CN210084392U - Three-dimensional electric manipulator - Google Patents
Three-dimensional electric manipulator Download PDFInfo
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- CN210084392U CN210084392U CN201920478065.5U CN201920478065U CN210084392U CN 210084392 U CN210084392 U CN 210084392U CN 201920478065 U CN201920478065 U CN 201920478065U CN 210084392 U CN210084392 U CN 210084392U
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- slide rail
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Abstract
The utility model relates to a three-dimensional electric manipulator, including fixture, horizontal slide rail, vertical slide rail and the vertical slide rail of sliding connection on horizontal slide rail, fixture connects the lower extreme of vertical slide rail, be equipped with the horizontal drive mechanism of the vertical slide rail of drive on horizontal slide rail between horizontal slide rail and the vertical slide rail, vertical slide rail passes through elevating system liftable ground and connects on the vertical slide rail, it is in to be equipped with the vertical slide rail of drive between vertical slide rail and the vertical slide rail vertical drive mechanism of vertical slip on the vertical slide rail. The utility model aims at providing a three-dimensional electric manipulator that can realize that the three-dimensional spatial position of object especially blood taking needle shifts has solved current manipulator for the blood taking needle and has only been can be the problem of elevating movement.
Description
Technical Field
The utility model relates to an electric manipulator especially relates to a three-dimensional electric manipulator.
Background
In the production process of the blood taking needle (cylindrical needle cylinder), the blood taking needle needs to be transferred from one station to another station through a manipulator, the manipulator for transferring the blood taking needle in the prior art can only do one-dimensional lifting motion, namely, can descend to clamp the blood taking needle and then lift the blood taking needle to a set height, but can not realize three-dimensional motion to transfer the blood taking needle from one position to another position. In addition, the lancets are arranged in a double row at the site and, when the destination is only capable of discharging one, it is necessary to transfer the lancets from the site to the destination in two times, which results in a long time, especially when the site and the destination are far apart.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a first purpose aims at providing a three-dimensional electric manipulator that can realize that the three-dimensional spatial position of object especially blood taking needle shifts, has solved current manipulator for the blood taking needle and has only been can be the problem of elevating movement.
The second purpose of the utility model is to further clamp up two rows of blood taking needles and carry out the three-dimensional electric manipulator under the single emission, solved the blood taking needle for double arrangement when the place and need divide the blood taking needle twice to transfer to the problem of destination from the place when the destination is just can single row put into in the destination.
The technical problem is solved by the following technical scheme: the utility model provides a three-dimensional electric manipulator, includes fixture, horizontal slide rail, vertical slide rail and the vertical slide rail of sliding connection on horizontal slide rail, fixture connects the lower extreme of vertical slide rail, be equipped with the horizontal actuating mechanism of the horizontal gliding of drive vertical slide rail on horizontal slide rail between horizontal slide rail and the vertical slide rail, vertical slide rail passes through elevating system liftably to be connected on the vertical slide rail, it is in to be equipped with the vertical slide rail of drive between vertical slide rail and the vertical slide rail vertical actuating mechanism of vertical gliding on the vertical slide rail. The three-dimensional position of an object is changed by clamping the object such as a blood taking needle by a clamping mechanism and then performing lifting, transverse and longitudinal movement. The longitudinal driving mechanism, the transverse driving mechanism and the lifting mechanism can be realized by air cylinders.
Preferably, the transverse driving mechanism comprises a transverse sliding seat slidably connected to the transverse sliding rail, a transverse rack arranged on the transverse sliding rail, a transverse driving mechanism gear meshed with the transverse rack, and a transverse driving motor driving the transverse mechanism gear, the transverse driving motor is connected to the transverse sliding seat, and the longitudinal sliding rail is longitudinally slidably connected to the transverse sliding seat. The technical scheme can ensure that the longitudinal movement and the transverse movement share the same sliding seat. The compactness of the structure is improved.
Preferably, the longitudinal driving mechanism comprises a longitudinal rack arranged on the longitudinal sliding rail, a longitudinal driving mechanism gear meshed with the longitudinal rack, and a longitudinal driving motor driving the longitudinal driving mechanism gear, and the longitudinal driving motor is connected to the transverse sliding seat.
Preferably, a sliding sleeve is arranged on the longitudinal sliding rail, the vertical sliding rail penetrates through the sliding sleeve, the lifting mechanism comprises a vertical rack arranged on the vertical sliding rail, a lifting mechanism gear meshed with the vertical rack and a lifting motor driving the lifting mechanism gear to rotate, the lifting motor is connected to the sliding sleeve, and the vertical sliding rail is matched with the lifting mechanism gear through the vertical rack and is suspended in the sliding sleeve.
Preferably, fixture includes fixed plate, movable plate and clip, the upper surface of fixed plate is equipped with the draw runner, be equipped with on the fixed plate and dodge the hole, be equipped with sliding connection on the lower surface of movable plate spout on the draw runner, the clip is including deciding the clamp finger and moving the clamp finger, decide the clamp finger to connect on the lower surface of fixed plate, it wears to establish to move the clamp finger avoid downthehole and with the lower surface of movable plate links together, move the clamp finger with decide the clamp finger and distribute along the extending direction of draw runner, be equipped with the drive movable plate between fixed plate and the movable plate and slide on the draw runner and make and move the clamp finger for deciding the clamp mechanism that the clamp finger divide-shut. When the clamp opening and closing mechanism is used, the movable plate is driven to move equivalently to the fixed plate through the clamp opening and closing mechanism, and the fixed clamping fingers are driven to move when the fixed plate moves, so that the opening and closing of the clamp are realized.
Preferably, the clip opening and closing mechanism comprises a screw rod, a clip opening and closing motor for driving the screw rod to rotate, and a threaded sleeve in threaded connection with the screw rod, the threaded sleeve is connected with the movable plate, the screw rod is in rotary connection with the fixed plate, the clip opening and closing motor is connected with the fixed plate, and the extension direction of the screw rod is the same as that of the slide bar. When the clamp opening and closing device is used, the clamp opening and closing motor rotates to drive the screw rod to rotate, the screw rod rotates to drive the threaded sleeve to translate, the threaded sleeve drives the movable plate to move equivalently to the fixed plate, and the fixed plate drives the fixed clamp finger to move when moving, so that the opening and closing of the clamp are realized.
Preferably, the surface of one side of the fixed clamping finger facing the movable clamping finger is provided with a fixed clamping finger part arc-shaped clamping surface, the fixed clamping finger part arc-shaped clamping surface is a concave surface, the distance from the lower end surface of the fixed clamping finger part arc-shaped clamping surface to the lower end surface of the fixed clamping finger part arc-shaped clamping surface is smaller than the radius of the clamped cylinder, and the lower end surface of the fixed clamping finger is flush with or lower than the lower end surface of the movable clamping finger. The blood taking needle placed on the workbench can be automatically lifted and moved to the clamping surface to be clamped in the clamping process. The convenience and the reliability during clamping are good.
Preferably, an arc-shaped clamping surface of the movable clamping finger part is arranged on the surface of one side, facing the fixed clamping finger, of the movable clamping finger, the arc-shaped clamping surface of the movable clamping finger part is a concave surface, and the distance from the boundary line between the lower end of the arc-shaped clamping surface of the movable clamping finger part and the surface of one side, facing the fixed clamping finger, of the movable clamping finger to the lower end surface of the movable clamping finger is smaller than the radius of the clamped cylinder.
Preferably, the clips are arranged in two rows, the two rows of clips are distributed along the extending direction of the sliding strip, the number of the fixed plates is two, the number of the clip opening and closing mechanisms is two, movable clip fingers of one row of clips are connected with one fixed plate, movable clip fingers of the other row of clips are connected with the other fixed plate, and the two clip opening and closing mechanisms drive the two movable plates in a one-to-one correspondence mode. When the blood taking device is used, the two rows of clips are folded simultaneously to clamp the two rows of blood taking needles, after the blood taking needles are moved to the destination, the blood taking needles in one row of clips are aligned with the position, where the blood taking needles are stored, of the destination to lay down the blood taking needles in the other row of clips, and then the blood taking needles in the other row of clips are aligned with the position, where the blood taking needles are stored, of the destination to lay down the blood taking needles in the.
Preferably, the two clip opening and closing mechanisms are distributed along a direction perpendicular to the extending direction of the slide bar. The layout is convenient.
The utility model has the advantages of that: the three-dimensional space position of the blood taking needle can be transferred.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of one state of the chucking mechanism.
Fig. 3 is a schematic view of another state of the chucking mechanism.
Fig. 4 is an enlarged schematic view of the clip of fig. 3.
In the figure: the clamping mechanism comprises a clamping mechanism 1, a transverse sliding rail 2, a vertical sliding rail 3, a longitudinal sliding rail 4, a fixed plate 5, a transverse sliding seat 6, a transverse rack 7, a transverse driving motor 8, a longitudinal driving motor 9, a sliding sleeve 10, a lifting motor 11, a movable plate 12, a clamp 13, a sliding strip 14, an avoiding hole 15, a sliding chute 16, a fixed clamping finger 17, a movable clamping finger 18, a screw rod 19, a clamp opening and closing motor 20, a threaded sleeve 21, a connecting plate 23, a supporting seat 22, a fixed clamping finger arc-shaped clamping surface 24, an intersection line 25 of the lower end of the fixed clamping finger arc-shaped clamping surface and the surface of one side of the fixed clamping finger facing the movable clamping finger, a lower end surface 26 of the fixed clamping finger, an arc-shaped clamping surface 27 of the movable clamping finger facing one side of the fixed clamping finger, an intersection line 28 of the lower end of the arc-shaped clamping surface of the movable clamping finger facing one side of the fixed clamping finger, and a lower end surface.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1, 2, 3 and 4, a three-dimensional electric manipulator includes a clamping mechanism 1, a transverse slide rail 2, a vertical slide rail 3 and a longitudinal slide rail 4 connected to the transverse slide rail in a sliding manner. The clamping mechanism comprises a fixed plate 5. The lower extreme at vertical slide rail is connected to the fixed plate. A transverse driving mechanism for driving the longitudinal slide rail to transversely slide on the transverse slide rail is arranged between the transverse slide rail and the longitudinal slide rail. The vertical slide rail is connected to the longitudinal slide rail in a lifting manner through a lifting mechanism. A longitudinal driving mechanism for driving the vertical slide rail to longitudinally slide on the longitudinal slide rail is arranged between the vertical slide rail and the longitudinal slide rail. The transverse driving mechanism comprises a transverse sliding seat 6 connected to the transverse sliding rail in a sliding mode, a transverse rack 7 arranged on the transverse sliding rail, a transverse driving mechanism part gear (shielded from view in the drawing) meshed with the transverse rack, and a transverse driving motor 8 for driving the transverse driving mechanism part gear. The transverse driving motor is connected with the transverse sliding seat. When the transverse driving mechanism is used, the transverse driving motor drives the transverse driving mechanism gear to rotate, and the transverse driving mechanism gear rolls on the transverse rack so as to determine that the transverse sliding seat slides and enable all components mounted on the transverse sliding seat to move together. The longitudinal sliding rail is longitudinally and slidably connected to the transverse sliding seat, namely the longitudinal sliding rail is longitudinally and slidably connected to the transverse sliding seat. The longitudinal driving mechanism comprises a longitudinal rack arranged on the longitudinal slide rail, a longitudinal driving mechanism part gear meshed with the longitudinal rack and a longitudinal driving motor 9 for driving the longitudinal driving mechanism part gear. The longitudinal driving motor is connected to the transverse sliding seat. When the vertical driving mechanism is used, the vertical driving motor drives the vertical driving mechanism gear to rotate, and the vertical driving mechanism gear rotates to drive the vertical rack to longitudinally translate so as to enable the vertical sliding rail to longitudinally move. The longitudinal slide rail is provided with a slide sleeve 10. The vertical slide rail is arranged in the slide sleeve in a penetrating way. The lifting mechanism comprises a vertical rack arranged on the vertical slide rail, a lifting mechanism part gear meshed on the vertical rack and a lifting motor 11 driving the lifting mechanism part gear to rotate. The lifting motor is connected on the sliding sleeve. The vertical sliding rail is hung in the sliding sleeve by the vertical rack matching with the gear of the lifting mechanism part. When the lifting mechanism is used, the lifting motor drives the gear of the lifting mechanism part to rotate, and the gear of the lifting mechanism part drives the vertical rack to move up and down so as to drive the vertical sliding rail to slide up and down.
The clamping mechanism further comprises a moving plate 12 and a clamp 13. The upper surface of the stationary plate is provided with a slide bar 14. The number of the slide bars is two. The slide bar extends in the left-right direction. The two sliding strips are distributed along the front-back direction. The fixed plate is provided with avoidance holes 15. The movable plate is composed of 2 blocks. The two movable plates are distributed along the left and right directions. The lower surface of the movable plate is provided with two sliding grooves 16 which are in one-to-one correspondence and are in sliding connection with the two sliding strips. The clamp comprises a fixed clamping finger 17 and a movable clamping finger 18. The shelves have two rows. The two rows of clips are distributed along the left and right direction. Each row of clips has 6 clips, and the clips in the same row of clips are distributed along the front-back direction. The fixed clamp finger is connected on the lower surface of the fixed plate. The movable clamping finger penetrates through the avoiding hole and is connected with the lower surface of the movable plate. The movable clamping fingers and the fixed clamping fingers are distributed along the extending direction of the sliding strip. And a clamp opening and closing mechanism which drives the movable plate to slide on the slide bar so as to open and close the movable clamping fingers relative to the fixed clamping fingers is arranged between the fixed plate and the movable plate. The clamp opening and closing mechanism comprises a screw rod 19, a clamp opening and closing motor 20 for driving the screw rod to rotate and a threaded sleeve 21 in threaded connection with the screw rod. The threaded sleeve is connected with the movable plate through a connecting plate 23. The screw rod is rotatably connected to the supporting seat 22 on the fixed plate. The clip opening and closing motor is connected to the fixed plate. The extending direction of the screw rod is the same as the extending direction of the slide bar, namely the left and right directions extend. The clamp opening and closing mechanism is provided with two clamps. The two clamp opening and closing mechanisms are distributed along the front and back directions. The movable clamping fingers of one row of clamps are connected together by one fixed plate, and the movable clamping fingers of the other row of clamps are connected together by the other fixed plate, i.e. the movable clamps of the two rows of clamps are correspondingly connected on the two movable plates one by one. The two clamp opening and closing mechanisms drive the two movable plates in a one-to-one correspondence manner. The surface of one side of the fixed clamping finger facing the movable clamping finger is provided with an arc-shaped clamping surface 24 of the fixed clamping finger part. The arc-shaped clamping surface of the finger fixing part is a concave surface. The distance between the lower end of the arc-shaped clamping surface of the fixed clamping finger part and the boundary line 25 of the surface of the fixed clamping finger facing to the movable clamping finger and the lower end surface 26 of the fixed clamping finger is smaller than the radius of the clamped cylinder, namely the blood taking needle. The lower end surface of the fixed clamping finger is flush with or lower than the lower end surface of the movable clamping finger. The surface of one side of the movable clamping finger facing the fixed clamping finger is provided with an arc-shaped clamping surface 27 of the movable clamping finger part. The arc-shaped clamping surface of the movable clamping finger part is a concave surface. The distance from the boundary line 28 of the lower end of the arc-shaped clamping surface of the movable clamping finger part and the surface of one side of the movable clamping finger facing the fixed clamping finger to the lower end surface 29 of the movable clamping finger is smaller than the radius of the clamped cylinder.
When the clamp is used, the clamp opening and closing motor drives the screw rod to rotate, and the screw rod drives the threaded sleeve to translate. The thread bush drives the movable plate to translate through the connecting plate, and the movable plate drives the movable clamping fingers to translate, so that the opening and closing of the clamp are realized.
Claims (5)
1. The utility model provides a three-dimensional electric manipulator, includes fixture, its characterized in that still includes horizontal slide rail, vertical slide rail and the vertical slide rail of sliding connection on horizontal slide rail, fixture connects the lower extreme of vertical slide rail, be equipped with the horizontal drive mechanism of the vertical slide rail of drive horizontal slide rail lateral sliding on horizontal slide rail between horizontal slide rail and the vertical slide rail, vertical slide rail passes through elevating system liftably ground and connects on the vertical slide rail, be equipped with between vertical slide rail and the vertical slide rail and drive vertical slide rail and be in vertical gliding vertical drive mechanism on the vertical slide rail.
2. The three-dimensional electric manipulator according to claim 1, wherein the transverse driving mechanism comprises a transverse sliding seat slidably connected to the transverse sliding rail, a transverse rack disposed on the transverse sliding rail, a transverse driving mechanism gear engaged with the transverse rack, and a transverse driving motor driving the transverse driving mechanism gear, the transverse driving motor is connected to the transverse sliding seat, and the longitudinal sliding rail is longitudinally slidably connected to the transverse sliding seat.
3. The three-dimensional electric manipulator according to claim 2, wherein the longitudinal driving mechanism comprises a longitudinal rack arranged on the longitudinal slide rail, a longitudinal driving mechanism gear meshed with the longitudinal rack, and a longitudinal driving motor driving the longitudinal driving mechanism gear, and the longitudinal driving motor is connected to the transverse sliding seat.
4. The three-dimensional electric manipulator according to claim 1, wherein a sliding sleeve is disposed on the longitudinal sliding rail, the vertical sliding rail penetrates through the sliding sleeve, the lifting mechanism comprises a vertical rack disposed on the vertical sliding rail, a lifting mechanism gear engaged with the vertical rack, and a lifting motor driving the lifting mechanism gear to rotate, the lifting motor is connected to the sliding sleeve, and the vertical sliding rail is suspended in the sliding sleeve through the vertical rack matching with the lifting mechanism gear.
5. The three-dimensional electric manipulator according to claim 1, wherein the clamping mechanism comprises a fixed plate, a movable plate and a clamp, a slide strip is arranged on the upper surface of the fixed plate, an avoiding hole is formed in the fixed plate, a sliding groove connected to the slide strip in a sliding mode is formed in the lower surface of the movable plate, the clamp comprises a fixed clamping finger and a movable clamping finger, the fixed clamping finger is connected to the lower surface of the fixed plate, the movable clamping finger penetrates through the avoiding hole and is connected with the lower surface of the movable plate, the movable clamping finger and the fixed clamping finger are distributed along the extending direction of the slide strip, and a clamp opening and closing mechanism which drives the movable plate to slide on the slide strip so that the movable clamping finger can be opened and closed relative to the fixed clamping finger is arranged between the fixed plate and the movable plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920478065.5U CN210084392U (en) | 2019-11-21 | 2019-11-21 | Three-dimensional electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920478065.5U CN210084392U (en) | 2019-11-21 | 2019-11-21 | Three-dimensional electric manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210084392U true CN210084392U (en) | 2020-02-18 |
Family
ID=69474031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920478065.5U Active CN210084392U (en) | 2019-11-21 | 2019-11-21 | Three-dimensional electric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210084392U (en) |
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2019
- 2019-11-21 CN CN201920478065.5U patent/CN210084392U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A three-dimensional electric manipulator Effective date of registration: 20220408 Granted publication date: 20200218 Pledgee: Agricultural Bank of China Limited by Share Ltd. South Lake branch Pledgor: JIAXING BLUE AINO ROBOT Co.,Ltd. Registration number: Y2022330000484 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |