CN219296572U - Freezing pipe picking and clamping mechanism - Google Patents
Freezing pipe picking and clamping mechanism Download PDFInfo
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- CN219296572U CN219296572U CN202223563462.3U CN202223563462U CN219296572U CN 219296572 U CN219296572 U CN 219296572U CN 202223563462 U CN202223563462 U CN 202223563462U CN 219296572 U CN219296572 U CN 219296572U
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- tube
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- driving shaft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
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- Sampling And Sample Adjustment (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The utility model discloses a frozen tube picking and clamping mechanism, which comprises a tube picking mechanism, a tube clamping mechanism and a monitoring mechanism; the pipe picking mechanism and the pipe clamping mechanism are controlled by the same control system; the pipe clamping mechanism comprises a second supporting plate, a driving shaft and clamping jaws; the driving shaft is rotatably arranged on the second supporting plate; the clamping jaw is slidably arranged on the second supporting plate; the monitoring mechanism comprises a first displacement sensor, a second displacement sensor, an abutting column and an angle sensor; the first displacement sensor is arranged on the tube picking mechanism; the abutting column is slidably arranged in the driving shaft, one end of the abutting column penetrates through the driving shaft, and the other end of the abutting column is fixedly connected with the second displacement sensor; the angle sensor is disposed on the second support plate. Through the cooperation of the devices, the utility model improves the picking and clamping effect on the freezing storage tube, reduces the occupied volume of the equipment and effectively improves the protection effect on biological samples.
Description
Technical Field
The utility model relates to the technical field of biological samples, in particular to a freezing storage tube picking and clamping mechanism.
Background
The existing tube clamping mechanism for clamping the test tubes in the sampling box is generally realized in a vacuum adsorption mode. Specifically, one end of the suction head is made into a shape matched with an inner hexagonal hole of the test tube cap, then the suction head is connected with a vacuum generator, and the clamping and releasing of the test tube are realized by utilizing vacuum suction. Vacuum adsorption mode needs to prepare different suction heads to different test tubes, and the commonality is poor to the suction tube absorbs the test tube location and is unstable inadequately, appears the test tube easily and is not vertical state, causes to get the pipe failure. The tube picking mechanism with better universality adopts a large number of mechanical moving components and electronic components to realize the clamping action, and under the environment of deep low temperature, the risk of failure of the mechanism is increased due to the overstocked mechanical structure, and the redundant volume is caught in an automatic biological sample library system.
In addition, the common tube picking mechanism lacks a feedback system, so that a complete closed-loop control system is difficult to form, and when the frozen tube is picked and clamped, the clamping force is excessively large or excessively small due to calculation errors, so that the biological sample is easily damaged.
Therefore, there is a need for a tube gripping mechanism for cryopreservation to solve the above-mentioned problems.
Disclosure of Invention
The utility model aims to provide a frozen tube picking and clamping mechanism which is used for improving the frozen tube picking and clamping effect, guaranteeing the running reliability of the whole device and improving the protection effect on biological samples.
In order to solve the technical problems, the utility model provides a frozen tube picking and clamping mechanism, which comprises a tube picking mechanism, a tube clamping mechanism and a monitoring mechanism;
the tube picking mechanism and the tube clamping mechanism are controlled by the same control system, and when the tube picking mechanism picks up the frozen tube to a preset height, the tube clamping mechanism clamps the frozen tube;
the pipe clamping mechanism comprises a second supporting plate, a driving shaft and clamping jaws which are symmetrically arranged;
the driving shaft is rotatably arranged on the second supporting plate;
the clamping jaw is slidably arranged on the second supporting plate and is connected with the driving shaft through a driving mechanism, so that when the driving shaft rotates, the two clamping jaws are pulled to move in opposite directions;
the monitoring mechanism comprises a first displacement sensor, a second displacement sensor, an abutting column and an angle sensor;
the first displacement sensor is arranged on the tube picking mechanism and used for monitoring the lifting height of the frozen tube;
the abutting column is slidably arranged inside the driving shaft, one end of the abutting column penetrates through the driving shaft and abuts against the raised freezing storage pipe, and the other end of the abutting column is fixedly connected with the second displacement sensor;
the angle sensor is disposed on the second support plate and is located at one side of the driving shaft.
Further, the tube picking mechanism comprises a first supporting plate, a sliding plate and a cantilever rod;
the sliding plate is arranged on one side of the first supporting plate in a sliding manner along the Z-axis direction;
the ram is arranged at the bottom of the sliding plate;
when the sliding plate slides along the Z-axis direction, the ram picks up the freezing tube;
the first displacement sensor is fixedly arranged on the sliding plate.
Further, the ram comprises a vertical rod, a horizontal rod and a thimble;
the vertical rod is fixedly arranged on the first supporting plate;
the horizontal rod is fixedly connected with the vertical rod;
the thimble is arranged at the end part of the horizontal rod through the elastic component and is positioned right below the abutting column.
Further, a sliding rail for installing the sliding plate is arranged on the first supporting plate.
Further, the sliding plate and the driving shaft are driven by a servo motor.
Further, the horizontal rod is fixedly connected with the vertical rod through a screw.
Further, one end of the abutting column, which abuts against the freezing storage tube, is arranged to be of a trapezoid structure.
Further, one end of the abutting column far away from the freezing storage tube is connected with an L-shaped block, and the L-shaped block is in sliding connection with the second supporting plate;
the second displacement sensor is fixedly arranged on the L-shaped block.
Further, the driving mechanism comprises tooth grooves and a rack column matched with the clamping jaw;
the tooth grooves are arranged on the outer wall of the driving shaft;
the two rack columns are slidably arranged in the second supporting plate, are arranged in parallel and are meshed with the tooth grooves;
one end of the rack column is fixedly connected with the clamping jaw.
Further, a buffer sleeve is arranged at the clamping end of the clamping jaw and the freezing storage tube.
Compared with the prior art, the utility model has at least the following beneficial effects:
through the pipe picking mechanism and the pipe clamping mechanism are integrated together, the function of rapidly picking and clamping the frozen storage pipe is realized, and the probability of failure caused by too many structural parts can be effectively avoided due to the compact structure. In addition, through setting up monitoring facilities, monitor the height that freezes the pipe and pick up and clamping jaw effort size respectively to freezing the pipe, prevent to freeze the pipe and take and pick up the unstable scheduling condition and lead to the problem emergence of biological sample damage because of not rising to the preset position, failing to press from both sides and pick up, reach the purpose that promotes biological sample protection effect.
Drawings
FIG. 1 is a schematic diagram of the whole structure of a tube picking and clamping mechanism for frozen storage of the utility model;
FIG. 2 is a schematic structural view of a tube picking mechanism in the tube picking and clamping mechanism for frozen storage according to the present utility model;
FIG. 3 is a schematic structural view of a tube clamping mechanism in the tube picking and clamping mechanism for frozen storage according to the present utility model;
FIG. 4 is a partial cross-sectional view of a tube gripping mechanism of the present utility model;
fig. 5 is a schematic view of a partial structure of a tube clamping mechanism in the tube picking and clamping mechanism for frozen storage according to the present utility model.
Detailed Description
The utility model will now be described in more detail with reference to the drawings, in which preferred embodiments of the utility model are shown, it being understood that the utility model described herein may be modified by those skilled in the art while still achieving the advantageous effects of the utility model. Accordingly, the following description is to be construed as broadly known to those skilled in the art and not as limiting the utility model.
The utility model is more particularly described by way of example in the following paragraphs with reference to the drawings. Advantages and features of the utility model will become more apparent from the following description and from the claims. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the utility model.
As shown in fig. 1 to 3, an embodiment of the present utility model provides a tube picking and clamping mechanism for frozen storage, which includes a tube picking mechanism 1, a tube clamping mechanism 2 and a monitoring mechanism 3.
The tube picking mechanism 1 and the tube clamping mechanism 2 are controlled by the same control system, when the tube picking mechanism 1 picks up the frozen tube to a preset height, the tube clamping mechanism 2 clamps the frozen tube, namely the tube picking mechanism 1 and the tube clamping mechanism 2 are integrated together, so that the functions of lifting and clamping the frozen tube are realized, and the volume and the space occupied by the equipment can be effectively reduced due to the fact that the two devices are integrated into a whole.
Specifically, as shown in fig. 3, the pipe clamping mechanism 2 includes a second support plate 21, a driving shaft 22, and symmetrically arranged clamping jaws 23.
The drive shaft 22 is rotatably mounted on the second support plate 21; the clamping jaw 23 is slidably mounted on the second supporting plate 21 and is connected with the driving shaft 22 through the driving mechanism 4, so that when the driving shaft 22 rotates, the two clamping jaws 23 are pulled to move along opposite directions, namely, clamping of the clamping jaw 23 to the freezing storage tube is completed only through rotation of the driving shaft 22.
With continued reference to fig. 1, the monitoring mechanism 3 includes a first displacement sensor 31, a second displacement sensor 32, an abutment post 33, and an angle sensor 34.
The first displacement sensor 31 is arranged on the tube picking mechanism 1 and monitors the lifting height of the frozen tube.
The abutment post 33 is slidably mounted inside the driving shaft 22, one end of the abutment post penetrates through the driving shaft 22 and abuts against the raised freezing tube, the other end of the abutment post is fixedly connected with the second displacement sensor 32, namely, when the freezing tube rises between the two clamping jaws 23, the abutment post 33 can be jacked up, and then the second displacement sensor 32 can correspondingly move at the moment so as to judge whether the freezing tube is positioned between the two clamping jaws 23 or not, and the occurrence of the conditions of non-clamping and the like is prevented.
The angle sensor 34 is disposed on the second support plate 21 and is located at one side of the driving shaft 22, and as can be seen from the above, the clamping force of the clamping jaw 23 is controlled by the rotation of the driving shaft 22, so that the magnitude of the clamping force formed by the clamping jaw 23 is also related to the rotation magnitude of the driving shaft 22, and therefore, when the rotation magnitude of the driving shaft 22 is monitored, the magnitude of the clamping force formed by the clamping jaw 23 on the freezing tube can be known, so that the clamping force of the clamping jaw 23 on the freezing tube is ensured, and no threat is formed on the biological sample due to the excessively large or excessively small clamping force, thereby ensuring the integrity of the freezing tube.
To sum up, the pipe picking mechanism 1 and the pipe clamping mechanism 2 are integrated in the same device, and the pipe clamping mechanism 2 can clamp the frozen storage pipe only by virtue of the rotation of the driving shaft 22, so that the device has a more compact structure in use, cannot cause too many faults in a low-temperature environment, and ensures the stability in use.
In addition, the height, whether the clamping and the clamping force of the frozen storage tube are respectively detected by the detecting mechanism 3, so that the parameters formed in the process of picking and clamping the frozen storage tube are always in a specified range, the frozen storage tube is prevented from being damaged, and the protection effect on biological samples is improved.
Preferably, an L-shaped block (reference numeral in the figure) is connected to one end of the abutting column 33 away from the freezing tube, and the L-shaped block is slidably connected to the second support plate 21;
the second displacement sensor 32 is fixedly mounted on the L-shaped block.
Referring to fig. 1 and 2, in other embodiments, a specific tube picking mechanism 1 is provided to enhance the effect of picking up the frozen tube.
The tube picking mechanism 1 comprises a first support plate 11, a sliding plate 12 and a picking rod 13.
The sliding plate 12 is slidably installed on one side of the first supporting plate 11 along the Z-axis direction; the ram 13 is disposed at the bottom of the slide plate 12.
When the sliding plate 12 slides along the Z-axis direction, the ram 13 lifts up the freezing tube.
Wherein, the first displacement sensor 31 is fixedly installed on the sliding plate 12 to monitor the displacement of the freezing tube.
Specifically, the first support plate 11 is provided with a slide rail (not numbered in the figure) for mounting the slide plate 12.
Preferably, the slide plate 12 and the drive shaft 22 are driven by a servo motor.
The ram 13 includes a vertical rod 131, a horizontal rod 132, and a thimble 133.
The vertical rod 131 is fixedly installed on the first support plate 11; the horizontal rod 132 is fixedly connected with the vertical rod 131 through a screw.
The ejector pin 133 is disposed at the end of the horizontal rod 132 through an elastic component and is located right below the abutment post 33, that is, the ejector pin 133 is used to jack up the frozen storage tube, so that the frozen storage tube is jacked up between the two clamping jaws 23 to be abutted with the abutment post 33.
Wherein, because the thimble 133 is connected with the horizontal rod 132 through the elastic component, that is, the thimble 133 can move relatively with the horizontal rod 132 in the vertical direction, when the thimble 133 lifts the frozen storage tube, a buffer force can be formed to protect the frozen storage tube.
In addition, it should be noted that, because the vertical rod 131 and the horizontal rod 132 are fixed by using screws, when the screws are in a loose state, the vertical rod 131 and the horizontal rod 132 can rotate correspondingly, so that the horizontal position of the horizontal rod 132 can be finely adjusted, the thimble 133 is ensured to be positioned under the abutting column 33, the stability of the frozen tube during the subsequent lifting can be effectively improved, and the situation that the frozen tube cannot be jacked due to dislocation of the thimble 133 and the frozen tube is avoided.
Referring to fig. 4 and 5, in the present embodiment, a specific driving mechanism 4 is further provided to convert the vertical rotational force of the driving shaft 22 into a force driving the two clamping jaws 23 to move in opposite directions.
The drive mechanism 4 includes a spline 41 and a rack post 42 that mates with the jaw 23.
The tooth slot 41 is provided on the outer wall of the drive shaft 22; the two rack columns 42 are slidably mounted in the second support plate 21, are arranged in parallel, and are engaged with the tooth grooves 41; one end of the rack column 42 is fixedly connected with the clamping jaw 23, that is, when the tooth slot 41 rotates along with the driving shaft 22, the two rack columns 42 slide in opposite directions under the action of gear engagement, and as the rack columns 42 are respectively fixedly connected with the corresponding clamping jaws 23, the two clamping jaws 23 move correspondingly along with opposite directions, that is, expand or contract, so as to finish clamping of the freezing storage tube.
It should be noted that, since the abutment post 33 is sleeved inside the driving shaft 22, i.e. is located at the center of the driving shaft 22, and the clamping jaws 23 are located at two sides of the driving shaft 22, when the freezing tube rises between the two clamping jaws 23 under the action of the ejector pin 133, the freezing tube can be ensured to be smoothly abutted with the abutment post 33, and then the second displacement sensor 32 is matched to realize the monitoring of whether the freezing tube is clamped or not, i.e. the stability of the monitoring is improved.
In addition, because the clamping jaw 23 moves along the opposite direction under the action of the driving shaft 22, when the two clamping jaws 23 clamp along the mutually approaching direction, the freezing storage tube can be clamped at the central line position, namely right below the abutting column 33, and the accuracy of monitoring whether the freezing storage tube clamps or not can be effectively ensured.
In addition, the abutting column 33 is arranged inside the driving shaft 22, so that the volume required by the device during installation can be effectively reduced, and the space utilization rate can be improved.
In a further embodiment, the clamping jaw 23 and the clamping end of the freeze tube are provided with a buffer sleeve 231 to reduce the collision force generated when the freeze tube is clamped.
As shown in fig. 4, in other embodiments, the abutting post 33 is abutted against the freezing tube so as not to damage the freezing tube. The abutting column 33 is arranged to be of a trapezoid structure at one end abutting against the freezing storage tube, so that the opening position of the freezing storage tube can be abutted against the bottom of the abutting column 33, namely the abutting column 33 can be synchronously pulled to move in the vertical direction in the upward moving process of the freezing storage tube, and the second displacement sensor 32 is triggered, so that whether the freezing storage tube is located between the two clamping jaws 23 is judged.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The frozen storage tube picking and clamping mechanism is characterized by comprising a tube picking mechanism, a tube clamping mechanism and a monitoring mechanism;
the tube picking mechanism and the tube clamping mechanism are controlled by the same control system, and when the tube picking mechanism picks up the frozen tube to a preset height, the tube clamping mechanism clamps the frozen tube;
the pipe clamping mechanism comprises a second supporting plate, a driving shaft and clamping jaws which are symmetrically arranged;
the driving shaft is rotatably arranged on the second supporting plate;
the clamping jaw is slidably arranged on the second supporting plate and is connected with the driving shaft through a driving mechanism, so that when the driving shaft rotates, the two clamping jaws are pulled to move in opposite directions;
the monitoring mechanism comprises a first displacement sensor, a second displacement sensor, an abutting column and an angle sensor;
the first displacement sensor is arranged on the tube picking mechanism and used for monitoring the lifting height of the frozen tube;
the abutting column is slidably arranged inside the driving shaft, one end of the abutting column penetrates through the driving shaft and abuts against the raised freezing storage pipe, and the other end of the abutting column is fixedly connected with the second displacement sensor;
the angle sensor is disposed on the second support plate and is located at one side of the driving shaft.
2. The frozen stock tube picking and clamping mechanism as recited in claim 1, wherein the tube picking and clamping mechanism comprises a first support plate, a sliding plate and a ram;
the sliding plate is arranged on one side of the first supporting plate in a sliding manner along the Z-axis direction;
the ram is arranged at the bottom of the sliding plate;
when the sliding plate slides along the Z-axis direction, the ram picks up the freezing tube;
the first displacement sensor is fixedly arranged on the sliding plate.
3. The frozen tube gripping device as recited in claim 2, wherein the ram comprises a vertical rod, a horizontal rod, and a thimble;
the vertical rod is fixedly arranged on the first supporting plate;
the horizontal rod is fixedly connected with the vertical rod;
the thimble is arranged at the end part of the horizontal rod through the elastic component and is positioned right below the abutting column.
4. The tube gripping and picking mechanism as claimed in claim 2, wherein the first support plate is provided with a slide rail for mounting the slide plate.
5. The tube gripping device as claimed in claim 2, wherein the slide plate and the drive shaft are driven by a servo motor.
6. A frozen stock tube picking and clamping mechanism as recited in claim 3, wherein the horizontal bar is fixedly connected to the vertical bar by screws.
7. The tube gripping and picking mechanism as claimed in claim 1, wherein an end of the abutment post abutting the tube is configured as a trapezoid.
8. The frozen storage tube picking and clamping mechanism according to claim 1, wherein one end of the abutting column far away from the frozen storage tube is connected with an L-shaped block, and the L-shaped block is in sliding connection with the second supporting plate;
the second displacement sensor is fixedly arranged on the L-shaped block.
9. The frozen tube gripping device as recited in claim 1, wherein the drive mechanism comprises a spline and a rack post matched with the jaw;
the tooth grooves are arranged on the outer wall of the driving shaft;
the two rack columns are slidably arranged in the second supporting plate, are arranged in parallel and are meshed with the tooth grooves;
one end of the rack column is fixedly connected with the clamping jaw.
10. The frozen storage tube picking and clamping mechanism as recited in claim 9, wherein a buffer sleeve is arranged at the clamping end of the clamping jaw and the frozen storage tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223563462.3U CN219296572U (en) | 2022-12-30 | 2022-12-30 | Freezing pipe picking and clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223563462.3U CN219296572U (en) | 2022-12-30 | 2022-12-30 | Freezing pipe picking and clamping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219296572U true CN219296572U (en) | 2023-07-04 |
Family
ID=86983411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223563462.3U Active CN219296572U (en) | 2022-12-30 | 2022-12-30 | Freezing pipe picking and clamping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219296572U (en) |
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2022
- 2022-12-30 CN CN202223563462.3U patent/CN219296572U/en active Active
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