CN215066718U

CN215066718U - Equipment for automatically taking and placing glass plate

Info

Publication number: CN215066718U
Application number: CN202120523953.1U
Authority: CN
Inventors: 张大庆
Original assignee: Pinghu Laidun Optical Instrument Manufacturing Co ltd
Current assignee: Pinghu Laidun Optical Instrument Manufacturing Co ltd
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2021-12-07
Anticipated expiration: 2031-03-12

Abstract

The application aims to provide equipment for automatically taking and placing a slide plate, which comprises a detection unit, a grabbing unit, a receiving and placing unit, a control driving unit, a first rail and a second rail; the detection unit is arranged on the first track, and the grabbing unit is arranged on the second track; the detection unit comprises a cabinet body, the cabinet body is used for placing a slide plate, the control drive unit is connected with the cabinet body, the cabinet body is provided with a first detection assembly, and the first detection assembly is used for detecting the slide plate inserted into the cabinet body; the grabbing unit is used for grabbing the glass plate from the detection unit, the control driving unit is connected with the grabbing unit, and after the grabbing unit grabs the glass plate, the control driving unit is used for controlling the driving grabbing unit to move to the receiving and placing unit along the second track; the receiving and placing unit is used for receiving and placing the slide plate grabbed by the grabbing unit. The device provided by the present application realizes the purpose of non-contact grabbing and receiving of the slide plate, and avoids the pollution to the slide plate when the slide plate is used.

Description

Equipment for automatically taking and placing glass plate

Technical Field

The application relates to the field of microscopes, in particular to equipment for automatically taking and placing a slide plate.

Background

When cells are viewed microscopically, a thin, fragile, transparent piece is used, which is a glass slide, also known as a glass slide. Optically, a sheet of a glass-like material for producing a phase difference. Slides are typically stored in a slide tray and the slides are soaked with cold water.

Due to the need to keep the slides free of contamination, care should be taken at any time during the handling of the slides to avoid any contamination of the slides.

SUMMERY OF THE UTILITY MODEL

It is an object of the present application to provide an apparatus for automatically picking and placing a slide tray.

According to one aspect of the present application, there is provided an apparatus for automatically taking and placing a slide tray, including a detecting unit, a grasping unit, a receiving and placing unit, a control driving unit, a first rail, a second rail;

the detection unit is arranged on the first track, and the grabbing unit is arranged on the second track;

the detection unit comprises a cabinet body, the cabinet body is used for placing a slide plate, the control drive unit is connected with the cabinet body, the control drive unit is used for controlling and driving the cabinet body to move to the grabbing unit along the first rail when the slide plate is grabbed, so that the grabbing unit grabs the slide plate from the inside of the cabinet body, and after the grabbing unit grabs the slide plate from the inside of the cabinet body, the cabinet body is controlled and driven to move away from the grabbing unit along the first rail, a first detection assembly is arranged on the cabinet body, and the first detection assembly is used for detecting the slide plate inserted into the cabinet body;

the grabbing unit is used for grabbing the glass disc from the detection unit, the control driving unit is connected with the grabbing unit, the grabbing unit grabs the glass disc, and after the cabinet body is moved away from the grabbing unit, the control driving unit is used for controlling and driving the grabbing unit to move to the receiving unit along the second track;

the receiving and placing unit is used for receiving and placing the slide plate grabbed by the grabbing unit.

In some embodiments, the control drive unit comprises: the device comprises a control module, a first driving assembly and a second driving assembly; the first driving assembly is connected with the cabinet body and used for driving the cabinet body to move along the first track; the second driving assembly is connected with the grabbing unit and used for driving the grabbing unit to move along the second track; the control module is electrically connected with the first driving assembly and the second driving assembly respectively.

In some embodiments, the receiving and placing unit is arranged on the third track, and the control driving unit is connected with the receiving and placing unit and used for controlling and driving the receiving and placing unit to move on the third track.

In some embodiments, the control driving assembly further includes a third driving assembly, the third driving assembly is connected to the receiving and releasing unit and is used for driving the receiving and releasing unit to move on the third track, and the control module is electrically connected to the third driving assembly.

In some embodiments, the detection unit further comprises a first lifting assembly; the first detection assembly comprises a first detection piece and a first fixing piece, and the first detection piece is arranged on the rear side plate of the cabinet body in a manner of moving back and forth through the first fixing piece; first lifting unit install in the posterior lateral plate, first lifting unit includes conveyer and second mounting, be provided with on the second mounting with first detection piece assorted detection device, first detection device is used for surveying the existence of first detection piece, conveyer is used for driving the second mounting reciprocates.

In some embodiments, the first fixing member includes a first telescopic member and a first connecting plate, one end of the first telescopic member is connected to one end of the first detecting member through a second connecting member, and the other end of the first telescopic member is connected to one end of the first connecting plate.

In some embodiments, the first connecting plate is an L-shaped connecting plate, a limiting hole is formed in a long side plate of the L-shaped connecting plate, the second connecting member passes through the limiting hole, one end of the second connecting member is connected to the first telescopic member, and the other end of the second connecting member is disposed at one end of the first detecting member.

In some embodiments, the first detecting device includes a photoelectric stopper disposed on one side of the second fixing member, and a circuit board electrically connected to the photoelectric stopper, the circuit board being disposed on the other side of the second fixing member, the circuit board being electrically connected to the photoelectric stopper, and the presence of the first detecting member is detected by the photoelectric stopper.

In some embodiments, the grasping unit includes a second lifting assembly and an arm claw; the second lifting assembly comprises a vertical guide rail, a telescopic rod and a motor; one end of the arm claw is arranged on the vertical guide rail in a way of moving up and down through the lifting plate; one end of the telescopic rod is connected with the lifting plate, and the other end of the telescopic rod is connected with the motor; the motor is used for driving the telescopic rod to extend and retract, so that the arm claw is driven to move up and down.

In some embodiments, the grasping unit further includes a holder; a buffer component is arranged on one side of the arm claw; the fixed seat is arranged on one side of the lifting plate; the buffer assembly comprises a horizontal buffer assembly and a vertical buffer assembly, the arm claw is arranged on the fixed seat through the horizontal buffer assembly, the arm claw is arranged on the lifting plate through the vertical buffer assembly, and the horizontal buffer assembly and the vertical buffer assembly are arranged on the same side of the arm claw.

In some embodiments, the horizontal buffer assembly includes second telescopic members disposed at left and right sides of the fixing base, the arm claw is disposed at an upper side of the fixing base, one end of the second telescopic member is connected to one end of the arm claw, and the other end of the second telescopic member is connected to one end of the fixing base.

In some embodiments, two horizontal sliding rails are arranged on two sides of the top of the fixed seat in parallel, each horizontal sliding rail is movably provided with a horizontal sliding block, the horizontal sliding block is located between the arm claw and the fixed seat, and the horizontal sliding block is fixedly connected with the arm claw.

In some embodiments, a second connecting plate is arranged at one end of the arm claw, a first through hole is formed in the second connecting plate, one end of the second telescopic piece is connected into the first through hole through a hook, a first connecting column is arranged at one end of the fixing seat, and the other end of the second telescopic piece is connected onto the first connecting column through a hook.

In some embodiments, the horizontal buffering assembly further comprises limiting devices arranged on the left side and the right side of the fixing seat, the limiting devices comprise two limiting columns arranged in front and back, and the second connecting plate is arranged between the two limiting columns.

In some embodiments, the vertical buffer assembly comprises a third telescopic member connecting the first connecting member and the arm claw, one end of the third telescopic member is connected with one end of the arm claw, and the other end of the third telescopic member is connected with the lifting plate.

In some embodiments, two vertical sliding rails are vertically arranged on one side of the fixed seat, a vertical sliding block is movably arranged on each vertical sliding rail, the vertical sliding block is located between the lifting plate and the fixed seat, and the vertical sliding block is fixedly connected with the fixed seat.

In some embodiments, the vertical buffer assembly further comprises a vertical limiting device, the vertical limiting device comprises a second connecting column horizontally arranged on the fixed seat, and a limiting hole arranged on the first connecting piece, and the second connecting column is inserted into the limiting hole and can move up and down in the limiting hole.

In some embodiments, the receiving and placing unit further comprises a pushing device arranged at one corner of the tray; the pushing device comprises: tightly pushing the groove; the pushing component is arranged in the pushing groove in a reciprocating manner, and the shape of the pushing groove is matched with that of the pushing component; and one end of the pushing component is provided with a jacking piece.

In some embodiments, the pusher assembly includes a rigid pusher and an elastic pusher coupled to the rigid pusher.

In some embodiments, the elastic pushing member comprises an extension spring, and the rigid pushing member comprises a U-shaped rigid member, and the rigid pushing member is connected with the elastic pushing member through a third connecting member.

Compared with the prior art, the equipment for automatically taking and placing the glass plate comprises a detection unit, a grabbing unit, a receiving and placing unit, a control driving unit, a first rail and a second rail. The detection unit comprises a cabinet body, and a glass slide plate is placed through the cabinet body. The detection unit set up in first track, the control drive unit is connected the detection unit to through the control drive unit control drive the cabinet body is in the removal on the first track (for example, when following the internal glass slide dish that snatchs of cabinet, through the control drive unit control drive the cabinet body is followed first track removes to snatch the unit department, after the unit that snatchs follow the internal glass slide dish that snatchs of cabinet, through the control drive unit control drive the cabinet body is followed first track removes the unit that snatchs). The grabbing unit is arranged on the second rail, the control driving unit is connected with the grabbing unit, so that the grabbing unit is controlled and driven by the control driving unit to move along the second rail (for example, after the grabbing unit grabs a slide disc from the cabinet body, the grabbing unit is controlled and driven by the control driving unit to move to the receiving unit along the second rail). The receiving and placing unit is used for receiving the slide plate grabbed by the grabbing unit. Through the equipment that is used for getting automatically that the slip dish was put to this application provides can realize contactless snatchs, connects the purpose of putting the slip dish, avoids when using the slip dish, causes the pollution to the slip dish.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a schematic view of the overall structure of an apparatus for automatically picking and placing a slide tray according to the present invention;

FIG. 2 is a schematic structural diagram of a detecting unit and a grasping unit;

FIG. 3 is a second schematic structural view of the detecting unit and the grabbing unit;

FIG. 4 is a schematic diagram of a receiving and releasing unit according to an embodiment of the present application;

FIG. 5 is one of the schematic structural diagrams of a detection unit according to an embodiment of the present application;

FIG. 6 is a second schematic structural diagram of a detecting unit according to an embodiment of the present application;

FIG. 7 is a third schematic structural diagram of a detecting unit according to an embodiment of the present application;

FIG. 8 is an enlarged view of a portion A of FIG. 7;

FIG. 9 is a fourth illustration of a structure of a detecting unit according to an embodiment of the present application;

FIG. 10 is a fifth exemplary illustration of a detecting unit according to an embodiment of the present application;

FIG. 11 is a schematic diagram of a first lift assembly according to one embodiment of the present application;

FIG. 12 is a sixth schematic structural view of a probe unit according to an embodiment of the present application;

FIG. 13 is one of the schematic structural views of a grasping unit according to one embodiment of the present application;

FIG. 14 is a second schematic structural view of a grasping unit according to an embodiment of the present application;

FIG. 15 is one of the schematic structural illustrations of an arm claw according to one embodiment of the present application;

FIG. 16 is a second schematic view of the structure of an arm claw according to an embodiment of the present application;

FIG. 17 is a third schematic view of a third arm claw according to an embodiment of the present application;

FIG. 18 is a fourth illustration of a configuration of an arm claw according to an embodiment of the present application;

FIG. 19 is a fifth illustration of a configuration of an arm claw according to an embodiment of the present application;

FIG. 20 is a schematic view of a horizontal cushioning assembly according to one embodiment of the present application;

FIG. 21 is a schematic diagram of a vertical buffer assembly and a horizontal buffer assembly according to an embodiment of the present application;

FIG. 22 is a second schematic view of a receiving and releasing unit according to an embodiment of the present application;

FIG. 23 is a third schematic view illustrating a structure of a receiving and releasing unit according to an embodiment of the present application;

FIG. 24 is a fourth illustration showing the structure of a pick-and-place unit according to an embodiment of the present application;

FIG. 25 is one of the schematic structural views of a push-down device according to one embodiment of the present application;

FIG. 26 is a second schematic structural view of a pushing device according to an embodiment of the present application;

the same or similar reference numbers in the drawings identify the same or similar elements.

Reference numerals

1 detection unit

11 cabinet body

111 tray structure

112 first through hole

12 first detection assembly

121 first detecting member

122 first detecting device

123 first expansion piece

124 first connecting plate

125 second connecting piece

126 limit hole

127 second detecting means

128 second probe

13 first lifting assembly

131 second fixing part

14 elongate hole

15 photoelectric limiter

16 circuit board

2 grabbing unit

20 vertical guide rail

21 arm claw

211 first hook

212 second hook

213 second connecting plate

214 third telescoping member

221 first connecting piece

22 fixed seat

23 second telescoping member

24 horizontal sliding block

25 first connecting column

26 second connecting column

262 vertical slide block

263 vertical sliding rail

27 limiting column

28 position limiting hole

291 rear wing

29 side wing

3 receiving and releasing unit

30 tray

33 pushing groove

34 top part

341 top plate

342 fixed part

35 rigid pushing and tightening piece

351 rotating member

36 elastic pushing part

37 third connecting piece

371 connecting hole

38 cover plate

5 first track

6 second track

7 electric machine

8 third track

Detailed Description

The present application is described in further detail below with reference to the attached figures.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the indicated orientations and positional relationships based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first," "second," etc. may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, a first feature "on," "above," and "over" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and diagonally above the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1, 2, 3 and 4, the present invention provides an apparatus for automatically picking and placing a slide plate, which includes a detecting unit 1, a grabbing unit 2, a receiving and placing unit 3, a control driving unit, a first track 5 and a second track 6; the detection unit 1 is arranged on the first track 5, and the grabbing unit 2 is arranged on the second track 6; the detection unit 1 comprises a cabinet body 11, the cabinet body 11 is used for placing a slide plate 4, the control drive unit is connected with the cabinet body 11, the control drive unit is used for controlling and driving the cabinet body 11 to move to the grabbing unit 2 along the first rail 5 when the slide plate 4 is grabbed, so that the grabbing unit 2 grabs the slide plate from the cabinet body 11, and after the grabbing unit 2 grabs the slide plate 4 from the cabinet body 11, the cabinet body 11 is controlled and driven to move away the grabbing unit 2 along the first rail 5, the cabinet body 11 is provided with a first detection assembly, and the first detection assembly is used for detecting the slide plate 4 inserted into the cabinet body 11; the grabbing unit 2 is used for grabbing the slide plate 4 from the detecting unit 1, the control driving unit is connected with the grabbing unit 2, the grabbing unit 2 grabs the slide plate 4, and after the cabinet body is moved away from the grabbing unit, the control driving unit is used for controlling and driving the grabbing unit 2 to move to the receiving unit 3 along the second track 6; the receiving unit 3 is used for receiving the slide plate 4 grabbed by the grabbing unit 2. In some embodiments, the detection unit 1 is used to place a slide tray 4. In some embodiments, a plurality of layers of slide trays 4 are placed in the cabinet 11, and the detection unit 1 detects, through the first detection assembly, which layer or layers of the cabinet 11 have the slide trays 4 placed thereon (for a detailed description of the first detection assembly, please refer to the following embodiments, which are not repeated here). The grabbing unit 2 is used for grabbing the slide plate from the cabinet body 11 and placing the grabbed slide plate on the receiving unit 3. In some embodiments, the receiving unit 3 is configured to receive the slide tray 4 captured by the capturing unit 2. In some embodiments, the pick and place unit 2 comprises a tray through which the slide tray picked by the pick and place unit 2 is picked. In some embodiments, the gripping unit 2 is arranged on the second rail 6, the gripping unit 2 being movable on the second rail 6. For example, when a slide tray is grasped from the inside of the cabinet 11, the control drive unit controls to drive the grasping unit 2 to move to an end corresponding to the cabinet 11 (for example, an end of the second rail 6) in preparation for a grasping operation, and after the slide tray is grasped from the inside of the cabinet 11 and the detecting unit 1 is removed, the grasping unit 2 moves to an end corresponding to the pick-and-place unit 3 (for example, the other end of the second rail 6) and the slide tray grasped by it is placed on the pick-and-place unit 3. In some embodiments, the detection unit 1 is arranged on the first track 5, the detection unit 1 being movable on the first track 5. For example, in grasping a slide tray from the inside of the cabinet 11, after the control drive unit controls to drive the grasping unit 2 to move to a position corresponding to one end of the cabinet 11 (for example, one end of the second rail 6), the control drive unit controls to drive the detecting unit 1 to move in the direction of the grasping unit 2 along the first rail 5 so that the grasping unit 2 grasps the slide tray from the inside of the cabinet 11, and the grasping unit 2 grasps the slide tray from the inside of the cabinet 11, the control drive unit controls to drive the detecting unit 1 to move in a position away from the grasping unit, and the detecting unit 1 is removed so that the grasping unit 2 places the grasped slide tray on the pick-and-place unit 3 (for example, the control drive unit controls to drive the grasping unit 2 to move to a position corresponding to one end of the pick-and-place unit 3, perform a placement operation). Fig. 2 shows a positional relationship among the detecting unit 1, the grasping unit 2, the first rail 5, and the second rail 6. For example, the first rail 5 is perpendicular to the second rail 6, both the first rail 5 and the second rail 6 are of a double-rail sliding chute structure, and the cabinet 11 of the detection unit 1 is disposed on the first rail 5. A certain distance is kept between the double tracks of the first track 5, which is adapted to the width of the cabinet 11.

In some embodiments, the control drive unit comprises: the device comprises a control module, a first driving assembly and a second driving assembly; the first driving assembly is connected with the cabinet body and used for driving the cabinet body to move along the first track; the second driving assembly is connected with the grabbing unit and used for driving the grabbing unit to move along the second track; the control module is electrically connected with the first driving assembly and the second driving assembly respectively. In some embodiments, with reference to fig. 3, the first driving assembly includes, but is not limited to, a combination of motor 7+ telescopic rod, and the second driving assembly includes, but is not limited to, a combination of motor 7+ telescopic rod to drive the movement of the cabinet 11, the grasping unit 2. For example, the control module is electrically connected to the motors 7 of the first driving assembly and the second driving assembly, respectively, the telescopic rod of the first driving assembly is connected to the cabinet 11, and the telescopic rod of the second driving assembly is connected to the grabbing unit 2. Of course, it should be understood by those skilled in the art that the specific combination of the first and second driving assemblies described above is merely exemplary, and other combinations that may occur or become known in the future, such as those that are applicable to the present application, are also within the scope of the present application and are incorporated herein by reference. For example, the cabinet 11 and the grabbing unit 2 can be driven to move by a combination of a motor and a conveyor belt.

In some embodiments, the receiving and placing unit is arranged on the third track, and the control driving unit is connected with the receiving and placing unit and used for controlling and driving the receiving and placing unit to move on the third track. In some embodiments, the pick-and-place unit 3 is also movable, the apparatus further comprises a third rail 8, the pick-and-place unit 3 is disposed on the third rail 8, and the control driving unit controls and drives the pick-and-place unit to move on the third rail 8. For example, the control drive unit controls to drive the pick-and-place unit 3 to move in a direction to approach the gripping unit 2 when the slide tray is picked up, and controls to drive the pick-and-place unit 3 to move toward the other end of the third rail 8 to move away from the gripping unit 2 after the gripping unit 2 places the slide tray on the pick-and-place unit 3.

In some embodiments, the control driving assembly further includes a third driving assembly, the third driving assembly is connected to the receiving and releasing unit and is used for driving the receiving and releasing unit to move on the third track, and the control module is electrically connected to the third driving assembly. In some embodiments, the third driving unit includes, but is not limited to, a combination of a motor and a telescopic rod, for example, the control module is connected to the motor of the third driving assembly, and the telescopic rod of the third driving assembly is connected to the receiving and releasing unit 3 to drive the receiving and releasing unit 3 to move. Of course, it should be understood by those skilled in the art that the specific combinations of the third driving assemblies described above are merely examples, and other combinations that may occur or become known in the future, such as those that are applicable to the present application, are also within the scope of the present application and are incorporated herein by reference.

In some embodiments, the detection unit further comprises a first lifting assembly 13; the first detecting component comprises a first detecting member 121 and a first fixing member, and the first detecting member 121 is arranged on the rear side plate of the cabinet 11 through the first fixing member in a manner of being capable of moving back and forth; the first lifting assembly 13 is mounted on the rear side plate, the first lifting assembly 13 includes a conveying device and a second fixing member 131, a first detecting device 122 matched with the first detecting member 121 is arranged on the second fixing member 131, the first detecting device 122 is used for detecting the existence of the first detecting member 121, and the conveying device is used for driving the second fixing member 131 to move up and down. Referring to the schematic structural diagram shown in fig. 5, fig. 5 shows the range of the first detecting member 12 by a dotted line frame, and the range of the elevating member 13 by another dotted line frame. The cabinet body 11 comprises an upper side face, a left side plate, a right side plate, a rear side plate and a bottom plate, and the first detection assembly 12 and the lifting assembly 13 are arranged on the rear side plate of the cabinet body 11. Of course, those skilled in the art will appreciate that the specific configurations of the cabinet 11 (e.g., the top, left, right, rear, and bottom panels) are merely exemplary, and that other specific configurations now known or later developed may be suitable for the present application and are included within the scope of the present application and are hereby incorporated by reference. For example, the cabinet 11 may only include a rear side plate and a bottom plate, and the first detecting assembly 12 and the lifting assembly 13 are disposed on the rear side plate of the cabinet 11. For another example, the cabinet 11 is a frame structure, the left and right sides of the frame are not covered by side plates, the frame is provided with a rear side plate, and the first detecting assembly 12 and the lifting assembly 13 are disposed on the rear side plate of the cabinet 11.

In some embodiments, as shown in fig. 6 and 7, one or more layers of tray structures 111 are horizontally disposed in the cabinet 11, and the tray structures 111 are used for placing the slide trays 4 horizontally inserted into the cabinet 11. The cabinet 11 is provided with a multi-layer tray structure 111, into which a plurality of slide trays can be inserted. For example, the tray structure 111 is a protruding fixing block, the cabinet 11 includes a left side plate and a right side plate, one or more layers of protruding fixing blocks are symmetrically disposed on the inner side walls of the left side plate and the right side plate, and the slide tray 4 inserted into the cabinet 11 is placed by the fixing blocks on the same horizontal plane (e.g., one layer). Of course, those skilled in the art will appreciate that the tray structure 111 of the cabinet 11 is merely exemplary, and that other existing or future tray structures 111, as may be suitable for use in the present application, are also intended to be encompassed within the scope of the present application and are hereby incorporated by reference. For example, the tray structure 111 is a flat plate, and one or more layers of flat plates are horizontally arranged in the cabinet 11, and each layer of flat plate is used for placing the slide plate 4 inserted into the cabinet 11.

With continued reference to fig. 6 and 7, in some embodiments, the cabinet 11 is vertically provided with two columns of the tray structure 111, that is, two columns of slide trays 4 can be inserted, and two slide trays can be inserted in each layer horizontally. Here, the two rows of tray structures 111 are not limited, for example, one row of tray structures 111 may be disposed in the cabinet 11, and one slide tray 4 may be inserted into each layer in the horizontal direction; for another example, three and four rows … of trays may be disposed in the cabinet 11, and three or four … slide trays may be inserted into each layer in a horizontal direction. The number of columns and the number of layers of the slide trays that can be inserted into the cabinet body 11 can be set according to actual needs, and are not limited herein.

Further, each column of tray structures 111 corresponds to a first detecting assembly 12. In some embodiments, there may be a plurality of rows of tray structures 111 corresponding to one lifting assembly 13, and there may also be a plurality of rows of tray structures 111 corresponding to one lifting assembly 13. Here, the corresponding relationship between the tray structure 111 and the lifting assembly 13 is not particularly limited. Each layer of tray structure 111 needs to be provided with a first detection component 12, and the first detection component 12 is used for detecting which layer of the tray structures 111 in the row has the slide plate 4 inserted; each row of tray structures 111 also needs to correspond to the lifting assembly 13, and the lifting assembly 13 drives the first detecting device 122 in the first detecting assembly 12 to move up and down, and specifically, the first detecting device 122 detects which layer of the row of tray structures 111 has the slide plate 4 inserted therein.

In some embodiments, as shown in fig. 8, a first through hole 112 is provided on a side wall of the cabinet 11 at a corresponding position of each layer of the tray structure 111. The first detecting member 121 is inserted into the first through hole 112 to be movable forward and backward. When the slide tray 4 is inserted, the slide tray 4 moves backward against the first detecting member 121, and with the backward movement of the first detecting member 121, the first detecting member 121 approaches the first detecting means 122 provided on the second fixing member 131, so that the presence of the first detecting member 121 is detected by the first detecting means 122, thereby determining that the slide tray 4 is inserted in the layer.

Further, with continued reference to fig. 8, in some embodiments, since the thickness of the side plate of the cabinet 11 is limited, in order to keep the first detecting member 121 horizontally moving in the first through hole 112, the first through hole 112 is provided with an extension hole 14. The extension hole 14 can increase the supporting force to the first detecting member 121, thereby ensuring that the first detecting member 121 is kept horizontal when moving back and forth.

In some embodiments, to prevent the slide tray 4 from shifting, loose contact, etc. when ejecting the first detecting member 121, the first detecting member 121 is provided with a U-shaped groove at one end for contacting the slide tray 4. Specifically, the diameter of the U-shaped groove is slightly larger than the thickness of the slide plate 4, and the first detecting member 121 is better and more firmly ejected by the slide plate 4 through the U-shaped groove. Here, the U-shaped groove, the extension hole 14, and the first fixing member may ensure that the first detecting member 121 maintains a horizontal state when moving back and forth and when stationary.

In some embodiments, the first fixing member includes a first telescopic member 123 and a first connecting plate 124, one end of the first telescopic member 123 is connected to one end of the first detecting member 121 through a second connecting member 125, and the other end of the first telescopic member 123 is connected to one end of the first connecting plate 124. Here, the first telescopic member 123, the first connecting plate 124 and the second connecting member 125 enable the first detecting member 121 to be kept horizontal in both a stationary state and a forward and backward moving state.

In some embodiments, referring to fig. 8 and 9, the first connecting plate 124 is an L-shaped connecting plate, a position-limiting hole 126 is formed in a long-side plate of the L-shaped connecting plate, the second connecting member 125 passes through the position-limiting hole 126, one end of the second connecting member 125 is connected to the first telescopic member 123, and the other end of the second connecting member 125 is disposed at one end of the first detecting member 121. The first connecting plate 124, the first detecting member 121, and the first expansion member 123 form a triangular structure, which enables the horizontal state of the first detecting member 121 to be ensured both when it is stationary and when it is moved.

Further, the length of the limiting hole 126 is 3-5mm, so that the movable range of the first detecting member 121 is limited to 3-5 mm. Of course, the length of the limiting hole 126 can be specifically set according to actual needs, so as to set the movable range of the first detecting member 121.

In some embodiments, the first expansion member 123 is an extension spring. Of course, it will be understood by those skilled in the art that the first telescopic member 123 may be other elastic members capable of being stretched. Since the tension spring has a larger supporting force when it is not subjected to any load, it is possible to more effectively connect the first detecting member 121 and the first connecting plate 124. The first extensible member 123 connects the first connection plate 124 and the first detector 121, and when the first detector 121 is ejected, the first detector 121 is prevented from being ejected too much by the returning force of the first extensible member 123.

In some embodiments, referring to fig. 10 and 11, the first detecting device 121 includes an optoelectronic stopper 15 and a circuit board 16 electrically connected to the optoelectronic stopper 15, the optoelectronic stopper 15 is disposed on one side of the second fixing member 131, the circuit board is disposed on the other side of the second fixing member 131, and the circuit board is electrically connected to the optoelectronic stopper, and the presence of the first detecting member 121 is detected by the optoelectronic stopper. When the first detecting piece 121 is ejected by the slide glass tray 4 inserted into the cabinet 11, the first detecting piece 121 extends out and approaches the photoelectric limiter 15, the photoelectric limiter 15 is shielded by the first detecting piece 121, and the photoelectric limiter 15 senses the existence of the first detecting piece 121; on the contrary, when the first detecting member 121 does not cover the photoelectric position limiter 15, the photoelectric position limiter 15 does not sense any light. In some embodiments, the first detecting member 121 is a metal plate, and when the first detecting member 121 of the metal plate blocks the photoelectric position limiter 15, the photoelectric position limiter 15 can sense the existence of the first detecting member 121.

Further, when the cabinet 11 can be inserted with two rows of the slide trays 4, two photoelectric stoppers 15 are provided on the second fixing member 131. The two photoelectric position limiters 15 may correspond to one circuit board 16, or two photoelectric position limiters 15, where each photoelectric position limiter 15 corresponds to one circuit board 16.

In some embodiments, as shown in fig. 12, the conveying device includes a conveying member 174 and a motor 7, the second fixing member 131 is disposed on the conveying member, and one end of the conveying member 174 is connected to the motor 7. The motor 7 provides power for the transmission device, so that the transmission member drives the second fixing member 131 to move up and down. The second fixing member 131 is moved up and down by the transfer member 174 so that the first detecting device 122 provided on the second fixing member 131 can detect whether the slide tray 4 is inserted into each layer.

In some embodiments, with continued reference to fig. 12, the transferring unit 174 includes two tension wheels 173 disposed on the cabinet 11 and a timing belt disposed on the tension wheels, and the second fixing unit 131 is disposed on the timing belt.

In some embodiments, fixing seats 172 are disposed on left and right sides of the tension wheel at the upper portion of the cabinet 11, and the fixing seats are connected to the tension wheel 173 through a guide rod 171.

In some embodiments, a second detecting device 127 is disposed on the side wall of the cabinet 11, a second detecting member 128 is disposed on a side of the second fixing member 131 close to the conveying device, and the second detecting device 127 is configured to detect the existence of the second detecting member 128. Further, the second detecting member 128 moves up and down under the driving of the second fixing member 131, and the second detecting device 127 detects the existence of the second detecting member 128. The second detecting member 128 may be an integral structure with the second fixing member 131, for example, the second fixing member 131 and the second detecting member 128 are both made of sheet metal, and the second detecting member 128 is a protruding detecting structure of the second fixing member 131, for example, the detecting structure may be a columnar structure, a plate structure, or the like. The second detecting member 128 may also be a member additionally provided on the second fixing member 131, for example, the second detecting member 128 is provided on the second fixing member 131 by welding or by a connecting member.

In some embodiments, as shown in fig. 13, the second detecting device 127 includes three photoelectric position limiters 15 disposed on the outer side wall of the cabinet 11, and a circuit board electrically connected to the three photoelectric position limiters 15, and the circuit board is mounted on the cabinet 11.

Further, the three photoelectric position limiters 15 may share one circuit board, that is, the three photoelectric position limiters 15 are electrically connected to one circuit board. The three photoelectric position limiters 15 may also respectively correspond to one circuit board, that is, each photoelectric position limiter 15 in the three photoelectric position limiters 15 is electrically connected to one circuit board, and there are three corresponding circuit boards in total. To avoid interference and facilitate electrical connection, the circuit board may be disposed on the bottom plate of the cabinet 11.

Further, the second detecting device may also include two, four or another number of photoelectric position limiters 15, and the number of the photoelectric position limiters of the second detecting device is not particularly limited. The second detection device is used for detecting the current lifting position of the first detection device and is used for limiting the interpretation of the upper limit and the lower limit of the lifting position of the first detection device and the position between the upper limit and the lower limit.

In some embodiments, the three photoelectric stoppers 15 are respectively disposed at the upper, middle and lower positions of the cabinet 11.

Further, since the second detecting device 127 is mainly used for interpreting the lifting position of the first detecting device 122, when the second detecting device 127 includes three photoelectric stoppers 15, the photoelectric stopper 15 located at the upper portion of the cabinet 11 is disposed at the upper limit position of the lifting of the first detecting device 122, that is, the highest lifting of the first detecting device 122 must not exceed the upper limit position; the photoelectric limiter 15 located at the lower part of the cabinet 11 is arranged at the lower limit position where the first detection device 122 ascends and descends, that is, the first detection device 122 descends at the lowest level and cannot exceed the lower limit position; the photoelectric position limiter 15 located in the middle of the cabinet 11 is generally disposed at the middle position of the cabinet 11 in the vertical direction, and the lifting position of the first detecting member 121 is determined by the photoelectric position limiter 15 disposed at the middle position of the cabinet 11.

Further, in order to automatically acquire the detection condition of the slide tray detection device, the photoelectric stopper 15 of the first detection device and the photoelectric stopper 15 of the second detection device are both connected to a control module (for example, a computing device), and the computing device includes but is not limited to a computer, a notebook computer, and other computing devices. In some embodiments, the computing device determines which of the photoelectric detectors 15 detects the presence of the first detector element 121 or the second detector element 128, and thus determines whether the second layer of slide trays 4 is inserted, or the current elevation position of the first detector assembly 122, and automatically limits the upper limit of elevation and the lower limit of depression of the first detector assembly 122.

In some embodiments, the photoelectric stopper 15 has a U-shaped structure. The photoelectric position limiter 15 with the U-shaped structure can increase the shielding area of the photoelectric position limiter 15 by the first detecting member 121 or the second detecting member 128, so as to perform sensing operation better.

The whole working process of detecting which layer of the slide plate 4 is inserted into the cabinet body 11 comprises the following steps:

the lifting component can move up and down in real time, and then the first detection device on the lifting component is driven to move up and down. Typically, a single pass is made up and down to confirm that a slide tray is placed in each layer of the rack prior to slide testing. In the process that first detection device reciprocated, if this layer had the slide dish to insert, the first detection piece on this layer can be ejecting by the slide dish, and when first detection device rose or descended this layer, the photoelectric limiter of this first detection device can be sheltered from to the first detection piece of being ejected, and the existence of this layer of first detection piece is sensed to the photoelectric limiter to it has the slide dish to insert to confirm this layer. In some embodiments, the control module obtains data from the photoelectric stopper (e.g., sensing the first detecting member, or not sensing the first detecting member) and records it, and the user can visually see through the control module whether each layer has a slide tray inserted, or which layer has no slide tray inserted. For example, referring to table 1, the detection result is recorded in the control module, and when the photoelectric stopper of the first detection device detects the first detection element on the first layer, the photoelectric stopper transmits data information (e.g., 1) to the control module, and the control module performs recording.

TABLE 1 survey results record Table

Number of layers	Whether there is a sensing signal
		First layer	Is (1)
Second layer	Is (1)
		Third layer	NO (0)
…	…

Of course, it will be understood by those skilled in the art that the above operations for presenting the slide tray insertion of the various layers by way of table 1 are exemplary only, and that other existing or potential operations, such as may be suitable for use in the present application, are within the scope of the present application. For example, a sensing lamp is disposed on the photoelectric position limiter of the first detection device, and the sensing lamp is turned on when the photoelectric position limiter senses the existence of the first detection member.

Specifically, the working process detected by the first detection device in the present application includes:

for example, taking the first layer as an example, when a slide tray is inserted at the first layer, the inserted slide tray ejects a first detecting member provided movably back and forth on the cabinet. When the lifting assembly brings the first detection device on the second fixing piece to the first layer, the photoelectric limiter of the first detection device can sense the ejected first detection piece, and the first detection piece movably arranged on the cabinet body cannot shield the photoelectric limiter of the first detection device lifted to the first layer when the cabinet body is in an idle state (for example, no slide plate is inserted), so that the first detection piece cannot be sensed when the slide plate is not inserted in the layer, and further the fact that no slide plate is inserted in the layer is explained.

This application includes through the working process that second detection device detected:

for example, the second detection device arranged on the cabinet body comprises three photoelectric limiters arranged up and down. The uppermost photoelectric limiter is used for limiting the rising upper limit of the first detection device; the lowest photoelectric limiting stopper is used for limiting the lower limit of the first detection device; the middle photoelectric position limiter is used for interpreting the current lifting position of the first detection device. And starting the motor, driving the second fixing piece to move up and down by the lifting assembly, and further driving the second detecting piece to move up and down by the second fixing piece. When the lifting assembly brings the second fixing piece to the upper limit position, namely the second detection piece on the second fixing piece can shield the photoelectric limiting device positioned at the top, so that the photoelectric limiting device positioned at the top senses the existence of the second detection piece, and the control module controls the lifting assembly to descend based on the acquired data information sensed by the photoelectric limiting device positioned at the upper limit position. On the contrary, when the lifting assembly brings the second fixing piece to the lower limit position, namely the second detection piece on the second fixing piece can shield the photoelectric limiting stopper located at the lowest part, so that the photoelectric limiting stopper located at the lowest part can sense the existence of the second detection piece, and the control module controls the lifting assembly to ascend based on the acquired data information sensed by the photoelectric limiting stopper located at the lower limit position. When the lifting assembly brings the second fixing member to the middle position of the rack, namely the second detecting member on the second fixing member can shield the photoelectric position limiter located in the middle position of the cabinet body, so that the photoelectric position limiter located in the middle can sense the existence of the second detecting member, the control module can determine the detecting position of the first detecting device based on the data information acquired by the photoelectric position limiter located in the middle, for example, the middle position is the 5 th layer, and the control module can determine that the first detecting device currently detects the slide tray of the fifth layer.

Further, specific positions of the upper limit, the lower limit, and the "middle position" are not specifically limited herein, and the upper limit position of the ascending and the lower limit position of the descending may be designed according to actual needs.

In some embodiments, with reference to fig. 14, 15, 16, the gripping unit 2 comprises a second lifting assembly and an arm claw 21; the second lifting assembly comprises a vertical guide rail 20, a telescopic rod and a motor; one end of the arm claw 21 is provided on the vertical rail 20 so as to be movable up and down by the lifting plate 221; one end of the telescopic rod is connected with the lifting plate 221, and the other end of the telescopic rod is connected with the motor; the motor is used for driving the telescopic rod to extend and retract, so that the arm claw 21 is driven to move up and down. In the present application, the slide glass tray 4 is received and placed by the arm claw 21; the second lifting assembly drives the arm claw 21 to move up and down so as to grab the glass plates with different heights. Of course, it will be understood by those skilled in the art that the specific structure of the second lifting assembly is merely exemplary, and other existing or future lifting structures may be suitable for use in the present application and are within the scope of the present application and are incorporated herein by reference.

In some embodiments, with reference to fig. 16, the gripping unit 2 further comprises a fixed seat 22; a buffer component is arranged on one side of the arm claw 21; the fixed seat 22 is arranged on one side of the lifting plate 221; the buffer assembly comprises a horizontal buffer assembly and a vertical buffer assembly, the arm claw 21 is arranged on the fixed seat 22 through the horizontal buffer assembly, the arm claw 21 is arranged on the lifting plate 221 through the vertical buffer assembly, and the horizontal buffer assembly and the vertical buffer assembly are arranged on the same side of the arm claw 21. During the gripping of the slide plate 4 by the arm claw 21, collision occurs between the slide plate 4 and the arm claw 21. In this embodiment, the collision of the slide plate 4 and the arm claw 21 in the horizontal direction is buffered by the horizontal buffer assembly, and the collision of the slide plate 4 and the arm claw 21 in the vertical direction is buffered by the vertical buffer assembly, respectively. Through horizontal and two vertical directions, avoid comprehensively because the rigidity collision between slide dish 4 and the arm claw 21 in the in-process of snatching slide dish 4, avoid the rigidity collision to cause the harm to slide dish 4 and arm claw 21 to avoid having shortened slide dish 4, arm claw 21's life because of the existence of rigidity collision. Grabbing the slide dish through arm claw 21, when avoiding hand contact slide dish 4, avoiding arm claw 21 and slide dish 4 to produce the rigidity collision. In some embodiments, the horizontal buffer assembly is disposed between the arm claw 21 and the fixed base 22 (e.g., the arm claw 21 is disposed on the fixed base 22 through the horizontal buffer assembly), the vertical buffer assembly is disposed between the arm claw 21 and the lifting plate 221 (e.g., the arm claw 21 is disposed on the lifting plate 221 through the vertical buffer assembly), and the horizontal buffer assembly and the vertical buffer assembly are mounted on the same side of the arm claw 21 (e.g., the fixed base 22 is disposed on the lifting plate 221, and the horizontal buffer assembly and the vertical buffer assembly are respectively disposed in connection with the fixed base 22 and the lifting plate 221). For the specific structure of the horizontal buffer assembly and the vertical buffer assembly, please refer to the following embodiments, which are not described herein.

Further, in some embodiments, the lifting plate 221 is a plate-like structure. Here, the shape of the lifting plate 221 is not particularly limited, and for example, the lifting plate 221 may have an elliptical shape or another shape. The vertical buffer component performs vertical buffer up and down based on the lifting plate 221; the horizontal buffer component performs left and right horizontal buffering based on the fixed seat 22.

Further, as shown in fig. 17, in combination with the specific structure of the horizontal buffer component and the vertical buffer component in the present application, the fixing seat 22 is an L-shaped structure, and a long plate in the horizontal direction of the fixing seat 22 with the L-shaped structure is beneficial to installing the horizontal buffer component and buffering the horizontal buffer component in the horizontal direction; the vertically long plate of the L-shaped fixing seat 22 facilitates the vertical buffer assembly to buffer in the vertical direction. For a detailed description of the horizontal buffer assembly and the vertical buffer assembly, refer to the following embodiments.

In some embodiments, one end of the arm claw 21 is provided with a first hook 211, and a side near the other end of the arm claw is provided with a second hook 212.

As shown in fig. 17 and 18, the arm claw 21 has a long plate shape, and a rear wing 291 is provided at one end of the long plate-shaped arm claw 21 where the vertical buffer member is provided, and the vertical buffer member is connected and provided by the rear wing 291. A left wing 29 and a right wing 29 are disposed on a side close to the rear wing 291, the second hook 212 is disposed on the left wing 29 and the right wing 29, and particularly, referring to fig. 18, the first hook 211 is disposed on the other end of the arm claw 21.

Further, in the grasping process, referring to fig. 17, one end of the slide plate 4 is hooked by the first hook 211, and the other end of the slide plate 4 is pulled by the second hook 212, so that the slide plate 4 can be securely grasped by the arm claw 21.

In some embodiments, the arm claws 21 are provided with a plurality of through holes in a staggered manner. The weight of the arm claw 21 itself is reduced by providing a through hole in the arm claw 21. Further, the through holes may be arranged on the arm claw 21 in a staggered manner, or may be arranged on the arm claw 21 in other arrangement manners, and here, the specific arrangement manner of the through holes is not particularly limited.

In some embodiments, one end of the arm claw 21 is provided with one or more first hooks 211, and one side near the other end of the arm claw 21 is symmetrically provided with at least one pair of second hooks 212. In some embodiments, the second hooks 212 are provided in pairs on a side near one end of the arm claw 21, and the other end of the arm claw 21 is provided with one or more first hooks 211. As shown in fig. 16 to 18, a pair of first hooks 211 are symmetrically provided at one end of the arm claw 21, and a pair of second hooks 212 are symmetrically provided at the other end of the arm claw 21. Of course, in some embodiments, two pairs, three pairs of first hooks 211 may be symmetrically disposed at one end of the arm claw 21, and two pairs, three pairs of second hooks 212 may be symmetrically disposed at the other end of the arm claw 21. In other embodiments, the first hooks 211 are disposed at one end of the arm claw 21 in a non-paired manner, for example, one or more first hooks 211 are disposed at one end of the arm claw 21. In some embodiments, the one or more first hooks 211 are disposed at an end of the arm claw 21 at equal intervals. For example, one end of the arm claw 21 is provided with a first hook 211, and one side close to the other end of the arm claw 21 is symmetrically provided with a pair of second hooks 212, for example, the first hook 211 and the two second hooks 212 at the two ends of the arm claw 21 form an isosceles triangle structure, so as to ensure that the slide plate can be stably and firmly grabbed. Thereby grasping the slide plate more firmly by the arm claws 21.

In some embodiments, the first hook 211 is an L-shaped structure and the second hook 212 is a hook structure. For example, with the position of the first hook 211 as the front and the position of the second hook 212 as the rear, since the second hook 212 is closer to the force generating end of the entire apparatus, setting the second hook 212 in a hook-like configuration is advantageous for hooking the entire slide tray 4, and with the force generating end closer, the force is greater, which is more advantageous for lifting the slide tray 4; and the first hook 211 is far away from the force application end of the whole device, so that the first hook 211 is set to be in an L-shaped structure, and the slide plate 4 is dragged by the first hook 211.

In some embodiments, the horizontal buffer assembly includes second telescopic members 23 disposed at left and right sides of the fixed base 22, the arm claw 21 is disposed at an upper side of the fixed base 22, one end of the second telescopic member 23 is connected to one end of the arm claw 21, and the other end of the second telescopic member 23 is connected to one end of the fixed base 22. Specifically, referring to fig. 16 to 22, the second expansion member 23 is a member that can expand and contract back and forth, for example, the second expansion member 23 is an extension spring, or an elastic band. The second telescopic pieces 23 are arranged on the left side and the right side of the fixed seat 22, and the left side and the right side of the arm claw 21 can be buffered in a balanced mode.

In some embodiments, two horizontal sliding rails are disposed in parallel on two sides of the top of the fixed seat 22, a horizontal sliding block 24 is movably disposed on each horizontal sliding rail, the horizontal sliding block 24 is located between the arm claw 21 and the fixed seat 22, and the horizontal sliding block 24 is fixedly connected to the arm claw 21. As shown in fig. 19 to 22, the horizontal slider 24 and the arm claw 21 may be screwed or fixedly connected in other forms. In some embodiments, the horizontal slider 24 and the arm claw 21 may be a single-piece structure. In some embodiments, a sliding groove is disposed on a side of the horizontal sliding block 24 contacting the sliding rail, and the horizontal sliding block 24 is movably disposed on the sliding rail through the sliding groove. The horizontal slider 24 is linearly movable in the direction of the slide rail. The horizontal sliding block 24 is arranged between the arm claw 21 and the fixed seat 22, so that the arm claw 21 can move back and forth on a sliding rail, and the buffering of the arm claw 21 in the horizontal direction is realized, namely, a buffering platform is provided for the horizontal buffering of the arm claw 21.

In some embodiments, a second connecting plate 213 is disposed at one end of the arm claw 21, a first through hole is disposed on the second connecting plate 213, one end of the second telescopic member 23 is connected to the first through hole through a hook, a first connecting post 25 is disposed at one end of the fixing base 22, and the other end of the second telescopic member 23 is connected to the first connecting post 25 through a hook. As shown in fig. 12, 13 and 14, specifically, second connecting plates 213 are disposed on both sides of one end of the arm claw 21, a through hole is disposed on the second connecting plates 213, one end of the second extensible member 23 is provided with a hook, and one end of the second extensible member 23 is hooked in the through hole of the second connecting plates 213 by the hook to connect one end of the arm claw 21. The fixing seat 22 is provided with a first connecting column 25, the other end of the second telescopic piece 23 is also provided with a hook, and the other end of the second telescopic piece 23 hooks the first connecting column 25 through the hook to connect one end of the fixing seat 22. Of course, both ends of the second telescopic member 23 may be connected to the arm claw 21 and the fixing base 22 in other manners, for example, one end of the second telescopic member 23 is directly welded to the first connecting column 25 of the fixing base 22, and the other end of the second telescopic member 23 is hooked in the through hole at one end of the arm claw 21 by a hook. Thus, the horizontal buffer between the arm claw 21 and the fixed seat 22 is realized through the second telescopic piece 23.

In some embodiments, the horizontal buffering assembly further includes a limiting device disposed on the left and right sides of the fixing seat 22, the limiting device includes two limiting posts 27 disposed in front and back, and the second connecting plate 213 is disposed between the two limiting posts 27. Specifically, the horizontal buffering assembly can realize buffering in the horizontal direction through the second telescopic member 23, but since the specific buffering distance or buffering limit of the second telescopic member 23 is not well controlled, the present application proposes a limiting device corresponding to horizontal buffering, by which the distance of horizontal buffering is limited. Specifically, the limiting means includes two limiting columns 27 arranged in the front-rear direction, and as shown in fig. 14, the second connecting plate 213 at one end of the arm claw 21 is arranged between the two limiting columns 27, thereby limiting the buffering distance of the arm claw 21 in the entire horizontal buffering direction. In some embodiments, the distance between the two position-limiting columns 27 may be 3-5mm, and specifically, the distance between the two position-limiting columns 27 may also be specifically set according to actual needs, for example, 3-6mm or other distances.

In some embodiments, the vertical buffer assembly includes a third telescopic member 214 connecting the first connecting member 211 and the arm claw 21, one end of the third telescopic member 214 is connected to one end of the arm claw 21, and the other end of the third telescopic member 214 is connected to the lifting plate. In some embodiments, a vertical buffer assembly is used to buffer the buffering in the vertical direction of the gripper arms 21 when receiving a slide tray. As shown in fig. 12, the vertical buffer assembly includes a third telescopic member 214, one end of the third telescopic member 214 is connected to one end of the arm claw 21, and the other end of the third telescopic member 214 is connected to the first connecting member 221. In some embodiments, the third expansion element 214 is a retractable element such as an extension spring, a resilient band, or the like. One end of the third telescopic member 214 is connected to the arm claw 21, specifically, in some embodiments, a through hole is formed in the rear wing 291 of the arm claw 21, the third telescopic member 214 is an extension spring, and the third telescopic member 214 is hooked in the through hole of the rear wing 291 by a hook, so that the connection between the third telescopic member 214 and the arm claw 21 is achieved. The other end of the third telescopic member 214 is connected to the first link member 221 to achieve buffering of the arm claw 21 in the vertical direction.

In some embodiments, two vertical sliding rails are vertically disposed on one side of the fixing base 22, each vertical sliding rail is movably disposed with a vertical sliding block, the vertical sliding block is located between the lifting plate and the fixing base 22, and the vertical sliding block is fixedly connected to the fixing base 22. As shown in fig. 22, two vertical sliding rails 263 are vertically disposed on one side of the fixing base 22, the two vertical sliding rails 263 are disposed on two sides of one side of the fixing base 22, and the vertical sliding block 262 and the fixing base 22 may be in threaded connection or in fixed connection in other forms. In some embodiments, the vertical sliding block 262 and the fixed seat 22 may be a single-piece structure. In some embodiments, a sliding groove is disposed on a side of the vertical sliding block 262 contacting the vertical sliding rail 263, and the vertical sliding block 262 is movably disposed on the vertical sliding rail 263 through the sliding groove. The vertical slider 262 is linearly movable in the direction of the vertical slide rail 263. The vertical sliding block 262 is arranged between the lifting plate 221 and the fixed seat 22, so that the fixed seat 2 can move up and down on the lifting plate 221, and the buffering of the arm claw 21 in the vertical direction is realized, in other words, a buffering platform is provided for the vertical buffering of the arm claw 21.

In some embodiments, one end of the arm claw 21 is provided with a second through hole, the third telescopic member 214 is connected with one end of the arm claw 21 through a hook, the fixed seat 22 is provided with a second connecting column 26, the other end of the third telescopic member 214 is connected with the second connecting column 26, and the second connecting column 26 is movably arranged on the first connecting member 221 up and down. Referring to fig. 12, the fixing base 22 is provided with a second connecting column 26, the third telescopic member 214 is vertically arranged, one end of the third telescopic member 214 hooks the second connecting column 26 through a hook, and the second connecting column 26 is movably arranged on the first connecting member 221 up and down. The vertical buffer is realized by the extension of the third telescopic part 214, and the vertical movement of the arm claw 21 is driven by the up-and-down movement of the second connecting column 26 on the first connecting part 221, so that the vertical buffer of the arm claw 21 is realized.

In some embodiments, the vertical buffering assembly further comprises a vertical limiting device, the vertical limiting device comprises a second connecting column 26 horizontally arranged on the fixed seat, and a limiting hole 28 arranged on the lifting plate 211, and the second connecting column is inserted into the limiting hole 28 and can move up and down in the limiting hole 28. For example, referring to fig. 16, the lifting plate 211 is provided with a limiting hole 28, a third telescopic member 214 is vertically arranged, one end of the third telescopic member 214 is connected with one end of the arm claw 21 through a hook, and the other end of the third telescopic member 214 is connected with the lifting plate 211. The vertical limiting device comprises a second connecting column 26 horizontally arranged on the fixed seat and a limiting hole 28 arranged on the lifting plate 211. The second connecting column 26 can move up and down in the limiting hole 28.

In some embodiments, the length of the stop hole 28 is 3-5 mm. The buffer distance of the arm claw 21 in the vertical direction is limited by the vertical limiting device, so that the buffer distance in the vertical direction is kept in a certain range.

The process of the grasping unit 2 grasping the slide tray 4 is specifically described below:

for example, the cabinet 11 is disposed opposite the arm claw 21 (e.g., the front side of the cabinet 11 is opposite the arm claw 21) so that the arm claw 21 can be inserted into the cabinet 11 to grasp the slide tray 4. Referring to fig. 16, in fig. 16, one side of the arm claw 21 is shown as the front side of the arm claw 21, if the arm claw 21 is to grasp the slide tray 4 placed in the cabinet 11, the lifting device moves the arm claw 21 to the position of the layer (e.g., the fifth layer) of the slide tray 4, for example, the system (e.g., the control module) is preset with the height of the fifth layer, and the control module controls the second lifting assembly to lift to the height of the layer. The cabinet 11 is moved in the direction of the arm claw 21 so that the arm claw 21 is inserted into a position slightly above the slide tray 4 to be gripped (for example, a position between the fifth layer and the sixth layer) in the cabinet 11. And the slide tray 4 is moved to the front side of the first hook 211 and stopped. Then, the arm claw 21 is lowered by a predetermined distance (in this case, if the distance by which the arm claw 21 is lowered is excessively large, the arm claw 21 collides with the slide glass tray 4 in the vertical direction). Then, the cabinet 11 is moved a predetermined distance in the direction of the arm claw 11 (in this case, if the movement is too large, the arm claw 21 collides with the slide plate 4 in the horizontal direction), and the first hook 211 is made to just fall into the hook groove of the slide plate 4. When the first hook 211 is inserted into the hook groove of the slide plate 4, the arm claw 21 moves upward to pick up the slide plate 4 and completely insert the first hook 211 into the hook groove, thereby completing the grasping of the slide plate 4 by the arm claw 21.

To better illustrate how the present application provides cushioning in the horizontal and vertical directions to avoid rigid collisions between the arm claws 21 and the slide tray 4, the cushioning process in the horizontal and vertical directions will be described below.

The buffering process in the vertical direction of the application comprises the following steps:

referring to the above-mentioned operation, the vertical collision is generated both in "the arm claw 21 descends by a certain distance (in this case, if the distance of descending of the arm claw 21 is too large, the arm claw 21 collides with the slide glass tray 4 in the vertical direction)" and "the arm claw 21 moves upward to catch the slide glass tray 4 and insert the first hook 211 completely into the hook groove", and in this case, a vertical buffering force is given to the arm claw 21 by the vertical buffering member, thereby preventing the rigid collision between the arm claw 21 and the slide glass tray 4 in the vertical direction. For example, if the arm claw 21 moves downward by 30 mm, the slide tray 4 just contacts the arm claw 21, but if the arm claw 21 moves downward by more than 1 mm (for example, if the arm claw 21 moves downward by 31 mm), the slide tray 4 collides with the arm claw 21 in the horizontal direction, and at this time, the third telescopic member 214 is compressed, and the second connecting column 26 can move up and down in the stopper hole 28, so that it can escape by 1 mm in the vertical direction. It should be understood by those skilled in the art that any of the above distance values are distances, and other specific values that may be present in the future are also within the scope of the present application as applicable to the present application.

The buffering process in the horizontal direction of the application comprises the following steps:

referring to the above-mentioned operation, in the case where the cabinet 11 moves a predetermined distance in the direction of the arm claw 21 (in this case, if the movement is too large, the arm claw 21 collides with the slide glass tray 4 in the horizontal direction), "when the cabinet 11 moves in the direction of the arm claw 21, the slide glass tray collides with the arm claw in the horizontal direction, and the horizontal buffer member gives a buffer force in the horizontal direction to the arm claw 21, thereby preventing a rigid collision between the arm claw 21 and the slide glass tray 4 in the horizontal direction. For example, if the cabinet 11 moves 50 mm in the direction of the arm claw 21, the slide tray 4 just contacts the front end of the first hook 211, but if the cabinet 11 moves 1 mm more in the direction of the arm claw 21 (for example, the cabinet 11 moves 51 mm in the direction of the arm claw 21), the slide tray 4 collides with the arm claw 21 in the horizontal direction, at this time, the second expansion piece 23 is compressed, and the second connecting plate 213 can move between the two limit posts 27, so that it can escape from 1 mm in the horizontal direction, so as to prevent the arm claw 21 from rigidly colliding with the slide tray 4 in the horizontal direction.

In some embodiments, the receiving and placing unit further comprises a pushing device arranged at one corner of the tray 30; the pushing device comprises: a pushing groove 33; the pushing component is arranged in the pushing groove 33 in a reciprocating manner, and the shape of the pushing groove 33 is matched with that of the pushing component; at one end of the pusher assembly is a top piece 34. In some embodiments, as shown in fig. 23-26, the entire holddown device is positioned at a corner (e.g., upper left, upper right, lower left, or lower right) of the tray 30. Of course, those skilled in the art will appreciate that in some embodiments, the pushing device described herein may also be disposed at an edge of the tray 30, for example, at an upper edge, a lower edge, a left edge, or a right edge of the tray 30. For example, the pushing groove 33 is provided on the left side of the tray 30, the pushing member is provided in the pushing groove 33, and the pushing member 34 is provided at one end of the pushing member. In some embodiments, the shape of the pushing groove 33 matches the shape of the pushing assembly, and the size of the pushing groove 33 is slightly larger than the size of the pushing assembly, so that the pushing assembly can do the pushing operation by moving back and forth in the pushing groove 33. For example, the shape of the pushing groove 33 is rectangular, and the shape of the pushing assembly is also rectangular matching with the pushing groove 33. Here, the shape of the push groove 33 and the push member is not particularly limited. In some embodiments, as shown in fig. 23, an end of the pushing assembly is provided with a top member 34, and the pushing assembly is pushed and held by the top member 34. In some embodiments, the tray 30 includes a placement slot for placing items (e.g., a slide tray or other items). In some embodiments, in order to better access the object placed in the placing groove, a certain gap is inevitably required to be left between the object and the placing groove, and the pushing device provided by the embodiment can push the object placed in the device main body, so that the object cannot be firmly placed in the device main body due to the existence of the gap.

In some embodiments, the pushing assembly includes a rigid pusher 35 and a resilient pusher 36 connected to the rigid pusher. With continued reference to FIG. 23, in some embodiments, the pushing assembly includes a rigid pusher 35 and an elastic pusher 36, with the elastic pusher 36 providing securement of the rigid pusher 35 and tension when pushing back and forth. In some embodiments, one end of the elastic pushing member 36 is connected to the tray 30, the other end of the elastic pushing member 36 is connected to the rigid pushing member 35, and the rigid pushing member 35 is fixed by the elastic pushing member 36 when the pushing device is in a rest state; when the pushing device is in the working state, the rigid pushing piece 35 pushes the objects placed in the tray 30 by stretching the elastic pushing piece 36. In some embodiments, items placed within the tray 30 are pushed tight by the rigid pusher 35. In some embodiments, the resilient pusher 36 includes, but is not limited to, a retractable, elongated resilient member (e.g., a tension spring), and the rigid pusher 35 includes, but is not limited to, a rigid pusher made of a rigid material. When pushed, the rigid pushing piece 35 contacts the object placed in the tray 30, so as to achieve the purpose of pushing and fixing the object in the tray 30.

In some embodiments, the resilient pusher comprises an extension spring and the rigid pusher comprises a U-shaped rigid member connected to the resilient pusher by a third link 37. The extension spring has a certain supporting force when in an idle state, so that the rigid pushing piece 35 can be fixed; and can be elongated and shortened to facilitate the pushing of the rigid pusher member 35. Thus, in some embodiments, the resilient pusher 36 comprises a tension spring. In some embodiments, with continued reference to fig. 23-26, the rigid pusher 35 comprises a U-shaped rigid member, and the rigid pusher 35 is connected to the resilient pusher 36 by a third link 37. In some embodiments, the U-shaped rigid part can increase the contact area of the two ends, so that the pushing work is better realized. For example, when pushing, one end of the rigid pushing member 35 will contact with the top member 34, and the other end of the rigid pushing member 35 will contact with the object placed in the tray 30, so when the rigid pushing member 35 is a U-shaped rigid member, the contact area between the rigid pushing member 35 and the top member 34 and the object can be increased, respectively, thereby greatly improving the pushing effect.

In some embodiments, the third link 37 is provided with a connection hole 371, and the third link 37 is connected to one end of the elastic pushing member through the connection hole 371, and the other end of the elastic pushing member is connected to the tray. In some embodiments, with continued reference to fig. 23, the third connecting member 37 includes a connecting hole 371, the elastic pushing member 36 includes an extension spring, both ends of the extension spring are provided with hooks, one end of the extension spring is directly hooked in the connecting hole 371 through the hook, one end of the pushing groove 33 is provided with a fixing post (e.g., a screw or a stud, etc.), and the other end of the extension spring is directly hooked in the end of the pushing groove 33 provided with the fixing post. The fixing and stretching of the rigid thrust piece 35 is achieved by said elastic thrust piece 36. With continued reference to fig. 23, the third connecting member 37 has a gap left on the left and right sides in the pushing groove 33, and the gap is used for realizing the left and right movement of the third connecting member 37 during the pushing fixation. For example, before placing a slide tray in the tray 30, the third link 37 is positioned at the middle or lower left of the gap by the elastic pushing member 36. When it is desired to open the pusher, for example, by pulling outward on rigid pusher 35 by top plate 34, the third link 37 is pulled to a position above and to the right of the void, at which time the interior of tray 30 is opened to allow sufficient room for the slide tray. When the slide tray is placed inside the tray 30, the third link 37 will shift to the lower left during the pushing process of the rigid pusher 35 against the slide tray during the pushing process. To some extent, the clearance between the left and right sides of the third link 37 defines the moving distance of the rigid pushing member 35 to prevent the rigid pushing member 35 from being moved too much.

In some embodiments, the rigid push member is provided with rotating members 351 at both ends. In some embodiments, friction between the rigid pusher member 35 and the top member 34 and the items placed in the tray 30 is prevented by rotation of the rotating member 351 itself when pushing. In some embodiments, the rotating member 351 includes, but is not limited to, a bearing.

In some embodiments, the top member 34 includes a top plate 341 and a fixing member 342, and the top plate is disposed parallel to one end of the pushing assembly. With continued reference to FIG. 23, in some embodiments, the top plate 341 is disposed parallel to one end of the pushing assembly in order to ensure good pushing contact between the top member 34 and the pushing assembly during pushing. In some embodiments, the pushing assembly comprises an elastic pushing member 36 and a rigid pushing member 35, the rigid pushing member 35 comprises a U-shaped rigid member, and the top plate 341 is parallel to one end of the U-shaped rigid member.

In some embodiments, the fastener 342 has an L-shaped configuration. In some embodiments, the fastener 342 is fixed to a sidewall.

In some embodiments, a cover plate 38 is further included, the pushing assembly is disposed between the cover plate 38 and the tray 30, and the cover plate 38 is threadedly coupled to the tray 30. In some embodiments, the pushing device further includes a cover plate 38, and the components such as the pushing assembly disposed inside are protected by the cover plate 38. For example, a pushing groove 33 is provided at one end of the tray 30, the pushing member is provided in the pushing groove 33, the cover plate 38 is provided above the pushing groove 33, and the pushing member is covered by the cover plate 38, thereby protecting the components. In some embodiments, the cover 38 is threadably coupled to the tray 30.

For a clearer explanation of the present application, the following briefly explains the method of using the automatic slide tray positioning and pushing apparatus provided in the present application:

for example, reference may be continued with any of fig. 23 through 26. First, before placing the slide tray in the receiving and placing unit, the tray 30 needs to be opened to leave enough space for placing the slide tray 4. Specifically, the rigid push member 35 is moved to the outside of the top plate 341, for example, the rigid push member 35 is moved to the position shown in fig. 23. By moving the slide tray pushing device to the right, the top plate 31 has an outward pulling force on the rigid pushing member 7, and the rigid pushing member 7 is moved outward to open the inside of the device body 1, so that the inside of the device body 1 is left with a sufficient space for placing the slide tray.

Then, after placing the slide tray inside the apparatus body 1, the rail unit is moved to the left side so that the top plate 31 releases the rigid pushing member 7. At this time, the rigid push member 7 moves toward the inside of the apparatus main body 1 by the pulling force of the elastic push member 5, thereby pushing the slide tray fixedly placed in the apparatus main body 1.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms "first," "second," and the like are used to denote names, but not to denote any particular order.

Claims

1. The equipment for automatically taking and placing the glass slide plate is characterized by comprising a detection unit, a grabbing unit, a receiving and placing unit, a control driving unit, a first rail and a second rail;

2. The apparatus for automated handling of slide trays of claim 1 wherein the control drive unit comprises: the device comprises a control module, a first driving assembly and a second driving assembly;

the first driving assembly is connected with the cabinet body and used for driving the cabinet body to move along the first track;

the second driving assembly is connected with the grabbing unit and used for driving the grabbing unit to move along the second track;

the control module is electrically connected with the first driving assembly and the second driving assembly respectively.

3. The apparatus of claim 1, further comprising a third track, wherein the receiving and placing unit is disposed on the third track, and the control driving unit is connected to the receiving and placing unit for controlling and driving the receiving and placing unit to move on the third track.

4. The apparatus of claim 3, wherein the control drive unit further includes a third drive assembly, the third drive assembly is coupled to the pick-and-place unit for driving the pick-and-place unit to move on the third track, and the control module is electrically coupled to the third drive assembly.

5. The apparatus for automated handling of slide trays of claim 1 wherein the detection unit further comprises a first lift assembly;

the first detection assembly comprises a first detection piece and a first fixing piece, and the first detection piece is arranged on the rear side plate of the cabinet body in a manner of moving back and forth through the first fixing piece;

first lifting unit install in the posterior lateral plate, first lifting unit includes conveyer and second mounting, be provided with on the second mounting with first detection piece assorted detection device, first detection device is used for surveying the existence of first detection piece, conveyer is used for driving the second mounting reciprocates.

6. The apparatus of claim 5, wherein the first securing member includes a first telescoping member and a first connecting plate, one end of the first telescoping member being connected to one end of the first probe member by a second connecting member, the other end of the first telescoping member being connected to one end of the first connecting plate.

7. The apparatus of claim 6, wherein the first connecting plate is an L-shaped connecting plate, a long side plate of the L-shaped connecting plate is provided with a limiting hole, the second connecting member passes through the limiting hole, one end of the second connecting member is connected to the first telescopic member, and the other end of the second connecting member is arranged at one end of the first detecting member.

8. The apparatus of claim 5, wherein the first detection device includes a photoelectric stopper disposed on one side of the second fixture and a circuit board electrically connected to the photoelectric stopper disposed on the other side of the second fixture, the circuit board being electrically connected to the photoelectric stopper to detect the presence of the first detection member via the photoelectric stopper.

9. The apparatus for automated handling of slide trays of claim 1 wherein the gripper unit includes a second lift assembly and an arm gripper;

the second lifting assembly comprises a vertical guide rail, a telescopic rod and a motor;

one end of the arm claw is arranged on the vertical guide rail in a way of moving up and down through a lifting plate;

one end of the telescopic rod is connected with the lifting plate, and the other end of the telescopic rod is connected with the motor;

the motor is used for driving the telescopic rod to extend and retract, so that the arm claw is driven to move up and down.

10. The apparatus for automated handling of slide trays of claim 9 wherein the gripper unit further comprises a holder;

a buffer component is arranged on one side of the arm claw;

the fixed seat is arranged on one side of the lifting plate;

the buffer assembly comprises a horizontal buffer assembly and a vertical buffer assembly, the arm claw is arranged on the fixed seat through the horizontal buffer assembly, the arm claw is arranged on the lifting plate through the vertical buffer assembly, and the horizontal buffer assembly and the vertical buffer assembly are arranged on the same side of the arm claw.

11. The apparatus of claim 10, wherein the horizontal buffer assembly includes second telescoping members disposed on the left and right sides of the holder, the arm claw is disposed on the upper side of the holder, one end of the second telescoping member is connected to one end of the arm claw, and the other end of the second telescoping member is connected to one end of the holder.

12. The apparatus of claim 11, wherein two horizontal slide rails are disposed in parallel on either side of the top of the mounting block, each horizontal slide rail having a horizontal slide block movably disposed thereon, the horizontal slide block being disposed between the arm claw and the mounting block, the horizontal slide block being fixedly connected to the arm claw.

13. The apparatus of claim 12, wherein a second connecting plate is disposed at one end of the arm claw, a first through hole is disposed on the second connecting plate, one end of the second extensible member is connected to the first through hole by a hook, a first connecting post is disposed at one end of the fixing base, and the other end of the second extensible member is connected to the first connecting post by a hook.

14. The apparatus of claim 13, wherein the horizontal buffer assembly further comprises stops disposed on the left and right sides of the holder, the stops including two stops disposed in front and back, the second connecting plate disposed between the two stops.

15. The apparatus of claim 10, wherein the vertical buffer assembly includes a third telescoping member connecting the first link to the arm gripper, one end of the third telescoping member being connected to one end of the arm gripper, the other end of the third telescoping member being connected to the lift plate.

16. The apparatus of claim 15, wherein two vertical slides are vertically disposed on one side of the holder, each vertical slide having a vertical slide movably disposed thereon, the vertical slide being disposed between the lifter plate and the holder, the vertical slide being fixedly attached to the holder.

17. The apparatus of any one of claims 10 to 16, wherein the vertical buffer assembly further comprises a vertical stop, the vertical stop comprising a second connecting post horizontally disposed on the mounting base and a stop hole disposed on the lift plate, the second connecting post being inserted into the stop hole and movable up and down within the stop hole.

18. The apparatus for automated handling of slide trays of claim 1 wherein the pick and place unit further comprises a pusher located at a corner of the tray;

the pushing device comprises:

tightly pushing the groove;

the pushing component is arranged in the pushing groove in a reciprocating manner, and the shape of the pushing groove is matched with that of the pushing component;

and one end of the pushing component is provided with a jacking piece.

19. The apparatus for automated slide handling according to claim 18 wherein the pusher assembly includes a rigid pusher and an elastic pusher connected to the rigid pusher.

20. The apparatus of claim 19, wherein the resilient pusher includes a tension spring and the rigid pusher includes a U-shaped rigid member, the rigid pusher being connected to the resilient pusher by a third connection.