CN110564615A - material moving and rotating device and working method thereof - Google Patents
material moving and rotating device and working method thereof Download PDFInfo
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- CN110564615A CN110564615A CN201910931168.7A CN201910931168A CN110564615A CN 110564615 A CN110564615 A CN 110564615A CN 201910931168 A CN201910931168 A CN 201910931168A CN 110564615 A CN110564615 A CN 110564615A
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/02—Form or structure of the vessel
- C12M23/08—Flask, bottle or test tube
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/38—Caps; Covers; Plugs; Pouring means
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/48—Holding appliances; Racks; Supports
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/52—Mobile; Means for transporting the apparatus
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/48—Automatic or computerized control
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Abstract
the invention relates to a material moving and rotating device and a working method thereof, wherein the device comprises a base, a moving structure, a rotating structure and a clamping structure for clamping materials, the moving structure is connected to the base, the rotating structure is connected to the moving structure, the clamping structure is connected to the rotating structure, the moving structure drives the clamping structure to move in the horizontal and vertical directions, and the rotating structure drives the clamping structure to rotate, so that the clamping structure reaches the position of the materials to clamp and/or loosen the materials. According to the invention, through arranging the moving structure, the rotating structure for driving the clamping structure to rotate along the R axis and the clamping structure for clamping the materials are arranged, the purposes of automatically completing material taking and switching the states of the materials can be realized, the culture efficiency and the safety are greatly improved, and the auxiliary structure is also arranged, so that the auxiliary structure can play a role of supporting when the materials are subjected to the operation of opening the cover and/or screwing the bottle cap, and the whole efficiency of opening the cover and/or screwing the bottle cap is improved.
Description
Technical Field
The invention relates to a material moving device, in particular to a material moving and rotating device and a working method thereof.
Background
In the cell culture process, generally can relate to the step of taking of material, current mode relies on manual completion, needs the personnel operation of independent configuration, but this kind of mode relies on the manual work completely, and is inefficient, can't realize large batch production demand, and to special environment such as cell culture, manual operation always has potential risk.
at present, although some equipment for taking materials is provided, the equipment can only complete horizontal movement and vertical movement generally; for cell culture, after the material such as a culture bottle is taken, subsequent operations such as bottle opening are required, and in order to facilitate the subsequent operations, the rotation is required, but the material taking and the rotation cannot be simultaneously completed by the existing equipment, and the material taking and the rotation can only be completed by two equipment or manually, so that the efficiency is low, and the cost is high.
Therefore, it is necessary to design a new device, which can automatically complete material taking and switch the state of the material, as part of the conversion from manual process to automatic process, and in the designed sterile isolator, the device cooperates with other automatic mechanisms to perform automatic cell culture, thereby greatly improving the culture efficiency and safety.
Disclosure of Invention
the invention aims to overcome the defects of the prior art and provides a material moving and rotating device and a working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme: material removes rotary device, including base, moving structure, revolution mechanic and be used for pressing from both sides the centre gripping structure who gets the material, moving structure connect in on the base, revolution mechanic connect in moving structure is last, holding structure connect in revolution mechanic is last, carries out the removal of level and vertical direction through moving structure drive holding structure, rotates through revolution mechanic drive holding structure to make holding structure reach the material position, press from both sides and get and/or loosen the material.
The further technical scheme is as follows: the moving structure comprises a Z-axis moving assembly and an X-axis moving assembly, the Z-axis moving assembly is connected to the base, the X-axis moving assembly is connected to the Z-axis moving assembly, and the rotating structure is connected to the X-axis moving assembly.
the further technical scheme is as follows: the Z-axis moving assembly comprises a Z-axis module and a Z-axis coupling block, a Z-axis sliding block is arranged on the Z-axis module, the Z-axis coupling block is connected with the Z-axis sliding block, and the X-axis moving assembly is connected to the Z-axis coupling block.
The further technical scheme is as follows: the X-axis moving assembly comprises an X-axis module and an X-axis coupling block, an X-axis sliding block is arranged on the X-axis module, the X-axis coupling block is connected with the X-axis sliding block and the rotating structure respectively, and the X-axis module is connected with the Z-axis coupling block.
The further technical scheme is as follows: the rotating structure comprises an R-axis coupling block and a rotating power source, the R-axis coupling block comprises an R-axis vertical plate and an R-axis base plate, the R-axis vertical plate is connected to the lower end face of the R-axis base plate, and the R-axis vertical plate is connected with the X-axis coupling block; the rotary power source is connected to the R-axis substrate, and the rotary power source is connected to the clamping structure.
The further technical scheme is as follows: the clamping structure comprises a clamping frame and a clamping power source used for clamping materials, the clamping frame is connected with the rotary power source, and the clamping frame is connected with the clamping power source
The further technical scheme is as follows: the clamping frame comprises a clamping front side plate, a clamping rear side plate and a plurality of clamping side plates, wherein the clamping side plates are arranged between the clamping front side plate and the clamping rear side plate, a clamping power source is arranged in the clamping rear side plate is close to the side face of the clamping front side plate, and an interval for placing materials is formed between the adjacent clamping side plates, the clamping front side plate and the clamping rear side plate in a surrounding mode.
The further technical scheme is as follows: the clamping rear side plate is provided with a plurality of through holes, the clamping rear side plate is connected with a sensor shield, a plurality of sensors used for detecting whether materials are in intervals are arranged in the sensor shield, and the sensors are exposed in the through holes.
The further technical scheme is as follows: the outside of X axle module still is connected with auxiliary structure, auxiliary structure includes voussoir and auxiliary power source, auxiliary power source connect with the outside of X axle module, the voussoir connect in auxiliary power source's output, through auxiliary power source's work, drive the voussoir and move up to support the R axle base plate.
The invention also provides a working method of the material moving and rotating device, which comprises the following steps:
the moving structure drives the clamping structure to move horizontally and vertically so that the clamping structure is placed at the position of the material;
The clamping structure is driven to rotate by the rotating structure, so that the clamping structure contacts the material to clamp and/or loosen the material.
compared with the prior art, the invention has the beneficial effects that: according to the invention, through arranging the moving structure comprising the X-axis moving assembly and the Z-axis moving assembly, the rotating structure capable of driving the clamping structure to rotate along the R axis and the clamping structure for clamping the materials are arranged, so that the purposes of automatically completing material taking and switching the states of the materials can be realized, the culture efficiency and the safety are greatly improved, and the auxiliary structure is also arranged, so that the supporting function can be realized when the operation of opening the cover of the materials and/or screwing the bottle cap is carried out on the materials, and the whole efficiency of opening the cover and/or screwing the bottle cap is improved.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a material moving and rotating device according to an embodiment of the present invention;
Fig. 2 is a rear view of a material moving and rotating device according to an embodiment of the present invention;
fig. 3 is a schematic top view of a material moving and rotating device according to an embodiment of the present invention;
Fig. 4 is a left side view schematically illustrating a material moving and rotating device according to an embodiment of the present invention;
Fig. 5 is an exploded view of a material moving and rotating device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As shown in fig. 1 to 5, the material moving and rotating device provided in this embodiment can be applied to a scene where a material needs to be taken.
Referring to fig. 1, the material moving and rotating device includes a base 10, a moving structure, a rotating structure and a clamping structure for clamping and taking out the material, the moving structure is connected to the base 10, the rotating structure is connected to the moving structure, the clamping structure is connected to the rotating structure, the moving structure drives the clamping structure to move horizontally and vertically, and the rotating structure drives the clamping structure to rotate, so that the clamping structure reaches the position of the material to clamp and/or release the material.
The moving structure is utilized to drive the whole rotating structure and the clamping structure to move in the horizontal direction and the vertical direction, so that the clamping structure reaches a position in which the horizontal direction and the vertical direction are consistent with the horizontal direction and the vertical direction of the position of the material, the rotating structure drives the clamping structure to rotate along the R axis, the clamping structure can clamp the article, the clamping structure is driven to work, the article is clamped by the clamping structure, and the feeding process is finished; when carrying out the unloading in-process, utilize moving structure to drive whole revolution mechanic and clamping structure and carry out the removal of horizontal direction and vertical direction for clamping structure reachs horizontal direction and vertical direction and the position that the horizontal direction and the vertical direction of the position that is used for placing the material are unanimous, drive clamping structure by revolution mechanic and carry out the rotation of R axle, so that the article that clamping structure held can contact this position, and then drive clamping structure work, make it loosen article.
Of course, if the clamped material needs to be opened or screwed down, the moving structure drives the rotating structure and the clamping structure to move to the position designated by the opened or screwed down bottle cap, and the rotating structure drives the material to rotate by a certain angle, so that the operation of opening or screwing down the bottle cap is performed.
Referring to fig. 1, the moving structure includes a Z-axis moving assembly and an X-axis moving assembly, the Z-axis moving assembly is connected to the base 10, the X-axis moving assembly is connected to the Z-axis moving assembly, and the rotating structure is connected to the X-axis moving assembly.
The Z-axis moving component is used for realizing the movement of the material in the Z-axis direction; the X-axis moving assembly realizes the movement of the material in the X-axis direction, and the rotating structure can realize the rotation of the material in the R-axis direction.
In an embodiment, referring to fig. 5, the Z-axis moving assembly includes a Z-axis module 20 and a Z-axis coupling block 22, wherein a Z-axis slider 23 is disposed on the Z-axis module 20, the Z-axis coupling block 22 is connected to the Z-axis slider 23, and the X-axis moving assembly is connected to the Z-axis coupling block 22.
The outer end of the Z-axis module 20 is provided with a Z-axis shield 21 to protect the Z-axis module 20 and prevent dust.
The Z-axis module 20 can drive the Z-axis slider 23 to move up and down in the Z-axis direction, and the X-axis moving assembly is connected to the Z-axis coupling block 22 connected to the Z-axis slider 23, that is, when the Z-axis slider 23 moves, the X-axis moving assembly is driven by the Z-axis slider 23 to move up and down in the Z-axis direction, so that the clamping structure reaches a specified position.
In an embodiment, referring to fig. 5, the X-axis moving assembly includes an X-axis module 30 and an X-axis coupling block 32, an X-axis slider 31 is disposed on the X-axis module 30, the X-axis coupling block 32 is respectively connected to the X-axis slider 31 and the rotating structure, and the X-axis module 30 is connected to the Z-axis coupling block 22.
The X-axis module 30 can drive the X-axis slider 31 to move back and forth horizontally in the X-axis direction, and the rotating structure is connected to the X-axis coupling block 32 connected to the X-axis slider 31, that is, when the X-axis slider 31 moves, the rotating structure is driven by the X-axis slider 31 to move back and forth horizontally in the X-axis direction, so that the clamping structure reaches a specified position.
The combination of horizontal back-and-forth movement and up-and-down movement of the clamping structure can be realized by means of the X-axis slider 31 and the Z-axis slider 23, and movement in the X-axis direction and the Z-axis direction is realized.
Specifically, in the present embodiment, the Z-axis coupling block 22 is connected to the Z-axis slider 23 and the X-axis module 30 by fasteners such as bolts, and the X-axis coupling block 32 is connected to the X-axis slider 31 and the rotary structure by fasteners such as bolts.
in an embodiment, referring to fig. 5, the above-mentioned rotating structure includes an R-axis coupling block and a rotating power source 40, the R-axis coupling block includes an R-axis vertical plate 42 and an R-axis base plate 43, the R-axis vertical plate 42 is connected to a lower end surface of the R-axis base plate 43, and the R-axis vertical plate 42 is connected to the X-axis coupling block 32; the rotary power source 40 is connected to the R-axis base plate 43, and the rotary power source 40 is connected to the clamping structure.
In the present embodiment, the R-axis vertical plate 42 is connected to the middle of the R-axis substrate 43, and of course, in other embodiments, the R-axis vertical plate 42 may also be connected to other positions of the R-axis substrate 43, and is not limited to the middle.
The R-axis vertical plate 42 and the R-axis base plate 43 are in a vertical state, so that the rotary power source 40 is respectively connected with the X-axis assembly and in a vertical state, the R-axis vertical plate 42 is connected with the R-axis base plate 43 and the X-axis coupling block 32 through fasteners such as bolts, the R-axis base plate 43 is used for installing the rotary power source 40, and the rotary power source 40 is used for driving the clamping structure to rotate on the R axis, so that the materials clamped by the clamping structure are switched into different states.
In one embodiment, referring to fig. 5, the rotary power source 40 is connected to the R-axis substrate 43 through a rotary power source mounting base 41.
In this embodiment, the rotary power source 40 may be a rotary cylinder, but in other embodiments, the rotary power source 40 may also be a motor, and the like, and is not limited to the above-mentioned rotary cylinder.
In an embodiment, referring to fig. 3 and 5, the clamping structure includes a clamping frame and a clamping power source 50, the clamping frame is connected to the rotating power source 40, and the clamping power source 50 is connected to the clamping frame for clamping the material.
In this embodiment, the clamping power source 50 may be a diaphragm clamping cylinder, which is used for clamping the material, and specifically, the clamping power source 50 is connected to the clamping frame by a fastening member such as a bolt. The clamping frame is matched with the clamping power source 50 to realize the positioning and clamping of the material.
In an embodiment, referring to fig. 5, the clamping frame includes a clamping front side plate 55, a clamping rear side plate 51, and a plurality of clamping side plates 56, the plurality of clamping side plates 56 are disposed between the clamping front side plate 55 and the clamping rear side plate 51, the clamping power source 50 is disposed on a side surface of the clamping rear side plate 51 close to the clamping front side plate 55, and a space for placing the material is defined between adjacent clamping side plates 56, clamping front side plate 55, and clamping rear side plate 51.
Be provided with a centre gripping power supply 50 in every interval, realize a plurality of materials of disposable centre gripping, improve the efficiency that the material was taken.
In an embodiment, the two side surfaces of the clamping side plate 56 are respectively arranged to be inclined outwards along a direction from top to bottom to form inclined surfaces, and the inclined surfaces can guide the clamping of the material, so as to more accurately clamp the material.
The clamping side plate 56 closest to the rotary power source 40 is connected to the rotary power source 40 by a fastener such as a bolt.
In one embodiment, the R-axis substrate 43 is further connected to a bearing support 53, and the bearing support 53 is connected to the clamping frame through a connecting shaft 54. The rotation of the holder is supported by the bearing support base 53.
In an embodiment, referring to fig. 5, a plurality of through holes are formed on the clamping rear side plate 51, a sensor shield 52 is connected to the clamping rear side plate 51, a plurality of sensors 80 for detecting whether the material is in the space are arranged in the sensor shield 52, and the sensors 80 are exposed in the through holes.
Whether the materials are clamped in place or not is detected by using the sensor 80, and the through holes are threaded holes.
In an embodiment, referring to fig. 5, the outer side of the X-axis module 30 is further connected to an auxiliary structure, the auxiliary structure includes a wedge 60 and an auxiliary power source 61, the auxiliary power source 61 is connected to the outer side of the X-axis module 30, the wedge 60 is connected to an output end of the auxiliary power source 61, and the auxiliary power source 61 operates to drive the wedge 60 to move upward to support the R-axis substrate 43.
In an embodiment, the two side surfaces of the wedge 60 are recessed inward to form a notch, so that the wedge 60 is in an inverted T shape, which not only reduces the weight of the wedge 60, but also supports the R-axis substrate 43.
With the help of the effect that the auxiliary structure provided the support to R axle base plate 43 when uncapping or screwing up the bottle lid operation, because uncap and screw up the bottle lid and have a effort that pushes down to the material, auxiliary structure can support R axle base plate 43, and then supports the material to accomplish the operation of uncapping or screwing up the bottle lid fast.
In an embodiment, the auxiliary power source 61 is a jacking cylinder for providing support for the R-axis substrate 43 during uncovering, but in other embodiments, the auxiliary power source 61 may also be a vertically arranged telescopic cylinder.
The wedge 60 is mounted at the front end of the push rod of the jacking cylinder and fits the R-axis base plate 43 and the angled surface during uncapping to provide support to improve the efficiency of uncapping and/or tightening the bottle cap.
In this embodiment, the material includes a culture bottle 70, but in other embodiments, the material may include other bottles.
The whole material taking process comprises the following steps: z axle slider moves down, X axle slider 31 stretches out forward, rotary power source 40 drive holding frame is rotatory to the horizontality, clamping structure is located the assigned position in the transmission storehouse this moment, after sensor 80 detects the material and targets in place, then 50 work of centre gripping power source, the centre gripping material, rotary power source 40 drive holding frame is rotatory to vertical state, Z axle slider 23 and X axle slider 31 playback, specifically X axle slider 31 moves the back backward, Z axle slider 23 moves up, accomplish whole material loading process.
When the material needs to be opened and/or screwed, after the material is fed, the X-axis is retracted to the position of the equipment for opening or screwing the bottle cap, the rotary power source 40 drives the clamping frame to rotate until the material bottle mouth is in a specified state, for example, the Z-axis sliding block 23 ascends, and when the opening signal is received and/or the bottle cap screwing completion signal is received, the Z-axis sliding block 23 descends to complete the process of opening and/or screwing the bottle cap.
The material moving and rotating device comprises an X-axis moving assembly and a Z-axis moving assembly, and can drive a clamping structure to rotate along an R axis and a clamping structure used for clamping materials, so that the materials can be automatically taken, the switching of the states of the materials can be realized, an auxiliary structure is further arranged, the material can be supported when the materials are uncovered and/or the bottle caps are screwed, the whole efficiency of uncovering and/or the whole bottle caps are improved, the material taking can be automatically completed, the switching of the states of the materials can be realized, the material moving and rotating device can be used as a part of manual process to automatic conversion, and can be used for performing automatic cell culture in cooperation with other automatic mechanisms in a designed sterile isolator, so that the culture efficiency and the safety are greatly improved.
In one embodiment, a working method of the material moving and rotating device is further provided, and the working method comprises the following steps:
The moving structure drives the clamping structure to move horizontally and vertically so that the clamping structure is placed at the position of the material;
The clamping structure is driven to rotate by the rotating structure, so that the clamping structure contacts the material to clamp and/or loosen the material.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the working method of the material moving and rotating device may refer to the corresponding description in the foregoing embodiment of the material moving and rotating device, and for convenience and brevity of description, no further description is provided herein.
The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. the material moving and rotating device is characterized by comprising a base, a moving structure, a rotating structure and a clamping structure, wherein the clamping structure is used for clamping materials, the moving structure is connected to the base, the rotating structure is connected to the moving structure, the clamping structure is connected to the rotating structure, the clamping structure is driven by the moving structure to move horizontally and vertically, and the clamping structure is driven by the rotating structure to rotate, so that the clamping structure reaches the position of the materials, and the materials are clamped and/or loosened.
2. The material moving and rotating device according to claim 1, wherein the moving structure comprises a Z-axis moving assembly and an X-axis moving assembly, the Z-axis moving assembly is connected to the base, the X-axis moving assembly is connected to the Z-axis moving assembly, and the rotating structure is connected to the X-axis moving assembly.
3. The material moving and rotating device according to claim 2, wherein the Z-axis moving assembly comprises a Z-axis module and a Z-axis coupling block, a Z-axis slider is arranged on the Z-axis module, the Z-axis coupling block is connected with the Z-axis slider, and the X-axis moving assembly is connected to the Z-axis coupling block.
4. The material moving and rotating device according to claim 3, wherein the X-axis moving assembly comprises an X-axis module and an X-axis coupling block, an X-axis sliding block is arranged on the X-axis module, the X-axis coupling block is respectively connected with the X-axis sliding block and the rotating structure, and the X-axis module is connected with the Z-axis coupling block.
5. The material moving and rotating device according to claim 4, wherein the rotating structure comprises an R-axis coupling block and a rotating power source, the R-axis coupling block comprises an R-axis vertical plate and an R-axis base plate, the R-axis vertical plate is connected to the lower end face of the R-axis base plate, and the R-axis vertical plate is connected with the X-axis coupling block; the rotary power source is connected to the R-axis substrate, and the rotary power source is connected to the clamping structure.
6. The material moving and rotating device according to claim 5, wherein the clamping structure comprises a clamping frame and a clamping power source for clamping the material, the clamping frame is connected with the rotating power source, and the clamping power source is connected to the clamping frame.
7. The material moving and rotating device according to claim 6, wherein the clamping frame comprises a clamping front side plate, a clamping rear side plate and a plurality of clamping side plates, the plurality of clamping side plates are arranged between the clamping front side plate and the clamping rear side plate, the clamping power source is arranged on the side surface of the clamping rear side plate close to the clamping front side plate, and a space for placing materials is formed by enclosing between the adjacent clamping side plates, the clamping front side plate and the clamping rear side plate.
8. The material moving and rotating device according to claim 7, wherein a plurality of through holes are formed in the clamping rear side plate, a sensor shield is connected to the clamping rear side plate, a plurality of sensors for detecting whether the material is in the space are arranged in the sensor shield, and the sensors are exposed in the through holes.
9. The material moving and rotating device according to claim 5, wherein an auxiliary structure is further connected to the outer side of the X-axis module, the auxiliary structure comprises a wedge and an auxiliary power source, the auxiliary power source is connected to the outer side of the X-axis module, the wedge is connected to the output end of the auxiliary power source, and the wedge is driven to move upwards through the operation of the auxiliary power source so as to support the R-axis substrate.
10. The working method of the material moving and rotating device is characterized by comprising the following steps:
The moving structure drives the clamping structure to move horizontally and vertically so that the clamping structure is placed at the position of the material;
The clamping structure is driven to rotate by the rotating structure, so that the clamping structure contacts the material to clamp and/or loosen the material.
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| CN201910931168.7A CN110564615A (en) | 2019-09-29 | 2019-09-29 | material moving and rotating device and working method thereof |
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| CN201910931168.7A CN110564615A (en) | 2019-09-29 | 2019-09-29 | material moving and rotating device and working method thereof |
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2019
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| US20120251275A1 (en) * | 2011-01-28 | 2012-10-04 | Liconic Ag | Device for storing and handling petri dishes, storage device and storage slot for laboratory objects |
| CN108931418A (en) * | 2017-05-27 | 2018-12-04 | 江西光明智能科技有限公司 | A kind of stirring grabbing device |
| CN208528910U (en) * | 2018-06-21 | 2019-02-22 | 宁波海迈克自动化科技有限公司 | A kind of product undertaking arm structure |
| CN208617904U (en) * | 2018-07-14 | 2019-03-19 | 安徽细胞之星生物科技有限公司 | A kind of Tissue Culture Flask storage rack |
| CN210974704U (en) * | 2019-09-29 | 2020-07-10 | 深圳赛动生物自动化有限公司 | Material moving and rotating device |
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