CN219132310U

CN219132310U - Simple mechanical arm structure based on linear module

Info

Publication number: CN219132310U
Application number: CN202320130586.8U
Authority: CN
Inventors: 匡小东; 唐古生; 许春; 戴亮
Original assignee: Xuanli Wuxi Intelligent Technology Co ltd
Current assignee: Xuanli Wuxi Intelligent Technology Co ltd
Priority date: 2023-01-13
Filing date: 2023-01-13
Publication date: 2023-06-06
Anticipated expiration: 2033-01-13

Abstract

The utility model relates to the technical field of slide glass positioning, in particular to a simple mechanical arm structure based on a linear module, which comprises an X-direction linear module and a Z-direction linear module, wherein the movable end of the X-direction linear module is connected with the basic part of the Z-direction linear module, and the movable end of the Z-direction linear module is connected with a mechanical arm; still including establishing the sunken of snatching on the work piece, be equipped with on the arm and snatch the piece that snatchs that corresponds to snatch sunken, still be equipped with the anticreep arch on the piece of snatching, snatch sunken including corresponding to the bellied anticreep groove of anticreep, when the bellied and anticreep groove coincidence of anticreep, the work piece is grabbed by the arm. The mechanical arm structure can automatically load and unload workpieces, and is simple in structure.

Description

Simple mechanical arm structure based on linear module

Technical Field

The utility model relates to the technical field of slide glass positioning, in particular to a mechanical arm structure for automatically loading and unloading a microscope slide glass.

Background

The slide glass is a glass sheet or a quartz sheet used for placing a sample when observing the sample with a microscope, and the sample is placed on the slide glass for observation when in use.

In the prior art, when the glass slides are loaded and unloaded, the auxiliary operation is needed to be carried out by using a workpiece for containing the glass slides, wherein a special mechanical arm is generally used for a high-throughput microscope for realizing automatic loading and unloading of the glass slides, the structure is complex, the mechanical arm generally controls the workpiece in a clamping mode, and the problems of card, fragments and the like are difficult to occur due to the control precision.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a simple mechanical arm structure based on a linear module, which can automatically load and unload workpieces and has a simple structure.

In order to solve the problems, the following technical scheme is provided:

the simple mechanical arm structure based on the linear module comprises an X-direction linear module and a Z-direction linear module, wherein the movable end of the X-direction linear module is connected with the base part of the Z-direction linear module, and the movable end of the Z-direction linear module is connected with a mechanical arm; still including establishing the sunken of snatching on the work piece, be equipped with on the arm and snatch the piece that snatchs that corresponds to snatch sunken, still be equipped with the anticreep arch on the piece of snatching, snatch sunken including corresponding to the bellied anticreep groove of anticreep, when the bellied and anticreep groove coincidence of anticreep, the work piece is grabbed by the arm.

The grabbing piece comprises a hanging arm, the bottom of the hanging arm is connected with a hanging hook, the hanging arm is fixedly connected with the mechanical arm, the hanging hook is of an L-shaped structure, the anti-falling protrusions are arranged on the horizontal end face of the hanging hook, the grabbing recess further comprises a yielding gap which is close to the anti-falling groove, and the hanging hook can enable the anti-falling protrusions to coincide with the anti-falling groove after passing through the yielding gap.

The anti-falling protrusions are columnar, and the anti-falling grooves are columnar grooves corresponding to the anti-falling protrusions.

The movable end Y of the Z-direction linear module is arranged in the Y direction, an auxiliary supporting block is fixedly connected to the movable end, the mechanical arm is in a flat plate shape, and the mechanical arm is horizontally arranged in the Y direction and one end of the mechanical arm is fixedly mounted at the bottom of the auxiliary supporting block.

The movable end of the X-direction linear module is connected with a right-angle frame, and the bottom end of the X-direction linear module base part is connected with the right-angle frame.

And laser sensors are arranged on two sides of the mechanical arm along the X direction.

By adopting the scheme, the method has the following advantages:

because the simple mechanical arm structure based on the linear module comprises the X-direction linear module and the Z-direction linear module, the movable end of the X-direction linear module is connected with the base part of the Z-direction linear module, and the movable end of the Z-direction linear module is connected with the mechanical arm, namely the X-direction linear module and the Z-direction linear module can control the mechanical arm to move along the X-direction and the Z-direction; simultaneously, the mechanical arm can automatically lift the workpiece, and can play the role of preventing falling when the falling-preventing bulges are overlapped with the falling-preventing grooves, so that the stability of grabbing the workpiece is improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a simple mechanical arm structure based on a linear module;

fig. 2 is a schematic diagram of a connection structure between a mechanical arm and a workpiece in a simple mechanical arm structure based on a linear module.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

The simple mechanical arm structure based on the linear module shown in fig. 1 and 2 comprises an X-direction linear module 1 and a Z-direction linear module 2, wherein the X-direction linear module 1 and the Z-direction linear module 2 respectively adopt a single-shaft linear module with a model of GGK60 and an embedded screw rod module with a model of ATH12, a guide rail of the X-direction linear module 1 and a guide rail of the Z-direction linear module 2 are basic parts, a sliding seat of the sliding seat is a movable end, the movable end of the X-direction linear module 1 is connected with the basic part of the Z-direction linear module 2, the movable end of the Z-direction linear module 2 is connected with a mechanical arm 3, and the mechanical arm 3 can be driven to move to a designated position to grasp a workpiece 8 through the cooperation of the X-direction linear module 1 and the Z-direction linear module 2.

In the utility model, a grabbing pit for automatic loading and unloading is arranged on the workpiece 8, a grabbing piece corresponding to the grabbing pit is arranged on the mechanical arm 3, an anti-falling protrusion 12 is further arranged on the grabbing piece, the grabbing pit comprises an anti-falling groove 10 corresponding to the anti-falling protrusion 12, and when the anti-falling protrusion 12 and the anti-falling groove 10 are overlapped, the workpiece 8 is grabbed by the mechanical arm 3.

Specifically, snatch on the work piece 8 sunken be equipped with three places, snatch the piece and snatch sunken davit 4 including corresponding three places, the bottom of davit 4 is connected with lifting hook 7, the bottom fixed connection of davit 4 and arm 3 is passed through the bolt, lifting hook 7 is L type structure and the orientation of gib head is unanimous, anticreep arch 12 is established on the horizontal terminal surface of lifting hook 7, snatch sunken still including being close to the breach 9 of stepping down that anticreep groove 10 set up, lifting hook 7 can make anticreep arch 12 and anticreep groove 10 coincidence after passing breach 9 of stepping down. The anti-falling protrusion 12 is columnar, and the anti-falling groove 10 is a columnar groove corresponding to the anti-falling protrusion 12. It is known that the cooperation of the lifting hook 7 and the yielding notch 9 is used for guiding; the anti-drop protrusion 12 is overlapped with the anti-drop groove 10 for positioning and anti-drop.

The two sides of the mechanical arm 3 along the X direction are provided with laser sensors 11 for detecting signals at two sides of the mechanical arm 3, so that the mechanical arm 3 is ensured not to collide with side parts during movement.

In the utility model, the movable end of the Z-direction linear module 2 is arranged along the Y-direction so as to obtain a wider movable range, the movable end of the Z-direction linear module 2 is fixedly connected with an auxiliary supporting block 6, the mechanical arm 3 is in a flat plate shape, the mechanical arm 3 is horizontally arranged along the Y-direction, and one end of the mechanical arm 3 is fixedly arranged at the bottom of the auxiliary supporting block 6.

In the utility model, the movable end of the X-direction linear module 1 is connected with the right-angle frame 5, the bottom end of the basic part of the X-direction linear module 1 is connected with the right-angle frame 5, and the right-angle frame 5 improves the stability of the structure in the running process.

The specific working flow is as follows: starting the X-direction linear module 1 and the Z-direction linear module 2, moving the mechanical arm 3 to the upper part of the workpiece 8, enabling the lifting hook 7 of the mechanical arm 3 to extend downwards into the yielding gap 9, enabling the mechanical arm 3 to move along the X direction so that the anti-falling protrusion 12 is aligned with the anti-falling groove 10, enabling the anti-falling protrusion 12 to coincide with the anti-falling groove 10 after the mechanical arm 3 is lifted upwards, and enabling the anti-falling protrusion 12 to be separated from the anti-falling groove 10 when the mechanical arm 3 needs to be detached when the mechanical arm 8 is put down so that the anti-falling protrusion 12 is separated from the anti-falling groove 10, and enabling the lifting hook 7 to move in the opposite direction towards the X direction so that the lifting hook 7 is lifted upwards out of the yielding gap 9, so that automatic slide feeding and discharging are completed.

To sum up, this device simple structure, stability is good, adopts to mention and avoids adopting the form of clamp to snatch the work piece, the difficult condition of card, piece that appears.

Claims

1. The simple mechanical arm structure based on the linear module comprises an X-direction linear module (1) and a Z-direction linear module (2), and is characterized in that the movable end of the X-direction linear module (1) is connected with the base part of the Z-direction linear module (2), and the movable end of the Z-direction linear module (2) is connected with a mechanical arm (3); still including establishing the sunken piece of snatching on work piece (8), be equipped with on arm (3) and snatch the piece that snatchs that is corresponding to snatching sunken, still be equipped with anticreep arch (12) on snatching the piece, snatch sunken including corresponding to anticreep bellied (12) anticreep groove (10), when anticreep arch (12) and anticreep groove (10) coincidence, work piece (8) are grabbed by arm (3).

2. The simple mechanical arm structure based on the linear module according to claim 1, wherein the grabbing piece comprises a suspension arm (4), a lifting hook (7) is connected to the bottom of the suspension arm (4), the suspension arm (4) is fixedly connected with the mechanical arm (3), the lifting hook (7) is of an L-shaped structure, the anti-falling protrusion (12) is arranged on the horizontal end face of the lifting hook (7), the grabbing recess further comprises a yielding gap (9) which is close to the anti-falling groove (10), and the lifting hook (7) can enable the anti-falling protrusion (12) to coincide with the anti-falling groove (10) after passing through the yielding gap (9).

3. The simple mechanical arm structure based on the linear module according to claim 2, wherein the anti-falling protrusion (12) is columnar, and the anti-falling groove (10) is a columnar groove corresponding to the anti-falling protrusion (12).

4. A simple mechanical arm structure based on a linear module according to any one of claims 1-3, characterized in that the movable end of the Z-direction linear module (2) is arranged in the Y-direction, an auxiliary supporting block (6) is fixedly connected to the movable end, the mechanical arm (3) is in a flat plate shape, the mechanical arm (3) is horizontally arranged in the Y-direction, and one end of the mechanical arm is fixedly mounted at the bottom of the auxiliary supporting block (6).

5. The simple mechanical arm structure based on the linear module according to claim 4, wherein the movable end of the X-direction linear module (1) is connected with a right-angle frame (5), and the bottom end of the base part of the X-direction linear module (1) is connected with the right-angle frame (5).

6. The simple mechanical arm structure based on the linear module according to claim 4, wherein laser sensors (11) are arranged on two sides of the mechanical arm (3) along the X direction.