CN102023223B - Universal mechanical arm for automated instruments - Google Patents

Abstract

The invention provides a universal mechanical arm for automated instruments. The universal mechanism comprises a vertical plate, wherein a slide rail is arranged on the vertical plate; a slide block is installed on the slide rail and is connected with a rotating support; the rotating support is provided with a rotating shaft, a rotating drive unit and a speed sensor; the rotating shaft is connected with the rotating drive unit; the top of the rotating shaft is provided with a rotating arm; the bottom of the vertical plate is provided with a lifting drive unit; the lifting drive unit is connected with the rotating support; the rotating support is provided with a photoelectric stop dog; the vertical plate is provided with a first photoelectric sensor and a second photoelectric sensor; and the first photoelectric sensor and the second photoelectric sensor are respectively connected with the vertical plate through a position regulator. The rotating angle and vertical displacement of the universal mechanical arm provided by the invention can be regulated according to needs; and the universal mechanical arm provided by the invention is high in compatibility, and is suitable for various automated instruments.

Description

Self-reacting device universal machine arm

Technical field

The present invention relates to a kind of mechanical arm, specifically a kind of self-reacting device universal machine arm.

Background technology

Present various robotization detecting instrument generally adopts mechanical arm to accomplish actions such as automatic liquid feeding, sampling, displacement, clamping; But mostly the mechanical arm that uses on each instrument is special product; When producing, just configure the anglec of rotation and perpendicular displacement, supplied a kind of instrument to use only, do not possessed compatibility; Manufacturer need produce the mechanical arm product of multiple model and supply with various instrument use, and production cost is higher.

Summary of the invention

The purpose of this invention is to provide a kind of self-reacting device universal machine arm, its anglec of rotation and perpendicular displacement all can be regulated as required, and be compatible high, is applicable to multiple self-reacting device.

The present invention realizes through following technical scheme: comprise riser, slide rail is set on the riser for realizing above-mentioned purpose; Slide block is installed on the slide rail, and slide block is connected with rotary support, and rotating shaft, rotating driving device and tachogenerator are installed on the rotary support; Rotating shaft is connected with rotating driving device, and pivot arm is installed on the rotating shaft top, and lifting drive is installed in the riser bottom; Lifting drive is connected with rotary support; The photoelectricity block is set on the rotary support, first photoelectric sensor and second photoelectric sensor are installed on the riser, first photoelectric sensor is connected with riser through apparatus for adjusting position respectively with second photoelectric sensor.Said rotating driving device has a stepper motor that is installed on the rotary support, and first synchronizing wheel is installed on the output shaft of stepper motor, and first synchronizing wheel is connected with second synchronizing wheel through being with synchronously, and second synchronizing wheel is installed in the rotating shaft.Said lifting drive has a base that is connected with riser, and linear stepping motor is installed on the base, and the screw tip of linear stepping motor contacts with rotary support.Said apparatus for adjusting position has a chute that is opened in the slide rail side, and first slide and second slide are installed respectively in the chute, and first photoelectric sensor is installed on first slide, and second photoelectric sensor is installed on second slide.Said rotating shaft is a hollow rotating shaft.Installed thrust ball bearing between the bottom of rotating shaft and the rotary support.

The invention has the advantages that: the anglec of rotation of rotating driving device and the perpendicular displacement of lifting drive all can be adjusted according to actual needs; Can satisfy the use needs of multiple self-reacting device; Compatible strong, be convenient to enterprise and produce in batches, reduced production cost significantly; The location is accurate when rotation and up-down, and noise is low; Easy to operate, position is fine-tuning etc.

Description of drawings

Fig. 1 is a structural representation of the present invention.

Embodiment

Self-reacting device universal machine arm of the present invention comprisesriser 1, andslide rail 2 is set on theriser 1, andslide block 3 is installed on theslide rail 2;Slide block 3 is connected withrotary support 4, and rotatingshaft 5, rotating driving device andtachogenerator 16 are installed on therotary support 4, and rotatingshaft 5 is connected with rotating driving device;Pivot arm 6 is installed on rotatingshaft 5 tops; Lifting drive is installed inriser 1 bottom, and lifting drive is connected withrotary support 4, andphotoelectricity block 13 is set on therotary support 4; Installation firstphotoelectric sensor 14 and second photoelectric sensor, 15, the firstphotoelectric sensors 14 are connected withriser 1 through apparatus for adjusting position respectively with secondphotoelectric sensor 15 on the riser 1.Pivot arm 6 is with rotatingshaft 5 rotation under the driving of rotating driving device together; Tachogenerator 16 can detect the rotating speed of rotating driving device; And calculate the anglec of rotation working time that combines rotating driving device; When the anglec of rotation of rotating driving device reaches preset value, stop automatically, the setting value of the anglec of rotation can be set according to the needs of different instruments.Rotary support 4 can drive rotatingshaft 5 andpivot arm 6 vertically goes up and down under the driving of lifting drive alongslide rail 2;Photoelectricity block 13 together goes up and down withrotary support 4; In uphill process, whenphotoelectricity block 13 rose to the measuring position of firstphotoelectric sensor 14, firstphotoelectric sensor 14 sent the signal that puts in place to lifting drive; Prompting has risen to the precalculated position, and lifting drive quits work; In the decline process, whenphotoelectricity block 13 dropped to the measuring position of secondphotoelectric sensor 15, secondphotoelectric sensor 15 sent the signal that puts in place to lifting drive, and prompting has dropped to the precalculated position, and lifting drive quits work.The position of firstphotoelectric sensor 14 and secondphotoelectric sensor 15 can be regulated through apparatus for adjusting position; Control the perpendicular displacement of lifting drive through the position of regulating firstphotoelectric sensor 14 and secondphotoelectric sensor 15, to satisfy the needs of various different instruments.

Rotating driving device of the present invention can adopt multiple structure; Wherein preferred construction is: said rotating driving device has a stepper motor 7 that is installed on therotary support 4; First synchronizingwheel 8 is installed on the output shaft of stepper motor 7; First synchronizingwheel 8 is through be with 9 to be connected with second synchronizingwheel 10 synchronously, and second synchronizingwheel 10 is installed in the rotating shaft 5.Advantages such as this structure has the location accurately, and noise is low.Certain rotating driving device of the present invention can also adopt common electric machine to drive, or adopts gear or sprocket wheel, chain structure to carry out transmission, but these structural orientation degree of accuracy are lower, and noise is bigger, with preferred version gap to some extent.

Lifting drive of the present invention can adopt multiple structure; Wherein preferred construction is: said lifting drive has abase 11 that is connected withriser 1;Linear stepping motor 12 is installed on thebase 11, and the screw tip oflinear stepping motor 12 contacts with rotary support 4.This structure has advantages such as vertical stroke is long, the location is accurate, with low cost.Certain lifting drive of the present invention can also adopt stepper motor to drive synchronizing wheel, band or drive multiple structure such as screw-nut body and drive synchronously, but these structures aspect vertical stroke, location levels of precision and cost all with preferred version gap to some extent.

Apparatus for adjusting position of the present invention is used to regulate the upright position of firstphotoelectric sensor 14 and secondphotoelectric sensor 15; For realizing this function; Can adopt multiple structure to realize that wherein preferred construction is: said apparatus for adjusting position has achute 17 that is opened inslide rail 2 sides, andfirst slide 18 andsecond slide 19 are installed respectively in thechute 17; Install onfirst slide 18 secondphotoelectric sensor 15 is installed on first photoelectric sensor, 14, the second slides 19.This structure has the advantage easy to operate, that the position is fine-tuning.Certain apparatus for adjusting position of the present invention can also adopt other multiple structure to realize; For example a plurality of pilot holes can be set onriser 1, on firstphotoelectric sensor 14 and secondphotoelectric sensor 15, register pin be set respectively, during use register pin inserted in the pilot hole of relevant position and position; Realize the purpose of adjusting position through the pilot hole of selecting diverse location; But this structure operation is comparatively loaded down with trivial details, and the position can not finely tune, therefore with preferred version gap to some extent.

The present invention is compatible in order further to improve, and can hollow rotating shaft be processed in rotatingshaft 5 of the present invention, and the cavity of hollow rotating shaft can be used for depositing the parts such as lead, pipette or traction rope that are connected withpivot arm 6, can supply the instrument of various difference in functionalitys to use.

The present invention is in order to reduce the friction force between rotatingshaft 5 and therotary support 4; Can be between the bottom of rotatingshaft 5 androtary support 4 installed thrust ball bearing 20; Thrust ball bearing 20 can effectively reduce the friction force between rotatingshaft 5 and therotary support 4; And not influenced by axle pressure, can guarantee rotatingshaft 5 smooth and easy rotations.

Claims (6)

1. self-reacting device universal machine arm is characterized in that: comprise riser (1), slide rail (2) is set on the riser (1); Slide rail (2) is gone up slide block (3) is installed; Slide block (3) is connected with rotary support (4), and rotary support (4) is gone up rotating shaft (5), rotating driving device and tachogenerator (16) are installed, and rotating shaft (5) is connected with rotating driving device; Pivot arm (6) is installed on rotating shaft (5) top; Lifting drive is installed in riser (1) bottom, and lifting drive is connected with rotary support (4), and photoelectricity block (13) is set on the rotary support (4); Riser (1) is gone up first photoelectric sensor (14) and second photoelectric sensor (15) is installed; Rotary support (4) can drive rotating shaft (5) and pivot arm (6) vertically goes up and down under the driving of lifting drive along slide rail (2), and photoelectricity block (13) together goes up and down with rotary support (4), in uphill process; Photoelectricity block (13) can rise to the measuring position of first photoelectric sensor (14); In the decline process, photoelectricity block (13) can drop to the measuring position of second photoelectric sensor (15), and first photoelectric sensor (14) is connected with riser (1) through apparatus for adjusting position respectively with second photoelectric sensor (15).

2. self-reacting device universal machine arm according to claim 1; It is characterized in that: said rotating driving device has a stepper motor (7) that is installed on the rotary support (4); First synchronizing wheel (8) is installed on the output shaft of stepper motor (7); First synchronizing wheel (8) is connected with second synchronizing wheel (10) through being with (9) synchronously, and second synchronizing wheel (10) is installed in the rotating shaft (5).

3. self-reacting device universal machine arm according to claim 1; It is characterized in that: said lifting drive has a base (11) that is connected with riser (1); Base (11) is gone up linear stepping motor (12) is installed, and the screw tip of linear stepping motor (12) contacts with rotary support (4).

4. self-reacting device universal machine arm according to claim 1; It is characterized in that: said apparatus for adjusting position has a chute (17) that is opened in slide rail (2) side; First slide (18) and second slide (19) are installed respectively in the chute (17); First slide (18) is gone up first photoelectric sensor (14) is installed, and second slide (19) is gone up second photoelectric sensor (15) is installed.

5. self-reacting device universal machine arm according to claim 1 and 2 is characterized in that: said rotating shaft (5) is a hollow rotating shaft.

6. self-reacting device universal machine arm according to claim 1 and 2 is characterized in that: installed thrust ball bearing (20) between the bottom of rotating shaft (5) and the rotary support (4)

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