CN215942959U - Simulation hand for grabbing stem cell culture bottle body - Google Patents
Simulation hand for grabbing stem cell culture bottle body Download PDFInfo
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- CN215942959U CN215942959U CN202122590404.9U CN202122590404U CN215942959U CN 215942959 U CN215942959 U CN 215942959U CN 202122590404 U CN202122590404 U CN 202122590404U CN 215942959 U CN215942959 U CN 215942959U
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Abstract
The utility model discloses a simulation hand for grabbing a stem cell culture bottle body, which comprises a multi-axis mechanical arm and a mechanical arm arranged on the mechanical arm, wherein the multi-axis mechanical arm is arranged on a movable frame, the shape of the mechanical arm is matched with that of the hand of a human body, the mechanical arm can grab a culture bottle or open a culture box, and the multi-axis mechanical arm can drive the mechanical arm to move in multiple dimensions (such as up-down, left-right, front-back). Cooperate through multiaxis arm and manipulator, the flexibility that can simulate human arm through the multidimensional movement of multiaxis arm, still multi-angle removes, and the design through simulation hand can be suitable for the cultivation of different diameters simultaneously, and comparatively stable when snatching the blake bottle, and the manipulator can adjust the temperature according to actual need to reduce the influence of temperature to the blake bottle, can also be certainly through the manual work wearing gloves, control arm remote control.
Description
Technical Field
The utility model relates to the technical field of stem cell culture equipment, in particular to a simulation hand for grabbing a stem cell culture bottle body.
Background
Stem cells are a type of pluripotent cells with the ability to self-replicate, and under certain conditions, can differentiate into a variety of functional cells. At present, the stem cells are cultured and produced in a manual operation mode, and the processes of material transmission, cell culture, centrifugal treatment after culture, subpackage and the like are all manually operated by operators, so that the efficiency is low, the culture environment is easily polluted, and the success rate of cell production is low. Meanwhile, some existing manipulators (clamping mechanisms) still have use blind areas when being used, so that the reasonable specification of some steps is influenced, such as an inclination angle or a shaking angle.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a simulation hand for grabbing stem cell culture bottle bodies, aims to realize standard grabbing of culture bottles through the simulation hand, is convenient to demonstrate, and can be suitable for culture bottles with different diameters.
In order to achieve the purpose, the utility model provides a simulation hand for grabbing a stem cell culture bottle body, which comprises a multi-axis mechanical arm and a mechanical arm arranged on the mechanical arm, wherein the mechanical arm is matched with the shape of a hand of a human body, the mechanical arm can grab a culture bottle or open a culture box, and the multi-axis mechanical arm can drive the mechanical arm to move in multiple dimensions.
Preferably, the multi-axis mechanical arm comprises a positioning seat arranged on the moving frame, a first mechanical arm horizontally pivoted and mounted on the positioning seat, a second mechanical arm swinging and mounted on the first mechanical arm, a third mechanical arm swinging and mounted on the second mechanical arm, a fourth mechanical arm swinging and mounted on the third mechanical arm, a fifth mechanical arm horizontally pivoted and mounted on the fourth mechanical arm, a sixth mechanical arm swinging and mounted on the fifth mechanical arm, and a mechanical arm horizontally pivoted and mounted on the sixth mechanical arm.
Preferably, the manipulator includes palm portion and the finger portion of pivot installation in palm portion, finger portion is equipped with a plurality ofly to can draw close according to predetermined direction towards palm portion.
Preferably, the finger parts comprise a thumb part and branch finger parts arranged in parallel, and the branch finger parts are provided with at least four.
Preferably, the thumb part comprises a first joint pivotally mounted on the palm part, a second joint pivotally mounted on the first joint and a third joint pivotally mounted on the second joint, and the thumb part is obliquely arranged on the finger part.
Preferably, the branch finger part comprises a fifth joint which is pivotally mounted on a fourth joint and pivotally mounted on the fourth joint, and the fourth joint is arranged in an arc shape.
Preferably, the end surfaces of the palm part and the finger part, which are contacted with the culture bottle, are provided with elastic pads.
Preferably, the multi-axis mechanical arm is provided with two groups, and the two palm parts are arranged oppositely.
Preferably, the palm portion, the first joint, the second joint, the third joint, the fourth joint and the fifth joint are respectively provided with a multi-axis position sensor and a pressure sensor.
According to the technical scheme, the multi-axis mechanical arm is matched with the mechanical arm, the flexibility of the human body arm can be simulated through multi-dimensional motion of the multi-axis mechanical arm, the multi-axis movement is still achieved, meanwhile, the multi-axis mechanical arm can be suitable for culture with different diameters through the design of a simulation hand, the multi-axis mechanical arm is stable when a culture bottle is grabbed, and the temperature of the mechanical arm can be adjusted according to actual needs, so that the influence of the temperature on the culture bottle is reduced; of course, the mechanical arm can be controlled remotely by wearing the glove manually.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a perspective view of the robot;
in the figure, 1 is a multi-axis robot, 10 is a positioning stand, 11 is a first robot, 12 is a second robot, 13 is a third robot, 14 is a fourth robot, 11 is a fifth robot, 16 is a sixth robot, 2 is a robot, 21 is a palm portion, 22 is a finger portion, 221 is a thumb portion, 222 is a finger branch, 31 is a first joint, 32 is a second joint, 33 is a third joint, 34 is a fourth joint, and 35 is a fifth joint.
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 2, a simulated hand for grasping a stem cell culture bottle body comprises a multi-axis mechanical arm 1 and a mechanical arm 2 arranged on the mechanical arm, wherein the multi-axis mechanical arm 1 is arranged on a movable frame, the mechanical arm 2 is adapted to the shape of a hand of a human body, the mechanical arm 2 can grasp a culture bottle or open an incubator, and the multi-axis mechanical arm 1 can drive the mechanical arm 2 to move in multiple dimensions (such as up and down, left and right, front and back).
Cooperate through multiaxis arm 1 and manipulator 2, the flexibility that can the human arm of emulation through the multidimensional movement of multiaxis arm 1, still multi-angle removal can be suitable for the cultivation of different diameters simultaneously through the design of emulation hand, and comparatively stable when snatching the blake bottle, and manipulator 2 can be according to actual need adjustment temperature to reduce the influence of temperature to the blake bottle.
In the embodiment of the present invention, the multi-axis robot 1 includes a positioning base 10 provided on a movable frame, a first robot arm 11 horizontally pivotally mounted on the positioning base 10, a second robot arm 12 pivotally mounted on the first robot arm 11, a third robot arm 13 pivotally mounted on the second robot arm 12, a fourth robot arm 14 pivotally mounted on the third robot arm 13, a fifth robot arm 11 horizontally pivotally mounted on the fourth robot arm 14, a sixth robot arm 16 pivotally mounted on the fifth robot arm 11, and a robot 2 horizontally pivotally mounted on the sixth robot arm 16. The multi-axis mechanical arm 1 is provided with three horizontal pivoting degrees, so that the actions of clamping, shaking, vibrating and the like of the culture bottle can be realized.
In the embodiment of the present invention, the manipulator 2 includes a palm portion 21 and a plurality of finger portions 22 pivotally mounted on the palm portion 21, and the finger portions 22 are provided in plurality and can be closed toward the palm portion 21 in a predetermined direction. The shape of the utility model is more suitable for the shape of the human palm, thereby being suitable for culture bottles with different diameters.
In the present embodiment, the finger part 22 includes a thumb part 221 and at least four branch finger parts 222 arranged in parallel.
In the embodiment of the present invention, the thumb 221 includes a first joint 31 pivotally mounted on the palm 21, a second joint 32 pivotally mounted on the first joint 31, and a third joint 33 pivotally mounted on the second joint 32, and is obliquely disposed on the finger. The human thumb is simulated, and the effect of stable grabbing is played in the actual operation.
In the embodiment of the present invention, the branch finger part comprises a fifth joint 35 pivotally mounted on a fourth joint 34 and pivotally mounted on the fourth joint 34, and the fourth joint 34 is arranged in an arc shape to simulate a human finger.
In the embodiment of the utility model, the elastic pads are arranged on the end surfaces of the palm part 21 and the finger parts, which are in contact with the culture bottle, so that the grabbing stability of the simulated hand is improved.
In the embodiment of the present invention, two sets of the multi-axis robot arm 1 are provided, and the two palm portions 21 are disposed opposite to each other. The relative arrangement of human hands is simulated, namely the palm of the human hand has certain directional inclination.
In the embodiment of the present invention, the palm portion 21, the first joint 31, the second joint 32, the third joint 33, the fourth joint 34, and the fifth joint 35 are provided with a multi-axis position sensor and a pressure sensor, respectively. The corresponding glove can be worn on the human hand by the corresponding multi-axis position sensor, and then the cooperation between the finger part and the palm part 21 is controlled.
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. The utility model provides an emulation hand for snatching stem cell culture bottle, its characterized in that includes the multiaxis arm and locates the manipulator of arm, the manipulator suits with human hand shape, the manipulator can snatch the blake bottle or open the incubator, the multiaxis arm can drive the manipulator and do the multidimension degree motion.
2. The simulated hand of claim 1 for grasping a stem cell culture vial, wherein: the multi-axis mechanical arm comprises a positioning seat arranged on the moving frame, a first mechanical arm horizontally pivoted and installed on the positioning seat, a second mechanical arm arranged on the first mechanical arm in a swinging mode, a third mechanical arm arranged on the second mechanical arm in a swinging mode, a fourth mechanical arm arranged on the third mechanical arm in a swinging mode, a fifth mechanical arm horizontally pivoted and installed on the fourth mechanical arm, a sixth mechanical arm arranged on the fifth mechanical arm in a swinging mode, and a mechanical arm horizontally pivoted and installed on the sixth mechanical arm.
3. The simulated hand of claim 1 for grasping a stem cell culture vial, wherein: the manipulator includes palm portion and pivot installation in the finger portion of palm portion, finger portion is equipped with a plurality ofly to can draw close according to predetermined direction towards palm portion.
4. The simulated hand of claim 3 for grasping a stem cell culture vial, wherein: the finger part includes thumb portion and parallel arrangement's branch finger portion, branch finger portion is equipped with four at least.
5. The simulated hand of claim 4 for grasping a stem cell culture vial, wherein: the thumb part comprises a first joint, a second joint and a third joint, wherein the first joint is pivotally arranged on the palm part, the second joint is pivotally arranged on the first joint, the third joint is pivotally arranged on the second joint, and the thumb part is obliquely arranged on the finger part.
6. The simulated hand of claim 4 for grasping a stem cell culture vial, wherein: the branch finger part comprises a fourth joint and a fifth joint, wherein the fifth joint is pivotally arranged on the fourth joint and is pivotally arranged on the fourth joint, and the fourth joint is arranged in an arc shape.
7. The simulated hand of claim 3 for grasping a stem cell culture vial, wherein: elastic pads are arranged on the end faces of the palm part and the finger part, which are in contact with the culture bottle.
8. The simulated hand of claim 1 for grasping a stem cell culture vial, wherein: the multi-axis mechanical arm is provided with two groups, and two palm parts are arranged oppositely.
9. The simulated hand of claim 4 for grasping a stem cell culture vial, wherein: the palm part, the first joint, the second joint, the third joint, the fourth joint and the fifth joint are respectively arranged on the multi-axis position sensor and the pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122590404.9U CN215942959U (en) | 2021-10-26 | 2021-10-26 | Simulation hand for grabbing stem cell culture bottle body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122590404.9U CN215942959U (en) | 2021-10-26 | 2021-10-26 | Simulation hand for grabbing stem cell culture bottle body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215942959U true CN215942959U (en) | 2022-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122590404.9U Active CN215942959U (en) | 2021-10-26 | 2021-10-26 | Simulation hand for grabbing stem cell culture bottle body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215942959U (en) |
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2021
- 2021-10-26 CN CN202122590404.9U patent/CN215942959U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220617 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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| CP03 | Change of name, title or address | ||
| 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. |