Y guide rail.
Double Z-axis mechanisms include stent 51, aluminium section bar 52, connecting plate 53, the first lifting motor 32, the second lifting motor
33rd, screw structure, gear ＆ rack structure, slide construction.The stent is fixed with X sliding blocks, and the first lifting motor is fixed on stent
Bottom, aluminium section bar are used for solid mechanical pawl mechanism A, and the second lifting motor is fixed on aluminium section bar, and screw structure is mounted on stent
Upper and screw structure is taken out by transmitting the first lifting motor power drive aluminium section bar vertical shift, connecting plate for fixed guide
Mechanism of qi structure B and connecting plate can be located on aluminium section bar to vertical sliding by slide construction, gear ＆ rack structure, which is mounted on, to be slided
In dynamic structure and gear ＆ rack structure is by transmitting the second lifting motor power drive connecting plate vertical shift.
In the screw structure, screw 54 can be rotationally located in around vertical axis on stent and with the first lifting motor
Shaft is fixed, and screw sliding block 55 is engaged with wire rod thread, and aluminium section bar is fixed with screw sliding block, and the first lifting motor driving screw turns
When dynamic, screw sliding block moves along the side vertical of stent and (is formed and be slidably matched between screw sliding block and stent), the side of stent
Face is used to guide screw movement that screw sliding block wire winding rod is avoided to rotate.In the slide construction, sliding rail 56 is fixed on aluminium vertically
On section bar, connecting plate sliding block 57 can be located on sliding rail to vertical sliding, and connecting plate is fixed with connecting plate sliding block.The gear teeth
In structure, rack 58 is fixed on sliding rail vertically, and gear 59 is fixed with the second lifting motor shaft and engaged with rack.
The operation principle of the utility model is：
Translation motor starts, if two driving wheels, with same rotational speed rotating Vortex, X sliding blocks are slided along X guide rails level,
If two driving wheels are reversely rotated with same rotational speed, X guide rails are slided with X sliding blocks along Y guide rail level；First lifting motor opens
It is dynamic, it is fixed with the aluminium section bar of mechanical claw Mechanism and being fixed with and is oriented to the connecting plate of extraction sector vertical shift simultaneously, the second lifting
Electric motor starting is fixed with the connecting plate vertical shift for being oriented to extraction sector.
Claims (6)
1. the XYZ telecontrol equipments of cup robot, it is characterised in that：The device, which includes being mounted on, drives double Z-axis mechanisms on platform
The XY mechanisms moved horizontally and double Z-axis mechanisms for driving mechanical claw Mechanism with being oriented to extraction sector vertical shift；
The XY mechanisms include being horizontally fixed on respectively in two parallel beams of platform and two Y equipped with Y sliding blocks (22)
Guide rail (21), both ends and Y sliding blocks fix and equipped with the X guide rails (23) of X sliding blocks (24), two translation motors (31), to X sliding blocks
Transmit the synchronous belt component of translation motor power；The synchronous belt component includes two synchronous belts (4), drives two synchronous belts
Outer synchronous pulley (41) and inter-sync band wheel (43) and meanwhile be arranged on two adjacent corner areas of platform and be located at side respectively
The outside and inside of angular zone, the driving wheel (42) driven by translation motor are arranged on platform other two adjacent corner areas,
Two idle pulleys (44) are set on each Y sliding blocks；The Y guide rail is arranged between adjacent outer synchronous pulley and driving wheel, two Y
Guide rail is arranged parallel to and perpendicular to X guide rail；The both ends of every synchronous belt are separately fixed at X sliding blocks towards the two of Y guide rail
A side, every synchronous belt engage simultaneously with being disposed therein the outer synchronous pulley, driving wheel, an idle pulley of a Y guide rail side
And also with being arranged on the inter-sync band wheel of another Y guide rail side, an idle pulley engages；
Double Z-axis mechanisms include fixing with X sliding blocks and being equipped with the stent (51) of the first lifting motor (32), for solid mechanical
Pawl mechanism and equipped with the second lifting motor (33) aluminium section bar (52), for fixed guide extraction sector and pass through slide construction can
Vertical sliding it is located in connecting plate (53) on aluminium section bar, by transmitting the first lifting motor power drive Aluminum-profile vertical translation
Dynamic screw structure, the gear ＆ rack structure by transmitting the second lifting motor power drive connecting plate vertical shift.
2. the XYZ telecontrol equipments of cup robot according to claim 1, it is characterised in that：In every synchronous belt,
Connection X sliding blocks and idle pulley between band body be parallel to X guide rails, and connect idle pulley and driving wheel band body, connection driving wheel with
The band body with body, connection inter-sync band wheel and idle pulley of outer synchronous pulley is each parallel to Y guide rail.
3. the XYZ telecontrol equipments of cup robot according to claim 2, it is characterised in that：One synchronous belt
The line of two end fixed points intersects with the line of two end fixed points of another synchronous belt, and two synchronous belts
The line of end fixed point and X guide rail parallels are vertical.
4. the XYZ telecontrol equipments of cup robot according to claim 3, it is characterised in that：The screw structure includes
It the screw (54) that can be rotationally located on stent around vertical axis and engages and can be formed with stent with wire rod thread and slide
The screw sliding block (55) of cooperation；The screw is fixed with the first lifting motor shaft, and aluminium section bar is fixed with screw sliding block.
5. the XYZ telecontrol equipments of cup robot according to claim 4, it is characterised in that：The slide construction includes
The vertical sliding rail (56) being fixed on aluminium section bar and the connecting plate sliding block (57) coordinated with sliding rail；The connecting plate and connecting plate
Sliding block is fixed.
6. the XYZ telecontrol equipments of cup robot according to claim 5, it is characterised in that：The gear ＆ rack structure
Fixed including the rack (58) being fixed on vertically on sliding rail and with the second lifting motor shaft and with rack meshed gears
(59)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721561363.8U CN207522613U (en) | 2017-11-21 | 2017-11-21 | The XYZ telecontrol equipments of cup robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721561363.8U CN207522613U (en) | 2017-11-21 | 2017-11-21 | The XYZ telecontrol equipments of cup robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207522613U true CN207522613U (en) | 2018-06-22 |
Family
ID=62579328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721561363.8U Expired - Fee Related CN207522613U (en) | 2017-11-21 | 2017-11-21 | The XYZ telecontrol equipments of cup robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207522613U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108931400A (en) * | 2018-09-18 | 2018-12-04 | 石家庄德润环保科技有限公司 | A kind of low temperature environment self-seal type Water quality automatic sampling device |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN108938363A (en) * | 2018-08-09 | 2018-12-07 | 吕家环 | A kind of double mechanical arms work compound cupping glass bed |
| CN114404900A (en) * | 2021-12-31 | 2022-04-29 | 燕山大学 | Multi-joint upper limb rehabilitation device |
-
2017
- 2017-11-21 CN CN201721561363.8U patent/CN207522613U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN108938363A (en) * | 2018-08-09 | 2018-12-07 | 吕家环 | A kind of double mechanical arms work compound cupping glass bed |
| CN108938363B (en) * | 2018-08-09 | 2020-10-13 | 苏州元联科技创业园管理有限公司 | Cupping jar bed is pulled out in operation in coordination of two arms |
| CN108931400A (en) * | 2018-09-18 | 2018-12-04 | 石家庄德润环保科技有限公司 | A kind of low temperature environment self-seal type Water quality automatic sampling device |
| CN114404900A (en) * | 2021-12-31 | 2022-04-29 | 燕山大学 | Multi-joint upper limb rehabilitation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180622 Termination date: 20201121 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |