CN211997299U - Mechanical hand for storing and taking samples in warehouse - Google Patents
Mechanical hand for storing and taking samples in warehouse Download PDFInfo
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- CN211997299U CN211997299U CN202020050943.6U CN202020050943U CN211997299U CN 211997299 U CN211997299 U CN 211997299U CN 202020050943 U CN202020050943 U CN 202020050943U CN 211997299 U CN211997299 U CN 211997299U
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Abstract
The utility model discloses an interior sample access manipulator of storehouse, including: the mounting seat is internally provided with an accommodating space; the shovel disc is arranged on the mounting seat in a sliding mode, at least part of the shovel disc is located in the accommodating space when the shovel disc slides and contracts, and a placing position for placing the sample box is formed in the shovel disc; the access box device is assembled on the mounting seat, at least partially positioned in the accommodating space, in transmission connection with the shovel disc, and used for driving the shovel disc to extend or retract relative to the mounting seat in a sliding manner; the rotating device is arranged at the top of the mounting seat and used for driving the mounting seat to rotate; and the lifting device is connected with the mounting seat and used for driving the mounting seat to move up and down. Through the utility model provides a manipulator that sample storage used in the sample storehouse in the technique receive the interior space restriction sample of storehouse and snatch the problem of difficulty.
Description
Technical Field
The utility model belongs to the technical field of the sample storage, concretely relates to manipulator is saved to sample in storehouse that sample storehouse was used.
Background
The storage or the getting of sample in current sample storage storehouse is mainly through controller control manipulator removal in the storehouse to the realization is to snatching of the sample on the storage rack in the storehouse, and the clamping jaw structure of gripper is generally chooseed for use to the manipulator structure, the manipulator moves about or from top to bottom in the storehouse, remove and open the clamping jaw after targetting in place, press from both sides and get corresponding sample box, then take out the sample box from the sample storehouse, it deposits it on the sample box through the manipulator clamp equally when putting into, but because the storage sample of needs the large capacity in the sample storage storehouse, the space that its inside reservation can be used to the manipulator action is then very narrow and small, make the manipulator clamping jaw open or when snatching the sample operate the difficulty, can't.
The above information disclosed in this background section is only for enhancement of understanding of the background of the application and therefore it may comprise prior art that does not constitute known to a person of ordinary skill in the art.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the manipulator that sample storage was used among the sample storehouse among the prior art receives the problem that space restriction sample snatchs the difficulty in the storehouse, provides a new sample snatchs the manipulator in the storehouse, and occupation space is little and the sample snatchs simple and conveniently.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme to realize:
an in-library sample accessing manipulator, comprising:
the mounting seat is internally provided with an accommodating space;
the shovel disc is arranged on the mounting seat in a sliding mode, at least part of the shovel disc is located in the accommodating space when the shovel disc slides and contracts, and a placing position for placing the sample box is formed in the shovel disc;
the access box device is assembled on the mounting seat, at least partially positioned in the accommodating space, in transmission connection with the shovel disc, and used for driving the shovel disc to extend or retract relative to the mounting seat in a sliding manner;
and the rotating device is arranged at the top of the mounting seat and used for driving the mounting seat to rotate.
Furthermore, the access box device comprises an access box driving device, an access box transmission device and a swing mechanism, wherein the access box driving device is connected with the access box transmission device, and the access box transmission device is connected with the swing mechanism to drive the swing mechanism to rotate.
Furthermore, the swing mechanism comprises a swing component and a sliding component, the sliding component is arranged at the end part of the swing component, a sliding part is formed on the shovel disc, and the sliding component is positioned in the sliding part and can slide relative to the sliding part.
Furthermore, the swing component at least comprises 2 swing rods which are connected in sequence, an included angle is formed between the swing rods, and the included angle is 100 degrees and 120 degrees.
Furthermore, the sliding part is a sliding groove formed on the shovel disc, the swinging component is perpendicular to the swinging rod and inserted into the sliding groove, and the sliding direction of the swinging component is perpendicular to the sliding direction of the shovel disc.
Further, the mount pad is including first mount pad, link and the shovel dish seat that from the top down set gradually, first mount pad passes through the link with shovel dish seat fixed connection is formed with the accommodation space between first mount pad, link and shovel dish seat.
Furthermore, the rotating device comprises a rotating driving motor and a gear set transmission device connected with the rotating driving motor, and the gear set transmission device comprises a rotating output shaft which is fixedly connected with the first mounting table.
Further, the shovel disc comprises a shovel disc body, and a first positioning portion and a second positioning portion which are formed on the shovel disc body, and when the sample box is placed on the shovel disc, the first positioning portion and the second positioning portion abut against two ends of the sample box to position the sample box.
Furthermore, a guide rail for guiding the sample box when the sample box moves outwards relative to the shovel disc is formed on the shovel disc seat corresponding to the positions of the two sides of the shovel disc body, 2 guide rails are arranged and symmetrically arranged at the positions of the two sides of the sample box.
Furthermore, the shovel plate seat limiting device further comprises a limiting component which is arranged on the shovel plate seat and used for limiting the sliding position of the shovel plate.
Compared with the prior art, the utility model discloses an advantage is with positive effect:
the in-warehouse sample grabbing manipulator provided by the utility model is provided with the mounting seat, the rotating device is arranged above the mounting seat to drive the mounting seat, the storing and taking box device and the shovel disc which are arranged on the mounting seat to rotate, and the manipulator occupies small space due to the adoption of the up-and-down arrangement mode; meanwhile, at least part of the storing and taking box device is arranged in the accommodating space formed by the mounting seat, and at least part of the shovel disc is also arranged in the accommodating space when the shovel disc slides and retracts, so that the shovel disc and the storing and taking box device occupy less external space, the whole warehouse is more compact in structure of the storing and taking manipulator, the occupied space is smaller, and the normal work of the manipulator is ensured.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when read in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described 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 without creative efforts.
Fig. 1 is a schematic view of a three-dimensional structure of a sample grabbing manipulator in a library of the utility model;
fig. 2 is a schematic view of a three-dimensional structure of a sample grabbing manipulator in the library of the present invention;
FIG. 3 is a front view of the sample grasping robot in the library of the present invention;
FIG. 4 is a view taken along line A-A of FIG. 3;
fig. 5 is a top view of the sample grasping robot in the library.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The utility model provides an embodiment of storehouse sample access manipulator, it is shown with reference to fig. 1-5, including:
the mounting base 100 is formed with the accommodating space 110 therein, and specifically, the mounting base 100 in this embodiment includes a first mounting platform 120, a connecting frame 130 and a shovel plate base 140 which are sequentially arranged from top to bottom, the first mounting platform 120 is fixedly connected with the shovel plate base 140 through the connecting frame 130, the accommodating space 110 is formed among the first mounting platform 120, the connecting frame 130 and the shovel plate base 140, the connecting frame 130 includes 2 brackets which are perpendicular to the first mounting platform 120 and the shovel plate base 140 and are connected with the first mounting platform 120 and the shovel plate base 140, and the occupation of the inner space of the storage base is reduced through the up-and-down arrangement mode of the first mounting platform 120, the connecting frame 130 and the shovel plate base 140.
When the shovel disc 200 slides and retracts relative to the shovel disc seat 140, part or all of the shovel disc is located in the accommodating space 110 of the mounting seat 100, so that the structure of the shovel disc is more compact, the occupied space is smaller, and the use requirement of narrow external space of the sample library can be met.
Preferably, the shovel disc 200 in this embodiment includes a shovel disc body 210, the placing positions 230 are formed on the shovel disc body 210, the first positioning portions 211 and the second positioning portions 212 are respectively formed at two end positions of the shovel disc body 210, when the sample cartridge is placed on the shovel disc 200, the first positioning portions 211 and the second positioning portions 212 abut against two ends of the sample cartridge to position the two ends of the sample cartridge, so as to prevent the sample cartridge from falling off the shovel disc 200 when the shovel disc 200 extends or retracts, preferably, the first positioning portions 211 are first positioning protrusions, and the second positioning portions 212 are second positioning protrusions.
And an access box device 300 mounted on the mounting base 100. Specifically, the access box is assembled on the blade base 140 and at least partially located in the accommodating space 110, and the access box is at least partially located in the accommodating space 110, so that the access box occupies a small space, and is in transmission connection with the blade 200 for driving the blade 200 to slide, extend or retract relative to the mounting base 100;
it comprises the following components: the access box driving device 310 is preferably an access box driving motor in the embodiment of the access box driving device 310.
The swing mechanism 320 is in transmission connection with the access box driving device 310, and is used for transmitting force to the shovel disc 200 when the access box driving device 310 acts, so that the shovel disc 200 slides out or retracts relative to the shovel disc seat 140, in order to realize transmission connection between the access box driving device 310 and the swing mechanism 320, in this embodiment, an access box transmission device 330 is correspondingly arranged, the access box driving device 310 is connected with the access box transmission device 330, and the access box transmission device 330 is connected with the swing mechanism 320 to drive the swing mechanism 320 to rotate.
Preferably, the access box transmission device 330 is an access box gear transmission device, which includes a first access box gear 331 and a second access box gear 332, an output shaft of the access box driving motor is connected to the first access box gear 331, the first access box gear 331 is engaged with the second access box gear 332, and the second access box gear 332 is connected to the swing mechanism 320. Specifically, the swing mechanism 320 includes a swing member 321 and a sliding member 322, the sliding member 322 is disposed at an end of the swing member 321, the shovel 200 is formed with a sliding portion 220, and the sliding member 322 is located in the sliding portion 220 and can slide relative to the sliding portion 220.
Preferably, the swing member 321 includes at least 2 swing levers 321-1 connected in sequence, and the swing levers 321-1 are fixedly connected to the second access box gear through a connecting shaft. The swing rod 321-1 connected with the swing component 321 is obliquely arranged relative to the swing rod 321-1 connected with the connecting shaft, an included angle is formed between the swing rods 321-1, the included angle is 100 degrees and 120 degrees, the swing rod 321-1 connected with the sliding component 322 is arranged to exceed the sliding part 220, the sliding part 220 is a sliding groove formed on the shovel 200, the sliding component 322 is arranged perpendicular to the swing rod 321-1 and inserted into the sliding groove, the sliding direction of the sliding component 322 is perpendicular to the sliding direction of the shovel 200, and the sliding component 322 is preferably a swing rod.
When the shovel disc 200 needs to be extended or retracted, the first access box gear 331 of the access box transmission device 330 can be driven to rotate by the access box driving device 310, the first access box gear 331 drives the second access box gear 331 to rotate, the second access box gear 331 drives the swing rod 321-1 to swing, and further the sliding component 322 connected with the swing rod 321-1 is driven to apply an acting force to the shovel disc 200 so that the shovel disc 200 extends or retracts along the sliding rail.
And a rotating device 400 arranged on the top of the mounting seat 100 and used for driving the mounting seat 100 to rotate.
When different positions of the shovel disc 200 in a horizontal plane need to be adjusted, the rotation angle of the shovel disc 200 needs to be correspondingly adjusted, which is mainly realized by a rotating device 400 in this embodiment, the rotating device 400 is disposed at the top of the mounting base 100, specifically, the rotating device 400 includes a rotating driving motor 410 and a gear set transmission device 420 connected with the rotating driving motor 410, and the gear set transmission device 420 includes a rotating output shaft, and the rotating output shaft is fixedly connected with the first mounting platform 120. The gear set transmission device 420 may include a first transmission gear, a second transmission gear and a rotation output shaft, the output shaft of the rotation driving motor 410 is fixedly connected to the first transmission gear, the first transmission gear is engaged with the second transmission gear, the second transmission gear is fixedly connected to the rotation output shaft, the rotation output shaft is fixedly connected to the first mounting stage 120, when the rotation driving motor 410 rotates, the first mounting stage 120, the connecting frame 130 connected to the first mounting stage 120, the shovel disc seat 140, the access box device 300 disposed on the shovel disc seat 140, and the shovel disc 200 may rotate synchronously, so that the shovel disc 200 may rotate by a certain angle to align with the sample box to be stored or obtained.
The lifting device in this embodiment may be connected to a motor and a ball screw module, and the ball screw module is connected to the mounting base 100 to lift the mounting base 100, or may be connected to another linear module by a motor and another linear module to drive the mounting base 100 to move up and down, or may be matched with a gear rack and a motor, and is not limited specifically herein.
After the shovel disc 200 is driven by the rotating device 400 to correspond to the position of the sample box basically, and when the shovel disc 200 is driven by the box accessing device 300 to slide and extend, the mounting seat 100 is driven by the lifting device to move downwards, so that the mounting seat 100, the shovel disc 200 and the box accessing device 300 move downwards, so as to move the shovel disc 200 below the sample box, and when the sample box is arranged, the width between two sides of the sample box in the embodiment is larger than the width between two sides of the shovel disc 200, so that when the sample box is placed on the shovel disc 200, two sides of the sample box extend outwards from the shovel disc 200, a plurality of storage positions are arranged on a storage rack for placing the sample box, the storage rack is formed by a plurality of groups of rack plates which are longitudinally arranged at equal intervals, a support platform plate which is arranged vertically to the rack plate is arranged on the rack plate, storage positions are formed by 2 support platform plates which are opposite to each other on 2 rack plates, and, the interval is greater than the width of shovel dish 200, receives the elevating gear effort when upwards moving at shovel dish 200 can take out the sample box bearing on shovel dish 200, when receiving elevating gear effort lapse, can be with the sample box bearing on the support mesa to realize the storage of sample box.
When the sample grabbing manipulator in this embodiment takes a sample, the rotating device 400 can be used to control the shovel plate seat 140 to rotate, and then the shovel plate 200 and the storage box device 300 are driven to rotate together, so that the manipulator rotates to the position of the sample box to be taken, then the storage box device 300 is used to drive the shovel plate 200 to extend out, the lifting device can be used to control the shovel plate 200 to lift, so that the shovel plate 200 is located below the sample box to be taken, and finally the lifting device is used to drive the shovel plate 200 to move upwards to support the sample on the shovel plate 200 for taking out;
when storing the sample, earlier through rotary device 400 control shovel dish seat 140 and rotate, and then drive shovel dish 200 and the box-packed device of sample and rotate together, then stretch out through access box-packed device 300 drive shovel dish 200 and sample box, accessible elevating gear control shovel dish 200 goes up and down for shovel dish 200 is located the top of the sample position that will store, drives shovel dish 200 downstream through elevating gear at last and realizes the storage with the sample bearing on the sample position.
In order to avoid the situation that the sample box is shifted when moving outwards, so that the sample box cannot be stored in place, guide rails 150 for guiding the sample box when the sample box slides outwards relative to the shovel disc 200 are further formed on the shovel disc seat 140 positioned on the two sides of the shovel disc body 210, and the guide rails 150 are provided with 2 strips and symmetrically arranged at the positions on the two sides of the sample box. Preferably, each of the guide tracks 150 includes a guide section 151 and a limiting section 152 connected to the guide section 151, the 2 limiting sections 152 are disposed oppositely, and the distance between the 2 limiting sections 152 is substantially the same as the width of the sample box, so as to ensure that the sample box does not deviate when sliding out relative to the blade 200, the guide sections of the 2 guide tracks 150 are disposed oppositely, and the distance between the 2 guide sections 151 is gradually increased along the sliding out direction of the blade 200, thereby facilitating rapid outward guiding of the sample box.
Further, the shovel loader further comprises a limiting component, the limiting component is arranged on the shovel disc seat 140 and used for limiting the sliding position of the shovel disc 200, and the limiting component comprises a first limiting protrusion and a second limiting protrusion, the first limiting protrusion and the second limiting protrusion are located at two ends of the shovel disc seat 140 and used for limiting the extending position and the retracting position of the shovel disc 200.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or that equivalents may be substituted for elements thereof; such modifications and substitutions do not depart from the spirit and scope of the present invention, which is claimed.
Claims (10)
1. The utility model provides an interior sample access manipulator which characterized in that, including:
the mounting seat is internally provided with an accommodating space;
the shovel disc is arranged on the mounting seat in a sliding mode, at least part of the shovel disc is located in the accommodating space when the shovel disc slides and contracts, and a placing position for placing the sample box is formed in the shovel disc;
the access box device is assembled on the mounting seat, at least partially positioned in the accommodating space, in transmission connection with the shovel disc, and used for driving the shovel disc to extend or retract relative to the mounting seat in a sliding manner;
the rotating device is arranged at the top of the mounting seat and used for driving the mounting seat to rotate;
and the lifting device is connected with the mounting seat and used for driving the mounting seat to move up and down.
2. The in-library sample access manipulator of claim 1, wherein the access cassette device comprises an access cassette driving device, an access cassette transmission device and a swing mechanism, the access cassette driving device is connected with the access cassette transmission device, and the access cassette transmission device is connected with the swing mechanism to drive the swing mechanism to rotate.
3. The in-library sample access manipulator according to claim 2, wherein the swing mechanism includes a swing member and a slide member, the slide member is provided at an end of the swing member, and the blade has a slide portion formed thereon, and the slide member is provided in the slide portion and is slidable relative to the slide portion.
4. The in-library sample access manipulator of claim 3, wherein the swinging member comprises at least 2 swinging rods connected in sequence, and the swinging rods have an included angle therebetween, wherein the included angle is 100 degrees and 120 degrees.
5. The in-library specimen accessing manipulator according to claim 4, wherein the sliding portion is a sliding groove formed on the blade, the swinging member is disposed perpendicular to the swinging rod and inserted into the sliding groove, and a sliding direction of the swinging member is perpendicular to a sliding direction of the blade.
6. The in-library sample access manipulator of claim 1, wherein the mounting base comprises a first mounting platform, a connecting frame and a shovel plate base which are sequentially arranged from top to bottom, the first mounting platform is fixedly connected with the shovel plate base through the connecting frame, and the accommodating space is formed among the first mounting platform, the connecting frame and the shovel plate base.
7. The in-library sample access manipulator of claim 6, wherein the rotation device comprises a rotation drive motor and a gear train transmission coupled to the rotation drive motor, the gear train transmission comprising a rotation output shaft, the rotation output shaft fixedly coupled to the first mounting stage.
8. The in-library sample access manipulator of claim 6, wherein the blade comprises a blade body and a first positioning portion and a second positioning portion formed on the blade body, and when the sample cartridge is placed on the blade, the first positioning portion and the second positioning portion abut against two ends of the sample cartridge to position the sample cartridge.
9. The in-library sample access manipulator of claim 8, wherein guide rails for guiding the sample cartridges when the sample cartridges are moved outward relative to the shovel plate are further formed on the shovel plate seats corresponding to the positions of the two sides of the shovel plate body, and the guide rails are provided with 2 guide rails symmetrically arranged at the positions of the two sides of the sample cartridges.
10. The in-library sample access robot of claim 6, further comprising a position limiting member disposed on the blade base for limiting a sliding position of the blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020050943.6U CN211997299U (en) | 2020-01-10 | 2020-01-10 | Mechanical hand for storing and taking samples in warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020050943.6U CN211997299U (en) | 2020-01-10 | 2020-01-10 | Mechanical hand for storing and taking samples in warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211997299U true CN211997299U (en) | 2020-11-24 |
Family
ID=73425615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020050943.6U Active CN211997299U (en) | 2020-01-10 | 2020-01-10 | Mechanical hand for storing and taking samples in warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211997299U (en) |
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2020
- 2020-01-10 CN CN202020050943.6U patent/CN211997299U/en active Active
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 266000 in Haier Industrial Park, Qingdao Economic and Technological Development Zone, Shandong Province Patentee after: QINGDAO HAIER BIOMEDICAL Co.,Ltd. Patentee after: Qingdao Haier Biomedical Technology Co., Ltd Address before: 266000 in Haier Industrial Park, Qingdao Economic and Technological Development Zone, Shandong Province Patentee before: QINGDAO HAIER BIOMEDICAL Co.,Ltd. Patentee before: Qingdao Haite biomedical Co., Ltd |
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| CP01 | Change in the name or title of a patent holder |