CN208497004U - The Development of intelligent laboratory of rifle recycling module is taken off with suction nozzle - Google Patents

Abstract

The utility model provides the Development of intelligent laboratory that there is suction nozzle to take off rifle recycling module, including robot, table assembly and casing assembly, robot and table assembly setting are provided with the Instrument assembly for robot manipulation in casing assembly, on table assembly, and Instrument assembly includes liquid-transfering gun；Development of intelligent laboratory further includes that suction nozzle takes off rifle recycling module, and the suction nozzle on liquid-transfering gun is detached from and is recycled for assist people.Development of intelligent laboratory provided by the utility model includes the Instrument assembly of liquid-transfering gun using robot manipulation, and rifle recycling module is taken off including suction nozzle, it can assist in robot and the suction nozzle on liquid-transfering gun be detached from and recycled, overcome suction nozzle in the prior art and take off the difficult defect of rifle recycling.

Description

The Development of intelligent laboratory of rifle recycling module is taken off with suction nozzle

Technical field

The utility model relates to smart machine fields, more particularly to the Development of intelligent laboratory of rifle recycling module is taken off with suction nozzle.

Background technique

In hospital and chemical engineering center, as soon as laboratory is an important facility, for hospital, in laboratory, and doctor It is raw to carry out the separation and Extraction of the substances such as inhereditary material and serum, the culture of cell and other microorganisms, medicine detection, medical experiment Etc. a variety of operations, these operating technology contents are high, it is desirable that each single item operation is all extremely accurate, and there can be no any mistakes in operation Accidentally.Moreover, because medical resource is nervous, it is usually to operate at full capacity in the laboratory of hospital, has aggravated the work load of doctor, It is easy fatigue and error.

Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take For the work of human work, such as production industry, construction industry, or dangerous work.With robot technology sustainable development into Step, robot have gradually started to start that the mankind is replaced to work in all trades and professions, and the laboratory of hospital also starts introducing machine Device people operates.In the laboratory of hospital, it is often necessary to put on suction nozzle absorption liquid using liquid-transfering gun, release liquid, take off From suction nozzle and recycling suction nozzle, when manual operation, these movements are easily accomplished, but when use robot manipulation, existing machine Device of the device people due to lacking assist people in flexibility difference and Development of intelligent laboratory, these movements can not be accurately and efficiently It completes.

Utility model content

The intelligence that in order to overcome the deficiencies of the prior art, the utility model provides takes off rifle recycling module with suction nozzle is tested Room.

Specifically, its technical solution is as follows:

A kind of Development of intelligent laboratory taking off rifle recycling module with suction nozzle, including robot, table assembly and casing assembly, The robot and the table assembly are arranged in the casing assembly, are provided on the table assembly for the machine The Instrument assembly of device people operation, the Instrument assembly includes liquid-transfering gun；

The Development of intelligent laboratory further includes that suction nozzle takes off rifle recycling module, for assisting the robot by the liquid-transfering gun Suction nozzle be detached from and recycle.

In some preferred embodiments, it includes that de- rifle assists frame, waste material isolation window that the suction nozzle, which takes off rifle recycling module, And surge drum, it includes that the vertical frame of the upper surface of the table assembly and vertical with the vertical frame is arranged in that the de- rifle, which assists frame, Crossbearer, the table assembly is provided with opening immediately below the crossbearer, and the waste material isolation window is configured to The opening is opened and closes, the underface of the opening is arranged in the surge drum.

In some preferred embodiments, the waste material isolation window includes slip-stream cover, fixed frame, guard ring and isolation board, The slip-stream cover is fixed on the lower section of the fixed frame, and the fixed frame is fixed on the workbench group below the opening On part, the guard ring from the top of the opening be arranged on the table assembly, the isolation board be located at the guard ring with Between the slip-stream cover and it is configured as opening and closing the opening by linear movement.

In some preferred embodiments, the robot includes trunk and several arm components, the arm The front end of each arm is provided with manipulator in component, and the tail end of each arm is stretched from the trunk in the arm component Out.

In some preferred embodiments, the arm component includes left hand arm component and right hand arm component, the left side Arm component is stretched out by the left side of the trunk, and the right hand arm component is stretched out by the right side of the trunk, the left hand The front end of arm component is provided with the first manipulator, and the front end of the right hand arm component is provided with the second manipulator, the robot It further include carrying column, the trunk is rotationally supported on above the carrying column.

In some preferred embodiments, the Development of intelligent laboratory further include transmission window, for indoors with outdoor Between transmit material.

In some preferred embodiments, the transmission window includes isolation cover, pallet and first straight line driving mechanism, institute It states pallet and the first straight line driving mechanism is located in the isolation cover, the isolation cover is provided with the first object outside communication chamber The mover of the first straight line driving mechanism is arranged in indoor second material transmission mouth, the pallet is connected in material transmission mouth On, and be configured to transmit mouth and second object in the first material with the mover of the first straight line driving mechanism It is moved back and forth between material transmission mouth.

In some preferred embodiments, the left hand arm component includes the first left arm, the second left arm, a third left side Arm, the 4th left arm and the 5th left arm, the tail end of first left arm are rotatably arranged on the left of the trunk, It is connected between the front end of first left arm and the tail end of second left arm by the first left articulation, described second is left It is connected between the front end of arm and the tail end of the third left arm by the second left articulation, the front end of the third left arm It is connected between the tail end of the 4th left arm by the left articulation of third, the front end and the described 5th of the 4th left arm It is connected between the tail end of left arm by the 4th left articulation, the front end of first manipulator and the 5th left arm rotates Connection；

And/or the right hand arm component include the first right arm, the second right arm, third right arm, the 4th right arm and 5th right arm, the tail end of first right arm are rotatably arranged on the right side of the trunk, first right arm It is connected between front end and the tail end of second right arm by the first right articulation, the front end of second right arm and described It is connected between the tail end of third right arm by the second right articulation, the front end of the third right arm and the 4th right arm Tail end between connected by the right articulation of third, between the front end of the 4th right arm and the tail end of the 5th right arm By the 4th right articulation connection, the front end of second manipulator and the 5th right arm is rotatablely connected.

In some preferred embodiments, the casing assembly includes upper shell component and base assembly, the upper casing group Part and the base assembly surround closed space, and the upper shell component includes upper case frame and is arranged on the upper case frame Multiple panels, the base assembly support the upper shell component, the robot and the table assembly in bottom.

In some preferred embodiments, the bottom of the base assembly is provided with multiple pedestal components, the pedestal Component include parallel arrangement of wheel group and can adjust with ground distance between the surface support component.

The utility model at least has the advantages that

According to the Development of intelligent laboratory provided by the utility model for taking off rifle recycling module with suction nozzle, including robot, work Platform component and casing assembly, robot and table assembly are arranged in casing assembly, are provided on table assembly for machine The Instrument assembly of people's operation, Instrument assembly includes liquid-transfering gun.Compared with prior art, Development of intelligent laboratory provided by the utility model Include the Instrument assembly of liquid-transfering gun using robot manipulation, and take off rifle recycling module including suction nozzle, can assist in robot will Suction nozzle on liquid-transfering gun is detached from and recycles, and overcomes suction nozzle in the prior art and takes off the difficult defect of rifle recycling.

To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment is cited below particularly, and Cooperate appended attached drawing, is described in detail below.

Detailed description of the invention

It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also To obtain other relevant attached drawings according to these attached drawings.

Fig. 1 is the overall oblique view for taking off the Development of intelligent laboratory of rifle recycling module in the utility model embodiment with suction nozzle；

Fig. 2 is after taking off the Development of intelligent laboratory removal upper shell component of rifle recycling module in the utility model embodiment with suction nozzle Oblique view；

Fig. 3 is the schematic diagram of waste material isolation window in the utility model embodiment；

Fig. 4 is the oblique view of base assembly in the utility model embodiment；

Fig. 5 is the oblique view of robot in the utility model embodiment；

Fig. 6 is the explosive view of trunk in the utility model embodiment, left hand arm component and right hand arm component assembly；

Fig. 7 is the oblique view of the first manipulator of the first in the utility model embodiment；

Fig. 8 is the explosive view of the first manipulator of the first in the utility model embodiment；

Fig. 9 is the oblique view of second of first manipulators in the utility model embodiment；

Figure 10 is the explosive view of second of first manipulators in the utility model embodiment；

Figure 11 is the oblique view that window is transmitted in the utility model embodiment；

Figure 12 is the explosive view that window is transmitted in the utility model embodiment；

Figure 13 is the partial schematic diagram that window is transmitted in the utility model embodiment；

Figure 14 is the first oblique view of positioning clamping device in the utility model embodiment；

Figure 15 is the second oblique view of positioning clamping device in the utility model embodiment；

Figure 16 is the first explosive view of positioning clamping device in the utility model embodiment；

Figure 17 is the second explosive view of positioning clamping device in the utility model embodiment；

Figure 18 is the first oblique view that positioning clamping device hides after pedestal cover board in the utility model embodiment.

Main element symbol description:

10- Development of intelligent laboratory；100- robot；The first manipulator of 1000-；1001- strip source；1100- pedestal； 1110- base enclosure；1120- backboard；1130- side plate；1140- bottom plate；The 4th straight line driving mechanism of 1200-；The first sliding block of 1310-； The second sliding block of 1320-；The first grip block of 1410-；The second grip block of 1420-；The first grasping part of 1510-；1520- second is clamped Space；1530- third grasping part；The first fixed block of 1610-；The second fixed block of 1620-；The front end 1700- camera；1800- is passed through Through slot；1900- column；The second manipulator of 2000-；3000- carries column；4100- left hand arm component；The first left hand of 4110- Arm；The second left arm of 4120-；4130- third left arm；The 4th left arm of 4140-；The 5th left arm of 4150-；The 4200- right hand Arm component；The first right arm of 4210-；The second right arm of 4220-；4230- third right arm；The 4th right arm of 4240-；4250- 5th right arm；5000- trunk；The upper trunk of 5100-；5200- lower torso member；6000- holder；6100- holder camera； 7000- connection sleeve；The left joint 8110- first；The left joint 8120- second；The right joint 8210- first；The right pass 8220- second Section；200- upper shell component；300- base assembly；400- table assembly；500- transmits window；501- pallet；502- sterilization dress It sets；503- mounting plate；504- third straight line driving mechanism；510- isolation cover；Cover main body is isolated in 511-；512- isolation cover side plate； 520- connecting plate；530- first straight line driving mechanism；541- first seal；The first sealing shell of 5411-；5412- first is close Seal inner casing；542- second seal；The first guiding axis of 551-；The second guiding axis of 552-；The first door-plate of 561-；562- second Plate；The first connection strap of 571-；The second connection strap of 572-；600- rack for test tube；700- positioning clamping device；7001- hornblock；7002- Connection sheet；7100- positioning pedestal；7110- pedestal cover board；7120- base body；7130- bottom plate；The driving of 7200- second straight line Mechanism；7300- impeller-hub；The first pressing plate of 7410-；The second pressing plate of 7420-；7430- third pressing plate；The 4th pressing plate of 7440-； The 5th pressing plate of 7450-；7510- first connecting rod；7520- second connecting rod；7530- third connecting rod；7540- fourth link；7550- 5th connecting rod；7560- six-bar linkage；7610- the first pressing plate mounting base；7620- the second pressing plate mounting base；7630- third pressing plate Mounting base；The 4th pressing plate mounting base of 7640-；7710- the first positioning and guiding component；7711- fixinig plate；7712- axle sleeve；7713- Connecting rod guiding axis；7720- the second positioning and guiding component；810- takes off rifle and assists frame；820- waste material isolation window；821- slip-stream cover； 822- isolation board；823- fixed frame；824- isolation board pusher cylinder；825- guard ring；830- liquid-transfering gun；840- surge drum.

Specific embodiment

Hereinafter, the various embodiments of the utility model will be described more fully.The utility model can have various realities Example is applied, and can adjust and change wherein.It should be understood, however, that: there is no limit the various embodiments of the utility model In the intention of specific embodiment disclosed herein, but the utility model should be interpreted as covering falling into the various of the utility model All adjustment, equivalent and/or optinal plan in the spirit and scope of embodiment.

Embodiment

Present embodiments providing one kind, there is suction nozzle to take off (referred to as " the intelligent experiment later of rifle recycling module Development of intelligent laboratory 10 Room 10 "), Fig. 1, Fig. 2, Fig. 4 are please referred to, having Development of intelligent laboratory 10 includes robot 100, table assembly 400 and shell group Part, robot 100 and table assembly 400 are arranged in casing assembly.Wherein, robot 100 includes trunk 5000, left hand Arm component and right hand arm component, left hand arm component are stretched out by the left side of trunk 5000, and right hand arm component is by trunk 5000 Right side is stretched out, and the front end of left hand arm component is provided with the first manipulator 1000, and the front end of right hand arm component is provided with the second machinery Hand 2000 is provided with the Instrument assembly for robot manipulation on table assembly 400.

Wherein, casing assembly as one preferred comprising upper shell component 200 and base assembly 300, upper shell component 200 surround closed space with base assembly 300.Upper shell component 200 includes upper case frame and is arranged in multiple on upper case frame Panel, upper frame are used to form closing structure for installing panel and load-bearing, each panel.Base assembly 300 is on bottom supports Shell component 200, robot and table assembly 400.Preferably, the bottom of base assembly 300 is provided with multiple pedestal components, Pedestal component include parallel arrangement of wheel group and can adjust with ground distance between the surface support component.

In the present embodiment, table assembly 400 is preferably spliced by multiple workbench, is set on the table top of each workbench The Instrument assembly for robot manipulation is set, the inside of each workbench is hollow structure, for ash can, gas source, control system to be arranged System, apparatus for examination and repair etc..

Preferably, Instrument assembly includes liquid-transfering gun 830, test tube, rack for test tube 600, centrifugal device, thermostat, refrigerator, oscillation One of device, spectrophotometer, PCR instrument and incubator are a variety of.

Development of intelligent laboratory further includes that suction nozzle takes off rifle recycling module, takes off the suction nozzle on liquid-transfering gun 830 for assist people From and recycle.A kind of preferred structure composition that rifle recycling module is taken off as suction nozzle, please refers to Fig. 2, Fig. 3, and suction nozzle takes off rifle recycling Module includes that de- rifle assists frame 810, waste material isolation window 820 and surge drum 840.Wherein, taking off rifle to assist frame 810 includes being arranged in work The vertical frame and the crossbearer vertical with vertical frame, table assembly 400 for making the upper surface of platform component 400 are provided with immediately below crossbearer Opening, waste material isolation window 820 are configured to open and close opening, and the underface of opening is arranged in surge drum 840.

Preferably, waste material isolation window 820 includes slip-stream cover 821, fixed frame 823, guard ring 825 and isolation board 822, slip-stream cover 821 are fixed on the lower section of fixed frame 823, and fixed frame 823 is fixed on table assembly 400 below opening, guard ring 825 It is arranged on table assembly 400 from the top of opening, isolation board 822 is between guard ring 825 and slip-stream cover 821 and is configured It is open to be opened and being closed by linear movement.Linear-movable manner as one preferred is provided on table assembly 400 The push rod of isolation board pusher cylinder 824, isolation board pusher cylinder 824 connects isolation board 822, the cylinder of isolation board pusher cylinder 824 Body is fixedly connected with table assembly 400.

When needing makes suction nozzle be detached from liquid-transfering gun and recycle, the manipulator of robot is moved to the lower section of crossbearer, makes liquid relief The vertical face crossbearer of the button in gun breech portion, then can be as people's push button from liquid relief by suction nozzle rear on button top to crossbearer Rifle is detached from.Meanwhile the control system in Development of intelligent laboratory can control isolation board 822 and open opening, make suction nozzle along slip-stream cover 821 It calls in surge drum 840 vertically.

In the present embodiment, as shown in figure 5, the robot 100 it is also preferable to include carrying column 3000.Wherein, trunk 5000 are rotationally supported on 3000 top of carrying column, and left hand arm component 4100 is stretched out by the left side of trunk 5000, right Arm component 4200 is stretched out by the right side of trunk 5000, and the front end of left hand arm component 4100 is provided with the first manipulator 1000, The front end of right hand arm component 4200 is provided with the second manipulator 2000.

In the present embodiment, trunk 5000 is the main body of robot 100, internal to have cavity, which uses In electric elements such as setting power supply, cable, circuit boards.The outside of trunk 5000 is preferably the deformation knot of cylinder or cylindroid Structure, front and rear sides are more flat, so that the trunk 5000 of robot and the trunk 5000 of human body are closer to.

Preferably, as shown in fig. 6, trunk 5000 includes upper trunk 5100 and lower torso member 5200, upper trunk 5100 are obliquely installed relative to lower torso member 5200 to the front of robot 100.The left side of upper trunk 5100 connects left arm The right side of component 4100, upper trunk 5100 connects right hand arm component 4200.

In the present embodiment, carrying column 3000 is located at the lower side of robot 100, and top connection trunk 5000 is simultaneously Accept the weight of trunk 5000, left hand arm component 4100, the other components of right hand arm component 4200 and robot.As a kind of excellent The carrying column 3000 of choosing, is cylinder-like structure, and the top and bottom of carrying column 3000 are both provided with connecting flange, is carried The connecting flange of 3000 bottom of column connects base assembly 300.

Preferably, it carries and is provided with connection sleeve 7000, lower torso member 5200 between column 3000 and lower torso member 5200 Lower part be set in connection sleeve 7000 in, connection sleeve 7000 lower end be provided with connecting flange, with carrying column 3000 The connecting flange at top matches, and passes through the connection of the fasteners such as bolt.Connection sleeve 7000 is internally provided with trunk 5000 device of rotation driving, the stator of 5000 device of rotation driving of trunk are fixed in connection sleeve 7000, trunk 5000 The mover of device of rotation driving is fixedly connected with the inner surface of lower torso member 5200.When starting 5000 device of rotation driving of trunk When, mover just drives trunk 5000 to rotate relative to carrying column 3000.

Preferably, 5000 device of rotation driving of trunk is servo motor.Since servo motor has feedback characteristics, thus The rotational angle of trunk 5000 can be accurately controlled, realizes the exact localization operation of robot 100.

Preferably, left hand arm component 4100 includes the first left arm 4110, the second left arm 4120, third left arm 4130, the 4th left arm 4140 and the 5th left arm 4150.The tail end of first left arm 4110 is rotatably arranged in trunk 5000 left sides, specifically, the tail end of the first left arm 4110 is rotatably arranged in the left side of trunk 5100.First is left It is rotatablely connected between the front end of arm 4110 and the tail end of the second left arm 4120 by the first left joint 8110, the second left arm It is rotatablely connected between 4120 front end and the tail end of third left arm 4130 by the second left joint 8120, third left arm 4130 Front end and the 4th left arm 4140 tail end between be rotatablely connected by the left joint (not shown) of third, the 4th left arm It is rotatablely connected between 4140 front end and the tail end of the 5th left arm 4150 by the 4th left joint (not shown), first is mechanical The rotation connection of the front end of hand 1000 and the 5th left arm 4150.

Preferably, the first left joint 8110, the second left joint 8120, the left joint of third and the 4th left joint are both provided with hand Arm device of rotation driving relatively rotates between the left arm before and after each left joint for driving.

In the present embodiment, the first left arm 4110, the second left arm 4120, third left arm 4130, the 4th left arm 4140 and the 5th left arm 4150 be hollow structure, cable and setting hand can be worn in their internal hollow structures Arm device of rotation driving.

Preferably, the first left arm 4110, the second left arm 4120, third left arm 4130, the 4th left arm 4140, At least three in the pivot center of five left arm 4150 and the first manipulator 1000 are not parallel to each other.In the present embodiment, due to One left arm 4110, the second left arm 4120, third left arm 4130, the 4th left arm 4140, the 5th left arm 4150 and At least three in the pivot center of one manipulator 1000 are not parallel to each other, and the first manipulator 1000 is enabled to have multiple freedom Degree, can arbitrarily move in preset spatial dimension.Further preferably, the pivot center of the second left arm 4120 and first left side The pivot center of arm 4110 is vertical, the rotation axis of third left arm 4130, the 4th left arm 4140 and the 5th left arm 41 50 Line is parallel with the pivot center of the second left arm 4120, the pivot center and the 5th left arm 4150 of the first manipulator 1000 Pivot center it is vertical.

Preferably, right hand arm component 4200 includes the first right arm 4210, the second right arm 4220, third right arm 4230, the tail end of the 4th right arm 4240 and the 5th right arm 4250, the first right arm 4210 is rotatably arranged in trunk 5000 right sides, are rotated between the front end of the first right arm 4210 and the tail end of the second right arm 4220 by the first right joint 8210 Connection, is rotatablely connected between the front end of the second right arm 4220 and the tail end of third right arm 4230 by the second right joint 8220, Connected between the front end of third right arm 4230 and the tail end of the 4th right arm 4240 by the right joint (not shown) rotation of third It connects, is rotated between the front end of the 4th right arm 4240 and the tail end of the 5th right arm 4250 by the 4th right joint (not shown) The front end of connection, the second manipulator 2000 and the 5th right arm 4250 is rotatablely connected.

Preferably, the first right joint 8210, the second right joint 8220, the right joint of third and the 4th right joint are both provided with hand Arm device of rotation driving relatively rotates between the right arm before and after each right joint for driving.

Preferably, the first right arm 4210, the second right arm 4220, third right arm 4230, the 4th right arm 4240, At least three in the pivot center of five right arms 4250 and the first manipulator 1000 are not parallel to each other.In the present embodiment, due to One right arm 4210, the second right arm 4220, third right arm 4230, the 4th right arm 4240, the 5th right arm 4250 and At least three in the pivot center of one manipulator 1000 are not parallel to each other, and the first manipulator 1000 is enabled to have multiple freedom Degree, can arbitrarily move in preset spatial dimension.Further preferably, the pivot center of the second right arm 4220 and first right side The pivot center of arm 4210 is vertical, the rotation axis of third right arm 4230, the 4th right arm 4240 and the 5th right arm 4250 Line is parallel with the pivot center of the second right arm 4220, the pivot center and the 5th right arm 4250 of the first manipulator 1000 Pivot center it is vertical.

It should be noted that in the present embodiment, joint refers to the connecting portion between the arm being mutually rotatablely connected, close Section can be combined by each a part of structure of two arms and be formed, not necessarily independent component.Specifically, as shown in Fig. 2, By taking the first left joint 8110 as an example, the front end of the first left arm 4110 has U-shaped interconnecting piece, and the tail end of the second left arm 4120 has There is cylindrical coupler portion, the stator and mover for driving device of rolling over are separately positioned on the U-shaped interconnecting piece and the cylindrical shape even In socket part.The U-shaped interconnecting piece, the cylindrical coupler portion and the driving device of rolling between them form first as a result, Left joint 8110.In the present embodiment, other joints are based on same principle and are formed, and are no longer further discussed below.

Preferably, driving device of rolling in the present embodiment is servo motor.Since servo motor has feedback characteristics, The rotational angle between each arm thus can be accurately controlled, realizes the exact localization operation of robot 100.

Preferably, in the present embodiment, it is provided with gyroscope in each left joint and right joint, is used for each left joint of precise measurement With the rotational angle of the arm before and after right joint, convenient for accurately controlling the athletic posture of robot 100.

It preferably, further include holder 6000, holder 6000 is rotatably arranged in the top of trunk 5000, holder 6000 On be provided with holder camera 6100.Due to being provided with the holder 6000 with camera, the holder camera 6100 in holder 6000 can The image around machine is acquired, and positions target, the first manipulator 1000 using the self-contained picture recognition module of robot With the second manipulator 2000.Preferably, the holder camera 6100 on holder 6000 is stereoscopic camera.

In the present embodiment, the preferred rotation connection mode of one kind as holder 6000 at the top of trunk 5000, 6000 device of rotation driving of holder is provided between holder 6000 and upper trunk 5100,6000 device of rotation driving of holder Mover connects holder 6000, and the stator of 6000 device of rotation driving of holder connects upper trunk 5100.Preferably, 6000 turns of holder Dynamic driving device is servo motor.

As shown in Figure 7, Figure 8, the first preferred first manipulator 1000, the first manipulator 1000 are present embodiments provided Including manipulator positioning pedestal 1100, the 4th straight line driving mechanism 1200 and clamp assemblies, the 4th straight line driving mechanism 1200 is set It sets in manipulator positioning pedestal 1100, the output end of the 4th straight line driving mechanism 1200 is provided with for installing and driving clamping The slide block assembly that each grip block moves along a straight line in component.

Wherein, manipulator positioning pedestal 1100 as one preferred comprising base enclosure 1110, backboard 1120 and side plate 1130.The main body of base enclosure 1110 is U-shaped structure,

When the 4th straight line driving mechanism 1200 is arranged in manipulator positioning pedestal 1100, base enclosure 1110 can cover the On four straight line driving mechanisms 1200, the surface of left, lower three sides.The back of base enclosure 1110 is arranged in backboard 1120, and side plate 1130 is set The side in the opening of base enclosure 1110 side is set, the front of base enclosure 1110 is provided with opening, for supplying the 4th straight line driving mechanism 1200 output end stretches out.

In the present embodiment, the 4th straight line driving mechanism 1200 is moved along a straight line for providing each grip block in clamp assemblies Power.4th straight line driving mechanism 1200 as one preferred, the 4th straight line driving mechanism 1200 include electric cylinders, electric cylinders Primary structure includes driving motor, transmission mechanism, linear guide and slide block assembly.Wherein, driving motor is preferably servo motor Or stepper motor can accurately control driving motor due to the driving motor using servo motor or stepper motor as electric cylinders Output quantity, such as the rotational angle of motor output shaft, and then accurately control the displacement of sliding block.Wherein, transmission mechanism is preferably Lead screw or tooth band, their input terminal are engaged with the gear in driving motor output shaft, their output end output straight line fortune It is dynamic.The output end of sliding block and transmission mechanism in slide block assembly connects, it is thus possible to move along a straight line.Sliding block in slide block assembly It is arranged in linear guide, so that sliding block can only be moved linearly under the limitation of linear guide.

In the present embodiment, the shape of each grip block matches in clamp assemblies, when for mutually closing up between grip block The grasping part for clamping part to be held is capable of forming between grip block.

Clamp assemblies and slide block assembly as one preferred, clamp assemblies include the first grip block 1410 and the second clamping Block 1420, slide block assembly include the first sliding block 1310 and the second sliding block 1320.Wherein, the first grip block 1410 is fixed on first On sliding block 1310, the second grip block 1420 is fixed on the second sliding block 1320, the first grip block 1410 and the second grip block 1420 Shape match, be capable of forming clamping therebetween when mutually closing up for the first grip block 1410 and the second grip block 1420 Space.

Preferably, integrated on the first grip block 1410 to be provided with the first fixed block 1610, the first fixed block 1610 and It is fixedly connected between one sliding block 1310 by fasteners such as bolts.It is integrated on second grip block 1420 to be provided with the second fixed block 1620, it is fixedly connected between the second fixed block 1620 and the second sliding block 1320 by fasteners such as bolts.

Further preferably, the quantity of grasping part is multiple, and multiple grasping parts edges are from clamp assemblies far from slide block assembly One end be respectively set to one end close to slide block assembly.Further preferably, it is interconnected between adjacent grasping part.

Further preferably, grasping part includes that the first grasping part 1510, the second grasping part 1520 and third clamping are empty Between 1530.Wherein, the first grasping part 1510 is by the separate slide block assembly of the first grip block 1410 and the second grip block 1420 One end is formed, in the first grasping part 1510, the cooperation of the first grip block 1410 and the second grip block 1420 and part to be held Face is a pair of plane being parallel to each other.

Further preferably, the first grip block 1410 and the second grip block 1420 all have one far from one end of slide block assembly Protrusion, the first grasping part 1510 are formed by plane opposite between protrusion.By in the first grip block 1410 and the second clamping Protrusion is arranged far from one end of slide block assembly in block 1420, can not only play the role of forming the first grasping part 1510, additionally it is possible to The movement such as pressing is executed, stirs, twist using the finger of embossed mould personification.

Wherein, third grasping part 1530 is by the first grip block 1410 and the second grip block 1420 close to slide block assembly One end is formed, in third grasping part 1530, the cooperation of the first grip block 1410 and the second grip block 1420 and part to be held Face is a pair of plane being parallel to each other.

Further preferably, in third grasping part 1530, the first grip block 1410 and the second grip block 1420 with wait press from both sides Spacing between the mating surface of gripping member be greater than in the first grasping part 1,510 first grip block 1410 and the second grip block 1420 with Spacing between the mating surface of part to be held.Thus, it is possible to utilize the root of the first grip block 1410 and the second grip block 1420 Clamping needs the part to be held of biggish chucking power.

It should be noted that in the present embodiment, in the first grasping part 1510 and in third grasping part 1530, the Spacing between one grip block 1410 and the second grip block 1420 and the mating surface of part to be held refers to, the first grip block 1410 with The contact surface of part to be held is to the second grip block 1420 at a distance from the contact surface of part to be held.

Wherein, the second grasping part 1520 between the first grasping part 1510 and third grasping part 1530 and is distinguished It is connected to the first grasping part 1510 and third grasping part 1530, in the second grasping part 1520,1410 He of the first grip block The mating surface of second grip block 1420 and part to be held includes that a pair of of spacing is empty along clamping from the first grasping part 1510 to third Between 1530 the directions inclined-plane, a pair of plane being parallel to each other and a pair of of the cambered surface that are gradually increased.

It should be noted that in the present embodiment, the inclined-plane in the second grasping part 1520, on the first grip block 1410 It is all arranged in pairs with the inclined-plane on the second grip block 1420, the plane, the cambered surface that are parallel to each other, when on the first grip block 1410 When inclined-plane and part to be held contact, the inclined-plane on the second clamping piece is also contacted with part to be held, plane, the cambered surface being parallel to each other It is to use same pairing mechanism, is no longer further discussed below in the present embodiment.

In the present embodiment, due to 1,520 first grip block 1410 of the second grasping part and the second grip block 1420 with wait press from both sides The mating surface of gripping member had both included that a pair of of spacing edge is gradually increased from the first grasping part 1510 to 1530 direction of third grasping part Inclined-plane, and including the plane that is parallel to each other of a pair and a pair of of cambered surface, thus the second grasping part 1520 can be used in fixture It is round or rectangular there are many part to be held of shape, it is regular or irregular.With multiple sets of fixtures are set in the prior art Or the first manipulator 1000 is designed to that imitative finger shape is compared, structure is greatly simplified, and be easy to position, controls program Simply, long service life.

Further preferably, through slot 1800, through slot are both provided on the first grip block 1410 and the second grip block 1420 1800 run through the first grip block 1410 and the second grip block 1420, can be used in the object for wearing cable, column class.

Further preferably, the outer surface of the first grip block 1410 and the second grip block 1420 is both provided with column 1900, stands Column 1900 is extended perpendicularly out by a side external surface of the first grip block 1410 and the second grip block 1420, can be used in executing positioning, The movements such as suspension, pressing.

Further preferably, the main body of the first grip block 1410 and the second grip block 1420 is slab construction, the first grip block 1410 and second are each provided with more than two columns 1900 on grip block 1420.When the first grip block 1410 and the second clamping When block 1420 closes up, each column 1900 surrounds the shapes such as rectangular, round, thus, it is possible to utilize the first grip block 1410 and second The apish palm of the plate face of grip block 1420 carries pallet, barreled object, and column 1900 then positioned at the periphery of carried object into Row limit.

Preferably, the first manipulator 1000 further includes front end camera 1700, for acquiring the image in front of clamp assemblies.Its In, front end camera 1700 is located in manipulator positioning pedestal 1100, and the camera lens of front end camera 1700 stretches out manipulator positioning pedestal 1100.Further preferably, the camera lens of front end camera 1700 is stretched out from the top of linear guide, and the direction of camera lens and the first clamping Block 1410, the second grip block 1420 towards identical.Due to before being provided on the first manipulator 1000 and capable of acquiring clamp assemblies The image of side.When the first manipulator 1000 is installed on the arm of robot, front end camera 1700 acquires the first manipulator The exact image in 1000 fronts is accurately positioned the first manipulator 1000 for robot.

Preferably, the quantity of front end camera 1700 is multiple, for obtaining the stereo-picture of clamp assemblies front space.It is logical It crosses using multiple front end cameras 1700, the even more mesh camera shootings of binocular can be carried out as human eye, stereo-picture is obtained, is convenient for machine Device people accurately manipulates the first manipulator 1000 in three-dimensional space.

As shown in Figure 9, Figure 10, the present embodiment additionally provides second of first manipulators 1000, with the first the first machinery Hand 1000 is compared, and the main distinction of second of first manipulators 1000 is: the quantity of front end camera 1700 is one, is set It sets in the top of linear guide.Moreover, the lower section of front end camera 1700 is provided with strip source 1001.

In the present embodiment, manipulator positioning pedestal 1100 includes base enclosure 1110, backboard 1120 and bottom plate 1140.Base enclosure 1110 main body is U-shaped structure, when the 4th straight line driving mechanism 1200 is arranged in manipulator positioning pedestal 1100, base enclosure It 1110 can cover on the 4th straight line driving mechanism 1200, the surface of left and right three side.

The other feature of second of first manipulators 1000 is identical with the first first manipulator 1000 in the present embodiment, No longer it is further discussed below.

In the present embodiment, the specific structure of the second manipulator 2000 can be identical as the first manipulator 1000, can also be with It is different from the first manipulator 1000, the first first manipulator 1000 that can also be provided from the present embodiment and second first Selected in manipulator 1,000 one as the second manipulator 2000.

In the present embodiment, trunk 5000 is rotationally supported on carrying column 3000 top, enables robot 100 It is enough flexibly to be turned round as people.Its left hand arm component is stretched out by the left side of trunk 5000, and right hand arm component is by trunk 5000 Right side stretch out, the front end of left hand arm component is provided with the first manipulator 1000, and the front end of right hand arm component is provided with the second machine Tool hand 2000, compared with prior art, 100 construction package of robot is simple, and trunk is flexible, and double-manipulator can be as people Both hands equally cooperate.

Further, left hand arm component include the first left arm 4110, the second left arm 4120, third left arm 4130, 4th left arm 4140 and the 5th left arm 4150, right hand arm component include the first right arm 4210, the second right arm 4220, the Three right arms 4230, the 4th right arm 4240 and the 5th right arm 4250 are connected between each arm by articulation, are improved The flexibility of the arm of robot, in conjunction with rotatable trunk 5000, the first manipulator 1000 and the second manipulator 2000 can With any position operation in three-dimensional space.

It preferably, further include transmission with the Development of intelligent laboratory that suction nozzle takes off rifle recycling module as shown in Fig. 2, Figure 11-Figure 13 Window 500, for transmitting material between indoor and outdoor.Transmitting window 500 includes isolation cover 510, pallet 501 and first straight line Driving mechanism 530, pallet 501 and first straight line driving mechanism 530 are located in isolation cover 510, and isolation cover 510 is provided with communication chamber Outer first material transmission mouth is arranged with indoor second material transmission mouth, pallet 501 is connected in first straight line driving mechanism 530 Mover on, and the mover being configured to first straight line driving mechanism 530 transmits mouth and second material in first material It is moved back and forth between transmission mouth.

Isolation cover 510 as one preferred, including isolation cover main body 511 and isolation cover side plate 512, are isolated cover main body 511 preferably rectangular parallelepiped structures, upper surface, left side, right side and trailing flank removably or are provided integrally with face Plate.The not set panel in bottom surface of cover main body 511 is isolated, the leading flank of isolation cover main body 511 is provided with isolation cover side plate 512, every It is preferably detachably connected between cover side plate 512 and isolation cover main body 511.

In the present embodiment, isolation cover 510 be provided with the first material outside communication chamber transmission mouth be connected to indoor second object Material transmission mouth.Pallet 501 is arranged on the mover of first straight line driving mechanism 530, and is configured to drive with first straight line The mover of motivation structure 530 is transmitted in first material and is moved back and forth between mouth and second material transmission mouth.

It should be noted that pallet 501 is past between first material transmission mouth and second material transmission mouth in the present embodiment Multiple movement refers to that pallet 501 can be moved to the position or corresponding with first material transmission mouth where first material transmission mouth Position, material is put on pallet 501 and pallet 501 by outdoor robot or people's manipulator or hand It can be moved to position or position corresponding with second material transmission mouth where second material transmission mouth, so that indoor machine Device people can transmit mouth by second material with manipulator and take out material from pallet 501.

The preferred arrangement of mouth and second material transmission mouth is transmitted as first material, first material transmits mouth setting and exists The top of isolation cover 510 is arranged in the side of the side of isolation cover 510, second material transmission mouth.

In the present embodiment, first straight line driving mechanism 530 as one preferred, is formed by cylinder, is that mover is excellent It is selected as being set in the sliding block outside cylinder body.Preferably, it is provided with connecting plate 520 above the mover of first straight line driving mechanism 530, When first straight line driving mechanism 530 is formed by cylinder, connecting plate 520 is fixed on the upper table of sliding block by fasteners such as bolts Face.The top of connecting plate 520 is arranged at intervals with more than two connection straps, and the top of connection strap is arranged in pallet 501.It is preferred that Ground, the quantity of connection strap are two, respectively the first connection strap 571 and the second connection strap 572, the first connection strap 571 and second Connection strap 572 is separately positioned on the both ends of 501 lower section of pallet and supports pallet 501.

Preferably, transmission window 500 further includes guidance set, for the reciprocating movement guiding for each connection strap.As one kind Preferred guidance set, guidance set include several guiding axis, and the axis hole through connection strap is provided on each connection strap, guiding One end of axis connects isolation cover 510, and the other end of guiding axis is threaded through in axis hole, and connection strap is configured on guiding axis Sliding.Preferably, the quantity of guiding axis is two, is the first guiding axis 551 and the second guiding axis 552 respectively.

When the quantity of connection strap is two, when respectively the first connection strap 571 and the second connection strap 572, the first connection strap 571 and second are both provided with axis hole identical and one-to-one with the guiding number of axle on connection strap 572.Specifically, work as guiding axis Quantity be two, when being the first guiding axis 551 and the second guiding axis 552 respectively, the first connection strap 571 and the second connection strap It is each provided with two axis holes on 572, makes the first guiding axis 551 and the second guiding axis 552 that can be threaded through the first connection strap simultaneously 571 and second in connection strap 572, and the first connection strap 571 and the second connection strap 572 can be in the first guiding axis 551 and second It is slided on guiding axis 552, specifically, sliding is achieved in that the first connection strap 571 and the axis hole on the second connection strap 572 Diameter is greater than the diameter of the first guiding axis 551 and the second guiding axis 552.

In the present embodiment, since the first guiding axis 551 and the second guiding axis 552 connect the first connection strap 571 and second The limitation of 572 movement routine of narrow bars can transmit for pallet 501 in first material past between mouth and second material transmission mouth Multiple mobile guide, and certain supporting role can be played to pallet 501, the first connection strap 571 and the second connection strap 572.

Preferably, first material transmission mouth is provided with first seal 541, and first seal 541 is flexibly connected isolation cover 510, it is used to open and closes first material transmission mouth.

First seal 541 as one preferred comprising double Shell, i.e. the first sealing shell 5411 and first are close Inner casing 5412 is sealed, 541 inner casing of first seal is nested in the inside of 541 shell of first seal.Preferably, first seal At least one of 541 inner casing of 541 shells and first seal has flanging, and by installing the side such as hinge on the flanging Formula and isolation cover 510 are rotatablely connected.

Preferably, second material transmission mouth is provided with second seal 542, and second seal 542 is flexibly connected isolation cover 510, it is used to open and closes second material transmission mouth.Preferably, transmission window 500 further includes third straight line driving mechanism 504, the The stator of three straight line driving mechanisms 504 is fixed on isolation cover 510, and the mover connection second of third straight line driving mechanism 504 is close Sealing 542 is used to open and closes third material transmission mouth.

Third straight line driving mechanism 504 as one preferred, cylinder, the cylinder body of cylinder by hornblock 7001 or Connection sheet 7002 is fixed on the inner surface at 510 top of isolation cover, and the piston rod of cylinder connects second seal 542.As a result, Two sealing elements 542 can be driven by cylinder, and then open and close second material and transmit mouth.

Preferably, other sides of the side of isolation cover 510 are provided with the opening that can be closed with door-plate, for overhauling transmission Window 500.Specifically, the right side and trailing flank of isolation cover main body 511 are provided with opening used for overhaul, and opening respectively The first door-plate 561 and the second door-plate 562 are provided at mouthful.

Preferably, it is provided with sterilizing unit 502 in isolation cover 510, for carrying out disinfection sterilization to material.As a kind of excellent The sterilizing unit 502 of choosing, is ultraviolet germicidal, and the lamp holder of ultraviolet germicidal is mounted on the inner surface of isolation cover main body 511.

Preferably, transmission window 500 further includes mounting plate 503, and mounting plate 503 is located at the bottom of transmission window 200 and is mounted on On table assembly 400, first straight line driving mechanism 530530 is mounted on mounting plate 503.Moreover, isolation cover main body 511511 It is also mounted on table assembly 400.

Preferably, such as Fig. 2, the positioning clamping device 700 for clamping rack for test tube is provided on table assembly 400.

Positioning clamping device 700 as one preferred, as shown in Figure 14-Figure 18, including positioning pedestal 7100, second is straight Line driving mechanism 7200, impeller-hub 7300, link mechanism and Anchor plate kit.Wherein, positioning pedestal 7100 as one preferred, Positioning pedestal 7100 includes positioning pedestal ontology 7120, pedestal cover board 7110 and pedestal bottom plate 7130.Positioning pedestal ontology 7120 The lower surface of positioning pedestal ontology 7120 is arranged in preferably cyclic structure, further preferably Q-RING, pedestal bottom plate 7130, The upper surface of positioning pedestal ontology 7120 is arranged in pedestal cover board 7110.

In the present embodiment, second straight line driving mechanism 7200 and impeller-hub 7300 are arranged in positioning pedestal 7100.It is excellent Selection of land, the lower surface of pedestal bottom plate 7130 are fixed with several hornblocks 7001, and second straight line driving mechanism 7200 passes through bolt etc. Fastener is fixed on hornblock 7001.Preferably, the positioning pedestal ontology 7120 of cyclic structure is arranged to have enough thickness It spends, preferably greater than the diameter of impeller-hub 7300, the axis hole for disposing impeller-hub 7300 is provided on positioning pedestal ontology 7120, Impeller-hub 7300 is moved back and forth in axis hole, and the upper and lower surface of impeller-hub 7300 does not expose positioning pedestal ontology 7120。

In the present embodiment, the pressing plate in Anchor plate kit is distributed in multiple sides of part to be clamped, thus, it is possible to be distributed in The pressing plate of the multiple sides of part to be clamped can clamp multiple sides of part to be clamped, obtain more preferably clamping effect.

In the present embodiment, second straight line driving mechanism 7200 is configured to that impeller-hub 7300 is driven to move back and forth. As a kind of preferred kind of drive between the two, positioning pedestal ontology 7120, telescoping mechanism are stretched out in one end of impeller-hub 7300 Mover and impeller-hub 7300 7120 one end of stretching positioning pedestal ontology it is ipsilateral, and also stretch out positioning pedestal ontology 7120, push away It is fixedly connected with connection sheet 7002 between 7120 one end of stretching positioning pedestal ontology of moving axis 7300 and the mover of telescoping mechanism, As a result, when the mover of second straight line driving mechanism 7200 moves back and forth, impeller-hub 7300 can also move back and forth therewith.

In the present embodiment, the quantity of link mechanism is one or more, and each link mechanism is configured as transmission connection pressure One or more pressing plates in board group part so that when impeller-hub 7300 is mobile link mechanism drive corresponding pressing plate simultaneously clamp on and Unclamp part to be clamped.

As the mode that is preferably sequentially connected between preferred link mechanism and link mechanism and pressing plate, link mechanism includes 7510 mechanism of first connecting rod, 7510 mechanism of first connecting rod include first connecting rod 7510, second connecting rod 7520 and third connecting rod 7530. Wherein, it is arranged and is fixed on impeller-hub 7300 in the middle part of first connecting rod 7510, the both ends of first connecting rod 7510 are respectively articulated with second Connecting rod 7520 and third connecting rod 7530, i.e. second connecting rod 7520 and third connecting rod 7530 are distributed in the two sides of impeller-hub 7300.The The head of two connecting rods 7520 is hinged with the first pressing plate mounting base 7610, and the head of third connecting rod 7530 is hinged with the installation of the second pressing plate Seat 7620.

In the present embodiment, Anchor plate kit includes the first pressing plate 7410 and the second pressing plate 7420, the first pressing plate 7410 and second Pressing plate 7420 is distributed in the opposite two sides of part to be clamped, and the first pressing plate 7410 is fixed in the first pressing plate mounting base 7610, the Two pressing plates 7420 are fixed in the second pressing plate mounting base 7620.

When impeller-hub 7300 moves in the axis hole of positioning pedestal ontology 7120, due to each in 7510 mechanism of first connecting rod Power transmitting between connecting rod, just can drive the first pressing plate 7410 and the second pressing plate 7420 mobile, and then clamp and unclamp wait press from both sides Tight part.

Preferably, positioning clamping device 700 further includes the first positioning and guiding component 7710, the first positioning and guiding component 7710 It is arranged in positioning pedestal 7100, for being oriented to the first pressing plate 7410.First positioning and guiding component as one preferred 7710 comprising connecting rod guiding axis 7713, axle sleeve 7712 and fixinig plate 7711.Wherein, the quantity of connecting rod guiding axis 7713 is preferred For two or more, it is provided in the first pressing plate mounting base 7610 and is led with the one-to-one axis hole of connecting rod guiding axis 7713, connecting rod It wears and is fixed in corresponding axis hole to axis 7713.The inside of axle sleeve 7712 wears connecting rod guiding axis 7713, axle sleeve 7712 Outside includes two parts, and a part is mounted on positioning pedestal ontology 7120 in corresponding mounting hole, and another part is sheet knot Structure and stretching positioning pedestal ontology 7120, a part that axle sleeve 7712 stretches out positioning pedestal ontology 7120 pass through the fasteners such as bolt It is mounted on positioning pedestal ontology 7120, is used for fixed hub 7712.It is provided on fixinig plate 7711 and connecting rod guiding axis 7713 The end of corresponding through-hole, connecting rod guiding axis 7713 is provided with threaded hole, for enabling the fasteners such as bolt to pass through from through-hole Simultaneously screw thread is locked in connecting rod guiding axis 7713 fixinig plate 7711, and thus, it is possible to fixinig plate 7711 is fixed to each connecting rod to lead To the end of axis 7713, makes each 7713 synchronizing moving of connecting rod guiding axis or synchronize fixation.

Preferably, positioning clamping device 700 further includes the second positioning and guiding component 7720, the second positioning and guiding component 7720 It is arranged in positioning pedestal 7100, for being oriented to the second pressing plate 7420.Preferably, the second positioning and guiding component 7720 have with The identical structure of first positioning and guiding component 7710, i.e., also include connecting rod guiding axis 7713, axle sleeve 7712 and fixinig plate 7711, this Connection relationship between a little structures is identical as the first positioning and guiding component 7710, is no longer further discussed below in the present embodiment.

Preferably, in the first positioning and guiding component 7710 and the second positioning and guiding component 7720 connecting rod guiding axis 7713 shifting Direction is moved perpendicular to impeller-hub 7300.

Preferably, link mechanism includes 7520 mechanism of second connecting rod, and 7520 mechanism of second connecting rod includes fourth link 7540 With the 5th connecting rod 7550, fourth link 7540 is arranged and is fixed on impeller-hub 7300, one end of fourth link 7540 connection the Five connecting rods 7550, the head of the 5th connecting rod 7550 are fixedly connected with third pressing plate mounting base 7630.

Anchor plate kit includes third pressing plate 7430, and third pressing plate 7430 is fixed in third pressing plate mounting base 7630, and the Three pressing plates 7430 are configured as in the same direction with the moving direction of impeller-hub 7300.

Preferably, 7520 mechanism of second connecting rod further includes six-bar linkage 7560, and the middle part of fourth link 7540 is arranged and consolidates It is scheduled on impeller-hub 7300, six-bar linkage 7560 connects the other end of fourth link 7540, and the head of six-bar linkage 7560 is fixed It is connected with the 4th pressing plate mounting base 7640.

Anchor plate kit includes the 4th pressing plate 7440, and the 4th pressing plate 7440 is located at the same of part to be clamped with third pressing plate 7430 Side, the 4th pressing plate 7440 are fixed in the 4th pressing plate mounting base 7640.

Preferably, the 5th connecting rod 7550 and fourth link 7540 are hinged；

And/or six-bar linkage 7560 and fourth link 7540 are hingedly.

Preferably, Anchor plate kit includes the 5th pressing plate 7450, the 5th pressing plate 7450 be distributed in part to be clamped with third pressure The opposite side of plate 7430, the 4th pressing plate 7440, the 5th pressing plate 7450 are fixed in positioning pedestal 7100.

Preferably, between the 5th connecting rod 7550 and positioning pedestal 7100 and six-bar linkage 7560 and positioning pedestal 7100 it Between be provided with axle sleeve 7712.

Preferably, second straight line driving mechanism 7200 includes cylinder, and the telescopic rod of cylinder connects by the way that connection sheet 7002 is fixed Connect impeller-hub 7300.

It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or Process is not necessarily implemented necessary to the utility model.

It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into Row is distributed in the device of implement scene, can also be carried out corresponding change and is located at the one or more dresses for being different from this implement scene In setting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.

Above-mentioned the utility model serial number is for illustration only, does not represent the superiority and inferiority of implement scene.

Disclosed above is only several specific implementation scenes of the utility model, and still, the utility model is not limited to This, the changes that any person skilled in the art can think of should all fall into the protection scope of the utility model.

Claims (10)

1. a kind of Development of intelligent laboratory for taking off rifle recycling module with suction nozzle, which is characterized in that including robot, table assembly and Casing assembly, the robot and the table assembly are arranged in the casing assembly, are arranged on the table assembly There is the Instrument assembly for the robot manipulation, the Instrument assembly includes liquid-transfering gun；

The Development of intelligent laboratory further includes that suction nozzle takes off rifle recycling module, for assisting the robot by the suction on the liquid-transfering gun Head is detached from and recycles.

2. the Development of intelligent laboratory according to claim 1 for taking off rifle recycling module with suction nozzle, which is characterized in that the suction nozzle De- rifle recycling module includes that de- rifle assists frame, waste material isolation window and surge drum, and it includes being arranged in the work that the de- rifle, which assists frame, Make the upper surface of platform component vertical frame and the crossbearer vertical with the vertical frame, the table assembly is in the underface of the crossbearer It is provided with opening, the waste material isolation window is configured to open and close the opening, and the surge drum is arranged described The underface of opening.

3. the Development of intelligent laboratory according to claim 2 for taking off rifle recycling module with suction nozzle, which is characterized in that the waste material Isolation window includes slip-stream cover, fixed frame, guard ring and isolation board, and the slip-stream cover is fixed on the lower section of the fixed frame, described solid Determine frame to be fixed below the opening on the table assembly, the guard ring is arranged from the top of the opening described On table assembly, the isolation board is between the guard ring and the slip-stream cover and is configured as opening by linear movement And close the opening.

4. the Development of intelligent laboratory according to claim 1 for taking off rifle recycling module with suction nozzle, which is characterized in that the machine People includes trunk and several arm components, and the front end of each arm is provided with manipulator, the hand in the arm component The tail end of each arm is stretched out from the trunk in arm component.

5. the Development of intelligent laboratory according to claim 4 for taking off rifle recycling module with suction nozzle, which is characterized in that the arm Component includes left hand arm component and right hand arm component, and the left hand arm component is stretched out by the left side of the trunk, the right hand Arm component is stretched out by the right side of the trunk, and the front end of the left hand arm component is provided with the first manipulator, the right arm The front end of component is provided with the second manipulator, and the robot further includes carrying column, and the trunk is rotationally supported Above the carrying column.

6. the Development of intelligent laboratory according to claim 1 for taking off rifle recycling module with suction nozzle, which is characterized in that the intelligence Laboratory further includes transmission window, for transmitting material between indoor and outdoor.

7. the Development of intelligent laboratory according to claim 6 for taking off rifle recycling module with suction nozzle, which is characterized in that the transmission Window includes isolation cover, pallet and first straight line driving mechanism, the pallet and the first straight line driving mechanism be located at it is described every From in cover, the isolation cover is provided with the transmission mouth of the first material outside communication chamber and transmits mouth, institute with indoor second material is connected to It states pallet to be arranged on the mover of the first straight line driving mechanism, and is configured to the first straight line driving mechanism Mover the first material transmit mouth and the second material transmission mouth between move back and forth.

8. the Development of intelligent laboratory according to claim 5 for taking off rifle recycling module with suction nozzle, which is characterized in that the left hand Arm component includes the first left arm, the second left arm, third left arm, the 4th left arm and the 5th left arm, and described first is left The tail end of arm is rotatably arranged on the left of the trunk, the front end of first left arm and second left arm Connected between tail end by the first left articulation, between the front end of second left arm and the tail end of the third left arm by Second left articulation connection, by the left joint of third between the front end of the third left arm and the tail end of the 4th left arm Rotation connection is connected between the front end of the 4th left arm and the tail end of the 5th left arm by the 4th left articulation, The front end of first manipulator and the 5th left arm is rotatablely connected；

And/or the right hand arm component includes the first right arm, the second right arm, third right arm, the 4th right arm and the 5th Right arm, the tail end of first right arm are rotatably arranged on the right side of the trunk, the front end of first right arm It is connected between the tail end of second right arm by the first right articulation, the front end of second right arm and the third It is connected between the tail end of right arm by the second right articulation, the tail of the front end of the third right arm and the 4th right arm It is connected between end by the right articulation of third, by the between the front end of the 4th right arm and the tail end of the 5th right arm The front end of four right articulation connections, second manipulator and the 5th right arm is rotatablely connected.

9. the Development of intelligent laboratory according to claim 1 for taking off rifle recycling module with suction nozzle, which is characterized in that the shell Component includes upper shell component and base assembly, and the upper shell component and the base assembly surround closed space, the upper casing group Part includes upper case frame and multiple panels for being arranged on the upper case frame, and the base assembly supports the upper casing in bottom Component, the robot and the table assembly.

10. the Development of intelligent laboratory according to claim 9 for taking off rifle recycling module with suction nozzle, which is characterized in that the bottom The bottom of holder assembly is provided with multiple pedestal components, and the pedestal component includes parallel arrangement of wheel group and can adjust and ground Between distance support component.