Multi-stroke manipulator and sample storage cabinet

Abstract

The utility model discloses a sample storage cabinet which comprises a multi-stroke mechanical arm, a longitudinal sliding assembly, a lifting assembly, a first cabinet body, a second cabinet body and a discharging device, the multi-stroke mechanical arm comprises a fixing plate, a power module, a transition plate, a double amplification module, a terminal plate and a mechanical arm, and the transition plate is arranged on the fixing plate in a sliding mode; a first gear is rotationally arranged at the bottom end of the transition plate, the double amplification module comprises a first rack, a second rack, a movable frame, a synchronous belt and a synchronous wheel, the movable frame is arranged on the transition plate in a sliding mode, the first rack is arranged on the fixed plate, the second rack is arranged on the movable frame, and the first gear is engaged with the first rack and the second rack; the two synchronous wheels are rotationally arranged on the movable frame, the terminal plate is arranged on the movable frame in a sliding mode, one side of the synchronous belt is fixed to the transition plate, and the other side of the synchronous belt is fixed to the terminal plate. The multi-stroke manipulator has the advantages that the multi-stroke manipulator occupies one time of space and can cover three times of space.

Description

Technical Field

[0001] This utility model relates to the field of sample storage and retrieval technology, and in particular to a multi-stroke robotic arm and a sample storage cabinet. Background Technology

[0002] The laboratory contains numerous storage cabinets, each with multiple compartments for holding sample racks containing sample tubes. When a sample rack needs to be retrieved, a robotic arm grasps it and places it out of its compartment. The robotic arm is typically positioned between adjacent cabinets, with one arm shared between every two cabinets. The robotic arm must extend into the sample cabinet to grasp the sample rack. The robotic arm is usually mounted on a fixed plate. Existing robotic arms typically have a stroke in only two directions, meaning the maximum stroke in that direction is twice the length of the fixed plate. This necessitates maintaining a significant distance between adjacent cabinets to allow for lateral movement of the robotic arm.

[0003] Existing robotic arms have a relatively limited range of motion compared to fixed plates, and they occupy a large amount of space. To ensure that the robotic arms do not interfere with each other during longitudinal and vertical movements, a greater distance needs to be maintained between adjacent cabinets, resulting in less space inside the storage cabinet for sample racks. Improvements are needed in this regard. Utility Model Content

[0004] The purpose of this invention is to propose a robotic arm whose stroke can be magnified many times, thereby reducing the space occupied by the robotic arm and improving the space utilization rate of sample storage cabinets.

[0005] This utility model proposes a multi-stroke robotic arm and sample storage cabinet, including a fixed plate, a power module, a transition plate, a 2x magnification module, a terminal plate, and a robotic arm. The transition plate is laterally slidably mounted on the fixed plate, and the power module drives the transition plate to move. A first gear is rotatably mounted at the bottom of the transition plate. The 2x magnification module includes a first rack, a second rack, a moving frame, a synchronous belt, and a pair of synchronous pulleys. The moving frame is laterally slidably mounted on the transition plate. The first rack is laterally fixedly mounted on the fixed plate, and the second rack is laterally fixedly mounted on the moving frame. The two sides of the first gear mesh with the first rack and the second rack, respectively. The two synchronous pulleys are rotatably mounted on the moving frame, and the synchronous belt is wound around the synchronous pulleys. The terminal plate is laterally slidably mounted on the moving frame. One side of the synchronous belt is fixed relative to the transition plate, and the other side of the synchronous belt is fixed to the terminal plate. The robotic arm is fixedly mounted on the terminal plate.

[0006] Preferably, a first sliding track is fixedly provided laterally on the surface of the fixed plate, and a first sliding seat is fixedly provided on the surface of the transition plate facing the fixed plate, with the first sliding seat seated on the first sliding track.

[0007] Preferably, the power module includes a drive motor and a drive gear. The drive gear is fixedly mounted on the shaft of the drive motor, and a driven rack is laterally fixed on the surface of the transition plate. The drive gear meshes with the driven rack.

[0008] Preferably, a second sliding rail is fixedly provided on the surface of the transition plate facing the movable frame, and a second sliding seat is fixedly provided on one side of the movable frame, with the second sliding seat seated in the second sliding rail.

[0009] Preferably, a third sliding seat is fixedly provided on the other side surface of the movable frame, and a third sliding rail is fixedly provided on the surface of the terminal plate, with the third sliding rail seated on the third sliding seat.

[0010] Preferably, a first clip is fixedly provided on the surface of the transition plate, and the first clip is fixed to one side of the timing belt; a second clip is fixedly provided on the surface of the terminal plate, and the second clip is fixed to the other side of the timing belt.

[0011] Preferably, a sensing sheet is fixedly mounted on the terminal board, and a sensor is mounted on the side of the drive motor near the sensing sheet, and the sensor is electrically connected to the drive motor.

[0012] A sample storage cabinet includes a multi-stroke manipulator, a longitudinal sliding assembly, a lifting assembly, a first cabinet, a second cabinet, and several discharge devices. The first and second cabinets are arranged parallel to each other, and the discharge devices are disposed on the second cabinet. The longitudinal sliding assembly is disposed between the first and second cabinets, the lifting assembly is slidably disposed on the longitudinal sliding assembly, and the multi-stroke manipulator is fixedly disposed on the lifting assembly.

[0013] Preferably, the discharge device includes a drive cylinder, a discharge slide rail, a discharge slider, and a discharge platform. The discharge slide rail is vertically fixed on the second cabinet. The drive cylinder is fixed at one end of the discharge slide rail. The discharge slider is slidably disposed within the discharge slide rail. The discharge platform is horizontally fixed on the discharge slider. The extension rod of the drive cylinder is fixed to the discharge slider.

[0014] Preferably, several of the discharge devices are located on one side of the second cabinet and arranged along the height direction of the second cabinet.

[0015] As can be seen from the above description of this utility model, this utility model has the following beneficial effects:

[0016] 1. This multi-stroke manipulator uses a power module to drive a transition plate to slide laterally on a fixed plate. The first gear at the bottom of the transition plate drives the moving frame to slide laterally. During the lateral sliding, the moving belt drives the synchronous belt, which in turn drives the terminal plate to slide laterally on the moving frame. This allows the multi-stroke manipulator to occupy 1 unit of space but cover 3 units of space, improving the space utilization rate in the sample storage cabinet.

[0017] 2. A sensing plate is fixedly installed on the terminal board, and a sensor is installed on the side of the drive motor close to the sensing plate, so that the sensor is electrically connected to the drive motor; when the terminal board and the robot arm complete the reset, when the sensing plate moves to the bottom of the sensor, the sensor will feed back the information to the drive motor, and the drive motor will stop working, thereby enabling the terminal board and the robot arm to complete the precise reset. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the sample storage cabinet in the embodiment.

[0019] Figure 2 This is a structural schematic diagram of the longitudinal sliding component and the lifting component in the embodiment;

[0020] Figure 3 This is a schematic diagram of the discharge device in the embodiment;

[0021] Figure 4 This is a schematic diagram of the structure of the multi-stroke manipulator in the embodiment;

[0022] Figure 5 This is a side view of the multi-stroke manipulator in the embodiment;

[0023] Figure 6 This is a side view of the power module, mounting plate, and transition plate in the embodiment.

[0024] Figure 7 This is a side view of the mobile frame in the embodiment;

[0025] Figure 8 This is a schematic diagram of the structure of the first clip, the second clip, and the timing belt in the embodiment.

[0026] Reference numerals: 1. Multi-stroke manipulator; 11. Fixing plate; 111. First sliding guide rail; 12. Power module; 121. Drive motor; 122. Drive gear; 123. Sensor; 13. Transition plate; 131. First sliding seat; 132. Driven rack; 133. Second sliding rail; 134. First gear; 135. First clamp; 14. 2x magnification module; 141. First rack; 142. Second rack; 143. 1. Moving frame; 1431. Second sliding seat; 1432. Third sliding seat; 144. Synchronous belt; 145. Synchronous pulley; 15. Terminal plate; 151. Third sliding track; 152. Second clamp; 153. Sensor plate; 16. Robotic arm; 2. Longitudinal sliding assembly; 3. Lifting assembly; 4. First cabinet; 5. Second cabinet; 6. Discharge device; 61. Drive cylinder; 62. Discharge guide rail; 63. Discharge slider; 64. Discharge platform. Detailed Implementation

[0027] To make the technical problem to be solved, the technical solution and the beneficial effects of this utility model clearer and more understandable, the following description is provided in conjunction with the appendix. Figures 1-8 The present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0028] Reference Figure 1 , Figure 2 and Figure 3 A multi-stroke robotic arm and sample storage cabinet are disclosed, comprising a multi-stroke robotic arm 1, a longitudinal sliding assembly 2, a lifting assembly 3, a first cabinet 4, a second cabinet 5, and several discharging devices 6. The first cabinet 4 and the second cabinet 5 are arranged parallel to each other. The multi-stroke robotic arm 1, the longitudinal sliding assembly 2, and the lifting assembly 3 are all positioned between the first cabinet 4 and the second cabinet 5. The several discharging devices 6 are positioned on one side of the second cabinet 5, so that all discharging devices 6 are located in the same vertical direction. The longitudinal sliding assembly 2 is kept parallel to the first cabinet 4 and the second cabinet 5. The lifting assembly 3 is slidably mounted on the longitudinal sliding assembly 2, and the multi-stroke robotic arm 1 is mounted on the lifting assembly 3. The lifting assembly 3 drives the multi-stroke robotic arm 1 to rise and fall, and the longitudinal sliding assembly 2 drives the lifting assembly 3 and the multi-stroke robotic arm 1 to achieve longitudinal sliding.

[0029] A multi-stroke robotic arm 1 grasps a sample from either the first cabinet 4 or the second cabinet 5, and moves it to the vicinity of the discharge device 6 with the assistance of the longitudinal sliding assembly 2. The grasped sample is then placed on the discharge device 6 and discharged through it. The discharge device 6 includes a drive cylinder 61, a discharge guide rail 62, a discharge slider 63, and a discharge platform 64. The discharge guide rail 62 is vertically fixed on the second cabinet 5, and the drive cylinder 61 is fixedly mounted on one end of the discharge guide rail 62 near the first cabinet 4. The discharge slider 63 is slidably disposed within the discharge guide rail 62, and the extension rod of the discharge cylinder is fixed to the discharge slider 63. The discharge platform 64 is fixedly mounted on the discharge slider 63. The multi-stroke robotic arm 1 places the gripped sample on the discharge platform 64, and extends the telescopic rod of the drive cylinder 61 to drive the discharge slider 63 to slide within the discharge guide rail 62, thereby driving the discharge platform 64 and the sample placed above the discharge platform 64 to complete the discharge from the sample storage cabinet.

[0030] Reference Figure 4 and Figure 5 The multi-stroke manipulator 1 includes a fixed plate 11, a power module 12, a transition plate 13, a double magnification module 14, a terminal plate 15, and a manipulator 16. The fixed plate 11 is fixedly mounted on the lifting assembly 3, and the transition plate 13 is laterally slidably mounted on the fixed plate 11. For this purpose, a first sliding guide rail 111 is laterally fixedly mounted on the fixed plate 11, and a first sliding seat 131 is fixedly mounted on the surface of the transition plate 13, so that the first sliding seat 131 is locked on the first sliding guide rail 111. A power module 12 is fixedly mounted on the upper end of a fixed plate 11. The power module 12 drives a transition plate 13 to slide laterally on the fixed plate 11. The power module 12 includes a drive motor 121 and a drive gear 122. The drive gear 122 is fixedly mounted on the shaft of the drive motor 121. Correspondingly, a driven rack 132 adapted to the drive gear 122 is fixedly mounted on the surface of the transition plate 13, so that the drive gear 122 meshes with the driven rack 132. The shaft of the drive motor 121 rotates, thereby driving the transition plate 13 to slide on the fixed plate 11 under the transmission action of the drive gear 122 and the driven rack 132.

[0031] Reference Figure 5 and Figure 6The robotic arm 16 is fixedly mounted on the terminal plate 15. A 2x magnification module 14 is positioned between the terminal plate 15 and the transition plate 13. The 2x magnification module 14 includes a first rack 141, a second rack 142, a moving frame 143, a timing belt 144, and a pair of timing pulleys 145. The moving frame 143 is laterally slidably mounted on the transition plate 13. For this purpose, a second sliding track 133 is fixedly mounted on the surface of the transition plate 13 facing the moving frame 143. A second sliding seat 1431 is fixedly mounted on one side of the moving frame 143, such that the second sliding seat 1431 is engaged with the second sliding track 133.

[0032] To facilitate relative sliding between the movable frame 143 and the transition plate 13, a first gear 134 is rotatably mounted at the bottom end of the transition plate 13. Correspondingly, a first rack 141 is laterally fixed on the fixed plate 11, and a second rack 142 is laterally fixed on the movable frame 143, with the first rack 141 and the second rack 142 positioned opposite each other. The first gear 134 is positioned between the first rack 141 and the second rack 142, meshing with both. When the power module 12 drives the transition plate 13 to move relative to the fixed plate 11, the first gear 134 at the bottom end of the transition plate 13 begins to rotate under the reaction force of the first rack 141. Since the second rack 142 is fixed to the movable frame 143, the first gear 134, during its rotation, drives the movable frame 143 to slide. The sliding distance between the movable frame 143 and the transition plate 13 is equal to the sliding distance between the transition plate 13 and the fixed plate 11.

[0033] Reference Figure 7 and Figure 8 The terminal plate 15 is laterally slidably mounted on the surface of the movable frame 143 facing away from the transition plate 13, thereby fixing a third sliding seat 1432 on the movable frame 143. A third sliding track 151 is fixedly mounted on the surface of the terminal plate 15, and the third sliding track 151 is locked onto the third sliding seat 1432. Two synchronous pulleys 145 are rotatably mounted on the surface of the movable frame 143, and a synchronous belt 144 is wound around the two synchronous pulleys 145. A first clamp 135 is fixedly mounted on the surface of the transition plate 13, and the first clamp 135 is clamped and fixed to one side of the synchronous belt 144. A second clamp 152 is fixedly mounted on the surface of the terminal plate 15, and the second clamp 152 is clamped and fixed to the other side of the synchronous belt 144.

[0034] When the moving frame 143 slides on the transition plate 13, since the first clamp 135 is fixed to the transition plate 13, the moving frame 143 causes the synchronous belt 144 to move under the reaction force of the first clamp 135 during the sliding process. Subsequently, the conveyor belt drives the terminal plate 15 to slide through the second clamp during the conveying process. The sliding stroke between the terminal plate 15 and the moving frame 143 is equal to the sliding stroke between the moving frame 143 and the transition plate 13. Let the relative movement stroke between the transition plate 13 and the fixed plate 11 be H. Under the action of the double magnification module 14, the relative movement stroke between the terminal plate 15 and the transition plate 13 is 2H, thus setting the relative movement stroke between the terminal plate 15 and the fixed plate 11 to 3H. This makes the movement stroke of the robot arm 16 three times the movement stroke of the transition plate 13.

[0035] After the robotic arm 16 has finished grasping the samples from the first cabinet 4 and the second cabinet 5, the moving frame 143 and the transition plate 13 are both returned to a position flush with the end of the fixed plate 11. This ensures that the multi-stroke robotic arm 1 is not interfered with by the first cabinet 4 or the second cabinet 5 during lifting and longitudinal movement. To ensure that the terminal plate 15 can be accurately reset, a sensing plate 153 is fixedly installed on the terminal plate 15. Correspondingly, a sensor 123 is fixedly installed on the side of the drive motor 121 near the terminal plate 15, and the sensor 123 is electrically connected to the drive motor 121. When the terminal plate 15 and the robotic arm 16 are resetting, when the sensor 123 senses the sensing plate 153, the shaft of the drive motor 121 stops working, thereby enabling the terminal plate 15 and the robotic arm 16 to complete the accurate reset.

[0036] The specific implementation principle of this application embodiment is as follows: A large number of samples are stored in the first cabinet 4 and the second cabinet 5 of the sample storage cabinet. When it is necessary to remove the samples from the first cabinet 4 or the second cabinet 5, the rotating shaft of the drive motor 121 rotates, driving the drive gear 122 to rotate, thereby driving the transition plate 13 to slide laterally on the fixed plate 11. The relative movement stroke between the transition plate 13 and the fixed plate 11 is set to H. During the lateral sliding process of the transition plate 13, since the first rack 141 is fixedly mounted on the fixed plate 11, the first gear 134 at its bottom rotates under the reaction force of the first rack 141, causing the second rack 142 to drive the moving frame 143 to move relative to it under the action of the first gear 134. The movement stroke of the moving frame 143 relative to the transition plate 13 is also H.

[0037] Since the first clamp 135 is fixedly mounted on the transition plate 13, during the movement of the moving frame 143, the synchronous belt 144 is driven by the first clamp 135. During the transmission, the synchronous belt 144 drives the terminal plate 15 to slide through the fixed second clamp 152. The travel distance between the terminal plate 15 and the moving frame 143 is also H. After the robot arm 16 on the terminal plate 15 grabs the sample from the first cabinet 4 and the second cabinet 5, the robot arm 16 and the terminal plate 15 begin to reset. After the sensor 123 senses the sensing plate 153 fixedly mounted on the terminal plate 15, the drive motor 121 stops working, thereby ensuring that the robot arm 16 and the terminal plate 15 are accurately reset. After reset, the ends of the moving frame 143, the transition plate 13, and the fixed plate 11 are all flush. Thus, the robot arm 1 with multiple strokes can move up and down under the action of the lifting assembly 3 and slide longitudinally under the action of the longitudinal sliding assembly 2 without being interfered with by the first cabinet 4 or the second cabinet 5. After moving, the multi-stroke manipulator 1 grabs the sample and places it on the discharge platform 64 of the discharge device 6. The extension rod of the discharge cylinder extends to drive the discharge platform 64 to slide out of the sample storage cabinet, thereby completing the discharge of the sample.

[0038] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution to other situations without modification, shall be protected by the present invention.

Claims

1. A multi-stroke robotic arm, characterized in that: It includes a fixed plate, a power module, a transition plate, a 2x magnification module, a terminal plate, and a robotic arm. The transition plate is laterally slidably mounted on the fixed plate, and the power module drives the transition plate to move. The bottom end of the transition plate is rotatably provided with a first gear. The double magnification module includes a first rack, a second rack, a movable frame, a synchronous belt and a pair of synchronous pulleys. The movable frame is laterally slidably disposed on the transition plate. The first rack is laterally fixedly disposed on a fixed plate. The second rack is laterally fixedly disposed on the movable frame. The two sides of the first gear mesh with the first rack and the second rack respectively. The two synchronous pulleys are rotatably mounted on the movable frame, the synchronous belt is wound around the synchronous pulleys, the terminal plate is laterally slidably mounted on the movable frame, one side of the synchronous belt is fixed relative to the transition plate, the other side of the synchronous belt is fixed to the terminal plate, and the robot arm is fixedly mounted on the terminal plate.

2. The multi-stroke robotic arm according to claim 1, characterized in that: A first sliding track is fixedly provided laterally on the surface of the fixed plate, and a first sliding seat is fixedly provided on the surface of the transition plate facing the fixed plate, with the first sliding seat seated on the first sliding track.

3. The multi-stroke robotic arm according to claim 1, characterized in that: The power module includes a drive motor and a drive gear. The drive gear is fixedly mounted on the shaft of the drive motor. A driven rack is laterally fixed on the surface of the transition plate. The drive gear meshes with the driven rack.

4. The multi-stroke robotic arm according to claim 1, characterized in that: A second sliding rail is fixedly installed on the surface of the transition plate facing the movable frame, and a second sliding seat is fixedly installed on one side of the movable frame, with the second sliding seat seated in the second sliding rail.

5. A multi-stroke robotic arm according to claim 4, characterized in that: A third sliding seat is fixedly provided on the other side surface of the mobile frame, and a third sliding rail is fixedly provided on the surface of the terminal plate, with the third sliding rail seated on the third sliding seat.

6. A multi-stroke robotic arm according to claim 4, characterized in that: The surface of the transition plate is fixedly provided with a first clip, which is fixed to one side of the timing belt. The surface of the terminal plate is fixedly provided with a second clip, which is fixed to the other side of the timing belt.

7. A multi-stroke robotic arm according to claim 3, characterized in that: A sensing plate is fixedly installed on the terminal board, and a sensor is installed on the side of the drive motor near the sensing plate. The sensor is electrically connected to the drive motor.

8. A sample storage cabinet, characterized in that: The multi-stroke manipulator according to any one of claims 1-7 further includes a longitudinal sliding assembly, a lifting assembly, a first cabinet, a second cabinet, and a plurality of discharge devices, wherein the first cabinet and the second cabinet are arranged parallel to each other, and the discharge devices are disposed on the second cabinet; the longitudinal sliding assembly is disposed between the first cabinet and the second cabinet, the lifting assembly is slidably disposed on the longitudinal sliding assembly, and the multi-stroke manipulator is fixedly disposed on the lifting assembly.

9. A sample storage cabinet according to claim 8, characterized in that: The discharge device includes a drive cylinder, a discharge slide rail, a discharge slider, and a discharge platform. The discharge slide rail is vertically fixed on the second cabinet. The drive cylinder is fixed at one end of the discharge slide rail. The discharge slider is slidably disposed within the discharge slide rail. The discharge platform is horizontally fixed on the discharge slider. The extension rod of the drive cylinder is fixed to the discharge slider.

10. A sample storage cabinet according to claim 8, characterized in that: Several of the aforementioned discharge devices are located on one side of the second cabinet and arranged along the height direction of the second cabinet.

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