CN117245634A - Six-degree-of-freedom high-precision mechanical arm - Google Patents
Six-degree-of-freedom high-precision mechanical arm Download PDFInfo
- Publication number
- CN117245634A CN117245634A CN202311521710.4A CN202311521710A CN117245634A CN 117245634 A CN117245634 A CN 117245634A CN 202311521710 A CN202311521710 A CN 202311521710A CN 117245634 A CN117245634 A CN 117245634A
- Authority
- CN
- China
- Prior art keywords
- connecting frame
- guide
- fixed
- mechanical arm
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 38
- 230000017105 transposition Effects 0.000 claims abstract description 6
- HTTJABKRGRZYRN-UHFFFAOYSA-N Heparin Chemical compound OC1C(NC(=O)C)C(O)OC(COS(O)(=O)=O)C1OC1C(OS(O)(=O)=O)C(O)C(OC2C(C(OS(O)(=O)=O)C(OC3C(C(O)C(O)C(O3)C(O)=O)OS(O)(=O)=O)C(CO)O2)NS(O)(=O)=O)C(C(O)=O)O1 HTTJABKRGRZYRN-UHFFFAOYSA-N 0.000 claims description 24
- 229960002897 heparin Drugs 0.000 claims description 24
- 229920000669 heparin Polymers 0.000 claims description 24
- 238000001125 extrusion Methods 0.000 claims description 21
- 238000005192 partition Methods 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000008280 blood Substances 0.000 abstract description 51
- 210000004369 blood Anatomy 0.000 abstract description 51
- 238000000034 method Methods 0.000 abstract description 8
- 238000010241 blood sampling Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000003020 moisturizing effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention discloses a six-degree-of-freedom high-precision mechanical arm, which relates to the field of mechanical arms and comprises a mounting seat, wherein a clamping jaw connecting seat is arranged at one end of a multi-section steering arm far away from the mounting seat, and a direction-adjusting transposition piece connected with a clamping connector is arranged below the connecting frame. According to the invention, the direction-adjusting transposition piece is arranged, the blood collection tube is moved to the label scanning position through the operation of the multi-section steering arm, the rectangular guide rod drives the sleeve, the second transmission bevel gear, the first transmission spur gear and the second transmission spur gear to drive the rotary clamping roller to rotate through the operation of the motor, so that the blood collection tube clamped by the rotary clamping roller rotates, the scanner scans the label on the blood collection tube when the label is aligned with the scanner in the process of rotating along with the blood collection tube, staff does not need to correct and prevent the blood collection tube according to the label in the process, the operation is simple, the labor intensity of staff is reduced, and the working efficiency of the mechanical arm is also improved.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a six-degree-of-freedom high-precision manipulator.
Background
The blood sampling is a common inspection means in hospitals, and is a process of taking blood samples from veins and arteries of people to be detected by medical staff, corresponding labels are required to be stuck on the blood sampling tubes after the blood sampling, at the moment, in order to lighten the labor intensity of the staff, the packaged blood sampling tubes are grabbed by a manipulator, then the blood sampling tubes are scanned before moving to a scanner through the movement of the manipulator, so that the recording effect is achieved, and then the recorded blood sampling tubes are moved to a designated position through the manipulator.
Generally, in order to prevent that the manipulator from pressing from both sides when getting the heparin tube and blocking the label on the heparin tube, just need the staff to adjust the label orientation on the rack before the heparin tube is snatched to the manipulator this moment for label orientation on the heparin tube is unified, and this in-process complex operation has increased staff's intensity of labour, and fault tolerance is lower simultaneously, very easily influences the grabbing scanning effect of manipulator to the heparin tube.
Disclosure of Invention
The invention aims at: in order to solve the problem that clamping jaw is easy to shelter from the label on the heparin tube, a six-degree-of-freedom high-precision mechanical arm is provided.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a six degree of freedom high accuracy arm, includes the mount pad, multisection steering arm is installed at the top of mount pad, the clamping jaw connecting seat is installed to multisection steering arm one end of keeping away from the mount pad, the bottom of clamping jaw connecting seat is fixed with L type guide bar, telescopic cylinder is installed at the top of clamping jaw connecting seat, telescopic cylinder's output is connected with the clamp connector that is used for carrying out the clamp to the heparin tube, the link that is located clamping jaw connecting seat below is installed to the one end of L type guide bar, the below of link is provided with the steering transposition piece that links to each other with the clamp connector, warning unit is installed at the top of link.
As still further aspects of the invention: the clamp connector comprises a push plate connected to the output end of a telescopic cylinder, the push plate is located between a connecting frame and a clamping jaw connecting seat, an extrusion connecting column is arranged on the outer side of an L-shaped guide rod, a rectangular guide hole is formed in the inner side of the extrusion connecting column, the extrusion connecting column is sleeved on the L-shaped guide rod through the rectangular guide hole, a distance supplementing spring is arranged at the top of the push plate, a connecting plate is connected to the top end of the distance supplementing spring, the connecting plate is sleeved on the outer side of the output end of the telescopic cylinder, oblique connecting guide rails are fixed on two sides of the connecting plate, the extrusion connecting column is connected in the oblique connecting guide rails in a sliding mode, and an L-shaped connecting frame extending to the lower portion of the connecting frame is fixed on the extrusion connecting column, and a rotary clamping roller is connected to the bottom of the L-shaped connecting frame through bearing rotation.
As still further aspects of the invention: the horizontal height of the oblique connecting guide rail close to one end of the connecting plate is larger than that of the oblique connecting guide rail far away from one end of the connecting plate, and the extrusion connecting column is matched with the inner side of the oblique connecting guide rail.
As still further aspects of the invention: the bottom of L type link is provided with two and revolves position pinch rolls, and two revolve position pinch rolls and set up along L type link's horizontal axis symmetry.
As still further aspects of the invention: the direction-adjusting transposition piece comprises a side connecting frame fixed at one end of the connecting frame, a motor is installed on one side, far away from the connecting frame, of the side connecting frame, the output end of the motor is connected with a rectangular guide rod located below the connecting frame, a sleeve is sleeved on the outer side of the rectangular guide rod, the outer side of the sleeve is rotatably connected with the L-shaped connecting frame through a bearing, a second transmission bevel gear is fixed at one end of the sleeve, a first transmission bevel gear is rotatably connected to the top of the horizontal position of the L-shaped connecting frame through the bearing, a first transmission spur gear located below the L-shaped connecting frame is fixed at the bottom of the first transmission bevel gear, a second transmission spur gear is fixed at the top of the rotary clamping roller, and the second transmission spur gear is meshed with the first transmission spur gear.
As still further aspects of the invention: and through holes matched with the rectangular guide rods are formed in the inner sides of the second transmission bevel gear and the sleeve.
As still further aspects of the invention: two second transmission bevel gears which are arranged side by side are arranged on the rectangular guide rod, and the rotary position clamping roller is meshed with the second transmission spur gear.
As still further aspects of the invention: the warning unit is including being fixed in the direction fixed plate of link both sides, the top grafting of direction fixed plate has the guide post that runs through to direction fixed plate bottom, the bottom of guide post is fixed with and hinders the locating plate, the top of direction fixed plate is provided with the reset spring who links to each other with the guide post top, the connection storehouse is installed at the top of link, the top of guide post is connected with the inserted bar, and the top of inserted bar extends to in the connection storehouse, the second contact is installed to the inside one end of inserted bar in connection storehouse, the inside of connection storehouse is fixed with the baffle, the subsides that are located the baffle top is installed at baffle inner wall top, the bottom that pastes and link the spring is connected with the movable plate, first contact is installed to the bottom of movable plate, buzzer is installed to the outer wall of connection storehouse.
As still further aspects of the invention: the first contact piece is electrically connected with the buzzer through a wire, and the second contact piece is electrically connected with an external power supply through a wire.
As still further aspects of the invention: the baffle is provided with a through hole with the diameter larger than that of the first contact piece and smaller than that of the movable plate, and the distance between the first contact piece and the baffle in an initial state is one centimeter.
Compared with the prior art, the invention has the beneficial effects that:
1. through setting the direction-adjusting transposition piece, the blood collection tube is moved to the label scanning position through the operation of the multi-section steering arm, the motor operates, the rectangular guide rod drives the sleeve, the second transmission bevel gear, the first transmission spur gear and the second transmission spur gear to drive the rotary clamping roller to rotate through the operation of the motor, so that the blood collection tube clamped by the rotary clamping roller rotates, when the label is aligned with the scanner along with the rotation of the blood collection tube, the scanner scans the label on the blood collection tube, staff does not need to correct and prevent the blood collection tube according to the label in the process, the operation is simple, the labor intensity of staff is lightened, and meanwhile, the working efficiency of the mechanical arm is also improved;
2. through setting up the clamp, when carrying out clamping to the heparin tube, start flexible cylinder, make the push pedal move down through the extension of flexible cylinder, the push pedal drives the oblique guide rail through the moisturizing spring and moves down this moment, the oblique guide rail extrudes the extrusion even post when moving down, so can make the extrusion even post that receives L type guide bar spacing carry out horizontal migration along L type guide bar, so alright make the clamping roller of rotating position carry out the centre gripping to the heparin tube, the push pedal continues to move down, the moisturizing spring stretches this moment, the clamping force that the heparin tube received is the elasticity of moisturizing spring this moment, thereby prevent that the clamping force of rotating position clamping roller to the heparin tube is too big and cause the heparin tube to damage, simultaneously also prevented that the clamping force of rotating position clamping roller to the heparin tube is too little and cause the heparin tube to drop, the stability to the heparin tube clamping has been improved;
3. through setting up the warning unit, when the operation of clamping jaw connecting seat at multisection steering arm moves down to the top of heparin tube, make the clamp roller that revolves to move outside the heparin tube along with the downward movement of clamping jaw connecting seat, hinder the position board and just can contact with the top of heparin tube this moment, if the tube cap at heparin tube top is in the state of screwing up, hinder the position board and just can cause the hindrance to the tube cap of heparin tube when the overall height of heparin tube increases this moment, the clamping jaw connecting seat moves down on the heparin tube, hinder the position board and upwards move relatively to the direction fixed plate this moment, so alright make the inserted bar drive the second contact piece and upwards move, contact with first contact piece when the second contact piece moves up, buzzer circular telegram operation this moment, so alright play the warning effect to medical staff, prevent that the heparin tube is not sealed completely and influence subsequent detection.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the bottom structure of the jaw connector of the present invention;
FIG. 3 is a schematic diagram of a warning unit according to the present invention;
FIG. 4 is a schematic view of the internal structure of the connecting bin of the invention;
FIG. 5 is a schematic diagram showing the connection of the connecting plate and the L-shaped connecting frame according to the present invention;
FIG. 6 is a schematic view of two L-shaped connectors according to the present invention;
FIG. 7 is a schematic view of the connection of the sleeve of the present invention to the first drive bevel gear;
FIG. 8 is a schematic diagram of the connection of the push plate and the connecting plate according to the present invention.
In the figure: 1. a mounting base; 2. a multi-section steering arm; 3. a clamping jaw connecting seat; 401. a telescopic cylinder; 402. an L-shaped guide rod; 403. a side connecting frame; 404. a motor; 405. rotating the clamping roller; 406. a connecting frame; 407. a push plate; 408. an L-shaped connecting frame; 409. a guide fixed plate; 410. a bit blocking plate; 411. a connecting plate; 412. a connecting bin; 413. a guide post; 414. a rod; 415. a buzzer; 416. a return spring; 417. a first contact; 418. a partition plate; 419. attaching a spring; 420. a moving plate; 421. a first drive bevel gear; 422. a second contact; 423. a first drive spur gear; 424. a distance compensating spring; 425. a guide rail is connected obliquely; 426. extruding the connecting column; 427. a second drive bevel gear; 428. a sleeve; 429. rectangular guide rods; 430. a second drive spur gear; 431. rectangular guide holes.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.
Referring to fig. 1-8, in the embodiment of the invention, a six-degree-of-freedom high-precision mechanical arm comprises a mounting seat 1, a plurality of sections of steering arms 2 are mounted at the top of the mounting seat 1, a clamping jaw connecting seat 3 is mounted at one end of the plurality of sections of steering arms 2 far away from the mounting seat 1, an L-shaped guide rod 402 is fixed at the bottom of the clamping jaw connecting seat 3, a telescopic cylinder 401 is mounted at the top of the clamping jaw connecting seat 3, a clamping connector for clamping a blood collection tube is connected at the output end of the telescopic cylinder 401, a connecting frame 406 positioned below the clamping jaw connecting seat 3 is mounted at one end of the L-shaped guide rod 402, a direction adjusting index connected with the clamping connector is arranged below the connecting frame 406, and a warning unit is mounted at the top of the connecting frame 406.
In this embodiment, when the mechanical arm is used, the mechanical arm is firstly installed at a designated position through the installation seat 1, then the operation track of the multi-section steering arm 2 is set through programming, when a medical staff places a blood collection tube on a designated placing frame, the clamping jaw connecting seat 3 is enabled to move to the upper side of the blood collection tube through the operation of the multi-section steering arm 2, at the moment, the tube cover of the blood collection tube is detected through the warning unit, if the tube cover is not screwed down, the whole height of the blood collection tube is increased at the moment, and meanwhile, the warning unit operates, so that a reminding effect is achieved for the medical staff, then the telescopic cylinder 401 is started through the external controller, the clamping connector clamps the blood collection tube through the operation of the telescopic cylinder 401, then the blood collection tube is moved to a scanning area through the operation of the multi-section steering arm 2, at the moment, the blood collection tube in a clamping positioning state is enabled to rotate through the direction adjusting member, so that the label on the blood collection tube rotates along with the blood collection tube, when the label is aligned with the scanner along with the rotation process of the blood collection tube, the scanner scans the label on the blood collection tube, and then the blood collection tube is matched with the multi-section steering arm 2 to place the designated position.
Referring to fig. 1, 2, 5, 6 and 8, the clamp comprises a push plate 407 connected to the output end of a telescopic cylinder 401, the push plate 407 is located between a connecting frame 406 and a clamping jaw connecting seat 3, an extrusion connecting column 426 is arranged on the outer side of an L-shaped guide rod 402, a rectangular guide hole 431 is formed in the inner side of the extrusion connecting column 426, the extrusion connecting column 426 is sleeved on the L-shaped guide rod 402 through the rectangular guide hole 431, a distance compensating spring 424 is arranged on the top of the push plate 407, a connecting plate 411 is connected to the top of the distance compensating spring 424, the connecting plate 411 is sleeved on the outer side of the output end of the telescopic cylinder 401, oblique connecting guide rails 425 are fixed on two sides of the connecting plate 411, the extrusion connecting column 426 is connected in the oblique connecting guide rails 425 in a sliding manner, an L-shaped connecting frame 408 extending to the lower side of the connecting frame 406 is fixed on the extrusion connecting column 426, and the bottom of the L-shaped connecting frame 408 is connected with a rotary clamping roller 405 through a bearing.
In this embodiment, when the blood collection tube is clamped, the telescopic cylinder 401 is started, the push plate 407 moves downwards due to the expansion of the telescopic cylinder 401, at this time, the push plate 407 drives the oblique connecting guide rail 425 to move downwards through the distance compensating spring 424, the oblique connecting guide rail 425 extrudes the extrusion connecting column 426 when moving downwards, so that the extrusion connecting column 426 limited by the L-shaped guide rod 402 moves horizontally along the L-shaped guide rod 402, the rotation clamping roller 405 clamps the blood collection tube, the push plate 407 continues to move downwards, at this time, the distance compensating spring 424 expands, at this time, the clamping force of the blood collection tube is the elasticity of the distance compensating spring 424, thereby preventing the damage to the blood collection tube caused by the overlarge clamping force of the rotation clamping roller 405 on the blood collection tube, and simultaneously preventing the falling of the blood collection tube caused by the overlarge clamping force of the rotation clamping roller 405 on the blood collection tube, and improving the stability of clamping the blood collection tube.
Referring to fig. 5 and 8, the horizontal height of the end of the oblique connecting rail 425 near the connecting plate 411 is greater than the horizontal height of the end of the oblique connecting rail 425 far away from the connecting plate 411, and the pressing connecting post 426 is engaged with the inner side of the oblique connecting rail 425.
In this embodiment, by providing this structure, when the diagonal connecting rail 425 moves downward, the pressing connecting post 426 moves horizontally toward the connecting plate 411, so that the blood collection tube can be clamped by the movement of the rotation position clamping roller 405, and the moving distance of the two L-shaped connecting brackets 408 can be ensured to be equal.
Referring to fig. 1, 2 and 6, two rotation clamping rollers 405 are disposed at the bottom of the L-shaped connecting frame 408, and the two rotation clamping rollers 405 are symmetrically disposed along the transverse central axis of the L-shaped connecting frame 408.
In this embodiment, the four rotation clamping rollers 405 can clamp and fix the blood collection tube by setting the structure, so as to increase the stability of clamping the blood collection tube.
Referring to fig. 1, 2, 5, 6 and 7, the direction-adjusting indexing member includes a side connecting frame 403 fixed at one end of the connecting frame 406, a motor 404 is installed on one side of the side connecting frame 403 away from the connecting frame 406, an output end of the motor 404 is connected with a rectangular guide rod 429 located below the connecting frame 406, a sleeve 428 is sleeved outside the rectangular guide rod 429, an outer side of the sleeve 428 is rotatably connected with an L-shaped connecting frame 408 through a bearing, a second transmission bevel gear 427 is fixed at one end of the sleeve 428, a first transmission bevel gear 421 is rotatably connected to a top of the horizontal position of the L-shaped connecting frame 408 through a bearing, a first transmission spur gear 423 located below the L-shaped connecting frame 408 is fixed at the bottom of the first transmission bevel gear 421, a second transmission spur gear 430 is fixed at the top of the rotation clamping roller 405, and the second transmission spur gear 430 is meshed with the first transmission spur gear 423.
In this embodiment, when the L-shaped connecting frame 408 horizontally moves, the sleeve 428 moves along the rectangular guide rod 429, after the rotation position clamping roller 405 clamps the blood collection tube, the blood collection tube is moved to the label scanning position through the operation of the multi-section steering arm 2, then the motor 404 operates, the rectangular guide rod 429 drives the sleeve 428 and the second transmission bevel gear 427 to rotate through the operation of the motor 404, and the second transmission bevel gear 427 drives the rotation position clamping roller 405 to rotate through the first transmission bevel gear 421, the first transmission spur gear 423 and the second transmission spur gear 430 when the second transmission bevel gear 427 rotates, so that the blood collection tube clamped by the rotation position clamping roller 405 rotates, and when the label is aligned with the scanner in the process of rotating along with the blood collection tube, the scanner scans the label on the blood collection tube, the process does not need to correct and prevent the blood collection tube according to the label, the operation is simple, the labor intensity of workers is reduced, and the clamping, shifting and scanning efficiency of the mechanical arm to the blood collection tube is improved.
Referring to fig. 5 and 7, the second bevel gear 427 and the inner side of the sleeve 428 are provided with through holes matching with the rectangular guide rods 429.
In the present embodiment, this structure is provided to prevent the sleeve 428 and the second drive bevel gear 427 from obstructing the movement of the L-shaped link frames 408, and simultaneously to allow the rectangular guide 429 to rotate in synchronization with the sleeve 428 on the two L-shaped link frames 408 when rotating.
Referring to fig. 7, two second bevel gears 427 are disposed on the rectangular guide rod 429 in parallel, and the rotating clamping roller 405 is meshed with the second spur gear 430.
In this embodiment, the rotation of the blood collection tube held by the rotation clamp roller 405 is performed by providing such a structure that the rotation clamp roller 405 under the two bushings 428 rotates in the same direction when the rectangular guide rod 429 rotates.
Referring to fig. 1, 3 and 4, the warning unit includes a guiding and fixing plate 409 fixed on two sides of the connecting frame 406, a guiding post 413 penetrating through the bottom of the guiding and fixing plate 409 is inserted at the top of the guiding and fixing plate 409, a blocking plate 410 is fixed at the bottom of the guiding and fixing plate 413, a restoring spring 416 connected with the top of the guiding and fixing plate 413 is arranged at the top of the guiding and fixing plate 409, a connecting bin 412 is installed at the top of the connecting frame 406, an inserting rod 414 is connected with the top of the guiding and fixing plate 413, a second contact piece 422 is installed at one end of the inserting rod 414 located inside the connecting bin 412, a partition 418 is fixed inside the connecting bin 412, a connecting spring 419 located above the partition 418 is installed at the top of the inner wall of the partition 418, a moving plate 420 is connected with the bottom of the connecting spring 419, a first contact piece 417 is installed at the bottom of the moving plate 420, and a buzzer 415 is installed at the outer wall of the connecting bin 412.
In this embodiment, when the jaw connecting seat 3 moves down to the upper side of the blood collection tube under the operation of the multi-section steering arm 2, the rotation clamping roller 405 moves out of the blood collection tube along with the downward movement of the jaw connecting seat 3, at this time, the blocking plate 410 contacts with the top of the blood collection tube, if the tube cover at the top of the blood collection tube is in a tightening state, at this time, the blocking plate 410 cannot move up relative to the jaw connecting seat 3, if the tube cover at the top of the blood collection tube is in an untwisted state, at this time, the overall height of the blood collection tube increases, when the jaw connecting seat 3 moves down on the blood collection tube, the blocking plate 410 can block the blocking plate 410, at this time, the blocking plate 410 moves up relative to the guide fixing plate 409, so that the inserting rod 414 drives the second contact piece 422 to move up, at this time, the second contact piece 422 contacts with the first contact piece 417, at this time, the buzzer 415 is electrified to operate, so as to remind medical staff that the blood collection tube is not fully sealed, and the subsequent detection is prevented.
Referring to fig. 4, the first contact 417 is electrically connected to the buzzer 415 through a conductive wire, and the second contact 422 is electrically connected to an external power source through a conductive wire.
In the present embodiment, the structure is configured such that the buzzer 415 operates when the second contact 422 contacts the first contact 417, so as to control the operation timing of the buzzer 415.
Referring to fig. 3 and 4, the partition 418 is provided with a through hole larger than the diameter of the first contact 417 and smaller than the diameter of the moving plate 420, and the distance between the first contact 417 and the partition 418 is one centimeter when in the initial state.
In the present embodiment, the separator 418 supports the moving plate 420, so that the buzzer 415 is in the power-off state when the first contact 417 and the second contact 422 are in the initial state.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. The utility model provides a six degree of freedom high accuracy arm, its characterized in that, including mount pad (1), multisection steering arm (2) are installed at the top of mount pad (1), multisection steering arm (2) are kept away from the one end of mount pad (1) and are installed clamping jaw connecting seat (3), the bottom of clamping jaw connecting seat (3) is fixed with L type guide bar (402), telescopic cylinder (401) are installed at the top of clamping jaw connecting seat (3), telescopic cylinder (401) output is connected with the clamp connector that is used for carrying out the clamp to the heparin tube, link (406) that are located clamping jaw connecting seat (3) below are installed to the one end of L type guide bar (402), the below of link (406) is provided with the steering transposition piece that links to each other with the clamp connector, warning unit is installed at the top of link (406).
2. The six-degree-of-freedom high-precision mechanical arm according to claim 1, wherein the clamp connector comprises a push plate (407) connected to the output end of a telescopic cylinder (401), the push plate (407) is located between a connecting frame (406) and a clamping jaw connecting seat (3), an extrusion connecting column (426) is arranged on the outer side of an L-shaped guide rod (402), a rectangular guide hole (431) is formed in the inner side of the extrusion connecting column (426), the extrusion connecting column (426) is sleeved on the L-shaped guide rod (402) through the rectangular guide hole (431), a distance compensating spring (424) is arranged at the top of the push plate (407), a connecting plate (411) is connected to the top end of the distance compensating spring (424), the connecting plate (411) is sleeved on the outer side of the output end of the telescopic cylinder (401), oblique connecting guide rails (425) are fixed on two sides of the connecting plate (411), the extrusion connecting column (426) is slidably connected in the oblique connecting guide rails (425), an L-shaped connecting frame (408) extending to the lower side of the connecting frame (406) is fixed on the extrusion connecting column (426), and the bottom of the L-shaped connecting frame (408) is connected with the rotating roller (405).
3. The six-degree-of-freedom high-precision mechanical arm according to claim 2, wherein the level of the end of the oblique connecting guide rail (425) close to the connecting plate (411) is greater than the level of the end of the oblique connecting guide rail (425) far away from the connecting plate (411), and the extrusion connecting column (426) is engaged with the inner side of the oblique connecting guide rail (425).
4. The six-degree-of-freedom high-precision mechanical arm according to claim 2, wherein two rotation clamping rollers (405) are arranged at the bottom of the L-shaped connecting frame (408), and the two rotation clamping rollers (405) are symmetrically arranged along the transverse central axis of the L-shaped connecting frame (408).
5. The six-degree-of-freedom high-precision mechanical arm according to claim 2, wherein the direction-adjusting indexing member comprises a side connecting frame (403) fixed at one end of the connecting frame (406), a motor (404) is installed on one side, far away from the connecting frame (406), of the side connecting frame (403), an output end of the motor (404) is connected with a rectangular guide rod (429) located below the connecting frame (406), a sleeve (428) is sleeved on the outer side of the rectangular guide rod (429), the outer side of the sleeve (428) is rotatably connected with the L-shaped connecting frame (408) through a bearing, a second transmission bevel gear (427) is fixed at one end of the sleeve (428), a first transmission bevel gear (421) is rotatably connected at the top of the horizontal position of the L-shaped connecting frame (408) through a bearing, a first transmission spur gear (423) located below the L-shaped connecting frame (408) is fixed at the bottom of the first transmission bevel gear (421), a second transmission spur gear (430) is fixed at the top of the rotary position clamping roller (405), and the second transmission spur gear (430) is meshed with the first spur gear (423).
6. The six-degree-of-freedom high-precision mechanical arm according to claim 5, wherein the second transmission bevel gear (427) and the inner side of the sleeve (428) are respectively provided with a through hole which is matched with the rectangular guide rod (429).
7. The six-degree-of-freedom high-precision mechanical arm according to claim 6, wherein two second transmission bevel gears (427) are arranged side by side on the rectangular guide rod (429), and the rotation clamping roller (405) is meshed with the second transmission spur gear (430).
8. The six-degree-of-freedom high-precision mechanical arm according to claim 5, wherein the warning unit comprises guide fixed plates (409) fixed on two sides of the connecting frame (406), guide posts (413) penetrating through the bottoms of the guide fixed plates (409) are inserted into the tops of the guide fixed plates (409), blocking plates (410) are fixed on the bottoms of the guide posts (413), return springs (416) connected with the tops of the guide posts (413) are arranged on the tops of the guide fixed plates (409), connecting bins (412) are arranged on the tops of the connecting frame (406), inserting rods (414) are connected to the tops of the guide posts (413), the tops of the inserting rods (414) extend into the connecting bins (412), second contact pieces (422) are arranged at one ends of the inner portions of the connecting bins (412), partition plates (418) are fixedly arranged on the inner wall tops of the partition plates (418), connecting springs (419) are arranged above the partition plates (418), connecting plates (420) are connected with connecting plates (420), and a buzzer (420) is arranged on the bottom of the connecting bins (412).
9. The six degree-of-freedom high precision mechanical arm of claim 8, wherein the first contact (417) is electrically connected to the buzzer (415) via a wire, and the second contact (422) is electrically connected to an external power source via a wire.
10. The six-degree-of-freedom high-precision mechanical arm according to claim 8, wherein the partition (418) is provided with a through hole larger than the diameter of the first contact (417) and smaller than the diameter of the moving plate (420), and the distance between the first contact (417) and the partition (418) is one centimeter when the first contact is in an initial state.
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| CN202311521710.4A CN117245634B (en) | 2023-11-15 | 2023-11-15 | Six-degree-of-freedom high-precision mechanical arm |
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| CN118664641A (en) * | 2024-08-23 | 2024-09-20 | 江苏国源特种构件有限公司 | Wire pipe laying mechanical arm |
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| CN117464572A (en) * | 2023-12-28 | 2024-01-30 | 沈阳华钛实业有限公司 | Feeding and discharging clamping mechanical arm for closed water cutting machine tool |
| CN117464572B (en) * | 2023-12-28 | 2024-03-05 | 沈阳华钛实业有限公司 | Feeding and discharging clamping mechanical arm for closed water cutting machine tool |
| CN118664641A (en) * | 2024-08-23 | 2024-09-20 | 江苏国源特种构件有限公司 | Wire pipe laying mechanical arm |
| CN118664641B (en) * | 2024-08-23 | 2024-10-29 | 江苏国源特种构件有限公司 | Wire pipe laying mechanical arm |
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