CN212173400U - Sample access manipulator - Google Patents
Sample access manipulator Download PDFInfo
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- CN212173400U CN212173400U CN202020051931.5U CN202020051931U CN212173400U CN 212173400 U CN212173400 U CN 212173400U CN 202020051931 U CN202020051931 U CN 202020051931U CN 212173400 U CN212173400 U CN 212173400U
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Abstract
The utility model discloses a sample access manipulator, including: the shovel disc seat is connected with the shovel disc seat in a sliding mode, and a placing position for placing the sample box is formed in the shovel disc seat; the box-packed putting of access, its with shovel dish seat fixed connection, including: an access cassette driving device; the swinging mechanism is in transmission connection with the storage box driving device and is used for transmitting force to the shovel disc when the storage box driving device acts so as to enable the shovel disc to extend or retract in a sliding manner relative to the shovel disc seat; the rotating device is assembled on a connecting seat, is in transmission connection with the shovel disc seat and is used for driving the shovel disc seat to rotate; and the lifting device is used for driving the connecting seat to move up and down. The utility model provides an among the prior art manipulator that is used for the access in the sample storehouse complex operation that exists when snatching the sample and have the problem that the risk of dropping, fail safe nature are poor.
Description
Technical Field
The utility model belongs to the technical field of the sample storage device, concretely relates to improvement of sample access manipulator structure.
Background
The storage or the get of sample in current sample repository mainly moves in the storehouse through controller control manipulator to realize snatching of the sample on the storage rack in the storehouse, the clamping jaw structure of gripper is generally chooseed for use to the manipulator structure, the manipulator moves about in the storehouse from top to bottom or moves, open the clamping jaw after moving to target in place, press from both sides and get corresponding sample box, then take out the sample box from the sample storehouse, press from both sides through the manipulator when putting into equally and establish the sample box on with it and deposit it, be difficult for pressing from both sides when pressing from both sides the sample box and get, probably need a lot of clamps to get, complex operation and have the risk of dropping, fail safe nature is.
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 be used for the manipulator of access in the sample storehouse among the prior art the complex operation that exists when snatching the sample and have the problem that the risk of dropping, fail safe nature are poor.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme to realize:
a sample accessing manipulator, comprising:
a shovel plate seat is arranged on the shovel plate seat,
the shovel disc is connected with the shovel disc seat in a sliding mode, and a placing position for placing a sample box is formed in the shovel disc;
the box-packed putting of access, its with shovel dish seat fixed connection, including:
an access cassette driving device;
the swinging mechanism is in transmission connection with the storage box driving device and is used for transmitting force to the shovel disc when the storage box driving device acts so as to enable the shovel disc to extend or retract in a sliding manner relative to the shovel disc seat;
the rotating device is in transmission connection with the shovel disc seat and is used for driving the shovel disc seat to rotate;
and the lifting device is used for driving the rotating device to move up and down.
Furthermore, the lifting device comprises a lifting motor, a transmission gear, a transmission rack and a mounting seat, wherein the lifting motor is assembled on the connecting seat, an output shaft of the motor is connected with the transmission gear component, an output gear of the transmission gear component is meshed with the transmission rack, and the transmission rack is fixed on the mounting seat.
Furthermore, the storage box driving device is connected with the storage box driving device, and the storage box driving 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, and the swinging component is perpendicular to the swinging rod and is inserted in the sliding groove.
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, be located shovel dish body both sides still be formed with on the shovel dish seat and carry out the guide rail that leads to the sample box when outwards shifting out at the sample box, the guide rail is equipped with 2, and the symmetry sets up in sample box both sides position department. Furthermore, each guide rail comprises a guide section and a limiting section connected with the guide section, the 2 limiting sections are arranged oppositely, the distance between the 2 limiting sections is basically the same as the width of the sample box, the guide sections of the 2 guide rails are arranged oppositely, and the distance between the 2 guide sections is increased along the reverse sliding direction of the shovel disc.
Furthermore, the shovel plate seat limiting device further comprises a limiting component, wherein the limiting component comprises a first limiting component used for limiting the sliding position of the shovel plate and a second limiting component used for limiting the rotating angle of the shovel plate seat.
Furthermore, the rotating device comprises a rotating driving motor and a rotating transmission device connected with the rotating driving motor, and the rotating transmission device is a belt wheel transmission device or a chain wheel and chain transmission device.
Compared with the prior art, the utility model discloses an advantage is with positive effect:
the utility model provides a certain angle of accessible rotary device drive shovel dish seat swing when article are deposited or are sampled to needs to sample access manipulator, make it adjust well to the sample box storage position department that the sample box that will deposit corresponds, then release the below of sample box storage position with the shovel dish through the box device action of access, upwards or move down through elevating gear drive connecting seat, and then drive shovel dish seat and connect the shovel dish rebound on shovel dish seat and take out the sample box bearing on the shovel dish, or drive shovel dish rebound and deposit the sample box bearing on sample box storage position, have the bearing to the sample box all the time when placing or taking out the sample box, avoided the risk that the sample box dropped, and the utility model provides a sample access manipulator can once only deposit in place, easy operation is convenient.
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 perspective view of an embodiment of a sample grasping robot according to the present invention;
FIG. 2 is a front view of one embodiment of a sample capture robot of the present invention;
figure 3 is a top view of one embodiment of the sample capture robot of the present invention.
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 sample access manipulator, refer to fig. 1-3 and show, including:
the blade plate base 100 is provided with a blade plate base,
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.
A magazine device 300, which is mounted on the blade base 100, and includes:
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 100, 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 332 through a connecting shaft. The swing rod 321-1 connected with the sliding component 322 is obliquely arranged relative to the swing rod 321-1 connected with the connecting shaft, an included angle is formed between 2 swing rods 321-1, the included angle is 100 degrees and 120 degrees, the swing rod 321-1 connected with the sliding component 322 faces the sliding part 220, the sliding part 220 is a sliding groove formed on the shovel disc 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 disc 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 of the access box transmission device 330 is driven to rotate by the access box driving device 310, the first access box gear drives the second access box gear to rotate, the second access box gear 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.
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 the embodiment, wherein the rotating device 400 is assembled on a connecting seat 500 and is in transmission connection with the shovel disc seat 100, and is used for driving the shovel disc seat 100 to rotate.
The rotating device 400 drives the shovel plate seat 100 to rotate, drives the storage box device 300 arranged on the shovel plate seat 100 and the shovel plate 200 to rotate synchronously, and rotates by a certain angle according to the position information of the sample box to be stored in the sample storage library, so that the sample box storage position of the sample box to be stored is aligned with the sample box storage position of the sample box to be stored, and the sample box can be conveniently stored and taken in the next step.
The lifting device 600 is used for driving the connecting seat 500 to move up and down, after the rotating device 400 drives the shovel disc 200 to basically correspond to the position of the sample box, the connecting seat 500 is driven by the upgrading device to move downwards, so that the connecting seat 500, the shovel disc seat 100 connected with the connecting seat 500, the shovel disc 200 and the storage box device 300 move downwards, the shovel disc 200 can move to the lower part of the sample box, and when the lifting device 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 vertically arranged rack plates at equal intervals, a supporting platform plate arranged vertically is arranged on the rack plate, and 2 opposite supporting platform plates on the 2 rack plates are formed by storage positions, have the interval between 2 support mesas, the interval is greater than the width of shovel dish 200, can take out the sample box bearing on shovel dish 200 when shovel dish 200 receives elevating gear 600 effort rebound, when receiving elevating gear 600 effort rebound, 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 first control the shovel plate seat 100 to rotate, and then drive the shovel plate 200 and the storage box device 300 to rotate together, so that the manipulator rotates to the position of the sample box to be taken, then the storage box device 300 drives the shovel plate 200 to extend out, the lifting device 600 can 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 600 drives the shovel plate 200 to move upwards to support the sample on the shovel plate 200 to be taken out;
when the sample is stored, the shovel disc seat 100 is controlled to rotate through the rotating device 400, the shovel disc 200 and the sample box are driven to rotate together, then the shovel disc 200 and the sample box are driven to stretch out through the access box device 300, the shovel disc 200 can be controlled to lift through the lifting device 600, the shovel disc 200 is located above the sample position to be stored, and finally the shovel disc 200 is driven to move downwards through the lifting device 600 to support the sample on the sample position to realize storage.
Preferably, the lifting device 600 in this embodiment includes a lifting motor 610, a transmission gear assembly, a transmission rack 630 and a mounting base 640, the lifting motor 610 is assembled on the connecting base 500, an output shaft of the motor is connected with the transmission gear assembly 620, an output gear of the transmission gear assembly 620 is engaged with the transmission rack 630, and the transmission rack 630 is fixed on the mounting base 640. During transmission, the lifting motor 610 can rotate to drive the transmission gear assembly 620 to move linearly up and down relative to the transmission rack 630.
In order to avoid the situation that the sample box is shifted when moving outwards and the sample box cannot be stored in place, guide rails 110 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 100 positioned on the two sides of the shovel disc body 210, and the guide rails 110 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 110 includes a guide section 111 and a limiting section 112 connected to the guide section 111, the 2 limiting sections 112 are disposed opposite to each other, and a distance between the 2 limiting sections 112 is substantially the same as a width of the sample box, so as to ensure that the sample box does not deviate when sliding out relative to the blade 200, and the guide sections 111 of the 2 guide tracks 110 are disposed opposite to each other and a distance between the 2 guiding sections 111 gradually increases along the sliding out direction of the blade 200.
Further, still including spacing part, spacing part is including being used for carrying on spacing first spacing part to the sliding position of shovel dish 200, and first spacing part is including first spacing arch, the spacing arch of second, the spacing inductive element of first spacing inductive element and second, and is preferred, the spacing inductive element of first spacing inductive element and second is position sensor, and first spacing arch and the spacing arch of second are hard spacing, set up respectively at shovel dish seat 100 both ends, the spacing inductive element of first spacing inductive element and second is used for realizing the soft spacing to shovel dish 200 sliding position.
In order to limit the rotation angle of the shovel disc 200, a second limiting component 800 for limiting the rotation angle of the shovel disc seat 100 is further arranged in the embodiment, and the second limiting component 800 comprises a limiting protrusion and a limiting induction sensor and is used for respectively limiting the rotation angle of the shovel disc 200 in a hard mode and a soft mode.
Preferably, the rotating device 400 in this embodiment includes a rotating driving motor 410 and a rotating transmission device 420 connected to the rotating driving motor 410, the rotating transmission device 420 is a pulley transmission device or a chain transmission device, and the rotating transmission device 420 is selected as long as the rotating force of the rotating driving motor 410 can be transmitted to the blade tray 100 to rotate, which is not limited in this respect.
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 (11)
1. A sample accessing manipulator, comprising:
a shovel plate seat is arranged on the shovel plate seat,
the shovel disc is connected with the shovel disc seat in a sliding mode, and a placing position for placing a sample box is formed in the shovel disc;
the box-packed putting of access, its with shovel dish seat fixed connection, including:
an access cassette driving device;
the swinging mechanism is in transmission connection with the storage box driving device and is used for transmitting force to the shovel disc when the storage box driving device acts so as to enable the shovel disc to extend or retract in a sliding manner relative to the shovel disc seat;
the rotating device is in transmission connection with the shovel disc seat and is used for driving the shovel disc seat to rotate;
and the lifting device is used for driving the rotating device to move up and down.
2. The manipulator according to claim 1, wherein the lifting device comprises a lifting motor, a transmission gear assembly, a transmission rack and a mounting base, the lifting motor is mounted on the connecting base, an output shaft of the motor is connected with the transmission gear assembly, an output gear of the transmission gear assembly is meshed with the transmission rack, and the transmission rack is fixed on the mounting base.
3. The manipulator according to claim 1, further comprising a driving device for a storage box, wherein the driving device for a storage box is connected to the driving device for a storage box, and the driving device for a storage box is connected to the swing mechanism to rotate the swing mechanism.
4. The manipulator according to claim 1, 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 located in the slide portion and is slidable relative to the slide portion.
5. The manipulator as claimed in claim 4, wherein the swinging member comprises at least 2 swinging rods connected in sequence, and the swinging rods have an included angle therebetween, and the included angle is 100 degrees and 120 degrees.
6. The manipulator according to claim 5, wherein the sliding part is a slide groove formed on the blade, and the swing member is disposed perpendicular to the swing lever and inserted into the slide groove.
7. The manipulator of claim 1, wherein the plate comprises a plate body and a first positioning portion and a second positioning portion formed on the plate body, and when the sample cartridge is placed on the plate, the first positioning portion and the second positioning portion abut against two ends of the sample cartridge to position the sample cartridge.
8. The manipulator as claimed in claim 7, wherein guide rails for guiding the sample box when the sample box is moved outward are further formed on the blade base at both sides of the blade body, and the guide rails are provided with 2 strips symmetrically disposed at both sides of the sample box.
9. The manipulator according to claim 8, wherein each guide track comprises a guide section and a limiting section connected to the guide section, 2 limiting sections are oppositely arranged, the distance between the 2 limiting sections is substantially the same as the width of the sample box, the guide sections of the 2 guide tracks are oppositely arranged, and the distance between the 2 guide sections is gradually increased along the sliding-out direction of the shovel plate.
10. The manipulator according to claim 1, further comprising a limiting member, wherein the limiting member comprises a first limiting member for limiting a sliding position of the blade and a second limiting member for limiting a rotation angle of the blade holder.
11. The sample access manipulator of claim 1,
the rotating device comprises a rotating driving motor and a rotating transmission device connected with the rotating driving motor, and the rotating transmission device is a belt wheel transmission device or a chain wheel and chain transmission device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020051931.5U CN212173400U (en) | 2020-01-10 | 2020-01-10 | Sample access manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020051931.5U CN212173400U (en) | 2020-01-10 | 2020-01-10 | Sample access manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212173400U true CN212173400U (en) | 2020-12-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020051931.5U Active CN212173400U (en) | 2020-01-10 | 2020-01-10 | Sample access manipulator |
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| Country | Link |
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| CN (1) | CN212173400U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030876A (en) * | 2021-11-17 | 2022-02-11 | 上海电气集团股份有限公司 | Grabbing mechanism and sample storage system comprising same |
-
2020
- 2020-01-10 CN CN202020051931.5U patent/CN212173400U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030876A (en) * | 2021-11-17 | 2022-02-11 | 上海电气集团股份有限公司 | Grabbing mechanism and sample storage system comprising same |
| CN114030876B (en) * | 2021-11-17 | 2024-02-20 | 上海电气集团股份有限公司 | Grabbing mechanism and sample storage system comprising same |
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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 |