CN215701829U - Accurate manipulator mechanism of stem cell check out test set - Google Patents
Accurate manipulator mechanism of stem cell check out test set Download PDFInfo
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- CN215701829U CN215701829U CN202121997591.6U CN202121997591U CN215701829U CN 215701829 U CN215701829 U CN 215701829U CN 202121997591 U CN202121997591 U CN 202121997591U CN 215701829 U CN215701829 U CN 215701829U
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Abstract
The utility model discloses an accurate mechanical arm mechanism of stem cell detection equipment, which comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm, a sixth mechanical arm and a clamp. Through set up first arm in the incubator, the second arm, the third arm, the fourth arm, fifth arm and sixth arm can realize pressing from both sides and get the arbitrary angular pendulum when getting blake bottle or receiving flask, wherein base and first arm can drive blake bottle or receiving flask and do 360 degrees circumferential motion, the second arm, third arm and fourth arm can drive blake bottle or receiving flask and do not make the removal of co-altitude, avoid irregular bottle appear pressing from both sides the circumstances of getting unstable or placing not in place, when the bottle needs the slope to rock, through the certain angle of slope with fourth arm and sixth arm, then rotate fifth arm, then can rock the bottle, the automation mechanized operation of bottle has been realized.
Description
Technical Field
The utility model relates to the field of biological monitoring equipment, in particular to an accurate mechanical arm mechanism of stem cell detection equipment.
Background
In brief, stem cells are a class of cells that have the ability to self-renew, capable of producing at least one type of highly differentiated progeny. The definition of stem cells has been revised and defined from different levels over the years.
However, in the conventional stem cell detection, the culture flask is manually taken out from the corresponding thermostatic equipment from the incubator, and then the culture flask is moved to a testing device to detect the activity of the stem cells, the cell culture condition and other data, so as to obtain the relevant data. However, in some experimental sites, the change of stem cells in the culture flask (for example, the stem cells die, decrease activity, and increase activity due to the change of temperature) may be caused by the change of temperature and the temperature of human hands, which affects the detection data of stem cells, is not favorable for obtaining a relatively comprehensive data result, and also has the problem of contamination of experimental products due to the need of manual addition when insufficient culture solution is detected. However, due to the irregular shape of the culture bottle or the collection bottle, the existing manipulator generally only can do a single action, and cannot finish the actions of tilting, pouring and shaking, thereby influencing the automatic monitoring of the culture bottle.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide an accurate manipulator mechanism of stem cell detection equipment, which aims to realize multi-angle movement of a culture bottle or a collection bottle by arranging a manipulator, complete actions of shaking, pouring and the like and realize automatic monitoring of the culture bottle.
In order to achieve the above object, the present invention provides an accurate manipulator mechanism of stem cell detection equipment, comprising a base, a first manipulator pivotally mounted on the base, a second manipulator pivotally mounted on the first manipulator, a third manipulator pivotally mounted on the second manipulator, a fourth manipulator pivotally mounted on the third manipulator, a fifth manipulator pivotally mounted on the fourth manipulator, and a sixth manipulator pivotally mounted on the fifth manipulator, wherein the sixth manipulator is provided with a clamp;
the first mechanical arm can horizontally rotate by taking the upper wall of the base as an axis,
the second mechanical arm can swing back and forth by taking the rear end of the first mechanical arm as an axis point,
the third mechanical arm can swing back and forth by taking the rear end of the second mechanical arm as an axis point,
the fourth mechanical arm can swing back and forth by taking the rear end of the third mechanical arm as an axis point,
the fifth mechanical arm can horizontally rotate by taking the rear end of the fourth mechanical arm as an axis point,
the sixth mechanical arm can swing back and forth by taking the rear end of the fifth mechanical arm as an axis point.
Preferably, the base is provided with a first driving device for driving the first mechanical arm, the first mechanical arm is provided with a second driving device for driving the second mechanical arm, the second mechanical arm is provided with a third driving device for driving the third mechanical arm, the third mechanical arm is provided with a fourth driving device for driving the fourth mechanical arm, the fourth mechanical arm is provided with a fifth driving device for driving the fifth mechanical arm, and the fifth mechanical arm is provided with a sixth driving device for driving the sixth mechanical arm.
Preferably, the first driving device, the second driving device, the third driving device, the fourth driving device, the fifth driving device and the sixth driving device are all rotating motors and harmonic reducers, and an intermediate piece is arranged between each rotating motor and the corresponding mechanical arm.
Preferably, the base and the first mechanical arm are respectively provided with a first positioning portion and a second positioning portion, and the first positioning portion and the second positioning portion can enable the first mechanical arm to correspond to a preset position.
Preferably, the first positioning portion and the second positioning portion are position sensors.
Preferably, the second mechanical arm is in an I shape.
Preferably, the clamp is an arc-shaped suction cup.
Preferably, the clamp is a clamping portion arranged oppositely, and the sixth mechanical arm is provided with a servo motor for driving the clamping portion to move relatively.
Preferably, the device further comprises a control device, wherein the control device is electrically connected with a servo motor, a rotating motor, a harmonic reducer and a position sensor and can control the device to be turned on and off.
According to the technical scheme, the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm and the sixth mechanical arm are arranged in the incubator, so that the incubator can swing at any angle when the incubator clamps a culture bottle or a collection bottle, the base and the first mechanical arm can drive the culture bottle or the collection bottle to circumferentially move for 360 degrees, the second mechanical arm, the third mechanical arm and the fourth mechanical arm can drive the culture bottle or the collection bottle to move at different heights, the situation that the irregular bottle body is not clamped stably or placed in place is avoided, when the bottle body needs to be tilted and shaken, the bottle body can be shaken by tilting the fourth mechanical arm and the sixth mechanical arm for a certain angle and then rotating the fifth mechanical arm, and the automatic operation of the bottle body is achieved.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of an automatic inspection apparatus;
fig. 3 is a schematic view of the structure of the clamp.
In the figure, 10 is a base, 11 is a first robot arm, 12 is a second robot arm, 13 is a third robot arm, 14 is a fourth robot arm, 15 is a fifth robot arm, 16 is a sixth robot arm, 2 is a jig, 31 is a first positioning portion, 32 is a second positioning portion, 4 is an arc-shaped suction cup, 5 is a clamping portion, and 100 is a collection bottle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that if directional indications (such as … …, which is up, down, left, right, front, back, top, bottom, inner, outer, vertical, transverse, longitudinal, counterclockwise, clockwise, circumferential, radial, axial) are provided in the embodiments of the present invention, the directional indications are only used for explaining the relative position relationship, motion condition, etc. of the components at a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first" or "second", etc. in the embodiments of the present invention, the description of "first" or "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 3, an accurate manipulator mechanism of a stem cell detection device includes a base 10, a first manipulator 11 pivotally mounted on the base 10, a second manipulator 12 pivotally mounted on the first manipulator 11, a third manipulator 13 pivotally mounted on the second manipulator 12, a fourth manipulator 14 pivotally mounted on the third manipulator 13, a fifth manipulator 15 pivotally mounted on the fourth manipulator 14, and a sixth manipulator 16 pivotally mounted on the fifth manipulator 15, wherein the sixth manipulator 16 is mounted with a clamp 2;
the first mechanical arm 11 can rotate horizontally by taking the upper wall of the base 10 as an axis,
the second arm 12 can swing back and forth with the rear end of the first arm 11 as an axis point,
the third arm 13 can swing back and forth with the rear end of the second arm 12 as an axis point,
the fourth mechanical arm 14 can swing back and forth by taking the rear end of the third mechanical arm 13 as an axis point,
the fifth robot arm 15 can horizontally rotate with the rear end of the fourth robot arm 14 as an axis point,
the sixth robot arm 16 can swing back and forth with the rear end of the fifth robot arm 15 as an axis point.
The first mechanical arm 11, the second mechanical arm 12, the third mechanical arm 13, the fourth mechanical arm 14, the fifth mechanical arm 15 and the sixth mechanical arm 16 are arranged in the incubator, so that the incubator can swing at any angle when the incubator clamps a culture bottle or a collection bottle 100, the base 10 and the first mechanical arm 11 can drive the culture bottle or the collection bottle 100 to move circumferentially at 360 degrees, the second mechanical arm 12, the third mechanical arm 13 and the fourth mechanical arm 14 can drive the culture bottle or the collection bottle 100 to move at different heights, the situation that irregular bottles are unstable to clamp or not in place is avoided, when the bottles need to be tilted and shaken, the fourth mechanical arm 14 and the sixth mechanical arm 16 are tilted by a certain angle, then the fifth mechanical arm 15 is rotated, the bottles can be shaken, and the automatic operation of the bottles is realized.
In the embodiment of the present invention, the base 10 is provided with a first driving device for driving the first robot arm 11, the first robot arm 11 is provided with a second driving device for driving the second robot arm 12, the second robot arm 12 is provided with a third driving device for driving the third robot arm 13, the third robot arm 13 is provided with a fourth driving device for driving the fourth robot arm 14, the fourth robot arm 14 is provided with a fifth driving device for driving the fifth robot arm 15, and the fifth robot arm 15 is provided with a sixth driving device for driving the sixth robot arm 16.
In the embodiment of the utility model, the first driving device, the second driving device, the third driving device, the fourth driving device, the fifth driving device and the sixth driving device are all rotating motors and harmonic reducers, an intermediate part is arranged between each rotating motor and the corresponding mechanical arm, wherein the intermediate part can be a gear or a matched rotating shaft, and the harmonic reducers have bearing capacity and high harmonic transmission, the meshing of teeth and teeth is surface contact, and the number of teeth (overlapping coefficient) of the meshing is more at the same time, so that the unit area load is small, the bearing capacity is higher than that of other transmission forms, the volume is small, the weight is light, and the device is suitable for places with high precision requirements of experimental culture.
In the embodiment of the present invention, the base 10 and the first robot arm 11 are respectively provided with the first positioning portion 31 and the second positioning portion 32, the first positioning portion 31 and the second positioning portion 32 can correspond the first robot arm 11 to a predetermined position, when the robot arm is used for a period of time or under the condition of manual operation, the robot arm may have a certain size deviation, and the position sensor can reset the robot arm to "0", that is, reset, so as to avoid the problem that the first robot arm cannot rotate 360 degrees due to the existing position clamping position arranged between the base and the first robot arm, and reduce the wear of the motor or the speed reducer.
In the embodiment of the present invention, the first positioning portion 31 and the second positioning portion 32 are position sensors.
In the embodiment of the present invention, the second mechanical arm 12 is in an "i" shape, so that the multi-angle operation can be realized in a matching manner, and the mechanical arms do not interfere with each other.
In the embodiment of the present invention, the clamp 2 is an arc-shaped suction cup 4, so as to clamp and fix the culture bottle or the collection bottle 100.
In the embodiment of the present invention, the clamp 2 is a clamping portion 5 disposed oppositely, and the sixth mechanical arm 16 is provided with a servo motor for driving the clamping portion 5 to move relatively, so as to clamp and fix the culture bottle or collection bottle 100.
In the embodiment of the utility model, the device also comprises a control device, the control device is electrically connected with a servo motor, a rotating motor, a harmonic speed reducer and a position sensor and can control the opening and closing of the device, the clamp 2 can be accurately controlled through the control device, so that the culture bottle or the collection bottle 100 can be inclined at multiple angles, and the liquid can be prevented from being splashed or poured.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the technical solutions of the present invention, which are made by using the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. An accurate mechanical arm mechanism of stem cell detection equipment is characterized by comprising a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, wherein the first mechanical arm is pivotally mounted on the base;
the first mechanical arm can horizontally rotate by taking the upper wall of the base as an axis,
the second mechanical arm can swing back and forth by taking the rear end of the first mechanical arm as an axis point,
the third mechanical arm can swing back and forth by taking the rear end of the second mechanical arm as an axis point,
the fourth mechanical arm can swing back and forth by taking the rear end of the third mechanical arm as an axis point,
the fifth mechanical arm can horizontally rotate by taking the rear end of the fourth mechanical arm as an axis point,
the sixth mechanical arm can swing back and forth by taking the rear end of the fifth mechanical arm as an axis point.
2. The precision robot mechanism of the stem cell assay apparatus of claim 1, wherein: the base is provided with a first driving device for driving a first mechanical arm, the first mechanical arm is provided with a second driving device for driving a second mechanical arm, the second mechanical arm is provided with a third driving device for driving a third mechanical arm, the third mechanical arm is provided with a fourth driving device for driving a fourth mechanical arm, the fourth mechanical arm is provided with a fifth driving device for driving a fifth mechanical arm, and the fifth mechanical arm is provided with a sixth driving device for driving a sixth mechanical arm.
3. The precision robot mechanism of the stem cell assay apparatus of claim 2, wherein: the first driving device, the second driving device, the third driving device, the fourth driving device, the fifth driving device and the sixth driving device are all rotating motors and harmonic reducers, and an intermediate piece is arranged between each rotating motor and the corresponding mechanical arm.
4. The precision robot mechanism of the stem cell assay apparatus of claim 3, wherein: the base and the first mechanical arm are respectively provided with a first positioning part and a second positioning part, and the first positioning part and the second positioning part can enable the first mechanical arm to correspond to a preset position.
5. The precision robot mechanism of the stem cell assay apparatus of claim 4, wherein: the first positioning part and the second positioning part are position sensors.
6. The precision robot mechanism of the stem cell assay apparatus of claim 1, wherein: the second mechanical arm is in an I shape.
7. The precision robot mechanism of the stem cell assay apparatus of claim 5, wherein: the clamp is an arc-shaped sucker.
8. The precision robot mechanism of the stem cell assay apparatus of claim 7, wherein: the clamp is a clamping part which is arranged oppositely, and the sixth mechanical arm is provided with a servo motor which drives the clamping part to move relatively.
9. The precision robot mechanism of the stem cell assay apparatus of claim 8, wherein: the device also comprises a control device, wherein the control device is electrically connected with a servo motor, a rotating motor, a harmonic speed reducer and a position sensor and can control the device to be turned on or turned off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121997591.6U CN215701829U (en) | 2021-08-23 | 2021-08-23 | Accurate manipulator mechanism of stem cell check out test set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121997591.6U CN215701829U (en) | 2021-08-23 | 2021-08-23 | Accurate manipulator mechanism of stem cell check out test set |
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| Publication Number | Publication Date |
|---|---|
| CN215701829U true CN215701829U (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121997591.6U Active CN215701829U (en) | 2021-08-23 | 2021-08-23 | Accurate manipulator mechanism of stem cell check out test set |
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| CN (1) | CN215701829U (en) |
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2021
- 2021-08-23 CN CN202121997591.6U patent/CN215701829U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220616 Address after: 523808 Room 101, building 6, No. 1, Rd. 5 road, Songshanhu Park, Dongguan City, Guangdong Province Patentee after: Guangdong Bogong sanluwu Robot Technology Co.,Ltd. Address before: 523000 Room 101, building 6, No. 1, R & D fifth road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: GUANGDONG BOGONG 365 ROBOT INFORMATION TECHNOLOGY CO.,LTD. |
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| TR01 | Transfer of patent right | ||
| CP03 | Change of name, title or address |
Address after: Room 106 and 107, Building 5, No.1 R&D Fifth Road, Songshan Lake Park, Dongguan City, Guangdong Province, 523808 Patentee after: Guangdong Bogong Medical Technology Co.,Ltd. Address before: 523808 Room 101, building 6, No. 1, Rd. 5 road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: Guangdong Bogong sanluwu Robot Technology Co.,Ltd. |
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| CP03 | Change of name, title or address |