Automatic centering device and access system thereof

Abstract

The invention discloses an automatic centering device and an access system thereof. The automatic centering device comprises a horizontally arranged X-axis mechanical arm, a vertically arranged Y-axis mechanical arm, a servo motor and an L-shaped cantilever crane. A centering unit is arranged at the end portion of a cross bar of the L-shaped cantilever crane. According to the automatic centering device, horizontal and vertical translation and rotation around a vertical axis can be realized simultaneously, so that the motion range of the centering unit covers the working area and the same effect as a three-axis translation effect of the conventional same-type apparatus can be realized. Moreover, the space occupied by the device is small when the device is in motion and the adaptability is high; a workpiece can be assisted in separation based on cooperation with a capturing device, so that automatic capturing of the workpiece can be realized conveniently, a capturing error can be reduced effectively, and the precision requirement of the capturing device can be reduced. In addition, because electric mechanisms are arranged at the upper part of the device, the electric mechanisms are far away from a frozen pipe, so that the frozen pipe at a profound hypothermia area can be operated by the automatic centering device.

Description

technical field [0001] The invention relates to an automatic thimble device and its access system. Background technique [0002] The grasping mechanism is widely used in automation equipment. At present, in the biological field, the storage and withdrawal of cell sample cryopreservation tubes can be automated, but it is often subject to conditions such as the tightness of the arrangement of the cryopreservation tubes and the difficulty of detaching the cryopreservation tubes from the tray. For example, when the cryopreservation tubes are closely arranged on the tray, it is easy to cause mis-grabbing and over-grabbing of the grasping mechanism; and when the cryopreservation tubes are sparsely arranged, the storage capacity of the entire tray is reduced, which will cause Uneconomical problem; In addition, due to the long-term deep low temperature, the freezing tube and the tray are prone to frost and ice, resulting in adhesion, which makes it impossible to pick up. Contents ...

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Problems solved by technology

[0003] The present invention aims to solve the problems in the prior art that the grasping device is easy to mistakenly grasp or cannot grasp the cryopreservation tube, the coverage of the working area is small, and it is difficult to handle the cryopreservation tube in the deep low temperature area normally. Automatic thimble device and its access system used in deep low temperature environment

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