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Fully-automatic five-axis manipulator

A fully automatic and manipulator technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of unsuitability, noise of air compressor, loud cylinder exhaust whistle, increased cost, etc., to achieve high stability and improve power consumption. The effect of control stability and compact structure

Active Publication Date: 2015-05-27
嘉兴科瑞迪医疗器械有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The Y-direction movement of the driving manipulator in the prior art is realized by setting a manipulator beam independently of the beam where the sample injection gun is located, which will inevitably reduce the limited space in the operating area, resulting in a relatively complex structure of the entire dual-system immunoassay analyzer. Huge; the driving manipulator in the prior art generally does not rotate around the Z axis, so the manipulator can only grab a sample with a fixed shape and a fixed position and then place it in translation, and cannot change the direction of the sample; in addition, the prior art The mechanical gripper is generally realized by a two-way cylinder. However, there are certain defects in this field: it is necessary to add an air compressor to provide power to the cylinder, which not only increases the cost, but also the noise of the air compressor and the howling sound generated by the exhaust of the cylinder are relatively high. Large, which is not suitable for places where quietness must be maintained, such as hospitals

Method used

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  • Fully-automatic five-axis manipulator
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  • Fully-automatic five-axis manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0016] Embodiment 1, with reference to accompanying drawing.

[0017] A fully automatic five-axis manipulator, comprising a manipulator 100 and a gripper 200, characterized in that the manipulator 100 comprises a manipulator fixing plate 101, and a Z-axis motor 102 is fixed on one side of the manipulator fixing plate 101, along the Z axis. The Z-axis guide rail 106 is fixed in the axial direction, and the Z-axis moving plate 104 is slidably matched with the Z-axis guiding rail 106. The threaded hole 110 is arranged on the Z-axis moving plate 104, and the motor shaft of the Z-axis motor 102 is fixedly connected to the screw rod 105. The screw rod 105 is connected to the Z-axis moving plate 104. The threaded hole 110 provided in the middle of the moving plate 104 cooperates; the lower part of the Z-axis moving plate 104 is also fixed with a circumferential motor 103, and the motor shaft of the circumferential motor 103 is engaged with the gripper 200; Two upper and lower X-axis ...

Embodiment 2

[0024] Embodiment 2, with reference to accompanying drawing.

[0025] Others are the same as in Embodiment 1, but the first claw 8 or the second claw 9 includes a connection part 13 affixed to the first claw seat 5 or the second claw seat 6, and is solidly integrated with the connection part 13 The claw head 14, the connecting portion 13 is an elastic steel sheet; the claw head 14 is provided with anti-slip texture on the side facing the double output shaft left and right rotation motor 10. The elastic steel sheet enables the claw head 14 to be in flexible contact with the template instead of colliding contact, which is conducive to improving the smooth operation of the equipment and can control the grasping force from being too large. The non-slip texture increases friction and prevents the gripped sample from falling out.

Embodiment 3

[0026] Embodiment 3, with reference to accompanying drawing.

[0027] Others are the same as in Embodiment 2, but the double output shaft left and right rotation motor 10 is also connected to the current control module. Stop spinning. When the double output shaft left and right rotation motor 10 rotates counterclockwise, the first gripper 8 and the second gripper 9 retract inward synchronously and contact with the template, the rotation of the motor is blocked, and the current through the double output shaft left and right rotation motor will change. If the value is large, the motor has a tendency to further rotate counterclockwise, which will generate a certain clamping force on the sample. By setting the current value, the clamping force will be fixed at a certain specific value, so as to realize the grasping of different sizes. Object-fixed moment grabbing, the so-called "smart grabbing".

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PUM

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Abstract

The invention relates to a dual-system immunity analyzer, in particular to a fully-automatic five-axis manipulator applied to the dual-system immunity analyzer. The manipulator can move on the X axis, Y axis and Z axis and can rotate around the Z axis, and grabbing action at any angle in the X-Y plane is realized. Compared with the prior art, the fully-automatic five-axis manipulator has the advantages that due to the fact that a combined beam substitutes a dual-beam structure, the structure is compact, and the stability is high; due to the fact that the manipulator and a grabbing claw are buckled, grabbing claws with different specifications can be convenient to replace; the fully-automatic five-axis manipulator is applied to various experiments and facilitates OEM (original equipment manufacturer) production; a five-axis design is adopted and a shielding cable is adopted to filter external electromagnetic interference, so that electric control stability is improved.

Description

technical field [0001] The invention relates to a dual-system immune analyzer, in particular to a fully automatic five-axis manipulator applied to the dual-system immune analyzer. Background technique [0002] The dual-system immunoassay analyzer is a device with the functions of precise sample pipetting, reagent dilution and distribution, vibration incubation, plate washing, dual-system reading analysis, etc. It can be used in hospital diagnostic laboratories, disease control laboratories, life science laboratories, Forensic laboratory, etc. The Y-direction movement of the driving manipulator in the prior art is realized by setting a manipulator beam independently of the beam where the sample injection gun is located, which will inevitably reduce the limited space in the operating area, resulting in a relatively complex structure of the entire dual-system immunoassay analyzer. Huge; the driving manipulator in the prior art generally does not rotate around the Z axis, so th...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 舒金国
Owner 嘉兴科瑞迪医疗器械有限公司