Three-axis mechanical arm

Abstract

The utility model discloses a three-axis mechanical arm, and belongs to the technical field of in-vitro diagnosis medical equipment. The mechanical arm comprises a first mechanical arm body arranged in the X-axis direction, a second mechanical arm body connected with the first mechanical arm body and arranged in the Y-axis direction, a third mechanical arm body connected with the first mechanical arm body and arranged in the Z-axis direction, and an electric claw clamp connected with the third mechanical arm body. The second mechanical arm drives the first mechanical arm to do linear motion in the Y-axis direction, the first mechanical arm drives the third mechanical arm to do linear motion in the X-axis direction, and the third mechanical arm drives the electric claw clamp to do linear motion in the Z-axis direction, so that the electric claw clamp can do linear motion in the X-axis direction, the Y-axis direction and the Z-axis direction, and the slide can be moved to complete a series of examinations. And the movement track of the slide is fixed, so that the slide is prevented from deviating in the moving process, and the slide can be conveniently and horizontally placed into inspection equipment by the electric claw clamp.

Description

Technical Field

[0001] The utility model belongs to the technical field of in vitro diagnostic medical equipment, in particular to a three-axis mechanical arm. Background Art

[0002] In the medical industry, specimens on glass slides often need to be inspected and processed. During the inspection and processing, multiple processes are required, such as heating, staining, drying, and microscopic examination, which requires the slides to be transferred between different workstations. Because the working environment of the slides is corrosive and the specimens on the slides are sometimes infectious, technicians are in contact with the slides and specimens for a long time, which is easy to affect their health, so it is not suitable to transfer them manually.

[0003] The Chinese patent with application number "202011241151.8" discloses a manipulator and medical testing equipment that is convenient for grabbing glass slides, including a frame, a mounting block, an upper clamping block, a lower clamping block, an elastic clamping piece and an anti-corrosion and anti-slip sheet. The upper clamping block and the lower clamping block are both connected to the mounting block; the elastic clamping piece is connected to the upper clamping block, and its lower end protrudes from the lower end of the upper clamping block; the anti-corrosion and anti-slip sheet is arranged at the upper end of the lower clamping block. When grabbing the glass slide, the mounting block moves vertically and horizontally relative to the frame, and the upper clamping block and the lower clamping block move toward or away from each other to clamp or release the glass slide. The lower end of the elastic clamping piece is in elastic contact with the glass slide, which can not only firmly grasp the glass slide, but also avoid damage to the glass slide caused by excessive grasping force. The anti-corrosion and anti-slip sheet can prevent the glass slide from slipping from the lower clamping block and prevent the lower clamping block from being corroded. Although the glass slides can be effectively grasped, the glass slides can only be transferred in the horizontal and vertical directions, which limits the position of the glass slide inspection equipment in the laboratory, and cannot ensure that the robot can complete a series of processes such as heating, staining, drying and microscopic examination of the glass slides. Summary of the invention

[0004] The purpose of the utility model is to provide a three-axis mechanical arm to solve the above-mentioned technical problems.

[0005] Technical solution: a first mechanical arm arranged along the X-axis direction, a second mechanical arm connected to the first mechanical arm and arranged along the Y-axis direction, a third mechanical arm connected to the first mechanical arm and arranged along the Z-axis direction, and an electric claw clamp connected to the third mechanical arm;

[0006] The second robotic arm drives the first robotic arm to perform linear motion along the Y-axis direction, the first robotic arm drives the third robotic arm to perform linear motion along the X-axis direction, and the third robotic arm drives the electric claw to perform linear motion along the Z-axis.

[0007] In a specific implementation scheme, the first robot arm includes a vertically arranged first fixed plate (, an X-axis stepping motor installed on one side of the first fixed plate, a first driving wheel connected to the output end of the X-axis stepping motor, a first driven wheel connected to the first driving wheel through a first synchronous belt, and a first transmission block arranged on the first synchronous belt;

[0008] The X-axis stepper motor drives the third mechanical arm to perform left-right reciprocating linear motion through the first transmission block.

[0009] Through the above technical solution, the first mechanical arm drives the third mechanical arm to perform left-right reciprocating linear motion.

[0010] In a specific possible implementation manner, the first fixing plate is installed with a first guide rail, the first guide rail is adapted to be equipped with a first slider, and the first slider is connected to the third robot arm.

[0011] Through the above technical solution, the third robotic arm is made to move linearly along the first guide rail, thereby increasing the orderliness of the movement of the third robotic arm.

[0012] In a specific possible implementation scheme, the second robotic arm includes a second fixed plate vertically arranged on one side of the first fixed plate, a Y-axis stepper motor mounted on the second fixed plate, a second driving wheel connected to the output end of the Y-axis stepper motor, a second driven wheel connected to the second driving wheel through a second synchronous belt, and a second transmission block arranged on the second synchronous belt;

[0013] The Y-axis stepper motor drives the first robot arm to perform back-and-forth reciprocating linear motion through the second transmission block.

[0014] Through the above technical solution, the second mechanical arm drives the first mechanical arm to perform reciprocating linear motion.

[0015] In a specific implementation scheme, a first adapter block and a second adapter block are respectively installed on both sides of the first fixing plate;

[0016] The second mechanical arm further includes a second guide rail mounted on the second fixing plate, a second slider matched with the second guide rail, a mounting plate arranged below the second adapter block, a third guide rail arranged on the mounting plate, and a third slider matched with the third guide rail;

[0017] The first transfer block is connected to the second transmission block and the second slider, and the second transfer block is connected to the third slider.

[0018] Through the above technical solution, the first robotic arm is made to perform linear motion along the second guide rail, thereby increasing the orderliness of the movement of the first robotic arm and at the same time increasing the stability of the linear motion of the first robotic arm.

[0019] In a specific possible implementation scheme, the third mechanical arm includes a third fixed plate connected to the first transmission block and the first slider, a horizontal plate installed above one side of the third fixed plate and a bearing seat below one side, a screw motor installed on the horizontal plate, one end of the screw in the screw motor is installed in the bearing seat, and a fixing block is sleeved on the screw of the screw motor;

[0020] The fixing block is connected to the electric clamp.

[0021] Through the above technical solution, the third mechanical arm drives the electric claw clamp to perform reciprocating linear motion up and down.

[0022] In a specific possible implementation manner, a fourth guide rail is installed on the third fixed plate, a fourth slide block is adapted to be mounted on the fourth guide rail, and the fourth slide block is connected to the fixed block.

[0023] Through the above technical solution, the stability of the electric claw clamp during linear motion is increased.

[0024] In a specific possible implementation manner, a non-slip pad is provided on the surface of the electric gripper used for gripping the glass slide.

[0025] The above technical solution can prevent the glass slide from being unable to be taken out due to large resistance when being taken out from the claw clamp, thereby affecting the transportation of the glass slide.

[0026] In a specific implementation scheme, the first fixing plate, the second fixing plate and the third fixing plate are all equipped with slot-type optical couplers, and the first transmission block, the second transmission block and the fixing block are all equipped with optical coupler baffles adapted to the slot-type optical couplers.

[0027] Through the above technical solution, the first mechanical arm, the second mechanical arm and the third mechanical arm can be reset, which is convenient for the electric claw clamp to grasp and move the glass slide.

[0028] In a specific possible implementation manner, a support block is provided below the mounting plate.

[0029] Through the above technical solution, supporting force is provided for the mounting plate and the third guide rail fixed on the mounting plate, which facilitates installation on other equipment.

[0030] Beneficial effects: The utility model drives the first robotic arm to make a linear motion along the Y-axis direction through the second robotic arm, the first robotic arm drives the third robotic arm to make a linear motion along the X-axis, and the third robotic arm drives the electric claw clamp to make a linear motion along the Z-axis, so that the electric claw clamp can make a linear motion along the three directions of the X-axis, the Y-axis and the Z-axis, and can move the glass slide to complete a series of inspections; and the movement trajectory of the glass slide is fixed, which avoids the deviation of the glass slide during the movement, and facilitates the electric claw clamp to place the glass slide horizontally into the inspection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the utility model.

[0032] Figure 2 It is a schematic diagram of the installation structure of the first mechanical arm and the third fixing plate in the utility model.

[0033] Figure 3 It is a schematic diagram of the installation structure of the second mechanical arm and the first mechanical arm in the utility model.

[0034] Figure 4 It is a schematic diagram of the installation structure of the third mechanical arm and the electric claw clamp in the utility model.

[0035] Figure numerals: 1, first robot arm; 101, first fixed plate; 102, X-axis stepper motor; 103, first driving wheel; 104, first synchronous belt; 105, first driven wheel; 106, first transmission block; 107, first guide rail; 108, first slider; 109, first adapter block; 110, second adapter block; 2, second robot arm; 201, second fixed plate; 202, Y-axis stepper motor; 203, second driving wheel; 204, second driven wheel; 205, second Synchronous belt; 206, second transmission block; 207, second guide rail; 208, second slider; 209, mounting plate; 210, third guide rail; 211, third slider; 212, support block; 3, third robotic arm; 301, third fixed plate; 302, cross plate; 303, bearing seat; 304, lead screw motor; 305, fourth guide rail; 306, fourth slider; 307, fixed block; 4, electric gripper; 401, anti-slip pad; 5, glass slide; 6, optical coupler baffle; 7, slotted optical coupler. DETAILED DESCRIPTION

[0036] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0037] like Figure 1As shown, a three-axis robot arm includes a first robot arm 1, a second robot arm 2, a third robot arm 3 and an electric claw clamp 4. The first robot arm 1 is arranged along the X-axis direction, the second robot arm 2 is arranged along the Y-axis, and the third robot arm 3 is arranged along the Z-axis direction. The second robot arm 2 is connected to the first robot arm 1 and drives the first robot arm 1 to make a linear motion along the Y-axis. The first robot arm 1 is connected to the third robot arm 3 and drives the third robot arm 3 to make a linear motion along the X-axis. The third robot arm 3 is connected to the electric claw clamp 4 and drives the electric claw clamp 4 to make a linear motion along the Z-axis.

[0038] like Figure 2 As shown, the first robot arm 1 includes a first fixed plate 101, an X-axis stepper motor 102, a first driving wheel 103, a first driven wheel 105, a first synchronous belt 104, a first transmission block 106, a first guide rail 107, a first slider 108, a first adapter block 109 and a second adapter block 110. The first fixed plate 101 is vertically arranged, the X-axis stepper motor 102 is mounted on one side of the first fixed plate 101, the first driving wheel 103 is connected to the output end of the X-axis stepper motor 102, the first driven wheel 105 is connected to the first driving wheel 103 through the first synchronous belt 104, the first transmission block 106 is mounted on the first synchronous belt 104, the first guide rail 107 is mounted on the first fixed plate 101, and the first slider 108 is mounted on the first guide rail 107 and is adapted to the first guide rail 107.

[0039] The third mechanical arm 3 includes a third fixing plate 301 , and the third fixing plate 301 is connected to both the first transmission block 106 and the first sliding block 108 .

[0040] Drive the X-axis stepper motor 102, the first driving wheel 103 rotates, and the first driven wheel 105 is driven to rotate through the first synchronous belt 104, so that the first transmission block 106 installed on the first synchronous belt 104 drives the third fixed plate 301 to make a left and right reciprocating linear motion along the first guide rail 107, so that the entire third robot arm 3 makes a linear motion along the X-axis.

[0041] like Figure 3 As shown, the second robot arm 2 includes a second fixed plate 201, a Y-axis stepper motor 202, a second driving wheel 203, a second driven wheel 204, a second synchronous belt 205, a second transmission block 206, a second guide rail 207, and a second slider 208. The second fixed plate 201 is vertically arranged on one side of the first fixed plate 101, the Y-axis stepper motor 202 is installed on one side of the second fixed plate 201, the second driving wheel 203 is connected to the output end of the Y-axis stepper motor 202, the second driven wheel 204 is connected to the second driving wheel 203 through the second synchronous belt 205, the second transmission block 206 is installed on the second synchronous belt 205, the second guide rail 207 is installed on the second fixed plate 201, and the second slider 208 is installed on the second guide rail 207 and adapted to the second guide rail 207.

[0042] The first adapter block 109 and the second adapter block 110 are respectively installed on two sides of the first fixing plate 101 , and the first adapter block 109 is connected to both the second transmission block 206 and the second sliding block 208 .

[0043] Taking into account that the second robotic arm 2 can drive the first robotic arm 1 to perform linear motion along the Y-axis, a mounting plate 209 is arranged below the second adapter block 110 in the present application, and a support block 212 is fixed below the mounting plate 209. A third guide rail 210 is provided on the mounting plate 209, and a third slider 211 matching the third guide rail 210 is installed on the third guide rail 210. The third slider 211 is connected to the second adapter block 110, and the upper surface of the second guide rail 207 and the upper surface of the third guide rail 210 are located on the same horizontal plane.

[0044] Drive the Y-axis stepper motor 202, the second driving wheel 203 rotates, and the second driven wheel 204 is driven to rotate through the second synchronous belt 205, so that the second transmission block 206 installed on the second synchronous belt 205 drives the first adapter block 109 to make a reciprocating linear motion along the first guide rail 107, and at the same time, the second adapter block 110 makes a reciprocating linear motion along the third guide rail 210, so that the entire first robot arm 1 makes a linear motion along the Y-axis.

[0045] like Figure 3 As shown, the third mechanical arm 3 also includes a transverse plate 302, a bearing seat 303, a screw motor 304, a fixing block 307, a fourth guide rail 305 and a fourth slider 306. The transverse plate 302 and the bearing seat 303 are respectively mounted on the upper and lower sides of one side of the third fixed plate 301, the screw motor 304 is mounted on the transverse plate 302, and the screw in the screw motor 304 penetrates the transverse plate 302 and extends downward until it is rotatably connected with the bearing seat 303, the fixing block 307 is sleeved on the screw of the screw motor 304, the fourth guide rail 305 is mounted on the third fixed plate 301, the fourth slider 306 is mounted on the fourth guide rail 305 and adapted to the fourth guide rail 305, and the fixing block 307 is connected to the fourth slider 306 and the electric claw 4.

[0046] The screw motor 304 is driven, and the fixed block 307 performs a linear motion reciprocating up and down along the fourth guide rail 305, so that the electric claw clamp 4 performs a linear motion along the Z axis.

[0047] Considering that when the electric claw clamp 4 clamps the glass slide 5, there is friction between the glass slide 5 and the contact surface of the electric claw clamp 4, and the glass slide 5 is easily crushed, causing damage to the glass slide 5.

[0048] In the present application, an anti-slip pad 401 is provided on the surface of the electric claw clamp 4 for clamping the glass slide 5 .

[0049] Considering that the glass slide 5 is moved into the testing device, it can be accurately placed into the device each time, and it is avoided that the glass slide 5 cannot be accurately grasped after the test is completed.

[0050] As a preferred solution, the first fixing plate 101 , the second fixing plate 201 and the third fixing plate 301 are all equipped with slotted optical couplers 7 , and the first transmission block 106 , the second transmission block 206 and the fixing block 307 are all equipped with optical coupler baffles 6 that match the slotted optical couplers 7 .

[0051] The specific working process is as follows: by controlling the X-axis stepper motor 102, the third robot arm 3 moves along the X-axis direction. Before reaching the designated device, by controlling the lead screw motor 304, the electric claw clamp 4 drives the glass slide 5 to move along the Z-axis direction until it reaches the height of the designated device where the glass slide 5 is placed. By controlling the Y-axis stepper motor 202, the first robot arm 1 drives the third robot arm 3 and the electric claw clamp 4 to move along the Y-axis direction until the glass slide 5 is placed on the platform of the designated device.

[0052] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be interpreted as limiting the present invention itself. Various changes can be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

Claims

1. A three-axis robotic arm, characterized in that: A first mechanical arm (1) arranged along the X-axis direction, a second mechanical arm (2) connected to the first mechanical arm (1) and arranged along the Y-axis direction, a third mechanical arm (3) connected to the first mechanical arm (1) and arranged along the Z-axis direction, and an electric gripper (4) connected to the third mechanical arm (3); The second mechanical arm (2) drives the first mechanical arm (1) to perform linear motion along the Y-axis direction, the first mechanical arm (1) drives the third mechanical arm (3) to perform linear motion along the X-axis direction, and the third mechanical arm (3) drives the electric gripper (4) to perform linear motion along the Z-axis.

2. A three-axis robotic arm according to claim 1, characterized in that: The first mechanical arm (1) comprises a first fixed plate (101) arranged vertically, an X-axis stepping motor (102) mounted on one side of the first fixed plate (101), a first driving wheel (103) connected to an output end of the X-axis stepping motor (102), a first driven wheel (105) connected to the first driving wheel (103) via a first synchronous belt (104), and a first transmission block (106) arranged on the first synchronous belt (104); The X-axis stepping motor (102) drives the third mechanical arm (3) to perform left-right reciprocating linear motion via the first transmission block (106).

3. A three-axis robotic arm according to claim 2, characterized in that: The first fixing plate (101) is installed with a first guide rail (107), the first guide rail (107) is adapted with a first slider (108), and the first slider (108) is connected to the third mechanical arm (3).

4. A three-axis robotic arm according to claim 3, characterized in that: The second mechanical arm (2) comprises a second fixed plate (201) vertically arranged on one side of the first fixed plate (101), a Y-axis stepping motor (202) mounted on the second fixed plate (201), a second driving wheel (203) connected to the output end of the Y-axis stepping motor (202), a second driven wheel (204) connected to the second driving wheel (203) via a second synchronous belt (205), and a second transmission block (206) arranged on the second synchronous belt (205); The Y-axis stepping motor (202) drives the first mechanical arm (1) to perform forward and backward reciprocating linear motion via the second transmission block (206).

5. A three-axis robotic arm according to claim 4, characterized in that: A first adapter block (109) and a second adapter block (110) are respectively mounted on both sides of the first fixing plate (101); The second mechanical arm further comprises a second guide rail (207) mounted on the second fixing plate (201), a second slider (208) adapted to the second guide rail (207), a mounting plate (209) arranged below the second adapter block (110), a third guide rail (210) arranged on the mounting plate (209), and a third slider (211) adapted to the third guide rail (210); The first adapter block (109) is connected to the second transmission block (206) and the second slider (208), and the second adapter block (110) is connected to the third slider (211).

6. A three-axis robotic arm according to claim 4, characterized in that: The third mechanical arm (3) comprises a third fixed plate (301) connected to the first transmission block (106) and the first sliding block (108), a transverse plate (302) mounted above one side of the third fixed plate (301) and a bearing seat (303) mounted below one side, a screw motor (304) mounted on the transverse plate (302), one end of a screw in the screw motor (304) being mounted in the bearing seat (303), and a fixing block (307) being sleeved on the screw of the screw motor (304); The fixing block (307) is connected to the electric clamping jaw (4).

7. A three-axis robotic arm according to claim 6, characterized in that: A fourth guide rail (305) is mounted on the third fixed plate (301), a fourth slider (306) is adapted to be mounted on the fourth guide rail (305), and the fourth slider (306) is connected to the fixed block (307).

8. The three-axis robotic arm according to claim 1, characterized in that: An anti-slip pad (401) is provided on the surface of the electric clamp (4) for clamping the glass slide (5).

9. A three-axis robotic arm according to claim 7, characterized in that: The first fixing plate (101), the second fixing plate (201) and the third fixing plate (301) are all mounted with slot-type optical couplers (7), and the first transmission block (106), the second transmission block (206) and the fixing block (307) are all mounted with optical coupler baffles (6) that are compatible with the slot-type optical couplers (7).

10. The three-axis robotic arm according to claim 5, characterized in that: A support block (212) is provided below the mounting plate (209).

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