CN220182099U - Servo following wet embryo transfer mechanical arm - Google Patents
Servo following wet embryo transfer mechanical arm Download PDFInfo
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- CN220182099U CN220182099U CN202321640719.2U CN202321640719U CN220182099U CN 220182099 U CN220182099 U CN 220182099U CN 202321640719 U CN202321640719 U CN 202321640719U CN 220182099 U CN220182099 U CN 220182099U
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- guide rail
- servo
- fixedly connected
- wet embryo
- embryo transfer
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- 210000001161 mammalian embryo Anatomy 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a servo following wet embryo transfer mechanical arm, which relates to the technical field of wet embryo transfer equipment and comprises the following components: the support, the below of support is provided with the lift cylinder, the output shaft of lift cylinder with support fixed connection, the bottom fixedly connected with guide rail of lift cylinder, the last swing joint of guide rail has the manipulator mould, the fixed surface of manipulator mould is connected with the apron, the surface of guide rail is provided with servo following mechanism, servo following mechanism with manipulator mould transmission is connected. According to the utility model, the servo following mechanism is arranged on the guide rail, and the rotating electric pole connecting rod is driven to rotate through the servo motor, so that the die moves along with the arc-shaped guide rail, the structure is compact, the occupied space is small, the structure is simple, and the production cost is reduced.
Description
Technical Field
The disclosure relates to the technical field of wet embryo transfer equipment, and in particular relates to a servo following wet embryo transfer mechanical arm.
Background
After wet embryo shaping, need to transfer the wet embryo after the shaping to the low reaches equipment through transfer device and continue processing, low reaches equipment is provided with the carousel, and wet embryo transfer device places wet embryo on the carousel, and the carousel is rotatory constantly, so need set up following mechanism and follow the carousel rotation to place wet embryo smoothly to the assigned position, current wet embryo following mechanism needs whole set servo, and the structure is comparatively complicated, occupation space is big.
Disclosure of Invention
The present disclosure provides a servo following wet embryo transfer robot arm to solve one of the above-mentioned technical problems.
The present disclosure provides a servo following wet embryo transfer robotic arm comprising: the support, the below of support is provided with the lift cylinder, the output shaft of lift cylinder with support fixed connection, the bottom fixedly connected with guide rail of lift cylinder, the last swing joint of guide rail has the manipulator mould, the fixed surface of manipulator mould is connected with the apron, the surface of guide rail is provided with servo following mechanism, servo following mechanism with manipulator mould transmission is connected.
Preferably, the servo following mechanism comprises a servo motor, a speed reducer, a rotary electric cylinder connecting rod, a rotary electric cylinder bearing shaft and a rotary electric cylinder bearing seat, wherein the servo motor and the speed reducer are respectively and fixedly connected to the guide rail, the output end of the servo motor is in transmission connection with the input end of the speed reducer, the output end of the speed reducer is in transmission connection with one end of the rotary electric cylinder connecting rod, the rotary electric cylinder bearing seat is fixedly connected to the surface of the cover plate, the bottom of the rotary electric cylinder bearing shaft is fixedly connected with the rotary electric cylinder bearing seat, the top end of the rotary electric cylinder bearing shaft is fixedly connected with a connecting ring, and one end of the rotary electric cylinder connecting rod, which is far away from the speed reducer, penetrates through the connecting ring.
Preferably, the guide rail is of an arc structure, guide grooves are formed in two sides of the guide rail, the surface of the cover plate is located on two sides of the guide rail, a plurality of pulley seats are fixedly connected with the two sides of the guide rail respectively, pulley shafts are connected with the pulley seats in a rotating mode, and one ends, away from the pulley seats, of the pulley shafts are connected in the guide grooves in a sliding mode.
Preferably, two ends of the bottom of the guide rail are respectively and fixedly connected with a limiting block.
Preferably, the limiting block is made of limiting rubber.
Preferably, the surface of the manipulator die is provided with a suction hole, the bottom of the manipulator die is provided with a plurality of suction holes, the suction holes are fixedly connected with a vacuum tube, one end of the vacuum tube away from the suction hole is connected with a vacuum extractor, and the suction hole is in through connection with the suction hole.
Preferably, the vacuumizing tube is provided with an electromagnetic valve.
Preferably, the surface of the guide rail is fixedly connected with guide shafts at positions on two sides of the lifting cylinder, the support is fixedly connected with guide seats at positions corresponding to the guide shafts, and the guide shafts penetrate through the guide seats.
The beneficial effects of the present disclosure mainly lie in: according to the utility model, the servo following mechanism is arranged on the guide rail, and the rotating electric pole connecting rod is driven to rotate through the servo motor, so that the die moves along with the arc-shaped guide rail, the structure is compact, the occupied space is small, the structure is simple, and the production cost is reduced.
It is to be understood that both the foregoing general description and the following detailed description are for purposes of example and explanation and are not necessarily limiting of the disclosure. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the subject matter of the present disclosure. Meanwhile, the description and drawings are used to explain the principles of the present disclosure.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are required in the detailed description or the prior art will be briefly described, it will be apparent that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to the drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic perspective view of a servo following wet embryo transfer robot according to an embodiment of the disclosure;
FIG. 2 is a front perspective view of a servo-follower wet embryo transfer robot according to embodiments of the present disclosure;
icon: 1-a bracket; 2-lifting air cylinders; 3-a manipulator die; 4-cover plate; 61-a servo motor; 5-a guide rail; 51-a guide groove; 52-limiting blocks; 62-speed reducer; 63-rotating the electric cylinder connecting rod; 64-rotating cylinder bearing blocks; 65-rotating the cylinder bearing shaft; 66-connecting rings; 71-pulley seats; 72-pulley shaft; 81-vacuumizing tube; 82-solenoid valve; 91-guiding shaft; 92-a guide seat.
Detailed Description
The following description of the embodiments of the present disclosure will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present disclosure.
Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
In the description of the present disclosure, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present disclosure, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art in the specific context.
Examples
As shown in fig. 1-2, this embodiment provides a servo following wet embryo transfer manipulator, including support 1, support 1 installs on transfer equipment, can follow transfer equipment and remove the top of wet embryo make-up machine and carousel, the below of support 1 is provided with lift cylinder 2, the output shaft of lift cylinder 2 pass through the bolt with support 1 is connected, the bottom bolt fixedly connected with guide rail 5 of lift cylinder 2, guide rail 5 is arc structure, swing joint has manipulator mould 3 on the guide rail 5, the surface bolt of manipulator mould 3 is fixed with apron 4, the surface of guide rail 5 is provided with servo following mechanism, servo following mechanism with manipulator mould 3 transmission is connected, through servo following mechanism drive manipulator mould 3 makes a round trip to move in the direction of guide rail 5, the radian of guide rail 5 sets up according to the size of carousel, makes manipulator mould 3 can follow the carousel and rotate in step, then drives guide rail 5 and manipulator mould 3 through lift in step and place wet embryo on the carousel in step through lift cylinder 2.
Specifically, servo following mechanism includes servo motor 61, speed reducer 62, rotatory jar connecting rod 63, rotatory jar bearing axle 65 and rotatory jar bearing frame 64, servo motor 61 and speed reducer 62 pass through bolt fixed mounting in the surface of guide rail 5, servo motor 61's output shaft with the input transmission of speed reducer 62 is connected, the output of speed reducer 62 with the one end transmission of rotatory jar connecting rod 63 is connected, rotatory jar bearing frame 64 bolt fixed connection in the surface of apron 4, rotatory jar bearing axle 65 one end bolt fixed connection in the surface of rotatory jar bearing frame 64, other end integrated into one piece has go-between 66, rotatory jar connecting rod 63 is kept away from the one end of speed reducer 62 runs through go-between 66 sets up.
Further, the guide rail 5 has an arc structure, guide grooves 51 are formed in two sides of the guide rail 5, a plurality of pulley holders 71 are fixedly connected to two sides of the cover plate 4 on the two sides of the guide rail 5 through bolts respectively, the pulley holders 71 are rotatably connected with pulley shafts 72, and one ends, far away from the pulley holders 71, of the pulley shafts 72 are slidably connected into the guide grooves 51.
The servo motor 61 drives the speed reducer 62 to work, drives the rotary electric cylinder connecting rod 63 to rotate, and the rotary electric cylinder connecting rod 63 drives the rotary electric cylinder bearing shaft 65 to move, so that the manipulator die 3 is driven to move along the direction of the guide groove 51 of the guide rail 5, and the movement is more stable and accurate by taking the plurality of pulley seats 71 and pulley shafts 72 as auxiliary guide and support.
Further, two ends of the bottom of the guide rail 5 are fixedly connected with limiting blocks 52 through bolts respectively, the limiting blocks 52 are made of limiting rubber, when the manipulator die 3 moves to the position of the limiting blocks 52, the limiting blocks 52 block the manipulator die 3 from continuously moving, the manipulator die 3 is prevented from being separated from the guide rail 5, the limiting blocks 52 are made of rubber materials, and the manipulator die 3 is prevented from being damaged during collision.
Specifically, the surface of manipulator mould 3 has seted up the gas vent, a plurality of suction holes have been seted up to the bottom of manipulator mould 3, the surface bolt fixedly connected with evacuation tube 81 of gas vent, evacuation tube 81 keeps away from the one end of gas vent is connected with the evacuating machine (not shown in the figure), the gas vent with the hole through connection, through the evacuating machine extraction the inside air of manipulator mould 3 makes it form the vacuum, produces the suction, and the hole contact wet embryo absorbs wet embryo through the suction to realize the snatching of wet embryo, when moving to the carousel top, the evacuating machine stop work, wet embryo follow drop on the manipulator mould 3, thereby realize the transfer to wet embryo.
Further, the vacuumizing tube 81 is provided with a solenoid valve 82, and the on-off of the vacuumizing tube 81 is controlled by the solenoid valve 82, so that vacuumizing and stopping are realized.
Further, the guide shafts 91 are fixedly connected to the surface of the guide rail 5 at the positions on two sides of the lifting cylinder 2 through bolts, the guide seats 92 are fixedly connected to the support 1 corresponding to the guide shafts 91 through bolts, and the guide shafts 91 penetrate through the guide seats 92. The guide shaft 91 is an optical axis, the guide seat 92 is a linear bearing, and when the lifting cylinder 2 drives the manipulator die 3 to lift, the lifting motion is more stable and accurate through the auxiliary guide of the guide shaft 91.
The working principle of the utility model is as follows: the servo following wet embryo transfer mechanical arm moves to the upper part of the wet embryo forming machine through the support 1 following transfer equipment, the guide rail 5 and the mechanical arm mould 3 are driven to move downwards through the lifting cylinder 2, the electromagnetic valve 82 is opened, the wet embryo is sucked through the suction hole, then the lifting cylinder 2 drives the mechanical arm mould 3 to ascend, the following transfer equipment moves to the upper part of the large turntable, the servo motor 61 drives the speed reducer 62 to work and drives the rotary electric cylinder connecting rod 63 to rotate, the rotary electric cylinder connecting rod 63 drives the rotary electric cylinder bearing shaft 65 to move, and accordingly the mechanical arm mould 3 is driven to move along the direction of the guide groove 51 of the guide rail 5, so that the mechanical arm mould 3 moves downwards along the large turntable synchronously, meanwhile, the lifting cylinder 2 drives the mechanical arm mould 3 to close the electromagnetic valve 82, the suction hole loses, the wet embryo falls on the large turntable, and wet embryo transfer is completed. The utility model has simple and compact structure, saves space and reduces cost.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.
Claims (8)
1. A servo following wet embryo transfer robot comprising: the support, the below of support is provided with the lift cylinder, the output shaft of lift cylinder with support fixed connection, the bottom fixedly connected with guide rail of lift cylinder, the last swing joint of guide rail has the manipulator mould, the fixed surface of manipulator mould is connected with the apron, the surface of guide rail is provided with servo following mechanism, servo following mechanism with manipulator mould transmission is connected.
2. The servo following wet embryo transfer manipulator arm of claim 1, wherein the servo following mechanism comprises a servo motor, a speed reducer, a rotary electric cylinder connecting rod, a rotary electric cylinder bearing shaft and a rotary electric cylinder bearing seat, wherein the servo motor and the speed reducer are respectively and fixedly connected to the guide rail, the output end of the servo motor is in transmission connection with the input end of the speed reducer, the output end of the speed reducer is in transmission connection with one end of the rotary electric cylinder connecting rod, the rotary electric cylinder bearing seat is fixedly connected to the surface of the cover plate, the bottom of the rotary electric cylinder bearing shaft is fixedly connected with the rotary electric cylinder bearing seat, the top end of the rotary electric cylinder bearing shaft is fixedly connected with a connecting ring, and one end of the rotary electric cylinder connecting rod, which is far away from the speed reducer, penetrates through the connecting ring.
3. The servo following wet embryo transfer mechanical arm according to claim 2, wherein the guide rail is of an arc structure, guide grooves are formed in two sides of the guide rail, a plurality of pulley seats are fixedly connected to two sides of the cover plate, which are located on two sides of the guide rail, of the cover plate, pulley shafts are rotatably connected to the pulley seats, and one ends, far away from the pulley seats, of the pulley shafts are slidably connected to the guide grooves.
4. A servo following wet embryo transfer robot arm as claimed in claim 3, wherein two ends of the bottom of the guide rail are respectively fixedly connected with a limiting block.
5. The servo-follower wet embryo transfer robot of claim 4 wherein the stopper is a stopper rubber.
6. The servo following wet embryo transfer mechanical arm according to claim 1, wherein the surface of the mechanical arm die is provided with a suction hole, the bottom of the mechanical arm die is provided with a plurality of suction holes, the suction hole is fixedly connected with a vacuum tube, one end of the vacuum tube away from the suction hole is connected with a vacuum extractor, and the suction hole is in through connection with the suction hole.
7. The servo-follower wet embryo transfer robot arm of claim 6 wherein the evacuation tube is provided with a solenoid valve.
8. The servo following wet embryo transfer mechanical arm according to claim 1, wherein guide shafts are fixedly connected to the surfaces of the guide rails at positions on two sides of the lifting cylinder, guide bases are fixedly connected to the positions, corresponding to the guide shafts, of the support, and the guide shafts penetrate through the guide bases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321640719.2U CN220182099U (en) | 2023-06-27 | 2023-06-27 | Servo following wet embryo transfer mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321640719.2U CN220182099U (en) | 2023-06-27 | 2023-06-27 | Servo following wet embryo transfer mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220182099U true CN220182099U (en) | 2023-12-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321640719.2U Active CN220182099U (en) | 2023-06-27 | 2023-06-27 | Servo following wet embryo transfer mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220182099U (en) |
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2023
- 2023-06-27 CN CN202321640719.2U patent/CN220182099U/en active Active
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