CN106560296A - Automatic centering device and access system thereof - Google Patents
Automatic centering device and access system thereof Download PDFInfo
- Publication number
- CN106560296A CN106560296A CN201610838508.8A CN201610838508A CN106560296A CN 106560296 A CN106560296 A CN 106560296A CN 201610838508 A CN201610838508 A CN 201610838508A CN 106560296 A CN106560296 A CN 106560296A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- axis mechanical
- servomotor
- slide block
- automatic
- 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.)
- Pending
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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
Abstract
The invention discloses an automatic centering device and an access system thereof. The automatic centering device comprises a horizontally arranged X-axis mechanical arm, a vertically arranged Y-axis mechanical arm, a servo motor and an L-shaped cantilever crane. A centering unit is arranged at the end portion of a cross bar of the L-shaped cantilever crane. According to the automatic centering device, horizontal and vertical translation and rotation around a vertical axis can be realized simultaneously, so that the motion range of the centering unit covers the working area and the same effect as a three-axis translation effect of the conventional same-type apparatus can be realized. Moreover, the space occupied by the device is small when the device is in motion and the adaptability is high; a workpiece can be assisted in separation based on cooperation with a capturing device, so that automatic capturing of the workpiece can be realized conveniently, a capturing error can be reduced effectively, and the precision requirement of the capturing device can be reduced. In addition, because electric mechanisms are arranged at the upper part of the device, the electric mechanisms are far away from a frozen pipe, so that the frozen pipe at a profound hypothermia area can be operated by the automatic centering device.
Description
Technical field
The present invention relates to a kind of automatic push pin device and its access system.
Background technology
Grasping mechanism applies wide in automation equipment, at present in biological field, the access of cell sample cryopreservation tube
Automation can be realized, but can often be subject to cryopreservation tube arrangement tightness degree, cryopreservation tube and pallet to depart from the conditions such as complexity
Impact, for example：When cryopreservation tube arranges tight on pallet, it is easily caused grasping mechanism and situations such as grabbing by mistake, grab more occurs；And work as
When cryopreservation tube arrangement is sparse, then the memory capacity of whole pallet is reduced, and uneconomic problem can be produced again；Further, since long-term
Easy frosting, icing, produce adhesion, so as to lead to not pick up between profound hypothermia, cryopreservation tube and pallet.
The content of the invention
The present invention is to solve grabbing device is easily grabbed or cannot be picked up cryopreservation tube, operating area and covers in prior art by mistake
Capping is little, the problem of normal process is difficult to the cryopreservation tube in profound hypothermia region, there is provided one kind can be under profound hypothermia environment
The automatic push pin device for using and its access system.
The present invention solves above-mentioned technical problem by following technical proposals：
The invention provides a kind of automatic push pin device, it includes a horizontally disposed X-axis mechanical arm, vertically disposed
Y-axis mechanical arm, a servomotor and a L-arm frame；The first guide rail, the Y-axis mechanical arm are provided with below the X-axis mechanical arm
First guide rail is connected to by the first electronic slide block；The side of the Y-axis mechanical arm is provided with the second guide rail, the servo electricity
Machine is connected to second guide rail by the second electronic slide block；The servomotor is connected with the vertical pole end of the L-arm frame,
Rotate in the horizontal direction for controlling the L-arm frame；The crossbar end of the L-arm frame is provided with a thimble；Described first is electric
The electrical connection of movable slider, the second electronic slide block and the servomotor.
In the present invention, the Y-axis mechanical arm is connected preferably by connecting plate with the described first electronic slide block.
In the present invention, the servomotor is connected preferably by L-shaped adpting flange with the described second electronic slide block.
In the present invention, the servomotor is connected preferably by shaft coupling with the vertical pole end of the L-arm frame.
Present invention also offers a kind of access system, it includes grabbing device and push pin device automatically as above；Institute
State grabbing device and the automatic push pin device electrical connection.
On the basis of common sense in the field is met, above-mentioned each optimum condition can be combined, and obtain final product each preferable reality of the present invention
Example.
The present invention positive effect be：The automatic push pin device of the present invention can simultaneously realize level and Vertical Square
To translation and the rotation around the longitudinal axis, the actuating range for making thimble covers operating area, reaches and the axle of conventional same device three
The same effect of translation, and it is less to take up room when moving, adaptability is higher, and being engaged with grabbing device can be de- with auxiliary work-piece
From, the automatic crawl of workpiece is more easily realized, crawl error is efficiently reduced, reduce the required precision to grabbing device；Separately
Because motor drive mechanism is located at top, away from cryopreservation tube, therefore the present invention can also be carried out to the cryopreservation tube in profound hypothermia region
Operation.
Description of the drawings
Fig. 1 is the structural representation of present pre-ferred embodiments.
Fig. 2 is the operating area schematic diagram of present pre-ferred embodiments.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to described reality
Among applying a scope.
As shown in figure 1, present embodiments providing a kind of automatic push pin device, it includes a horizontally disposed X-axis mechanical arm
1st, a vertically disposed Y-axis mechanical arm 2, a servomotor 3 and a L-arm frame 4；The lower section of the X-axis mechanical arm 1 is provided with first
Guide rail, the Y-axis mechanical arm 2 is connected to first guide rail by the first electronic slide block, and the Y-axis mechanical arm 2 is by connection
Plate is connected with the described first electronic slide block；The side of the Y-axis mechanical arm 2 is provided with the second guide rail, and the servomotor 3 is by the
Two electronic slide blocks are connected to second guide rail, and the servomotor 3 is connected by L-shaped adpting flange with the described second electronic slide block
Connect；The servomotor 3 is connected by shaft coupling with the vertical pole end of the L-arm frame 4, is existed for controlling the L-arm frame 4
Horizontal direction is rotated；The crossbar end of the L-arm frame 4 is provided with a thimble；The first electronic slide block, second electric sliding
Block and the servomotor 3 are electrically connected.
The present invention when in use, can be moved in X direction based on the slide block of programme controlled X-axis mechanical arm 1, drive other portions
Part transverse shifting；Slide block based on programme controlled Y-axis mechanical arm 2 is moveable in the y direction, drives servomotor 3 and L-arm frame
4 vertically move；Can be rotated around Y-axis based on programme controlled servomotor 3, drive L-arm frame 4 to rotate, be realized to operating area
Covering；Thimble present position on L-arm frame 4, can be by control program explication.It is cloudy in described operating area such as Fig. 2
Shown in shadow part.
The same device of the axle translation of traditional X, Y, Z tri- its Y-axis is that plane motion is done in X, Z coordinate system, and of the invention
Due to only having X, Y-direction translation, and Y-axis movement locus is straight line, therefore it is less to take up room when moving, and adaptability is higher.
The present embodiment additionally provides a kind of access system, and it includes grabbing device and push pin device automatically as above；
The grabbing device and the automatic push pin device electrical connection, will be needed by automatic push pin device described in automatic program control
The cryopreservation tube of crawl is ejected, and cooperation is captured by grabbing device.
Although the foregoing describing the specific embodiment of the present invention, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
On the premise of the principle and essence of the present invention, various changes or modifications can be made to these embodiments, but these are changed
Protection scope of the present invention is each fallen within modification.
Claims (5)
1. a kind of automatic push pin device, it is characterised in that it includes a horizontally disposed X-axis mechanical arm, a vertically disposed Y-axis
Mechanical arm, a servomotor and a L-arm frame；The first guide rail is provided with below the X-axis mechanical arm, the Y-axis mechanical arm leads to
Cross the first electronic slide block and be connected to first guide rail；The side of the Y-axis mechanical arm is provided with the second guide rail, the servomotor
Second guide rail is connected to by the second electronic slide block；The servomotor is connected with the vertical pole end of the L-arm frame, uses
Rotate in the horizontal direction in the L-arm frame is controlled；The crossbar end of the L-arm frame is provided with a thimble；Described first is electronic
The electrical connection of slide block, the second electronic slide block and the servomotor.
2. push pin device automatically as claimed in claim 1, it is characterised in that the Y-axis mechanical arm by connecting plate with it is described
First electronic slide block connection.
3. push pin device automatically as claimed in claim 1, it is characterised in that the servomotor by L-shaped adpting flange with
The second electronic slide block connection.
4. push pin device automatically as claimed in claim 1, it is characterised in that the servomotor is by shaft coupling and the L
The vertical pole end connection of shape arm support.
5. a kind of access system, it is characterised in that it includes grabbing device and the automatic top as described in any one of claim 1-4
Needle device；The grabbing device and the automatic push pin device electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838508.8A CN106560296A (en) | 2016-09-21 | 2016-09-21 | Automatic centering device and access system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838508.8A CN106560296A (en) | 2016-09-21 | 2016-09-21 | Automatic centering device and access system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106560296A true CN106560296A (en) | 2017-04-12 |
Family
ID=58485734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838508.8A Pending CN106560296A (en) | 2016-09-21 | 2016-09-21 | Automatic centering device and access system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106560296A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340451A (en) * | 2020-10-29 | 2021-02-09 | 彩虹（合肥）液晶玻璃有限公司 | Glass substrate limit handling device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2325915A (en) * | 1997-06-02 | 1998-12-09 | Julian Fuchs | Gantry robot type tangential edge profiling machine |
| US6151981A (en) * | 1997-07-24 | 2000-11-28 | Costa; Larry J. | Two-axis cartesian robot |
| CN201282136Y (en) * | 2008-10-24 | 2009-07-29 | 陈百捷 | Manipulator for fetching and delivery silicon chip |
| CN102762343A (en) * | 2009-10-01 | 2012-10-31 | 古德尔集团股份公司 | Industrial robot having a protection device |
| CN204748621U (en) * | 2015-05-14 | 2015-11-11 | 无锡艾度科技有限公司 | Novel transfer robot |
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN205238065U (en) * | 2015-12-28 | 2016-05-18 | 桂林电子科技大学 | Snatch many sucking discs manipulator of irregularity body |
| CN205552571U (en) * | 2016-01-28 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Be used for industry transport robot arm mechanism |
| CN206029868U (en) * | 2016-09-21 | 2017-03-22 | 原能细胞科技集团有限公司 | Automatic thimble device and access system thereof |
-
2016
- 2016-09-21 CN CN201610838508.8A patent/CN106560296A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2325915A (en) * | 1997-06-02 | 1998-12-09 | Julian Fuchs | Gantry robot type tangential edge profiling machine |
| US6151981A (en) * | 1997-07-24 | 2000-11-28 | Costa; Larry J. | Two-axis cartesian robot |
| CN201282136Y (en) * | 2008-10-24 | 2009-07-29 | 陈百捷 | Manipulator for fetching and delivery silicon chip |
| CN102762343A (en) * | 2009-10-01 | 2012-10-31 | 古德尔集团股份公司 | Industrial robot having a protection device |
| CN204748621U (en) * | 2015-05-14 | 2015-11-11 | 无锡艾度科技有限公司 | Novel transfer robot |
| CN205238065U (en) * | 2015-12-28 | 2016-05-18 | 桂林电子科技大学 | Snatch many sucking discs manipulator of irregularity body |
| CN205552571U (en) * | 2016-01-28 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Be used for industry transport robot arm mechanism |
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN206029868U (en) * | 2016-09-21 | 2017-03-22 | 原能细胞科技集团有限公司 | Automatic thimble device and access system thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340451A (en) * | 2020-10-29 | 2021-02-09 | 彩虹（合肥）液晶玻璃有限公司 | Glass substrate limit handling device |
| CN112340451B (en) * | 2020-10-29 | 2022-02-25 | 彩虹（合肥）液晶玻璃有限公司 | Glass substrate limit handling device |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170412 |
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| WD01 | Invention patent application deemed withdrawn after publication |