CN219190213U - Double-section manipulator and sample centrifugal equipment - Google Patents
Double-section manipulator and sample centrifugal equipment Download PDFInfo
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- CN219190213U CN219190213U CN202222826475.9U CN202222826475U CN219190213U CN 219190213 U CN219190213 U CN 219190213U CN 202222826475 U CN202222826475 U CN 202222826475U CN 219190213 U CN219190213 U CN 219190213U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The utility model discloses a double-section manipulator and sample centrifugal equipment, wherein the double-section manipulator comprises a frame, a first-order manipulator, a second-order manipulator and a balancing weight; the first-order manipulator is detachably connected to the frame; the second-order manipulator comprises a second-order driving piece, a second-order transmission piece and a gripper, wherein the second-order transmission piece is in transmission connection with the second-order driving piece, the second-order driving piece is in sliding connection with one side, far away from the frame, of the first-order manipulator, the gripper is connected with the second-order transmission piece, and the gripper is used for clamping a workpiece; the balancing weight is connected with the second-order transmission piece, and the balancing weight and the handle are arranged at intervals; the second-order driving piece drives the second-order driving piece to drive the balancing weight and the gripper to move. The technical scheme of the utility model can better regulate the lifting speed and the lifting force.
Description
Technical Field
The utility model relates to the technical field of transportation equipment, in particular to a double-section manipulator and sample centrifugation equipment.
Background
Full-automatic sample centrifugation equipment relates to medical instrument laboratory automation equipment technical field, has solved current existence biological hazard and the slow problem of centrifugation link speed. The full-automatic sample centrifugation equipment comprises a frame body, a manipulator, a conveying system, a full-automatic centrifugal machine, an adapter and a buffer table, wherein the manipulator, the conveying system, the full-automatic centrifugal machine and the buffer table are all arranged on the frame body, the manipulator, the conveying system, the full-automatic centrifugal machine and the buffer table are arranged at intervals, the conveying system is used for conveying the adapter, the adapter is used for placing a plurality of sample test tubes or counterweight test tubes, and the manipulator is used for conveying the adapter and the test tubes between the conveying system and the full-automatic centrifugal machine and between the full-automatic centrifugal machine and the buffer table.
The mechanical arm generally adopts a second-order mechanical arm or a telescopic mechanical arm, the structure of the second-order mechanical arm is simple, the cost is low, the descending speed, the strength and the like of the second-order mechanical arm in the motion process are not easy to adjust, and the weighing sensor is easy to collide; the telescopic mechanical arm has a huge structure, and the inertia of the whole mechanism is too large; the two types of manipulators have more defects, so that the operation efficiency of the full-automatic sample centrifugal equipment is greatly reduced.
Disclosure of Invention
The utility model mainly aims to provide a double-section manipulator and sample centrifugal equipment, which aim to better regulate lifting speed and strength.
In order to achieve the above object, the present utility model provides a two-section manipulator, including:
a frame;
the first-order mechanical arm is detachably connected to the frame;
the second-order mechanical arm comprises a second-order driving piece, a second-order transmission piece and a gripper, wherein the second-order transmission piece is in transmission connection with the second-order driving piece, the second-order driving piece is connected to one side, far away from the frame, of the first-order mechanical arm in a sliding manner, the gripper is connected with the second-order transmission piece, and the gripper is used for clamping a workpiece; a kind of electronic device with high-pressure air-conditioning system
The balancing weight is connected with the second-order transmission piece and symmetrically arranged with the gripper;
the second-order driving piece drives the second-order driving piece to drive the balancing weight and the gripper to move.
In an embodiment, the second order manipulator further comprises a base plate, and the base plate is connected with the second order driving piece;
the second-order transmission member includes:
the first driving wheel is arranged on the bottom plate and is in transmission connection with the second-order driving piece;
the first driven wheel is arranged on the bottom plate and is arranged at intervals with the first driving wheel; a kind of electronic device with high-pressure air-conditioning system
The first synchronous belt is sleeved on the first driving wheel and the first driven wheel; the balancing weight is connected with one side of the first synchronous belt, and the gripper is connected with the other side of the first synchronous belt;
the second-order driving piece drives the first driving wheel to rotate, so that the first synchronous belt drives the balancing weight and the gripper to move through the first driving wheel and the first driven wheel.
In one embodiment, the second order transmission further comprises:
the first sliding rail is arranged on the bottom plate and is arranged at intervals with the first driving wheel; and
the first sliding block is connected with the first sliding rail in a sliding mode, and the gripper is connected with the first sliding block.
In an embodiment, the second-order manipulator further includes a first upper optical coupler disposed on the bottom plate, where the first upper optical coupler is disposed adjacent to the second-order driving element and is disposed at an interval with the first sliding rail and the first driving wheel; the first upper optocoupler is used for detecting the position of the first sliding block;
and/or, the second-order manipulator further comprises a first lower optical coupler arranged on the bottom plate, wherein the first lower optical coupler is far away from the second-order driving piece and is symmetrically arranged with the first upper optical coupler; the first lower optocoupler is arranged at intervals with the first sliding rail and the first driving wheel, and the first lower optocoupler is used for detecting the position of the first sliding block.
In one embodiment, the first order manipulator comprises:
the rack is detachably connected to the frame;
the first-order driving piece is arranged on the frame;
the screw rod is rotationally connected to the frame and is in transmission connection with the first-order driving piece;
the nut is connected to the screw rod in a sliding manner and is connected with the second-order manipulator; a kind of electronic device with high-pressure air-conditioning system
The second sliding block is connected with the nut and is connected with the rack in a sliding manner;
the first-order driving piece drives the screw rod to rotate, so that the nut drives the second sliding block and the second-order manipulator to slide up and down along the screw rod.
In an embodiment, the first-stage manipulator further comprises a second upper optical coupler arranged on the frame, wherein the second upper optical coupler, the screw rod and the nut are arranged at intervals and are close to the first-stage driving piece; the second upper optocoupler is used for detecting the position of the gripper;
and/or, the first-order manipulator further comprises a second lower optical coupler arranged on the rack, wherein the second lower optical coupler, the screw rod and the nut are arranged at intervals and far away from the first-order driving piece; the second lower optocoupler is used for detecting the position of the gripper.
In one embodiment, the frame comprises:
a main support; and
the sliding frame is connected with the main support in a sliding mode, and the first-order manipulator is movably connected with the sliding frame.
In an embodiment, the frame further comprises:
the second driving wheel is rotationally connected to the sliding frame;
the driving motor is arranged on the sliding frame and is in transmission connection with the second driving wheel;
the second driven wheel is rotationally connected to the sliding frame and is arranged at intervals with the second driving wheel and the driving motor; a kind of electronic device with high-pressure air-conditioning system
The second synchronous belt is sleeved on the second driving wheel and the second driven wheel; the second synchronous belt is connected with the first-order manipulator;
the driving motor drives the second driving wheel to rotate, so that the second driven wheel drives the second synchronous belt to drive the first-order manipulator to move.
The main support comprises two sub-supports and a connecting frame, and two ends of the connecting frame are respectively connected with the two sub-supports;
the frame further comprises:
the second driving motor is arranged on the connecting frame;
the third driving wheel is rotationally connected with the connecting frame and is in transmission connection with the second driving motor;
the third driven wheel is rotatably connected to the sub-bracket and is arranged at intervals with the third driving wheel; a third synchronous belt is sleeved between the third driving wheel and the third driven wheel, and the third synchronous belt is connected with one end of the sliding block frame;
the two fourth driven wheels are rotatably connected to the other sub-bracket and are arranged at intervals; a fourth synchronous belt is sleeved between the two fourth driven wheels and connected with the other end of the sliding frame; a kind of electronic device with high-pressure air-conditioning system
The connecting shaft is arranged on the connecting frame, and two ends of the connecting shaft are respectively connected with the output shaft of the second driving motor and one of the fourth driven wheels;
the second driving motor drives the third driving wheel to rotate, so that the connecting shaft drives the fourth driven wheel and the fourth synchronous belt to rotate.
The utility model also provides sample centrifugation equipment, which comprises a frame body, a centrifugal machine, a buffer storage table and the double-section manipulator, wherein the centrifugal machine, the buffer storage table and the double-section manipulator are arranged on the frame body, and the double-section manipulator is used for conveying an adapter and a test tube between the centrifugal machine and the buffer storage table.
The double-section manipulator comprises a frame, a first-order manipulator, a second-order manipulator and a balancing weight, wherein the first-order manipulator is movably connected to the frame; the second-order manipulator comprises a second-order driving piece, a second-order transmission piece and a gripper, wherein the second-order transmission piece is in transmission connection with the second-order driving piece, the second-order driving piece is connected to one side, back to the frame, of the first-order manipulator in a sliding manner, the gripper is connected with the second-order transmission piece, and the gripper is used for clamping a workpiece; the balancing weight is connected with the second-order transmission piece and is arranged at intervals with the grip; when the second-order transmission piece drives the tongs and the workpiece to lift, the balancing weight balances the weight of the balancing weight at the other side of the second-order transmission piece, so that the second-order manipulator can rapidly realize up-and-down motion and the grasping function of the tongs, and can rapidly move aiming at a test tube with low position, and further, the lifting speed and the lifting force of the tongs and the workpiece are accurately controlled, and the lifting speed and the lifting force of the double-section manipulator are accurately adjusted.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a two-joint manipulator according to the present utility model;
fig. 2 is a schematic structural view of another view angle of the dual-joint manipulator of the present utility model.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
The utility model provides a double-section manipulator.
In the embodiment of the present utility model, referring to fig. 1 and 2, the two-section manipulator includes a frame 10, a first-stage manipulator 20, a second-stage manipulator 30, and a balancing weight 40, wherein the first-stage manipulator 20 is detachably connected to the frame 10; the second-order manipulator 30 comprises a second-order driving piece 31, a second-order transmission piece 32 and a gripper 33, wherein the second-order transmission piece 32 is in transmission connection with the second-order driving piece 31, the second-order driving piece 31 is in sliding connection with one side, far away from the frame 10, of the first-order manipulator 20, the gripper 33 is connected with the second-order transmission piece 32, and the gripper 33 is used for clamping a workpiece; the balancing weight 40 is connected with the second-order transmission piece 32, and the balancing weight 40 and the gripper 33 are arranged at intervals; the second-order driving member 31 drives the second-order driving member 32 to drive the balancing weight 40 and the gripper 33 to move.
In this embodiment, the two-section manipulator is mainly applied to a full-automatic sample centrifugation device, and in the operation process of clamping a test tube by the full-automatic sample centrifugation device, the second-order driving piece 31 is matched with the second-order transmission piece 32, that is, the second-order driving piece 31 drives the second-order transmission piece 32 to drive the gripper 33 to lift, so that the gripper 33 can clamp a workpiece.
When the second-order transmission piece 32 drives the gripper 33 and the workpiece to lift, the weight of the second-order manipulator 30 and the weight of the workpiece are balanced by the balancing weight 40 on the other side of the second-order transmission piece 32, so that the second-order manipulator 30 can rapidly realize up-and-down movement and the gripping function of the gripper 33, rapid movement can be realized for a test tube with a low position, and further the lifting speed and the lifting force of the gripper 33 and the workpiece can be accurately controlled, and the lifting speed and the lifting force of the double-section manipulator can be accurately adjusted.
In one embodiment, referring to fig. 1 and 2, the second order manipulator 30 further includes a base plate 34, and the base plate 34 is connected to the second order drive 31; the second-order transmission member 32 includes a first driving wheel 321, a first driven wheel 322, and a first synchronous belt 323; the first driving wheel 321 is arranged on the bottom plate 34 and is spaced from the first driving wheel; the first driven wheel 322 is arranged on the bottom plate 34 and is in transmission connection with the second-order driving piece 31; the first synchronous belt 323 is sleeved on the first driving wheel 321 and the first driven wheel 322; the balancing weight 40 is connected with one side of the first synchronous belt 323, and the gripper 33 is connected with the other side of the first synchronous belt 323; the second-order driving member 31 drives the first driving wheel 321 to rotate, so that the first synchronous belt 323 drives the balancing weight 40 and the gripper 33 to move through the first driving wheel 321 and the first driven wheel 322.
In this embodiment, the second-order driving member 31 drives the first driving wheel 321 to rotate, the first driving wheel 321 drives the balancing weight 40 and the gripper 33 to move up and down through the first synchronous belt 323, and teeth of the first driving wheel 321 are engaged with teeth of the first synchronous belt 323 to drive, so that the balancing weight 40 and the gripper 33 move more accurately, and further, the lifting speed and the lifting force of the double-section manipulator are adjusted more accurately.
In an embodiment, referring to fig. 1 and 2, the second-order transmission member 32 further includes a first sliding rail 324 and a first sliding block 325, where the first sliding rail 324 is disposed on the bottom plate 34 and spaced from the first driving wheel 321; the first slider 325 is slidably connected to the first slide rail 324, and the gripper 33 is connected to the first slider 325.
In this embodiment, when the gripper 33 is driven to lift by the second-order driving member 31, the gripper 33 can move along the extending direction of the first sliding rail 324 through the first sliding block 325, so that the gripper 33 cannot shift in position during the moving process, and the moving accuracy of the second-order driving member 32 is further improved.
In an embodiment, referring to fig. 1 and 2, the second-order manipulator 30 further includes a first upper optical coupler 35 disposed on the bottom plate 34, where the first upper optical coupler 35 is disposed adjacent to the second-order driving element 31 and is disposed at a distance from the first slide rail 324 and the first driving wheel 321; the first upper optocoupler 35 is used to detect the position of the first slider 325.
In this embodiment, the second-order driving member 31 is a stepping motor, and when the first upper optical coupler 35 detects that the first slider 325 slides to a position parallel to the first slider, the second-order driving member 31 of the stepping motor can be controlled in time to lock the gripper 33, so that the gripper 33 gripping a workpiece can stop more stably at the position of the first upper optical coupler 35, and the gripper 33 can move the gripped workpiece to other positions.
In an embodiment, referring to fig. 1 and 2, the second-order manipulator 30 further includes a first lower optocoupler 36 disposed on the bottom plate 34, where the first lower optocoupler 36 is disposed away from the second-order driving element 31 and symmetrically disposed with the first upper optocoupler 35; the first lower optocoupler 36 is disposed at intervals with the first slide rail 324 and the first driving wheel 321, and the first lower optocoupler 36 is used for detecting a position of the first slider 325.
In this embodiment, when the first lower optocoupler 36 detects that the first slider 325 slides to a position flush with the first slider, the second-order driving member 31 of the stepper motor can be controlled in time to lock the gripper 33, so that the gripper 33 gripping a workpiece can stop more stably at the position of the first lower optocoupler 36, thereby facilitating the gripper 33 to grip the workpiece at a proper height.
In an embodiment, referring to fig. 1 and 2, the first stage robot 20 includes a frame 21, a first stage driving member 22, a screw rod 23, a nut 24, and a second slider 25, where the frame 21 is detachably connected to the frame 10; the first-order driving piece 22 is arranged on the frame 21; the screw rod 23 is rotatably connected to the frame 21 and is in transmission connection with the first-order driving piece 22; the nut 24 is connected with the screw rod 23 in a sliding manner and is connected with the second-order manipulator 30; the second slide block 25 is connected with the nut 24 and is connected with the frame 21 in a sliding way; the first-stage driving piece 22 drives the screw rod 23 to rotate, so that the nut 24 drives the second slider 25 and the second-stage manipulator 30 to slide up and down along the screw rod 23.
In this embodiment, the first-order driving member 22 is matched with the screw rod 23, the nut 24 and the second slider 25, so that the screw rod 23 is lifted by the screw thread to be smaller than the static friction angle, after the first-order driving member 22 is powered off, the nut 24 can be locked on the screw rod 23, the falling phenomenon can not be generated due to the gravity of the first-order manipulator 20 and the second-order manipulator 30, the gripper 33 is at a proper height stop position, and the stability of the gripper 33 on the second-order manipulator 30 is improved.
In an embodiment, referring to fig. 1 and 2, the first-stage manipulator 20 further includes a second upper optical coupler 26 disposed on the frame 21, where the second upper optical coupler 26 is disposed at a distance from the screw rod 23 and the nut 24 and is disposed near the first-stage driving member 22; the second upper optocoupler 26 is used for detecting the position of the gripper 33.
In this embodiment, when the second upper optocoupler 26 detects that the gripper 33 slides to the position parallel to the second upper optocoupler, the first-order driving member 22 of the stepper motor can be controlled in time to lock the second-order manipulator 30 to the second-order manipulator, so that the gripper 33 gripping the workpiece can stop more stably at the position of the second upper optocoupler 26, and the gripper 33 can move the gripped workpiece to other positions conveniently.
In an embodiment, referring to fig. 1 and 2, the first-stage manipulator 20 further includes a second lower optical coupler 27 disposed on the frame 21, where the second lower optical coupler 27 is disposed at a distance from the screw rod 23 and the nut 24 and is disposed away from the first-stage driving member 22; the second lower optocoupler 27 is used to detect the position of the gripper 33.
In this embodiment, when the second lower optocoupler 27 detects that the gripper 33 slides to the position parallel to the second lower optocoupler, the first-order driving member 22 of the stepping motor can be controlled in time to lock the second-order manipulator 30, so that the gripper 33 gripping the workpiece can stop more stably at the position of the second lower optocoupler 27.
Because the hanging basket of the full-automatic sample centrifugation equipment is deep in position, the first-order manipulator 20 can be used for carrying out long-stroke placement, when the second-order manipulator 30 descends to the first lower optical coupler 36 and the stroke is insufficient, the first-order manipulator 20 can enable the second-order manipulator 30 to continuously descend to the second lower optical coupler 27 of the first-order manipulator 20 through the operation of the screw rod 23 and the first-order driving piece 22, so that the stroke is enlarged, and the second-order manipulator 30 can be used for grabbing in a long stroke.
In one embodiment, referring to fig. 1 and 2, the frame 10 includes a main bracket 101 and a skid 102; the sliding frame 102 is slidably connected to the main support 101, and the first-stage manipulator 20 is movably connected to the sliding frame.
In this embodiment, the main support 101 includes two sub-supports and a connecting frame, two ends of the connecting frame are respectively connected with the two sub-supports, two ends of the sliding frame 102 are respectively slidably connected to the two sub-supports, so that the first-order manipulator 20 and the second-order manipulator 30 can perform position adjustment along the horizontal direction, and thus the position adjustment range of the first-order manipulator 20 and the second-order manipulator 30 is enlarged.
In an embodiment, referring to fig. 1 and 2, the frame 10 further includes a second driving wheel 103, a first driving motor 104, a second driven wheel 105, and a second synchronous belt 106, where the second driving wheel 103 is rotatably connected to the skid 102; the first driving motor 104 is arranged on the sliding frame 102 and is in transmission connection with the second driving wheel 103; the second driven wheel 105 is rotatably connected to the sliding frame 102 and is arranged at intervals with the second driving wheel 103 and the first driving motor 104; the second synchronous belt 106 is sleeved on the second driving wheel 103 and the second driven wheel 105; the second synchronous belt 106 is connected with the first-order manipulator 20; the first driving motor 104 drives the second driving wheel 103 to rotate, so that the second driven wheel 105 drives the second synchronous belt 106 to drive the first-stage manipulator 20 to move.
In this embodiment, through the cooperation of the second synchronous belt 106 with the second driving wheel 103 and the second driven wheel 105, the teeth of the second synchronous belt 106 are engaged with the teeth of the second driving wheel 103, so that the second synchronous belt 106 drives the first-order manipulator 20 to move more accurately, thereby improving the movement accuracy of the two-section manipulator.
Specifically, the main support 101 includes two sub-supports 1011 and one connection frame 1012, and both ends of the connection frame 1012 are respectively connected to the two sub-supports 1011; the frame 10 further comprises a second driving motor 107, a third driving wheel 108, a third driven wheel 109, two fourth driven wheels 111 and a connecting shaft 113, wherein the second driving motor 107 is arranged on the connecting frame 1012; the third driving wheel 108 is rotatably connected to the connecting frame 1012 and is in transmission connection with the second driving motor 107; the third driven wheel 109 is rotatably connected to a sub-frame 1011 and is spaced from the third driving wheel 108; a third synchronous belt 110 is sleeved between the third driving wheel 108 and the third driven wheel 109, and the third synchronous belt 110 is connected with one end of the sliding frame 102; the two fourth driven wheels 111 are rotatably connected to the other sub-bracket 1011 and are arranged at intervals; a fourth synchronous belt 112 is sleeved between the two fourth driven wheels 111, and the fourth synchronous belt 112 is connected with the other end of the sliding frame 102; the connecting shaft 113 is arranged on the connecting frame 1012, and two ends of the connecting shaft 113 are respectively connected with the output shaft of the second driving motor 107 and one fourth driven wheel 111; the second driving motor 107 drives the third driving wheel 108 to rotate, so that the connecting shaft 113 drives the fourth driven wheel 111 and the fourth synchronous belt 112 to rotate.
In the embodiment, the second driving motor 107 drives the third driving wheel 108 to rotate, the third synchronous belt 110 is driven to move by the third driving wheel 108 and the third driven wheel 109, and the fourth driven wheel 111 is driven to rotate by the connecting shaft 113 and the third driving wheel 108, so that the two fourth driven wheels 111 cooperate to drive the fourth synchronous belt 112 to rotate; in this way, only one second driving motor 107 can drive the third driven wheel 109 and the two fourth driven wheels 111 to synchronously rotate, and the third driven wheel 109 and the two fourth driven wheels 111 can synchronously rotate to drive the third synchronous belt 110 and the fourth synchronous belt 112, so that the third synchronous belt 110 and the fourth synchronous belt 112 drive the two ends of the sliding frame 102 to synchronously move, and the aim of synchronously moving the two ends of the sliding frame 102 is achieved, and the structure of the frame 10 can be further simplified.
Optionally, a second guide rail 114 is further disposed on each sub-stand 1011, the second guide rail 114 is disposed at intervals with the third driving wheel 108, the third driven wheel 109 and the fourth driven wheel 111, and a third slider 115 is disposed at each of two ends of the sliding frame 102, and the third slider 115 is slidably connected to the second guide rail 114, so that the sliding frame 102 can slide smoothly in cooperation with the second guide rail 114 through the third slider 115.
The utility model also provides sample centrifugation equipment, which comprises a frame body, a centrifugal machine, a buffer storage table and double mechanical arms, wherein the centrifugal machine, the buffer storage table and the double mechanical arms are arranged on the frame body, and the double mechanical arms are used for conveying an adapter and a test tube between the centrifugal machine and the buffer storage table.
The adapter and the test tube are transferred between the centrifugal machine and the buffer table through the double-section mechanical arm, so that the transfer speed of the adapter and the test tube is increased.
The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.
Claims (10)
1. A dual-joint manipulator, characterized in that the dual-joint manipulator comprises:
a frame;
the first-order mechanical arm is detachably connected to the frame;
the second-order mechanical arm comprises a second-order driving piece, a second-order transmission piece and a gripper, wherein the second-order transmission piece is in transmission connection with the second-order driving piece, the second-order driving piece is connected to one side, far away from the frame, of the first-order mechanical arm in a sliding manner, the gripper is connected with the second-order transmission piece, and the gripper is used for clamping a workpiece; a kind of electronic device with high-pressure air-conditioning system
The balancing weight is connected with the second-order transmission piece and symmetrically arranged with the gripper;
the second-order driving piece drives the second-order driving piece to drive the balancing weight and the gripper to move.
2. The two-section manipulator of claim 1, wherein the second-order manipulator further comprises a base plate, the base plate being coupled to the second-order drive;
the second-order transmission member includes:
the first driving wheel is arranged on the bottom plate and is in transmission connection with the second-order driving piece;
the first driven wheel is arranged on the bottom plate and is arranged at intervals with the first driving wheel; a kind of electronic device with high-pressure air-conditioning system
The first synchronous belt is sleeved on the first driving wheel and the first driven wheel; the balancing weight is connected with one side of the first synchronous belt, and the gripper is connected with the other side of the first synchronous belt;
the second-order driving piece drives the first driving wheel to rotate, so that the first synchronous belt drives the balancing weight and the gripper to move through the first driving wheel and the first driven wheel.
3. The two-joint manipulator of claim 2, wherein the second-order transmission further comprises:
the first sliding rail is arranged on the bottom plate and is arranged at intervals with the first driving wheel; and
the first sliding block is connected with the first sliding rail in a sliding mode, and the gripper is connected with the first sliding block.
4. The two-section manipulator of claim 3, wherein the second-order manipulator further comprises a first upper optocoupler arranged on the bottom plate, the first upper optocoupler being arranged adjacent to the second-order driving member and being arranged at a distance from the first slide rail and the first driving wheel; the first upper optocoupler is used for detecting the position of the first sliding block;
and/or, the second-order manipulator further comprises a first lower optical coupler arranged on the bottom plate, wherein the first lower optical coupler is far away from the second-order driving piece and is symmetrically arranged with the first upper optical coupler; the first lower optocoupler is arranged at intervals with the first sliding rail and the first driving wheel, and the first lower optocoupler is used for detecting the position of the first sliding block.
5. A two-joint manipulator according to any one of claims 1 to 3, wherein the first-order manipulator comprises:
the rack is detachably connected to the frame;
the first-order driving piece is arranged on the frame;
the screw rod is rotationally connected to the frame and is in transmission connection with the first-order driving piece;
the nut is connected to the screw rod in a sliding manner and is connected with the second-order manipulator; a kind of electronic device with high-pressure air-conditioning system
The second sliding block is connected with the nut and is connected with the rack in a sliding manner;
the first-order driving piece drives the screw rod to rotate, so that the nut drives the second sliding block and the second-order manipulator to slide up and down along the screw rod.
6. The two-section manipulator of claim 5, wherein the first-stage manipulator further comprises a second upper optocoupler disposed on the frame, the second upper optocoupler being disposed in spaced relation to the screw rod and the nut and adjacent to the first-stage driving member; the second upper optocoupler is used for detecting the position of the gripper;
and/or, the first-order manipulator further comprises a second lower optical coupler arranged on the rack, wherein the second lower optical coupler, the screw rod and the nut are arranged at intervals and far away from the first-order driving piece; the second lower optocoupler is used for detecting the position of the gripper.
7. The two-joint robot of claim 1, wherein the frame comprises:
a main support; and
the sliding frame is connected with the main support in a sliding mode, and the first-order manipulator is movably connected with the sliding frame.
8. The dual-joint robot of claim 7, wherein the frame further comprises:
the second driving wheel is rotationally connected to the sliding frame;
the first driving motor is arranged on the sliding frame and is in transmission connection with the second driving wheel;
the second driven wheel is rotationally connected to the sliding frame and is arranged at intervals with the second driving wheel and the first driving motor; a kind of electronic device with high-pressure air-conditioning system
The second synchronous belt is sleeved on the second driving wheel and the second driven wheel; the second synchronous belt is connected with the first-order manipulator;
the first driving motor drives the second driving wheel to rotate, so that the second driven wheel drives the second synchronous belt to drive the first-order manipulator to move.
9. The two-section manipulator of claim 7, wherein the main support comprises two sub-supports and a connecting frame, and two ends of the connecting frame are respectively connected with the two sub-supports;
the frame further comprises:
the second driving motor is arranged on the connecting frame;
the third driving wheel is rotationally connected with the connecting frame and is in transmission connection with the second driving motor;
the third driven wheel is rotatably connected to the sub-bracket and is arranged at intervals with the third driving wheel; a third synchronous belt is sleeved between the third driving wheel and the third driven wheel, and the third synchronous belt is connected with one end of the sliding frame;
the two fourth driven wheels are rotatably connected to the other sub-bracket and are arranged at intervals; a fourth synchronous belt is sleeved between the two fourth driven wheels and connected with the other end of the sliding frame; a kind of electronic device with high-pressure air-conditioning system
The connecting shaft is arranged on the connecting frame, and two ends of the connecting shaft are respectively connected with the output shaft of the second driving motor and one of the fourth driven wheels;
the second driving motor drives the third driving wheel to rotate, so that the connecting shaft drives the fourth driven wheel and the fourth synchronous belt to rotate.
10. A sample centrifugation device, comprising a frame, a centrifuge, a buffer stage, and a double manipulator according to any one of claims 1 to 9, wherein the centrifuge, the buffer stage, and the double manipulator are all disposed on the frame, and the double manipulator is used for conveying an adapter and a test tube between the centrifuge and the buffer stage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222826475.9U CN219190213U (en) | 2022-10-25 | 2022-10-25 | Double-section manipulator and sample centrifugal equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222826475.9U CN219190213U (en) | 2022-10-25 | 2022-10-25 | Double-section manipulator and sample centrifugal equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219190213U true CN219190213U (en) | 2023-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222826475.9U Active CN219190213U (en) | 2022-10-25 | 2022-10-25 | Double-section manipulator and sample centrifugal equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219190213U (en) |
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2022
- 2022-10-25 CN CN202222826475.9U patent/CN219190213U/en active Active
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