CN216003352U

CN216003352U - Manipulator motion and paste mark device

Info

Publication number: CN216003352U
Application number: CN202121465727.9U
Authority: CN
Inventors: 范福川; 曹俊豪; 陈�胜; 唐竞
Original assignee: Maxvision Technology Corp
Current assignee: Maxvision Technology Corp
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2022-03-11
Anticipated expiration: 2031-06-29

Abstract

The application provides a manipulator motion, it includes the organism, first arm, second arm, anchor clamps, first actuating mechanism, second actuating mechanism and third actuating mechanism. The first mechanical arm is connected with the machine body in a sliding manner; the first driving mechanism is arranged on the machine body and used for driving the first mechanical arm to slide back and forth along the first shaft. The second mechanical arm is connected with the first mechanical arm in a sliding manner; the second driving mechanism is arranged on the first mechanical arm and used for driving the second mechanical arm to slide back and forth along the second shaft. The clamp is connected with the second mechanical arm in a sliding mode and used for clamping an object on the machine body; and the third driving mechanism is arranged on the second mechanical arm and is used for driving the clamp to reciprocate along the third shaft. The first shaft, the second shaft and the third shaft are mutually intersected, and the first mechanical arm, the second mechanical arm and the clamp are linked by utilizing the first driving mechanism, the second driving mechanism and the third driving mechanism so that the clamp clamps an object. The application still provides an application manipulator motion's subsides mark device.

Description

Manipulator motion and paste mark device

Technical Field

The application relates to the field of security inspection systems, in particular to a manipulator motion mechanism and a labeling device.

Background

In hospitals, health quarantine departments and the like, a large number of persons need to be sampled and analyzed, and basic identity information and sample information of the sampling persons are bound with test tubes.

Prior to sample collection, tubes need to be dispensed for a large number of people. The existing test tube issuing mode comprises manual issuing, sorting issuing of a vibration disc and robot grabbing. The manual distribution mode is time-consuming and labor-consuming, and in the epidemic situation period, the test tubes are manually distributed to increase the infection risk; the mode that adopts the vibration dish to sort and provide the test tube needs to occupy very big space, is generally used in the production line of mill, and the cost is higher for the scheme realization that the robot snatched.

Disclosure of Invention

To above-mentioned prior art, the technical problem that this application was solved provides a manipulator motion that realizes the automation of using manpower sparingly and snatchs the object mode.

In order to solve the above problem, the present application provides a manipulator movement mechanism, including:

a body;

the first mechanical arm is connected with the machine body in a sliding manner;

the first driving mechanism is arranged on the machine body and is used for driving the first mechanical arm to slide in a reciprocating manner along a first shaft;

the second mechanical arm is connected with the first mechanical arm in a sliding mode;

the second driving mechanism is arranged on the first mechanical arm and used for driving the second mechanical arm to slide back and forth along the second shaft;

the clamp is connected with the second mechanical arm in a sliding mode and used for clamping the object on the machine body;

the third driving mechanism is arranged on the second mechanical arm and is used for driving the clamp to reciprocate along a third axis; and the number of the first and second groups,

the first shaft, the second shaft and the third shaft are mutually intersected, and the first mechanical arm, the second mechanical arm and the clamp are linked by utilizing the first driving mechanism, the second driving mechanism and the third driving mechanism so that the clamp clamps the object.

In an embodiment of the application, the body includes two rod portions arranged in parallel, and the first mechanical arm slides and is vertically connected to the two rod portions; the second mechanical arm slides and is vertically connected with the first mechanical arm; the first axis, the second axis and the third axis are perpendicular to each other.

In one application embodiment, the first driving mechanism comprises four first synchronizing wheels, a rotating rod, two first synchronizing belts and a first driving device; the two opposite ends of each rod part are respectively provided with one first synchronous wheel, each first synchronous belt is wound on the first synchronous wheels at the two ends of the rod part and is fixedly connected with the first mechanical arm, the two opposite ends of the rotating rod are respectively connected with one first synchronous wheel on the two rod parts in a rotating mode, and the first driving device is connected with the rotating rod in a rotating mode and is used for driving the rotating rod to rotate.

In one embodiment of the application, the second driving mechanism comprises three second synchronous wheels, a second synchronous belt and a second driving device; the second driving device is fixedly provided with a first mechanical arm, is rotatably connected with one second synchronous wheel and is used for driving the second synchronous belt to rotate; the other two second synchronous wheels are respectively arranged at two opposite ends of the first mechanical arm, and the second synchronous belt is wound three second synchronous wheels and is fixedly connected with the second mechanical arm.

In an application embodiment, the third driving mechanism includes two third synchronizing wheels respectively disposed at two opposite ends of the second mechanical arm, a third synchronous belt wound around the two third synchronizing wheels, and a third driving device rotatably connected to one of the third synchronizing wheels, and the third driving device is configured to drive the third synchronizing wheel connected thereto to rotate.

In the manipulator motion mechanism, the first driving mechanism drives the first manipulator to slide back and forth along the first axis, the second driving mechanism drives the second manipulator to slide back and forth along the second axis, and the third driving mechanism drives the clamp to slide back and forth along the third axis; the first mechanical arm is connected to the machine body, the second mechanical arm is connected to the first mechanical arm, and the clamp is connected to the second mechanical arm; therefore, the first driving mechanism, the second driving mechanism and the third driving mechanism enable the clamp to realize linkage along the directions of the first shaft, the second shaft and the third shaft, so that the clamp can automatically clamp an object at any position on the machine body. The manipulator motion mechanism can automatically grab objects, and the mode is time-saving and labor-saving.

The application also provides a labeling device, which comprises

The manipulator labeling device; and the number of the first and second groups,

the labeling mechanism is used for labeling, and the first mechanical arm, the second mechanical arm and the clamp are linked by the first driving mechanism, the second driving mechanism and the third driving mechanism to enable the clamp to clamp the object to the labeling machine for labeling.

In an application embodiment, be provided with a plurality of test tube storehouses on the organism, it is a plurality of the test tube storehouse is followed the interval sets up in about the primary shaft on the organism, each be used for the interval to place a plurality of test tubes in the test tube storehouse, anchor clamps are used for the clamp to get the test tube.

In an embodiment of the application, the body is provided with a plurality of first detection switches, the plurality of first detection switches are arranged in one-to-one correspondence with the plurality of test tube bins, and each first detection switch is used for detecting whether the first mechanical arm slides to the test tube bin position corresponding to the first detection switch when sliding on the body.

In an embodiment of the application, a second detection switch is arranged on the clamp; when the clamp clamps one test tube in the test tube bin, the second detection switch is used for detecting whether the position of the test tube bin clamped by the clamp is empty or not.

The labeling device can automatically grab an object and label the object, the mode is time-saving and labor-saving, and the phenomenon of wrong judgment of collected sample information and label information generated by manual operation is favorably reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic plan view of a robot motion mechanism according to an embodiment of the present disclosure;

fig. 2 is a schematic perspective view of a robot motion mechanism according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a first robot arm, a second robot arm, and a clamp according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of another embodiment of the present disclosure showing a first robot arm, a second robot arm, and a clamp;

fig. 5 is a schematic structural diagram of a labeling device according to an embodiment of the present application.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The robot movement mechanism provided in the embodiments of the present application will now be described with reference to the drawings.

Referring to fig. 1, 2, 3 and 4 together, a robot motion mechanism 100 according to an embodiment of the present disclosure includes a body 10, a first robot arm 20, a first driving mechanism 30, a second robot arm 40, a second driving mechanism 50, a clamp 60 and a third driving mechanism 70.

Specifically, the first mechanical arm 20 is slidably connected to the machine body 10; the first driving mechanism 30 is disposed on the machine body 10 and configured to drive the first robot arm 20 to slide back and forth along a first axis. The second mechanical arm 40 is slidably connected with the first mechanical arm 20; the second driving mechanism 50 is disposed on the first robot arm 20 and configured to drive the second robot arm 40 to slide back and forth along the second axis; the clamp 60 is slidably connected to the second mechanical arm 40 and is used for clamping an object on the machine body 10; the third driving mechanism 70 is disposed on the second robot arm 40 and is configured to drive the clamp 60 to reciprocate along a third axis. The first axis, the second axis and the third axis intersect with each other, and the first robot arm 20, the second robot arm 40 and the gripper 60 are linked by the first drive mechanism 30, the second drive mechanism 50 and the third drive mechanism 70 to cause the gripper 60 to grip the object.

As can be understood, the first mechanical arm 20 is slidably connected to the machine body 10, and the first driving machine drives the first mechanical arm 20 to slide on the machine body 10 back and forth along the first axis; the second mechanical arm 40 is slidably connected with the first mechanical arm 20, and the second driving mechanism 50 is used for driving the second mechanical arm 40 to slide on the first mechanical arm 20 in a reciprocating manner along the second axis; the clamp 60 is slidably connected to the second mechanical arm 40, and the third driving mechanism 70 is configured to drive the clamp 60 to slide on the second mechanical arm 40 back and forth along the third axis.

In the present embodiment, the first driving mechanism 30 drives the first robot arm 20 to slide back and forth along the first axis, the second driving mechanism 50 drives the second robot arm 40 to slide back and forth along the second axis, and the third driving mechanism 70 drives the gripper 60 to slide back and forth along the third axis; and since the first robot arm 20 is connected to the body 10, the second robot arm 40 is connected to the first robot arm 20, and the gripper 60 is connected to the second robot arm 40; thus, the first, second and

third driving mechanisms

30, 50 and 70 enable the gripper 60 to perform linkage in the directions of the first, second and third axes, so that the gripper 60 automatically grips 60 an object at any position on the machine body 10. The robot motion mechanism 100 can automatically grab an object in a time and labor saving manner.

With further reference to fig. 2 and 3, the body 10 includes two rods disposed in parallel, and the first mechanical arm 20 slides and is vertically connected to the two rods; the second mechanical arm 40 is connected with the first mechanical arm 20 in a sliding mode; the first axis, the second axis and the third axis are perpendicular to each other.

It is to be understood that, in an embodiment, in a rectangular XYZ coordinate system, the first axis is the Z axis, the second axis is the X axis, and the third axis is the Y axis.

With combined reference to fig. 2, 3 and 4, the first driving mechanism includes four first synchronizing wheels 31, a rotating rod 32, two first synchronizing belts 33, a first driving device 34; the two opposite ends of each rod portion 102 are respectively provided with one first synchronizing wheel 31, each first synchronizing belt 33 is wound on the first synchronizing wheels 31 at the two ends of the rod portion 102 and is fixedly connected with the first mechanical arm 20, the two opposite ends of the rotating rod 32 are respectively rotatably connected with one first synchronizing wheel 31 on the two rod portions 102, and the first driving device 34 is rotatably connected with the rotating rod 32 and is used for driving the rotating rod 32 to rotate.

With further reference to fig. 2, 3 and 4, the second driving mechanism 50 comprises three second timing wheels 51, a second timing belt 52 and a second driving device 53; the second driving device 53 is fixedly provided with the first mechanical arm 20, is rotatably connected with one second synchronous wheel 51 and is used for driving the second synchronous belt 52 to rotate; the other two second synchronous wheels 51 are respectively disposed at two opposite ends of the first robot arm 20, and the second synchronous belt 52 is wound around the three second synchronous wheels 51 and fixedly connected to the second robot arm.

With further reference to fig. 2, 3 and 4, the third driving mechanism 70 includes two third synchronizing wheels 71 respectively disposed at two opposite ends of the second mechanical arm 40, a third timing belt 72 wound around the two third synchronizing wheels 71, and a third driving device 73 rotatably connected to one of the third synchronizing wheels 71, where the third driving device 73 is configured to drive the third synchronizing wheel 71 connected thereto to rotate.

In this embodiment, the first driving device 34 drives the rotating rod 32 to rotate so as to drive the first synchronizing wheel 31 connected with the rotating rod 32 to rotate, thereby driving the two first synchronizing belts 33 to rotate, so that the first robot arm 20 connected with the first synchronizing belts 33 slides on the machine body 101 along the first axis in a reciprocating manner, which can be understood as sliding up and down. The second driving device 53 drives the second synchronous wheel 51 rotationally connected therewith to rotate so as to drive the second synchronous belt 52 to rotate, so that the second mechanical arm 40 connected with the second synchronous belt 52 slides on the first mechanical arm 20 in a reciprocating manner along the second axis, which can be understood as a left-right sliding manner. The third driving device 73 drives the third timing wheel 71 to rotate so as to drive the third timing belt 72 to rotate, so that the clamp 60 connected with the third timing belt 72 slides back and forth on the second mechanical arm 40 along the third axis, which can be understood as forward and backward sliding. Therefore, the first driving mechanism 30, the second driving mechanism 50 and the third driving mechanism 70 enable the fixture 60 to realize three-axis linkage, that is, the fixture 60 can move to the position of the test tube bin 10 with any height, and grasp the test tube at any position in one test tube bin 10.

In an embodiment, the first driving device 34, the second driving device 53, and the third driving device 73 may be, but not limited to, a motor, and specifically, a servo motor.

Referring to fig. 5, the embodiment of the present application further provides a labeling device 200 using the robot moving mechanism 100. The labeling device 200 includes the robot moving mechanism 100 and the labeling mechanism 20. The labeling mechanism 20 is disposed on the machine body 10, the labeling mechanism 20 is used for labeling, and the first mechanical arm 20, the second mechanical arm 40 and the clamp 60 are linked by the first driving mechanism 30, the second driving mechanism 50 and the third driving mechanism 70 so that the clamp 60 clamps the object to the labeling machine for labeling.

In this embodiment, the labeling device 200 is disposed on the machine body 10, and includes a clamping mechanism for clamping an object to be labeled, and a printer for printing and outputting a label including identification information of a person and sample information.

It can be understood that the object is automatically gripped by the gripper 60 of the robot moving mechanism 100 to the labeling device 200 to complete the labeling operation. Labeling device 200 can snatch the object automatically and paste the mark to the object, and this mode labour saving and time saving just is favorable to reducing the sample information of the collection that manual operation produced and the wrong phenomenon of label information judgement.

Referring to fig. 5, a plurality of test tube bins 21 are disposed on the machine body 10, the test tube bins 21 are vertically disposed on the machine body 10 at intervals along the first axis, each test tube bin 21 is used for placing a plurality of test tubes at intervals, the clamp 60 is used for clamping an object on the machine body 10, and the object is the test tube.

In this embodiment, each test tube compartment 21 is slidably connected to the body 10, so that the test tubes in the test tube compartment 21 can be replaced conveniently. Several test tube magazines 21 can be used to place test tubes of different sizes. In one embodiment, the same magazine 21 holds test tubes of the same size, while in other embodiments, the same magazine 21 holds test tubes of different sizes.

With further reference to fig. 5, a plurality of first detection switches 22 are disposed on the machine body 10, the plurality of first detection switches 22 are disposed in one-to-one correspondence with the plurality of test tube bins 21, and each first detection switch 22 is configured to detect whether the first mechanical arm 20 slides on the machine body 10 to the position of the test tube bin 21 corresponding to the first detection switch 22. One of the first detecting switches 22 is disposed on the body 10 and near one of the test tube bins 21.

In this embodiment, the clamp 60 is provided with a second detection switch (not shown); when the clamp 60 clamps a test tube in the test tube bin 21, the second detection switch is used for detecting whether the position of the test tube bin 21 clamped by the clamp 60 is empty.

In the present embodiment, the first detection switch 22 and the second detection switch are sensors, but are not limited thereto. In an embodiment, the first detection switch 22 and the second detection switch are diffuse reflection sensors, specifically U-shaped photoelectric sensors. In other embodiments, the first detection switch 22 and the second detection switch may be opposed sensors.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator movement mechanism, comprising:

a body;

the second driving mechanism is arranged on the first mechanical arm and used for driving the second mechanical arm to slide in a reciprocating manner along a second shaft;

the third driving mechanism is arranged on the second mechanical arm and is used for driving the clamp to reciprocate along a third axis; and

2. The robot motion mechanism of claim 1, wherein the body includes two rods disposed in parallel with each other, and the first robot arm is slidably and perpendicularly connected to the two rods; the second mechanical arm slides and is vertically connected with the first mechanical arm; the first axis, the second axis and the third axis are perpendicular to each other.

3. The robot motion mechanism of claim 2, wherein the first drive mechanism comprises four first synchronizing wheels, a turn bar, two first synchronizing belts, a first drive device; the two opposite ends of each rod part are respectively provided with one first synchronous wheel, each first synchronous belt is wound on the first synchronous wheels at the two ends of the rod part and is fixedly connected with the first mechanical arm, the two opposite ends of the rotating rod are respectively connected with one first synchronous wheel on the two rod parts in a rotating mode, and the first driving device is connected with the rotating rod in a rotating mode and is used for driving the rotating rod to rotate.

4. The robot motion mechanism of claim 1, wherein the second drive mechanism comprises three second synchronizing wheels, a second timing belt and a second drive device; the second driving device is fixedly provided with a first mechanical arm, is rotatably connected with one second synchronous wheel and is used for driving the second synchronous belt to rotate; the other two second synchronous wheels are respectively arranged at two opposite ends of the first mechanical arm, and the second synchronous belt is wound three second synchronous wheels and is fixedly connected with the second mechanical arm.

5. The robot motion mechanism of claim 1, wherein the third driving mechanism comprises two third synchronizing wheels respectively disposed at opposite ends of the second robot arm, a third timing belt wound around the two third synchronizing wheels, and a third driving device rotatably connected to one of the third synchronizing wheels, the third driving device being configured to drive the third synchronizing wheel connected thereto to rotate.

6. A labeling device, comprising:

the robot motion mechanism according to any one of claims 1 to 5; and

7. The labeling device according to claim 6, wherein said body has a plurality of test tube compartments, said test tube compartments are spaced from one another along said first axis, each test tube compartment has a plurality of test tubes spaced from one another, and said holder is used for holding said test tubes.

8. The labeling device according to claim 7, wherein the body is provided with a plurality of first detection switches, the plurality of first detection switches are arranged in a one-to-one correspondence with the plurality of test tube compartments, and each first detection switch is configured to detect whether the first mechanical arm slides to the test tube compartment corresponding to the first detection switch when sliding on the body.

9. The labeling device according to claim 7, wherein a second detection switch is provided on said clamp; when the clamp clamps one test tube in the test tube bin, the second detection switch is used for detecting whether the position of the test tube bin clamped by the clamp is empty or not.