A cell-changing grasping mechanism with automatic adjustment function
By designing a cell-changing grab mechanism with automatic adjustment function, combining gear rack transmission and electromagnet clamp, the problem of loading and removing goods in narrow channels of the bacterial chamber warehouse equipment is solved, and automated operation and space utilization are realized. promote.
Patent Information
- Application Number
- CN201911234503.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2019-12-05
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2039-12-05
AI Technical Summary
The existing bacteria room warehouse equipment is difficult to automatically put goods on and off the shelves in narrow passages, and the equipment is difficult to transform, unable to effectively utilize the space, and the fixing of the shelves leads to inconvenient collection and placement of goods.
A transforming cell grasping mechanism with automatic adjustment function is designed, including a rotating shaft, drive plate, driven plate claw, stop plate and blocking round head. The grasping mechanism is realized through torsion spring hinge and electromagnet clamp. Synchronous reverse rotation and automatic balance, combined with rack and rack transmission, it achieves a three-speed mechanism to adapt to the needs of shelves in narrow channels.
The automatic up and down of goods in narrow passages is realized, the equipment structure is simplified, and the assembly difficulty is reduced. The center of gravity balance mechanism is used to avoid equipment rollover, which meets the push and pull back needs of high-rise shelves, and improves the flexibility of equipment and efficiency.
Smart Images
Figure CN110775509B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a racking device, in particular to a metamorphic cell grabbing mechanism with an automatic adjustment function. Background Art
[0002] For various warehouses or greenhouses, especially for early warehouses or greenhouses, in order to make full use of space, only narrow passages are often left to facilitate various operations. For example, the early spawning room warehouses were built to manually put mushroom bags on and off the shelves. Therefore, the spawning room warehouses designed with manual labor have the following characteristics:
[0003] 1. The door is short and narrow, with a height of no more than 2m and a width of about 0.95m, while the shelf height of the sterilization room exceeds 3.5m;
[0004] 2. The passage between the sterilizing racks is narrow, usually about 660mm, and the equipment needs to be placed in the passage for the left and right rows of shelves.
[0005] 3. There is no ready-made equipment, and transformation is difficult. It is difficult to invest huge amounts of money to completely transform the warehouse or the mushroom rack.
[0006] 4. The shelves are fixed, and the height of each layer is limited. In addition, because there are side guards on the sides of the shelves, after the mushroom bags are placed in the baskets, the baskets can only be lifted into the shelves and then put down, or taken out from the shelves, and cannot be pushed in or out. Summary of the invention
[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a variable cell grabbing mechanism with automatic adjustment function that can facilitate walking in the channel and realize loading and unloading of goods without affecting other items.
[0008] A metamorphic grabbing mechanism with automatic adjustment function, the metamorphic grabbing mechanism includes a rotating shaft, a driving plate, a driven plate claw, a stop plate and a blocking round head, the driving plate is fixed on the rotating shaft and moves with the rotating shaft, the driven plate claw is connected to the driving plate through a torsion spring hinge, the stop plate is connected to the driven plate and is located on the opposite side of the torsion spring hinge, the torsion spring hinge is preset with a pre-tightening force rotating in the direction of the stop plate side, the blocking round head is fixed to a fixed object near the stop plate to limit the movement of the driven plate claw, the metamorphic grabbing mechanism is installed in pairs on the transverse movement mechanism of the upper rack equipment, the paired metamorphic mechanisms rotate synchronously in the opposite direction, and the transverse movement mechanism includes multiple A transverse moving device connected with a transmission, the transverse moving device located at the top of the transverse moving mechanism includes a base and a connecting plate, the fourth guide rail slider group, the fourth rack, and the fourth driving gear are all arranged on the base, a pair of lugs are arranged on the upper surface of the base, a base shaft is arranged on the lugs, and an electromagnetic clamp is arranged below the connecting plate. The base shaft arranged on the lugs passes through the connecting holes of the electromagnetic clamps and is supported on the lugs at both ends. The clamping slider of the electromagnetic clamp is pressed toward the connecting hole by a spring to lock the base shaft in the hole. When the electromagnetic clamp is energized, the clamping slider is attracted away from the connecting hole by magnetic force, so that the base shaft is relaxed and can rotate freely. One end of the connecting plate is connected to the lifting device of the upper rack equipment.
[0009] The cell-changing grasping mechanism of the present invention has a tendency to rotate the driven plate claw around the rotation center of the torsion spring hinge along the side of the stop plate due to the torsion spring preload force of the torsion spring hinge. When the cell-changing grasping mechanism performs a clamping action, i.e., moves in the opposite direction of the torsion spring hinge preload force, when the driven plate claw and the driving plate are in the same plane, the stop plate touches the driving plate, preventing the driven plate claw from continuing to rotate along the direction of the torsion spring hinge preload force. When the cell-changing grasping mechanism rotates along the direction of the torsion spring preload force, after the driven plate claw touches the blocking round head, the driving plate continues to rotate around the axis center in the direction of the torsion spring preload force, and the surface of the driven plate claw slides on the blocking round head and rotates around the rotation center of the torsion spring hinge, so that the cell-changing grasping mechanism can be opened when grasping is needed, and can be folded when exiting to avoid touching other objects. The cell-changing grasping mechanism is used in conjunction with the transverse movement mechanism to increase the moving range of the cell-changing grasping mechanism and realize left or right movement at a workstation. The top transverse device of the transverse mechanism is divided into a base and a connecting plate structure, and the two parts are connected in this elastic and adjustable manner. When the equipment tilts as a whole due to uneven ground at the beginning, the base shaft is loosened by the electromagnetic clamp, and the transverse mechanism is automatically reset by the gravity balance of the transverse mechanism itself (the plumb line of the center of gravity of the transverse mechanism passes through the center of the base shaft), and then the electromagnetic clamp clamps the base shaft. In this way, the transverse mechanism can realize the left and right transverse function with a large stroke under the condition of small outer dimensions. By connecting several transverse devices in sequence, the width of the upper and lower racks can be as small as possible while ensuring the transverse distance, so that the variable cell grabbing mechanism with automatic adjustment function can operate in narrow channels.
[0010] The two shafts of the metamorphic cell grabbing mechanism that rotate synchronously in opposite directions are respectively driven by coaxially driven gears and sprockets.
[0011] Coaxial drive is achieved by using coaxial gears and sprockets to drive the shafts of the metamorphic grabbing mechanism respectively. The gear meshing transmission can be used to drive the shaft of the nearby metamorphic grabbing mechanism, and the chain transmission can be used to drive the shaft farther away, thereby achieving coaxial drive.
[0012] The metamorphic cell grasping mechanism is arranged on the first transverse moving device at the bottom, the metamorphic cell grasping mechanism shaft is supported on the first transverse moving device, the driving plate, driven plate claw and stop plate of the metamorphic cell grasping mechanism are suspended below the transverse moving device, the driven plate claws of the metamorphic cell grasping mechanism arranged in pairs are arranged facing each other, and the blocking round head of the metamorphic cell grasping mechanism is arranged on the first transverse moving device on the stop plate side.
[0013] The driving plate and driven plate claws are either continuously extended along the axis of the metamorphic cell grabbing mechanism, or are arranged at intervals along the axis of the metamorphic cell grabbing mechanism.
[0014] The transverse movement devices of the transverse movement mechanism are driven by gears and racks.
[0015] The transverse movement mechanism includes a first transverse movement device, a second transverse movement device, a third transverse movement device and a fourth transverse movement device located at the top, and two first racks are arranged in parallel on the upper surface of the first transverse movement device, and the first racks extend along the width direction of the stage;
[0016] A pair of second guide rail slider groups are arranged in parallel on the lower surface of the second transverse moving device, and the second guide rail slider group extends along the width direction of the loading platform. Two groups of gear groups are also arranged on the outer side of the second transverse moving device, and the extension direction of the rotating shaft of the gear group is perpendicular to the direction of the second guide rail slider group. Each group of gear groups includes two rows of gears, and the two rows of gears are respectively meshed with the racks on the third transverse moving device and the fourth transverse moving device. The output gear meshed with the rack of the third transverse moving device is also meshed with the first rack at the same time. The gear meshed with the rack on the fourth transverse moving device is a driving gear. The two rows of gears on the second transverse moving device are connected through an intermediate gear transmission.
[0017] A pair of racks are disposed on the upper and lower surfaces of the third transverse moving device, and a pair of third guide rail slider groups are also disposed on the lower surface of the third transverse moving device, and the racks and the third guide rail slider groups both extend along the width direction of the stage;
[0018] A pair of fourth guide rail slider groups and fourth racks extending along the width direction of the worktable are arranged below the fourth transverse moving device, and a fourth driving gear is also arranged on the fourth transverse moving device. The first transverse moving device, the second transverse moving device, the third transverse moving device and the fourth transverse moving device are connected in sequence through the guide rail slider groups. The fourth driving gear of the fourth transverse moving device is meshed with the rack on the upper surface of the third transverse moving device, the fourth rack of the fourth transverse moving device is meshed with the driving gear of the second transverse moving device, the rack on the lower surface of the third transverse moving device is meshed with the output gear of the second transverse moving device, and the output gear of the second transverse moving device is meshed with the first rack at the same time.
[0019] The first transverse moving device, the second transverse moving device, the third transverse moving device and the fourth transverse moving device are connected in sequence through a guide rail slider group, and the corresponding gears are meshed with the racks, so that the fourth driving gear of the fourth transverse moving device drives the rack on the upper surface of the third transverse moving device to move, and drives the third transverse moving device to move, so that the rack fixed on the lower surface of the third transverse moving device is meshed with the output gear of the second transverse moving device, so that the output gear is subjected to thrust, and the thrust is in the same direction as the moving direction of the third transverse moving device. Since the output gear and the driving gear rotate in the same direction, and since the driving gear is meshed with the fourth rack, when the output gear is subjected to thrust, the second transverse moving device will be moved in the same direction as the moving direction of the third transverse moving device, and the moving speed is twice that of the third transverse moving device. Since the output gear is meshed with the first rack of the first transverse moving device, the first transverse moving device will be moved in the same direction as the moving direction of the second transverse moving device, and the moving speed is twice that of the second transverse moving device, forming a 4-speed mechanism driven by gears and racks. From the above, it can be seen that when the fourth transverse moving device is fixed, assuming that the total stroke of the third transverse moving device is a, and the theoretical maximum value of a is: Ls (linear guide rail length L, guide rail slider length s), then the total stroke of the second transverse moving device is 2a, and the total stroke of the first transverse moving device is 3a. In order to ensure that at least one of the two gears 1222 is engaged with the fourth rack when the mechanism moves laterally, the center distance between the two driving gears 1222 cannot be less than: L-2s.
[0020] The fourth driving gear is driven by a motor which is mounted on the base.
[0021] The second transverse shifting device has an odd number of intermediate gears, one group of which includes driving wheels with the same number of teeth at both ends and an odd number of intermediate transmission gears in the middle, and the other group of gears includes an output gear, which is coaxial with the intermediate transmission gear located in the middle. The pitch circle diameter of the output gear is half of that of the driving gear, and the transmission gear is smaller than the driving gear.
[0022] When a rack is meshed with two driving gears at the same time, the teeth of the rack will not interfere with the transmission gear, so the driving gear can drive the driving gear to rotate in the same direction.
[0023] In summary, the present invention has the following advantages over the prior art:
[0024] The metamorphic grasping mechanism with automatic adjustment function of the present invention enables the mechanism to complete the clamping action and the retracting action of the grasping mechanism under different states when using a single motor; the present invention uses a pair of gear sets to drive the 3x speed mechanism to complete the equipment for the left and right rows of shelves in the channel, which greatly simplifies the complexity of the structure and the difficulty of assembly compared with the commonly used two sets of speed-increasing mechanisms to complete the 3x speed mechanism; the speed-increasing mechanism of the chain and the rack is adopted in the cargo lifting device so that the equipment can pass through the short warehouse door while meeting the travel requirement between the highest point of the shelf for mushroom bag shelving and the lowest point of the shelf; utilizing the center of gravity characteristics of the mushroom bag basket, the metamorphic grasping mechanism is shorter than the length when three baskets are arranged side by side, and a simple gear lever is used to enable the same equipment to complete the shelving requirements of two baskets at a time and three baskets at a time; utilizing the characteristic of the lower center of gravity, a gravity self-balancing mechanism is designed on the fourth transverse movement device, so that the transverse movement mechanism automatically restores to a direction parallel to the horizontal in the transverse movement direction. For high-rise shelves, the push-in and pull-back methods are used to send in and retract the baskets, which requires overcoming the friction between the baskets and the shelves. Also, since the vertical force arm is long, the weight of the equipment is not enough to overcome the force arm generated by pushing in or pulling back, which will cause the shelf equipment to overturn. This problem does not occur when using the grabbing method to send materials in and out of the shelves. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 It is an overall schematic diagram of the metamorphic cell grabbing mechanism with automatic adjustment function of the present invention.
[0026] Figure 2 It is a schematic diagram of a metamorphic grasping mechanism with an automatic adjustment function in a high position.
[0027] Figure 3 The invention is a plan schematic diagram of a metamorphic cell grasping mechanism with an automatic adjustment function, in which the metamorphic cell grasping mechanism is in a high position.
[0028] Figure 4 It is a schematic diagram of the structure of the transverse movement mechanism.
[0029] Figure 5 It is a schematic diagram of the structure of the first transverse shifting device.
[0030] Figure 6 It is a schematic diagram of the structure of the second transverse shifting device.
[0031] Figure 7 It is a schematic diagram of the structure of the third transverse shifting device.
[0032] Figure 8 It is a plan view of the third transverse shifting device.
[0033] Fig. 9 It is a stereoscopic view of the fourth transverse shifting device.
[0034] Fig.10It is a plan view of the fourth transverse shifting device.
[0035] Fig.11 It is a schematic diagram of the base of the fourth transverse movement device.
[0036] Fig.12 It is a schematic diagram of the connecting ears on the connecting plate of the fourth transverse shift device.
[0037] Fig.13 It is a schematic diagram of the coordination of various transverse movement devices.
[0038] Fig.14 It is a schematic diagram of the transverse movement mechanism automatically returning to its initial state.
[0039] Fig.15 This is a schematic diagram of the return of the transverse movement mechanism.
[0040] Fig.16 This is a schematic diagram of the maximum leftward shift.
[0041] Fig.17 It is a schematic diagram of the maximum rightward shift.
[0042] Fig.18 It is a schematic diagram of the metamorphic cell grasping mechanism.
[0043] Fig.19 It is a cross-sectional schematic diagram of the metamorphic cell grasping mechanism.
[0044] Fig. 20 It is a three-dimensional diagram of the metamorphosis grasping mechanism. DETAILED DESCRIPTION
[0045] The present invention is described in more detail below with reference to the embodiments.
[0046] Example 1
[0047] A cell-changing grasping mechanism with automatic adjustment function comprises a vertical support, a loading platform, a transverse movement mechanism which moves laterally relative to the loading platform, and a lifting device which drives the transverse movement mechanism to move up and down. One end of the loading platform is connected to the vertical support, the lifting device moves up and down on the vertical support, the transverse movement mechanism is connected to the lifting device and moves up and down following the lifting device, casters for convenient walking are arranged on the vertical support and the loading platform, and the cell-changing grasping mechanism which is arranged in pairs toward the loading platform and rotates synchronously in the opposite direction is also arranged on the transverse movement mechanism.
[0048] like Figure 1 The cell-changing grasping mechanism with automatic adjustment function includes 1 transverse movement mechanism, 2 loading platform, 3 lifting device,
[0049] like Figure 4 The transverse movement mechanism includes four parts, a first transverse movement device 11, a second transverse movement device 12, a third transverse movement device 13, and a fourth transverse movement device 14.
[0050] like Figure 5 Two first racks 112 are fixed on the first bottom plate 111 of the first transverse moving device 11, and support plates 118 are fixed at both ends. Blocking round heads 119 are fixed on the support plates 118. The shaft 1131 of the metamorphic grasping mechanism 113 passes through the bearing seat fixed on the support plate 118, and is fixed to a sprocket of the sprocket chain set 116. The other sprocket of the sprocket chain set is fixed to the output shaft of the motor 114. One gear of the gear set 115 is fixed to the output shaft of the motor 114, and the other gear is fixed to the shaft 1131 of the metamorphic grasping mechanism 113 on the other side. Through the above two transmission modes, the motor 114 drives the shafts 1131 of the two metamorphic grasping mechanisms 113 to rotate, and the shafts 1131 of the two metamorphic grasping mechanisms 113 rotate synchronously in opposite directions. Figure 18-20 It is a cell-changing grabbing mechanism, the driving plate 1132 is fixed on the shaft 1131, the driven plate claw 1134 is connected to the driving plate 1132 through the torsion spring hinge 1135, and the stop plate 1133 is fixed on the driven plate claw 1134. Due to the torsion spring preload of the torsion spring hinge, the driven plate claw 1134 has a tendency to rotate clockwise around the rotation center of the torsion spring hinge 1135. When the cell-changing grabbing mechanism performs a counterclockwise clamping action, the driven plate claw 1134 and the driving plate claw 1134 are connected. When plates 1132 are in the same plane, the stop plate 1133 touches the driving plate 1132, preventing the driven plate claw 1134 from continuing to rotate clockwise. When the cell grabbing mechanism moves clockwise, the driven plate claw 1134 touches the blocking round head 119, and the driving plate 1132 continues to rotate clockwise around the center of the axis 1131. The surface of the driven plate claw 1134 slides on the blocking round head 119 and rotates around the rotation center of the torsion spring hinge 1135.
[0051] like Figure 6 Two sets of gear sets 122 are fixed on the upper surface of the bottom plate 121 of the second transverse moving device 12, and a pair of linear second guide rail slider sets 124 are fixed on the lower surface of the second bottom plate 121. Two driving gears 1222 are correspondingly arranged at the two ends of the two fixed plates 1221 of the gear set 122, and an odd number of transmission gears 1223 meshing with the two driving gears 1222 are arranged inside, and an output gear 1224 having half the number of teeth of the driving gear 1222 is fixed on the shaft of the middle transmission gear 1223, and the transmission gear 1223 is smaller than the driving gear 1222, so that when a rack is meshed with the two driving gears 1222 at the same time, the teeth of the rack will not interfere with the transmission gear 1223, so that the driving gear 1222 can drive the driving gear 1222 to rotate in the same direction, and the pitch circle radius of the driving gear 1222 is half the pitch circle radius of the driving gear 1222.
[0052] like Figure 7 , 8A pair of racks 132 are fixed on the upper surface of the third base plate 131 of the third transverse moving device 13, a pair of racks 135 and a pair of linear third guide rail slider groups 134 are fixed on the lower surface of the third base plate 131.
[0053] like Figure 9-12 A lug 1412 is fixed on the upper surface of the fourth base 141 of the fourth transverse movement device 14, and a base shaft 1411 is fixed on the lug 1412. The base shaft 1411 penetrates into the hole 1483 of the two electromagnetic clamps 148 fixed on the connecting plate 142, and the clamping slider 1482 of the electromagnetic clamp 148 is pressed toward the hole 1483 by the spring 1481, so that the base shaft 1411 is locked in the hole 1483. When the electromagnetic clamp 148 is energized, the clamping slider 1482 is attracted by the magnetic force and moves away from the hole 1483, so that the base shaft 1411 is loosened and can rotate freely. The two transverse movement driving gears 144 are connected to the motor 143 through the shaft, that is, the motor can drive the gear 144 to rotate, and a pair of linear fourth guide rail slider group 145 and fourth rack 146 are fixed on the lower surface of the fourth base plate 121.
[0054] like Fig.13 The first traverse device 11, the second traverse device 12, the third traverse device 13, and the fourth traverse device 14 are connected in sequence through the linear guide sliders of each layer, and the corresponding gears are meshed with the racks, so that the driving gear 144 of the fourth traverse device 14 drives the rack 132 to move, and drives the third traverse device 13 to move, so that the rack 135 fixed on the third traverse device 13 is meshed with the output gear 1224, so that the output gear 1224 is subjected to a thrust, and this thrust is in the same direction as the moving direction of the third mechanism plate. The driving gear 1222 rotates in the same direction, and because the driving gear 1222 is meshed with the rack 146, when the output gear 1224 is subjected to thrust, the second transverse moving device 12 will move in the same direction as the third transverse moving device 13, and the moving speed is one times that of the third transverse moving device 13. Since the output gear 1224 is meshed with the rack 112 of the first transverse moving device 11, the first transverse moving device 11 will move in the same direction as the second transverse moving device 12, and the moving speed is one times that of the second transverse moving device 12, forming a 4x speed mechanism driven by gears and racks. From the above, it can be seen that when the fourth transverse moving device 14 is fixed, assuming that the total movement stroke of the third transverse moving device 13 is a, and the theoretical maximum value of a is: Ls (linear guide rail length L, guide rail slider length s), then the total movement stroke of the second transverse moving device is 2a, and the total movement stroke of the first transverse moving device is 3a. In order to ensure that at least one of the two gears 1222 is engaged with the rack 146 when the mechanism moves laterally, the center distance between the two driving gears 1222 cannot be less than: L-2s.
[0055] like Figure 14-17, are the four states of the transverse movement mechanism, namely the initial state, the automatic return state, the maximum leftward movement state, and the maximum rightward movement state. When the device is tilted as a whole due to uneven ground at the initial stage, the base shaft 1411 is loosened by the electromagnetic clamp 148, and the transverse movement mechanism is automatically returned to the center by utilizing the gravity balance of the transverse movement mechanism itself (the vertical line of the center of gravity of the transverse movement mechanism passes through the center of the base shaft 1411), and then the electromagnetic clamp 148 clamps the base shaft 1411. The transverse movement mechanism can realize the left and right transverse movement function with a large stroke under the condition of small outer dimensions.
[0056] Working principle: Motor 114 drives the metamorphic grasping mechanism 113 to clamp the edge of the basket, motor 310 drives the gear rack to lift the platform connecting frame 311 to the height corresponding to the shelf, motor 143 drives the lateral movement mechanism 1 to send the basket into the shelf, motor 310 drives the gear rack to descend a certain distance so that the bottom of the basket falls on the shelf, motor 114 drives the metamorphic grasping mechanism 113 to open the driven plate claw 1134 to separate the metamorphic grasping mechanism 113 from the basket, motor 310 drives the gear rack to lift the platform connecting frame 311 for a distance, due to the height limit of the upper surface of the shelf layer, the driven plate claw 1134 The bottom is not higher than the height of the mushroom bag in the basket, and the motor 114 continues to drive the cell-changing grasping mechanism 113 at this position, so that the driven plate claw 1134 touches the blocking round head 119, and the surface of the driven plate claw 1134 slides on the blocking round head 119 and rotates around the rotation center of the torsion spring hinge 1135, thereby lifting the bottom of the driven plate claw 1134 to the top of the mushroom bag, and in this cell-changing process, the driven plate claw 1134 will not interfere with the space of the adjacent basket, and then the motor 143 drives the transverse movement mechanism 1 to exit the shelf and wait for the next basket to be put on the shelf. The actions of the unloading process are similar to this and will not be repeated.
[0057] The parts not described in this embodiment are the same as those in the prior art.
Claims
1. A cell-changing grabbing mechanism with automatic adjustment function, characterized in that: The metamorphosis grabbing mechanism includes a rotating shaft, a driving plate, a driven plate claw, a stop plate and a blocking round head. The driving plate is fixed on the rotating shaft and moves with the rotating shaft. The driven plate claw is connected to the driving plate through a torsion spring hinge. The stop plate is connected to the driven plate and is located on the opposite side of the torsion spring hinge. The torsion spring hinge is preset with a pre-tightening force rotating in the direction of the stop plate side. The blocking round head is fixed to a fixed object near the stop plate to limit the movement of the driven plate claw. The metamorphosis grabbing mechanism is installed in pairs on the transverse movement mechanism of the upper rack equipment. The paired metamorphosis mechanisms rotate synchronously in the opposite direction. The transverse movement mechanism includes a plurality of transverse movement devices connected by transmission. The transverse moving device located at the top of the transverse moving mechanism includes a base and a connecting plate. The fourth guide rail slider group, the fourth rack and the fourth driving gear are all arranged on the base. A pair of lugs are arranged on the upper surface of the base, and a base shaft is arranged on the lugs. An electromagnetic clamp is arranged below the connecting plate. The base shaft arranged on the lugs passes through the connecting hole of the electromagnetic clamp and is supported on the lugs at both ends. The clamping slider of the electromagnetic clamp is pressed toward the connecting hole by a spring to lock the base shaft in the hole. When the electromagnetic clamp is energized, the clamping slider is attracted away from the connecting hole by magnetic force, so that the base shaft is relaxed and can rotate freely. One end of the connecting plate is connected to the lifting device of the upper rack equipment.
2. The cell-grasping mechanism with automatic adjustment function according to claim 1, characterized in that: The two shafts of the metamorphic cell grabbing mechanism that rotate synchronously in opposite directions are respectively driven by coaxially driven gears and sprockets.
3. The cell-metamorphosis grabbing mechanism with automatic adjustment function according to claim 2, characterized in that: The metamorphic cell grasping mechanism is arranged on the first transverse moving device at the bottom, the metamorphic cell grasping mechanism shaft is supported on the first transverse moving device, the driving plate, driven plate claw and stop plate of the metamorphic cell grasping mechanism are suspended below the transverse moving device, the driven plate claws of the metamorphic cell grasping mechanism arranged in pairs are arranged facing each other, and the blocking round head of the metamorphic cell grasping mechanism is arranged on the first transverse moving device on the stop plate side.
4. The cell-grasping mechanism with automatic adjustment function according to claim 3 is characterized in that: The driving plate and driven plate claws are either continuously extended along the axis of the metamorphic cell grabbing mechanism, or are arranged at intervals along the axis of the metamorphic cell grabbing mechanism.
5. The cell-grasping mechanism with automatic adjustment function according to any one of claims 1 to 4, characterized in that: The transverse movement mechanism includes a first transverse movement device, a second transverse movement device, a third transverse movement device and a fourth transverse movement device located at the top, and two first racks are arranged in parallel on the upper surface of the first transverse movement device, and the first racks extend along the width direction of the stage; A pair of second guide rail slider groups are arranged in parallel on the lower surface of the second transverse moving device, and the second guide rail slider group extends along the width direction of the loading platform. Two groups of gear groups are also arranged on the outer side of the second transverse moving device, and the extension direction of the rotating shaft of the gear group is perpendicular to the direction of the second guide rail slider group. Each group of gear groups includes two rows of gears, and the two rows of gears are respectively meshed with the racks on the third transverse moving device and the fourth transverse moving device. The output gear meshed with the rack of the third transverse moving device is also meshed with the first rack at the same time. The gear meshed with the rack on the fourth transverse moving device is a driving gear. The two rows of gears on the second transverse moving device are connected through an intermediate gear transmission. A pair of racks are disposed on the upper and lower surfaces of the third transverse moving device, and a pair of third guide rail slider groups are also disposed on the lower surface of the third transverse moving device, and the racks and the third guide rail slider groups both extend along the width direction of the stage; A pair of fourth guide rail slider groups and a fourth rack extending along the width direction of the worktable are arranged below the fourth transverse moving device, and a fourth driving gear is also arranged on the fourth transverse moving device. The first transverse moving device, the second transverse moving device, the third transverse moving device and the fourth transverse moving device are connected in sequence through the guide rail slider groups. The fourth driving gear of the fourth transverse moving device is meshed with the rack on the upper surface of the third transverse moving device, the fourth rack of the fourth transverse moving device is meshed with the driving gear of the second transverse moving device, the rack on the lower surface of the third transverse moving device is meshed with the output gear of the second transverse moving device, and the output gear of the second transverse moving device is meshed with the first rack at the same time.
6. The cell-grasping mechanism with automatic adjustment function according to claim 5, characterized in that: The fourth driving gear is driven by a motor which is mounted on the base.
7. The cell-metamorphosis grabbing mechanism with automatic adjustment function according to claim 6, characterized in that: The second transverse shifting device has an odd number of intermediate gears, one group of which includes driving wheels with the same number of teeth at both ends and an odd number of intermediate transmission gears in the middle, and the other group of gears includes an output gear, which is coaxial with the intermediate transmission gear located in the middle. The pitch circle diameter of the output gear is half of that of the driving gear, and the transmission gear is smaller than the driving gear.