CN216731866U

CN216731866U - Clamping manipulator for microbial detection

Info

Publication number: CN216731866U
Application number: CN202123157320.2U
Authority: CN
Inventors: 刘照强; 黎键; 刘光巨; 马龙
Original assignee: Guangdong Bogong Sanluwu Robot Technology Co ltd
Current assignee: Guangdong Bogong Medical Technology Co ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-06-14
Anticipated expiration: 2031-12-15

Abstract

The utility model relates to the technical field of microorganism clamping, in particular to a clamping manipulator for microorganism detection, which comprises a pair of parallel clamping block pieces which slide relatively and are arranged at the tail ends of six robots, wherein a scanning module is arranged at the front end of a bidirectional driving piece, a distance sensor and a scanning camera are arranged on the scanning module, the clamping block comprises a driving block connected with the bidirectional driving piece, a turnover groove is formed at the front end of the driving block, a clamping plate which extends forwards is arranged in the turnover groove, and a power piece which drives the clamping plate to turn over by not less than 90 degrees is arranged outside the driving block; when the width that distance sensor discerned the culture dish was greater than the width between two grip blocks, install the scanning camera in two way driving piece outer end and can't realize the scanning because of the length of grip block, power spare drives grip block one end and rotates 90 degrees or upwards rotates 90 degrees downwards round the returning face groove this moment, can be close to the culture dish, scans bar code or two-dimensional code on the culture dish to discern the microorganism type that this culture dish deposited.

Description

Clamping manipulator for microbial detection

Technical Field

The utility model relates to a centre gripping microbiological technology field especially relates to a centre gripping manipulator for microbiological detection.

Background

The microorganism adopts the culture dish to cultivate generally and deposits, and every culture dish all can be pasted the label, and the label can be the characters also can be the two-dimensional code, need just can discern the type of microorganism through scanning the two-dimensional code.

When present centre gripping manipulator scans these culture dishes, because different microorganism need adopt the culture dishes of different size and size to deposit, can appear sheltering from scanning module longer because of anchor clamps, the unable condition of scanning appears.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a little biological detection uses centre gripping manipulator to prior art's not enough.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the utility model provides a centre gripping manipulator for microbiological detection, includes the multiaxis robot, and centre gripping anchor clamps are installed to multiaxis robot end, and centre gripping anchor clamps include a pair of parallel and relative slip's clamp splice spare, still including being located between two clamp splice spares and drive two the two-way driving piece of centre gripping motion is done to the clamp splice spare, and two-way driving piece front end is provided with scanning module, is provided with distance sensor and scanning camera on the scanning module, and the clamp splice includes the drive block of being connected perpendicularly with the drive end of two-way driving piece, and the shaping of drive block front end has the upset groove, installs the grip block that extends forward in the upset groove, and the drive block outside is provided with the power spare that drives the grip block upset and be not less than 90.

Further: the bidirectional driving piece is a bidirectional cylinder which is rotatably arranged at the tail end of the multi-axis robot, two piston rods respectively extend out of two ends of the bidirectional cylinder, and the two piston rods are vertically connected with the driving block.

Further: the power part comprises a driving motor arranged on the periphery of the driving block, the turnover groove penetrates through the top, the bottom and one side wall of the driving block, a rotating shaft connected with the tail end of the clamping plate is horizontally arranged in the turnover groove, and the driving motor is in transmission connection with the rotating shaft.

Further: the height of grip block is no longer than the height of drive block, and the thickness of grip block is the same with the width in upset groove, and the shaping of grip block inner has the arc turning block at the upset inslot internal rotation, the central shaping of arc turning block has the key slot hole that supplies the coaxial male of axis of rotation.

Further: the arc-shaped rotating block is a circular block, the circular block horizontally extends towards the left side and the right side, and a circular groove for the circular block to be rotatably installed is formed in the groove wall of the turnover groove.

Further: the clamping plate front end shaping has the level to the extension seat that the outside extends, and the clamping plate bottom is connected with the extension board of vertical alignment.

Further: the inner side wall of the extension plate and the inner side wall of the clamping plate form an aligned side clamping surface, and a lifting driving mechanism for driving the extension plate to move up and down on the base of the clamping plate is arranged on the extension base.

Further: the lifting driving mechanism comprises a lifting cylinder arranged at the top of the extension seat, a piston rod of the lifting cylinder vertically penetrates through the extension seat to be connected with the extension plate, and the lifting driving mechanism further comprises a guide rod structure vertically arranged between the clamping plate and the extension plate.

The utility model has the advantages that: the utility model discloses a little is centre gripping manipulator for biological detection, when the width that distance sensor discerned the culture dish is greater than the width between two grip blocks, install the scanning camera in two-way driving piece outer end because of the length of grip block can't realize the scanning, power spare drives grip block one end and rotates 90 degrees or upwards to rotate 90 degrees downwards round the returning face groove this moment, can be close to the culture dish, scan bar code or two-dimensional code on the culture dish to discern the microorganism type that this culture dish was deposited.

Drawings

Fig. 1 is a schematic structural view of a six-axis robot connected with a holding jig.

Fig. 2 is a schematic top view of a six-axis robot connected to a clamping fixture.

Fig. 3 is a schematic view of the internal structure of the connection between the clamping plate and the driving block.

The reference numerals include:

1-six-axis robot,

11-clamping fixture, 12-bidirectional cylinder, 13-piston rod, 14-driving block, 15-clamping plate,

16-scanning module, 17-distance sensor, 18-scanning camera,

2-a driving motor,

21-turnover groove, 22-rotating shaft, 23-arc rotating block, 24-circular groove, 25-extension plate,

26-lifting cylinder, 27-guide rod and 28-extension seat.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1-3, a clamping manipulator for microorganism detection, including six robots 1, clamping jig 11 is installed at the end of six robots 1, clamping jig 11 includes a pair of parallel and relative sliding clamping block pieces, and further includes a bidirectional driving piece located between two clamping block pieces and driving two clamping block pieces to do clamping motion, the front end of bidirectional driving piece is provided with scanning module 16, scanning module 16 is provided with distance sensor 17 and scanning camera 18, the clamping block includes driving block 14 connected perpendicularly with the driving end of bidirectional driving piece, the front end of driving block 14 is formed with turnover groove 21, clamping plate 15 extending forward is installed in turnover groove 21, and the outside of driving block 14 is provided with a power piece driving clamping plate 15 to turn over by not less than 90 °.

Six axis robot 1 moves near the culture dish that has deposited the microorganism, when width that distance sensor 17 discerned the culture dish is greater than the width between two grip blocks 15, install the scanning camera 18 in the two-way driving piece outer end and can't realize the scanning because of the length of grip block 15, power part drives grip block 15 one end and rotates 90 degrees or upwards around upset groove 21 downwards this moment, the blockking of grip block 15 has been got rid of, make the interval greatly reduced of scanning camera 18 and culture dish, can be close to the culture dish, scan bar code or two-dimensional code on the culture dish, thereby discern the microorganism type that this culture dish deposited.

The bidirectional driving piece is a bidirectional cylinder 12 which is rotatably arranged at the tail end of the six-axis robot 1, two piston rods 13 are respectively extended from two ends of the bidirectional cylinder 12 and are vertically connected with a driving block 14, the piston rods 13 at two ends of the bidirectional cylinder 12 are extended or retracted simultaneously, the driving block 14 with the clamping plates 15 is driven to open or retract simultaneously, and a culture dish with the width smaller than the width of the two clamping plates 15 is clamped.

The power part comprises a driving motor 2 arranged on the periphery of a driving block 14, a turnover groove 21 penetrates through the top, the bottom and a side wall of the driving block 14, a rotating shaft 22 connected with the tail end of a clamping plate 15 is horizontally arranged in the turnover groove 21, the driving motor 2 is in transmission connection with the rotating shaft 22, the height of the clamping plate 15 is not more than that of the driving block 14, the thickness of the clamping plate 15 is the same as that of the turnover groove 21, an arc-shaped rotating block 23 rotating in the turnover groove 21 is formed at the inner end of the clamping plate 15, and a key groove hole for coaxial insertion of the rotating shaft 22 is formed in the center of the arc-shaped rotating block 23.

When clamping, two clamping methods are available, wherein one method is that the driving block 14 is horizontally aligned with the clamping plate 15, and the clamping plate 15 is inserted along the outer side of the culture dish for clamping and is conveyed to a designated position; the other clamping method is that the clamping plate 15 rotates 90 degrees around the turnover groove 21, the clamping plate 15 turns 90 degrees upwards or downwards around the turnover groove 21, the clamping plate is suitable for the area where the culture dish is placed in the groove, and the culture dish in the groove is clamped by adopting the vertical insertion method, so that transportation is realized.

Preferably, the arc-shaped rotating block 23 is a circular block, the circular block horizontally extends towards the left side and the right side, a circular groove 24 for the circular block to be rotatably installed is formed in the groove wall of the turnover groove 21, the arc-shaped rotating block 23 is embedded in the circular groove 24, the extending part is always in rotating fit with the circular groove 24 during rotation, a key groove hole of the arc-shaped rotating block 23 is in key joint with the rotating shaft 22, and rotation is achieved through driving of the driving motor 2.

The whole height of some culture dishes is greater than the grip block 15, when the centre gripping, the phenomenon that the centre gripping unstability appears even and drops easily, grip block 15 front end shaping has the level to outside extension seat 28 that extends, grip block 15 bottom is connected with the extension board 25 of vertical alignment, the inside wall of extension board 25 forms the side clamping face of alignment with the inside wall of grip block 15, be provided with the lift actuating mechanism who drives extension board 25 at grip block 15 bottom seat elevating movement on the extension seat 28, lift actuating mechanism is including installing the lift cylinder 26 at extension seat 28 top, the piston rod 13 of lift cylinder 26 is vertical to be passed and is extended seat 28 and be connected with extension board 25, lift actuating mechanism still includes the vertical guide bar 27 of installing between grip block 15 and extension board 25, install in extension board 25 guide bar 27 bottom, grip block 15 vertical shaping has the guide hole that supplies guide bar 27 to slide and go up and down.

Under the condition that guarantees that the inside wall of extension board 25 aligns with the inside wall of grip block 15, under the drive of accessible lift cylinder 26 for extension board 25 drives extension board 25 and stretches out along the vertical downside of guide bar 27 structure, with the side clamping face extension, but some highly great culture dishes of centre gripping increase culture dish and grip block 15 and extension board 25's area of contact, improve the stability of centre gripping, reduce the phenomenon that drops and drop.

Specifically, distance sensor 17 and scanning camera 18 pass through the circuit control board to be connected, and the circuit control board still is connected with two-way cylinder 12 and driving motor 2 electricity, and when distance sensor 17 discerned to the distance too big and lead to scanning camera 18 can't give driving motor 2 with bar code or two-dimensional code on the culture dish, but drive grip block 15 rotates 90 around upset groove 21 to bar code or two-dimensional code that scanning camera 18 can be close to the culture dish supplies the type of scanning discernment culture dish.

In conclusion, the present invention has the above-mentioned excellent characteristics, so that it can be used to enhance the effectiveness of the prior art and provide a practical product.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. The utility model provides a little is centre gripping manipulator for measuring, includes the multiaxis robot, and centre gripping anchor clamps, its characterized in that are installed to the multiaxis robot end: the clamping fixture comprises a pair of parallel clamping block pieces sliding relatively, and further comprises a pair of clamping block pieces located between the two clamping block pieces and driving the two clamping block pieces to be bidirectional driving pieces, wherein the clamping block pieces are in clamping motion, the front ends of the bidirectional driving pieces are provided with scanning modules, the scanning modules are provided with distance sensors and scanning cameras, the clamping block comprises driving blocks vertically connected with the driving ends of the bidirectional driving pieces, the front ends of the driving blocks are formed to be provided with turnover grooves, clamping plates extending forwards are installed in the turnover grooves, and power pieces driving the clamping plates to turn over by not less than 90 degrees are arranged on the outer sides of the driving blocks.

2. The clamping robot of claim 1, wherein: the bidirectional driving piece is a bidirectional cylinder which is rotatably arranged at the tail end of the multi-axis robot, two piston rods respectively extend out of two ends of the bidirectional cylinder, and the two piston rods are vertically connected with the driving block.

3. The clamping robot of claim 1, wherein: the power part comprises a driving motor arranged on the periphery of the driving block, the turnover groove penetrates through the top, the bottom and one side wall of the driving block, a rotating shaft connected with the tail end of the clamping plate is horizontally arranged in the turnover groove, and the driving motor is in transmission connection with the rotating shaft.

4. The clamping robot of claim 3, wherein: the height of the clamping plate is not more than that of the driving block, the thickness of the clamping plate is the same as the width of the turnover groove, an arc-shaped rotating block which rotates in the turnover groove is formed at the inner end of the clamping plate, and a key groove hole for the coaxial insertion of the rotating shaft is formed in the center of the arc-shaped rotating block.

5. The clamping robot of claim 4, wherein: the arc-shaped rotating block is a circular block, the circular block horizontally extends towards the left side and the right side, and a circular groove for the circular block to be rotatably installed is formed in the groove wall of the turnover groove.

6. The clamping robot of claim 1, wherein: the clamping plate front end shaping has the level to the extension seat that the outside extends, and the clamping plate bottom is connected with the extension board of vertical alignment.

7. The clamping robot of claim 6, wherein: the inside wall of extending the board forms the side clamping face of alignment with the inside wall of grip block, is provided with the lift actuating mechanism who drives the extension board at grip block bottom seat elevating movement on extending the seat.

8. The clamping robot of claim 7, wherein: the lifting driving mechanism comprises a lifting cylinder arranged at the top of the extension seat, a piston rod of the lifting cylinder vertically penetrates through the extension seat to be connected with the extension plate, and the lifting driving mechanism further comprises a guide rod structure vertically arranged between the clamping plate and the extension plate.