CN213765918U

CN213765918U - Double-section arm device for manipulator

Info

Publication number: CN213765918U
Application number: CN202022630002.2U
Authority: CN
Inventors: 龙艳玲; 武育荣; 黎沐林; 魏强
Original assignee: Zhejiang Haodong Technology Co ltd
Current assignee: Zhejiang Haodong Technology Co ltd
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2021-07-23
Anticipated expiration: 2030-11-13

Abstract

The utility model discloses a two-section arm device that manipulator was used, thereby include and be reciprocating motion's first motion part, establish on first motion part and the endless belt who is connected with fixed part and second motion part respectively through endless belt drive and the second motion part of synchronous motion by first motion part drive simultaneously by the motor through belt drive. The utility model discloses a when the motor synchronizing wheel drives first arm motion, can drive the second arm simultaneously and link together, make the anchor clamps of installing on the second arm realize to double stroke and double speed motion, can save whole equipment design size like this at the longer motion stroke of the same mechanical structure space design, improve the functioning speed of anchor clamps simultaneously.

Description

Double-section arm device for manipulator

Technical Field

The utility model belongs to the manipulator, concretely relates to double-section arm device that manipulator used.

Background

The medical manipulator is a basic device of a laboratory full-automatic centrifugal system, and is widely applied to the fields of life science, medicine, chemistry, environmental protection and the like. With the development of the market, the recruitment is more and more difficult, the manual operation is complicated and the mistakes are easy to make, and all hospitals need a full-automatic centrifugal system to replace the manual operation; the efficiency is improved. General laboratory space height is limited, robotic arm up-and-down stroke both need satisfy mesa adapter and test tube and snatch, also need satisfy ground centrifuge intracavity adapter and snatch, robotic arm up-and-down motion must have enough stroke to satisfy the requirement like this, and whole mechanical structure can not surpass laboratory space height, and general robotic arm machinery adopts the motor to drive arm single-section structure and realizes snatching from top to bottom and accomplish, however such structure can lead to mechanical overall structure to surpass laboratory space height, and can not use full automatic centrifugal system.

SUMMERY OF THE UTILITY MODEL

The utility model aims at prior art's defect, provide a two-section arm device that manipulator was used to solve and design longer motion stroke at the same mechanical structure space, save whole equipment design size problem.

Realize the utility model discloses the technical scheme that the purpose was adopted as follows:

the utility model provides a two-section arm device that manipulator was used, thereby include and be reciprocating motion's first motion part, establish on first motion part and the endless belt who is connected with fixed part and second motion part respectively through endless belt drive and first motion part by the drive of first motion part, simultaneously by the drive of first motion part by the motor.

The motor and the first moving part are respectively fixedly and movably arranged on the fixed part, and the second moving part is movably arranged on the first moving part; the first moving part comprises a first arm provided with a first linear guide rail and a guide chute, the second moving part comprises a second arm provided with a second linear guide rail, the motor is provided with a synchronizing wheel, and the fixed part is provided with a belt upper end guide wheel, a belt lower end guide wheel and a guide block; the first arm is movably mounted on the fixed part through a first linear guide rail and a guide block in a matched mode, a belt which is matched with a synchronous wheel of the motor and is guided by a belt upper end guide wheel and a belt lower end guide wheel is connected between one side of the upper end and one side of the lower end of the first arm, and an annular belt upper end guide wheel and an annular belt lower end guide wheel are respectively arranged on the other side of the upper end and the lower end of the first arm; the second arm is matched with the guide chute on the first arm through a second linear guide rail and is movably mounted on the first arm, the annular belt is arranged between the annular belt upper end guide wheel and the annular belt lower end guide wheel of the first arm, the upper portion of one side of the annular belt is fixedly connected with the second arm through an annular belt upper end fixing block, and the lower portion of the other side of the annular belt is fixedly connected with the fixed component through an annular belt lower end fixing block.

One side of the upper end and the lower end of the first arm is provided with a belt upper end fixing block and a belt lower end fixing block respectively, and the belt is connected between the belt upper end fixing block and the belt lower end fixing block.

Advantageous effects

The utility model discloses a when the motor synchronizing wheel drives first arm motion, can drive the second arm simultaneously and link together, make the anchor clamps of installing on the second arm realize to double stroke and double speed motion, can save whole equipment design size like this at the longer motion stroke of the same mechanical structure space design, improve the functioning speed of anchor clamps simultaneously. The utility model discloses except can satisfying laboratory full automatization centrifugal system, also can be used to other mechanical device.

The technical scheme of the utility model is further explained in the following with the attached drawings.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the motion state of the present invention.

Detailed Description

See fig. 1 and 2, the utility model provides a double-section arm device for manipulator, include by the motor through belt drive be reciprocating motion's first motion part, simultaneously by first motion part drive establish on first motion part and respectively with fixed part 15 and the second motion part be connected endless belt 11 thereby be through endless belt 11 drive with first motion part be synchronous motion's second motion part.

The motor and the first moving part are respectively fixedly and movably arranged on the fixed part, the second moving part is movably arranged on the first moving part, the first moving part comprises a first arm 3 provided with a first linear guide rail 2 and a guide chute 19, the second moving part comprises a second arm 4 provided with a second linear guide rail 10, the motor is provided with a synchronizing wheel 5, and the fixed part 15 is provided with a belt upper end guide wheel 13, a belt lower end guide wheel 14 and a guide block 18; the first arm 3 is movably mounted on a fixed part 15 through the matching of a first linear guide rail 2 and a guide block 18 on the first arm, one side of the upper end and the lower end of the first arm 3 is respectively provided with a belt upper end fixed block 1 and a belt lower end fixed block 7, a belt 6 which is matched with a synchronous wheel 5 of a motor and is guided by a belt upper end guide wheel 13 and a belt lower end guide wheel 14 is connected between the belt upper end fixed block 1 and the belt lower end fixed block 7, two ends of the belt 6 are respectively fixed and tensioned by the belt upper end fixed block 1 and the belt lower end fixed block 7, the belt 6 firstly passes through the belt upper end guide wheel 13, then the tooth surface of the belt is attached to the synchronous wheel 5, then passes through the belt lower end guide wheel 14, and the other side of the upper end and the lower end of the first arm 3 is respectively provided with an annular belt upper end guide wheel 16 and an annular belt lower end guide wheel 17; the second arm 4 is movably mounted on the first arm 3 through the matching of a second linear guide rail 10 on the second arm and a guide sliding groove 19 on the first arm 3, an annular belt 11 is arranged between an annular belt upper end guide wheel 16 and an annular belt lower end guide wheel 17 of the first arm 3, the upper part of one side of the annular belt 11 is fixedly connected with the second arm 4 through an annular belt upper end fixing block 9, and the lower part of the other side of the annular belt 11 is fixedly connected with a fixing part 15 through an annular belt lower end fixing block 12.

Referring to fig. 1 and 2, when the motor works, the synchronizing wheel 5 rotates counterclockwise, and drives the first linear guide rail 2 and the first arm 3 to move down along the guide block 18 through the belt 6, the guide wheel 17 at the lower end of the annular belt on the first arm 3 acts on the annular belt 11 simultaneously when the first arm 3 moves downward, and one side of the annular belt 11 is fixed on the fixing part 15, so that the other side of the annular belt 11 drives the second arm 4 to move down along the guide chute 19 of the first arm 3 simultaneously through the fixing block 9 at the upper end of the annular belt, and a linkage transmission structure with the first arm 3 is formed, and finally, the clamp 8 mounted at the lower end of the second arm 4 realizes double-stroke and double-speed downward movement. When the synchronizing wheel 5 rotates clockwise, the belt 6 drives the first linear guide rail 2 and the first arm 3 to move upwards along the guide block 18, meanwhile, the annular belt upper end guide wheel 16 on the first arm 3 acts on the annular belt 11, the annular belt upper end fixing block 9 drives the second arm 4 to move upwards along the guide chute 19 of the first arm 3 at the same time, and therefore the clamp 8 mounted at the lower end of the second arm 4 is enabled to realize stroke and speed double ascending reset.

The second arm 4 of the utility model can be movably mounted on the other guiding component on the fixed component, and the function of the utility model can be realized.

Claims

1. A double-section arm device for a manipulator is characterized by comprising a first moving part driven by a motor through a belt to do reciprocating motion, and a second moving part driven by the first moving part and provided with an annular belt which is arranged on the first moving part and is respectively connected with a fixed part and the second moving part so as to do synchronous motion with the first moving part through the annular belt.

2. The double-arm apparatus for a robot hand according to claim 1, wherein said motor and said first moving member are respectively fixedly and movably provided on the fixed member, and said second moving member is movably provided on the first moving member; the first moving part comprises a first arm provided with a first linear guide rail and a guide chute, the second moving part comprises a second arm provided with a second linear guide rail, the motor is provided with a synchronizing wheel, and the fixed part is provided with a belt upper end guide wheel, a belt lower end guide wheel and a guide block; the first arm is movably mounted on the fixed part through a first linear guide rail and a guide block in a matched mode, a belt which is matched with a synchronous wheel of the motor and is guided by a belt upper end guide wheel and a belt lower end guide wheel is connected between one side of the upper end and one side of the lower end of the first arm, and an annular belt upper end guide wheel and an annular belt lower end guide wheel are respectively arranged on the other side of the upper end and the lower end of the first arm; the second arm is matched with the guide chute on the first arm through a second linear guide rail and is movably mounted on the first arm, the annular belt is arranged between the annular belt upper end guide wheel and the annular belt lower end guide wheel of the first arm, the upper portion of one side of the annular belt is fixedly connected with the second arm through an annular belt upper end fixing block, and the lower portion of the other side of the annular belt is fixedly connected with the fixed component through an annular belt lower end fixing block.

3. The double-cutoff arm device for the robot hand of claim 2 wherein the upper end fixing block and the lower end fixing block of the belt are respectively provided at one side of the upper end and the lower end of the first arm, and the belt is connected between the upper end fixing block and the lower end fixing block of the belt.