Tray support device and experimental apparatus

Abstract

The application relates to a tray supporting device and experimental equipment. The tray supporting device comprises a frame body, a locking mechanism and a driving mechanism. The frame body comprises a placing plate used for placing a tray. The locking mechanism is arranged on the side of the placing plate. The driving mechanism is connected with the locking mechanism. The driving mechanism is used for driving the locking mechanism to move, so that the locking mechanism locks or loosens the tray placed on the placing plate. The scheme provided by the application can clamp the tray when a mechanical hand grabs the material on the tray, and the tray is prevented from being lifted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of experimental equipment, in particular to a tray supporting device and experimental equipment. BACKGROUND

[0002] In automated experiments, experimental materials such as powders and liquids are often stored in small sealed tubes or bottles (such as test tubes, solvent bottles, etc.), and these containers storing materials are placed in trays. Some experimental materials such as tip heads (pipette tips or pipette tips), filter heads, etc. are also placed in special trays. This not only facilitates the transportation of materials, but also enables simultaneous experimental processing of multiple materials.

[0003] However, in actual use, it is found that when the manipulator grabs the materials in the tray for experiments, the tray is easily taken up together while grabbing the materials, making the tray unstable and prone to tipping over, causing other materials on the tray to fall off, thereby affecting the experimental efficiency and safety. SUMMARY

[0004] To solve or partially solve the problems in the related art, the present application provides a tray supporting device and experimental equipment, which can clamp the tray when the manipulator grabs the materials on the tray, preventing the tray from being taken up.

[0005] The first aspect of the present application provides a tray supporting device, comprising:

[0006] A rack body, the rack body comprising a placing plate, the placing plate being used for placing a tray;

[0007] A locking mechanism, the locking mechanism being arranged on the side of the placing plate;

[0008] A driving mechanism, the driving mechanism being connected with the locking mechanism, the driving mechanism being used for driving the locking mechanism to move, so that the locking mechanism locks or releases the tray placed on the placing plate.

[0009] In some embodiments:

[0010] The locking mechanism comprises a locking piece, one end of the locking piece being connected with the driving mechanism, the other end of the locking piece being a free end, and the free end being higher than the placing plate.

[0011] In some embodiments, the locking piece is in a U-shaped structure, and the opening of the U-shaped structure is arranged towards the placing plate.

[0012] In some embodiments:

[0013] The driving mechanism comprises an electromagnet and a push rod, the electromagnet being fixedly arranged on the placing plate, one end of the push rod being connected with the locking piece, and the other end of the push rod being drivingly connected with the electromagnet.

[0014] When the electromagnet is powered off, the push rod drives the locking member to move towards the end close to the electromagnet, so that the locking member is locked; when the electromagnet is powered on, the push rod drives the locking member to move towards the end away from the electromagnet, so that the locking member is unlocked.

[0015] In some embodiments:

[0016] The driving mechanism further comprises an elastic member, one end of the elastic member is connected with the electromagnet, and the other end of the elastic member is connected with the push rod.

[0017] In some embodiments, the driving mechanism further comprises:

[0018] A track is arranged on the bottom surface of the placement plate;

[0019] A sliding block is arranged on the track, and two ends of the sliding block are respectively connected with the locking member and the push rod.

[0020] In some embodiments, the locking mechanism further comprises a state detection device, which is used to detect whether the locking member completely presses or releases the tray.

[0021] In some embodiments, the state detection device comprises a sensor, which is arranged on the frame; the sensor and the locking member are located on the same side of the frame.

[0022] In some embodiments, the state detection device further comprises an inductive sheet, which is arranged on the locking member; the inductive sheet cooperates with the sensor to detect the working state of the locking member.

[0023] In some embodiments:

[0024] Two locking mechanisms are arranged, and the two locking mechanisms are arranged on opposite sides of the placement plate;

[0025] Two driving mechanisms are arranged, and the two driving mechanisms are respectively connected with the two locking mechanisms one by one;

[0026] When the two driving mechanisms drive the two locking mechanisms to move, the two locking mechanisms move close to each other to lock the tray, or the two locking mechanisms move away from each other to release the tray.

[0027] In some embodiments:

[0028] The rack body further comprises a bottom plate and two opposite side plates, the bottom plate is opposite to the placing plate, one end of each of the two side plates is connected to the bottom plate, the other end of each of the two side plates is connected to the opposite two sides of the placing plate, and the other end is away from the locking mechanism;

[0029] The bottom plate, the two side plates and the placing plate jointly enclose a containing space, and the driving mechanism is located in the containing space and connected to the bottom surface of the placing plate.

[0030] In some embodiments, the tray supporting device further comprises a tray sensing device, which is arranged on the top surface of the placing plate and used for sensing whether a tray is placed on the placing plate.

[0031] In some embodiments, the tray supporting device further comprises a positioning member, which is arranged on the top surface of the placing plate and used for cooperating with a fixing member on the bottom of a tray to position the tray on the placing plate.

[0032] In some embodiments, the positioning member is two positioning pins arranged on the top surface of the placing plate, and the two positioning pins are adapted to two positioning holes on the bottom of a tray to position the tray.

[0033] The second aspect of the present application provides an experimental device, which comprises an experimental platform and at least one tray supporting device as described above, and the tray supporting device is fixedly arranged on the experimental platform.

[0034] In some embodiments, the experimental device further comprises a manipulator, which is fixedly arranged on the experimental platform, and the manipulator is used for taking and placing a tray on the tray supporting device or taking and placing materials in the tray placed on the tray supporting device.

[0035] The technical scheme provided by the present application can have the following beneficial effects: the driving mechanism drives the locking mechanism to move to lock or loosen the tray placed on the placing plate. The tray can be placed and taken out, and the tray is locked after being placed on the placing plate, which prevents the tray from being lifted when the manipulator grabs the materials on the tray, thereby improving the safety and efficiency of the experiment.

[0036] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0037] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters refer to the like elements throughout the drawings, and in which:

[0038] Figure 1 is a structural schematic diagram of a tray supporting device shown in the embodiment of the present application;

[0039] Figure 2 is a front view of the tray supporting device shown in the embodiment of the present application; Figure 1

[0040] Figure 3 is a top view of the tray supporting device shown in the embodiment of the present application; Figure 1

[0041] Figure 4 is a right view of the tray supporting device shown in the embodiment of the present application; Figure 1

[0042] Figure 5 is a structural schematic diagram of a locking mechanism and a driving mechanism of the tray supporting device shown in the embodiment of the present application; Figure 1

[0043] Figure 6 is a state schematic diagram of the tray supporting device locking a tray shown in the embodiment of the present application;

[0044] Figure 7 is a state schematic diagram of the tray supporting device releasing a tray shown in the embodiment of the present application.

[0045] Reference signs: 1, frame body; 10, placing plate; 11, bottom plate; 12, side plate; 13, accommodating space; 2, tray; 3, locking mechanism; 30, locking piece; 4, driving mechanism; 40, electromagnet; 41, push rod; 42, track; 43, sliding block; 31, state detection device; 310, sensor; 311, inductive sheet; 5, tray inductive device; 6, positioning piece. DETAILED DESCRIPTION

[0046] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present application is more thorough and complete, and the scope of the present application is fully conveyed to those skilled in the art.

[0047] ​​​​It should be understood that, although the terms "first", "second", "third", etc. can be used in this application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0048] In the description of the application, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0049] Unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection or integral; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0050] It is found in actual use that when the manipulator grabs the material in the tray for experiment, the tray is easily taken up together with the material, so that the tray is unstable and easy to fall, causing other materials on the tray to fall off, thereby affecting the experimental efficiency and safety.

[0051] In view of the above problems, the tray supporting device provided by the embodiments of the application can clamp the tray when the manipulator grabs the material on the tray, so as to prevent the tray from being taken up, thereby improving the experimental safety and efficiency.

[0052] The technical solutions of the embodiments of the application are described in detail below with reference to the drawings.

[0053] Referring to Figures 1-4As shown, the tray supporting device comprises a frame body 1, a locking mechanism 3 and a driving mechanism 4. The frame body 1 comprises a placing plate 10 for placing the tray 2. The locking mechanism 3 is arranged on the side of the placing plate 10. The driving mechanism 4 is connected with the locking mechanism 3 and is used to drive the locking mechanism 3 to move, so as to lock or release the tray 2 placed on the placing plate 10.

[0054] As shown in Figure 6 and Figure 7 The working principle of the tray supporting device of the embodiment of the present application is as follows:

[0055] When the tray 2 is placed on the placing plate 10, the driving mechanism 4 drives the locking mechanism 3 to move, so as to lock the tray 2 placed on the placing plate 10. When the robot hand grabs the material on the tray 2, the tray 2 cannot be lifted by the robot hand because the tray 2 is locked by the locking mechanism 3 and forms an integral structure with the frame body 1.

[0056] When it is needed to put in or take out the tray 2 on the placing plate 10, the driving mechanism 4 drives the locking mechanism 3 to move, so as to release the tray 2 placed on the placing plate 10, thereby putting in or taking out the tray 2.

[0057] The embodiment of the present application drives the locking mechanism 3 to move by the driving mechanism 4, so as to lock or release the tray 2 placed on the placing plate 10. The putting in and taking out of the tray 2 can be realized, and after the tray 2 is placed on the placing plate 10, the tray 2 is locked, which prevents the tray from being lifted when the robot hand grabs the material on the tray 2, thereby improving the safety and efficiency of the experiment.

[0058] As an optional embodiment, the locking mechanism 3 comprises a locking piece 30. One end of the locking piece 30 is connected with the driving mechanism 4, and the other end of the locking piece 30 is a free end which is higher than the placing plate 10.

[0059] Because the height of the tray 2 is higher than the placing plate 10 after the tray 2 is placed on the placing plate 10, in order to lock the tray 2, the height of the free end of the locking piece 30 needs to be higher than the placing plate 10, so as to lock the tray 2. The embodiment of the present application drives the free end of the locking piece 30 to move towards the tray 2 or away from the tray 2 by the driving mechanism 4, so as to lock or release the tray 2. Thus, the putting in and taking out of the tray 2 and the locking of the tray 2 after being put in can be realized. The height of the free end of the locking piece 30 can be adapted to the height of the bottom plate of the tray 2, so that when the driving mechanism 4 drives the locking piece 30 to lock, the free end of the locking piece 30 abuts against the top surface of the bottom plate of the tray 2 (as shown in Figure 6 The height of the free end of the locking piece 30 can also be adapted to the height of the top plate of the tray 2, so that when the driving mechanism 4 drives the locking piece 30 to lock, the free end of the locking piece 30 abuts against the top surface of the top plate of the tray 2, which is not limited herein.

[0060] As a preferred embodiment, referring to Figure 2 As shown in the figure, the locking member 30 is in a U-shaped structure, and the opening of the U-shaped structure faces the placing plate 10. One end of the U-shaped structure is used to be connected with the driving mechanism 4, and the other end is used to abut against the tray 2, and the opening can form a certain reserved space between the locking member 30 and the placing plate 10, so as to avoid hard collision.

[0061] The locking member 30 of the embodiment of the present application is used to lock the tray 2 by being pressed on the tray 2. When the mechanical hand takes the material on the tray 2, the locking member 30 applies a downward pressing force to the tray 2 to resist the upward grabbing force of the mechanical hand, so as to prevent the tray 2 from being lifted by the mechanical hand.

[0062] As a preferred embodiment, referring to Figure 5 As shown in the figure, the driving mechanism 4 includes an electromagnet 40 and a push rod 41. The electromagnet 40 can be fixedly arranged on the placing plate 10 through a fixing seat. One end of the push rod 41 is connected with the locking member 30, and the other end is drivingly connected with the electromagnet 40. When the electromagnet 40 is powered off, the push rod 41 drives the locking member 30 to move towards the end close to the electromagnet 40, so that the locking member 30 is locked. When the electromagnet 40 is powered on, the push rod 41 drives the locking member 30 to move towards the end away from the electromagnet 40, so that the locking member 30 is unlocked.

[0063] Specifically, when the tray 2 needs to be placed on the placing plate 10 or taken out from the placing plate 10, the electromagnet 40 is powered on to drive the push rod 41 to push out towards one end of the locking member 30, so that the push rod 41 drives the locking member 30 to move towards the end away from the electromagnet 40, and the locking member 30 moves towards the direction away from the tray 2, so as to unlock the tray 2. After the tray 2 is placed on the placing plate 10, the electromagnet 40 is powered off, and the push rod 41 is retracted towards the electromagnet 40, so as to drive the locking member 30 to move towards the end close to the electromagnet 40, and the locking member 30 moves towards the direction close to the tray 2, so as to lock the tray 2.

[0064] In addition, the electromagnet 40 can also be replaced by a motor, one end of the push rod 41 is connected with the locking member 30, and the other end is connected with the output shaft of the motor. The locking and unlocking of the locking member 30 can be realized by adjusting the running direction of the motor. The electromagnet 40 can also be replaced by an air cylinder, which is not limited herein.

[0065] Furthermore, the driving mechanism 4 further includes an elastic member, one end of the elastic member is connected with the electromagnet 40, and the other end of the elastic member is connected with the push rod 41. The elastic member can be a spring, and in other embodiments, it can also be a metal spring piece, which is not limited herein.

[0066] Specifically, when the electromagnet 40 is powered on, the spring pushes the push rod 41 to one end of the locking piece 30 under the action of the magnetic force, and at this time the spring is in a stretched state; when the electromagnet 40 is powered off, the magnetic force disappears, and the push rod 41 is retracted in the direction of the electromagnet 40 under the action of the spring.

[0067] As a preferred embodiment, referring to Figure 5 As shown in the figure, the driving mechanism 4 further includes a track 42 and a sliding block 43, the track 42 is arranged on the bottom surface of the placement plate 10; the sliding block 43 is slidably arranged on the track 42, and the two ends of the sliding block 43 are respectively connected to the locking piece 30 and the push rod 41.

[0068] In order to realize the smooth movement of the locking piece 30, the track 42 and the sliding block 43 are arranged to guide the movement of the locking piece 30, and the movement of the locking piece 30 is faster, thereby improving the work efficiency.

[0069] Further, one end of the sliding block 43 close to the push rod 41 is concavely provided with a clamping groove; and one end of the push rod 41 close to the sliding block 43 is connected with a clamping head, and the clamping head is clamped in the clamping groove.

[0070] Since the locking mechanism 3 is arranged on the bottom surface of the placement plate 10, under the action of gravity, the locking mechanism 3 has a tendency to fall, and there is a risk of slipping during movement. The clamping groove and the clamping head are arranged to fix the push rod 41 and the sliding block 43 more firmly, thereby preventing the risk of slipping.

[0071] Preferably, the push rod 41 and the elastic piece are both magnetic pieces, i.e. are made of magnetic materials such as iron, cobalt, nickel and alloys thereof; and the locking mechanism 3 and the sliding block 43 are both non-magnetic pieces, i.e. are made of non-magnetic materials such as aluminum alloy.

[0072] As an optional embodiment, referring to Figures 1-4 As shown in the figure, the locking mechanism 3 further includes a state detection device 31, and the state detection device 31 is used to detect whether the locking piece 30 is completely pressed or released the tray 2.

[0073] If the locking piece 30 does not completely press the tray 2, when the material is taken, there is still a risk of lifting the tray 2. If the locking piece 30 does not completely release the tray 2, there is a risk of not being able to take out the tray. Therefore, the state detection device 31 is arranged to detect whether the locking piece 30 is completely pressed or released the tray 2, so as to prevent the above risks.

[0074] As a preferred embodiment, referring to Figure 4 As shown in the figure, the state detection device 31 includes a sensor 310, and the sensor 310 is arranged on the frame 1; the sensor 310 and the locking piece 30 are located on the same side of the frame 1. The sensor 310 of the present application can be an optical sensor, a position sensor, etc., and is arranged on the side plate 12 or the placement plate 10.

[0075] If the sensor 310 is a photoelectric sensor, the photoelectric sensor is a groove type structure. The groove of the groove type structure faces the locking piece 30, and a light emitter and a light receiver are respectively arranged on the two side walls of the groove. When the locking piece 30 is completely pressed on the tray 2, part of the structure of the locking piece 30 is located in the groove of the photoelectric sensor, and the light emitted by the light emitter is completely blocked, so that the light receiver cannot receive the light signal, and outputs the detection result that the locking piece 30 completely presses the tray 2; when the locking piece 30 is completely released from the tray 2, the locking piece 30 moves out of the groove and does not block the light emitted by the light emitter, so that the light receiver receives the light signal, and outputs the detection result that the locking piece 30 completely releases the tray 2. Wherein, the locking piece 30 is provided with a avoiding opening for avoiding the sensor 310, so as to cooperate with the groove type structure of the sensor 310.

[0076] If the sensor 310 is a position sensor, when the locking piece 30 is completely pressed on the tray 2, the position sensor detects that the locking piece 30 moves to the first preset position, and outputs the detection result that the locking piece 30 completely presses the tray 2; when the locking piece 30 is completely released from the tray 2, the position sensor detects that the locking piece 30 moves to the second preset position, and outputs the detection result that the locking piece 30 completely releases the tray 2.

[0077] Further, the state detection device 31 further comprises an inductive sheet 311, the inductive sheet 311 is arranged on the locking piece 30, and the inductive sheet 311 cooperates with the sensor 310 to detect the working state of the locking piece 30.

[0078] In order to improve the accuracy of the sensor 310, the inductive sheet 311 with appropriate size is arranged on the corresponding position of the locking piece 30, so as to improve the detection efficiency of the sensor 310.

[0079] If the sensor 310 is a photoelectric sensor, when the locking piece 30 is completely pressed on the tray 2, the inductive sheet 311 is completely located in the groove, and the light emitted by the light emitter is completely blocked, so that the light receiver cannot receive the light signal, and outputs the detection result that the locking piece 30 completely presses the tray 2; when the locking piece 30 is completely released from the tray 2, the inductive sheet 311 is not completely located in the groove, and the light emitted by the light emitter is not blocked, so that the light receiver receives the light signal, and outputs the detection result that the locking piece 30 completely releases the tray 2.

[0080] If the sensor 310 is a position sensor, when the locking piece 30 is completely pressed on the tray 2, the position sensor detects that the inductive sheet 311 moves to the first preset position, and outputs the detection result that the locking piece 30 completely presses the tray 2; when the locking piece 30 is completely released from the tray 2, the position sensor detects that the inductive sheet 311 moves to the second preset position, and outputs the detection result that the locking piece 30 completely releases the tray 2.

[0081] As an optional embodiment, see Figures 1-3 As shown, there are two locking mechanisms 3, which are respectively located on two opposite sides of the placement plate 10; there are two driving mechanisms 4, which are respectively connected to the two locking mechanisms 3 in a one-to-one correspondence; when the two driving mechanisms 4 drive the two locking mechanisms 3 to move, the two locking mechanisms 3 move closer to each other to lock the tray 2, or the two locking mechanisms 3 move further apart to release the tray 2.

[0082] Since the tray 2 is roughly rectangular, two locking mechanisms 3 are used to lock both sides of the tray 2 to ensure stable placement. The two locking mechanisms 3 move synchronously, moving closer to each other to clamp the tray 2 and moving further apart to release it. In other embodiments, more than two locking mechanisms 3 and four driving mechanisms 4 may be provided, such as four, located on the four sides of the placement plate 10.

[0083] As an optional embodiment, see Figures 1-3 As shown, the frame 1 also includes a base plate 11 and two oppositely arranged side plates 12. The base plate 11 is opposite to the placement plate 10. One end of each side plate 12 is connected to the base plate 11, and the other end is connected to two opposite sides of the placement plate 10, and is located away from the locking mechanism 3. The base plate 11, the two side plates 12, and the placement plate 10 together form an accommodating space 13. The driving mechanism 4 is located within the accommodating space 13 and connected to the bottom surface of the placement plate 10. Notably, the two sides of the side plates 12 connected to the placement plate 10 are different from the sides of the placement plate 10 on which the locking mechanism 3 is located, thus avoiding interference between the side plates 12 and the locking mechanism 3.

[0084] The base plate 11 can have the same shape as the placement plate 10, both being square. The size of the base plate 11 can be greater than or equal to the size of the placement plate 10. The shape of the base plate 11 can also be circular, and this is not limited here.

[0085] In this embodiment, the drive mechanism 4 is housed within the accommodating space 13 and disposed on the bottom surface of the placement plate 10, thereby reducing the travel of the locking mechanism 3 and saving the space occupied by the locking mechanism 3 and the drive mechanism 4.

[0086] As an optional embodiment, see Figure 1 and Figure 3 As shown, the pallet support device also includes a pallet sensing device 5, which is disposed on the top surface of the placement plate 10 and is used to sense whether a pallet 2 is placed on the placement plate 10.

[0087] The tray sensing device 5 in this embodiment can be a photoelectric sensor, pressure sensor, weight sensor, infrared sensor, etc., as long as it can sense whether a tray 2 is placed on the placement plate 10.

[0088] Specifically, when it is needed to place the tray 2 on the placing plate 10, and the detection result of the tray sensing device 5 is that the placing plate 10 does not carry the tray 2, it is confirmed that the placing plate 10 can place the tray 2, and then the working state of the locking member 30 is combined to control the on-off of the electromagnet 40 to place the tray 2. If the working state of the locking member 30 is the locked state, the electromagnet 40 is powered to drive the push rod 41 to drive the locking member 30 to be loosened to place the tray 2. After the tray 2 is placed, the detection result of the tray sensing device 5 is that the top end of the rack body 1 carries the tray 2, the electromagnet 40 is powered off, the push rod 41 drives the locking member 30 to move towards the tray 2 to lock the tray 2, and the tray sensing device 5 detects that the placing plate 10 carries the tray 2 to inform the controller to control the robot to take or place the material in the tray 2. If the working state of the locking member 30 is the loosened state, the electromagnet 40 is continuously powered to keep the locking member 30 in the loosened state to place the tray 2. Similarly, after the tray 2 is placed, the detection result of the tray sensing device 5 is that the placing plate 10 carries the tray 2, the electromagnet 40 is powered off, the push rod 41 drives the locking member 30 to move towards the tray 2 to lock the tray 2.

[0089] When it is needed to place the tray 2 on the placing plate 10, and the detection result of the tray sensing device 5 is that the placing plate 10 carries the tray 2, it is judged that the placing plate 10 cannot place the tray 2, and this situation can be reminded by the alarm.

[0090] When it is needed to take out the tray 2 from the placing plate 10, and the detection result of the tray sensing device 5 is that the placing plate 10 carries the tray 2, it is confirmed that the placing plate 10 can take out the tray 2. Then the working state of the locking member 30 is combined to control the on-off of the electromagnet 40 to take out the tray 2. If the working state of the locking member 30 is the locked state, the electromagnet 40 is powered to drive the push rod 41 to drive the locking member 30 to be loosened to take out the tray 2. After the tray 2 is taken out, the detection result of the tray sensing device 5 is that the placing plate 10 does not carry the tray 2, the electromagnet 40 is powered off, and if the working state of the locking member 30 is the loosened state, the electromagnet 40 is continuously powered to keep the locking member 30 in the loosened state to take out the tray 2. In addition, it needs to be noted that when it is needed to take out the tray 2 from the placing plate 10, the working state of the locking member 30 is generally the locked state.

[0091] When it is needed to take out the tray 2 from the placing plate 10, and the detection result of the tray sensing device 5 is that the placing plate 10 does not carry the tray 2, it is judged that the placing plate 10 cannot take out the tray 2, and this situation can be reminded by the alarm.

[0092] As an optional embodiment, referring to Figures 1-4As shown, the tray supporting device further comprises a positioning member 6 arranged on the top surface of the placement plate 10, which is used to cooperate with the fixing member on the bottom of the tray 2 to position the tray 2 on the placement plate 10.

[0093] The positioning of the tray 2 on the placement plate 10 is realized by the positioning member 6, so that the positions of different trays 2 on the placement plate 10 are unchanged, and the locking of different types of trays 2 is realized.

[0094] As a preferred embodiment, referring to Figures 1-3 As shown, the positioning member 6 is two positioning pins arranged on the top surface of the placement plate 10, which are adapted to the two positioning holes on the bottom of the tray 2 to position the tray 2.

[0095] The positioning member 6 of the embodiment of the present application can also be a positioning hole, which cooperates with the positioning pin on the bottom of the tray 2 to realize the positioning of the tray 2. In addition, the positioning member 6 can also be a positioning protrusion or a positioning groove, the positioning protrusion cooperates with the positioning groove on the bottom of the tray 2, and the positioning groove cooperates with the positioning protrusion on the bottom of the tray 2 to realize the positioning of the tray 2.

[0096] When the positioning member 6 is a positioning pin, the positioning pin is designed as a pointed stepped pin, so that when the position deviation of the tray 2 is within 2mm, the tray 2 can be automatically corrected by its own gravity to ensure the accurate positioning of the tray 2.

[0097] The tray supporting device further comprises a controller and a power supply device, wherein the power supply device is used to supply power to the controller, the driving mechanism 4, the tray sensing device 5 and the state detection device 31 and other components, and the controller is used to control the driving mechanism 4, the tray sensing device 5 and the state detection device 31.

[0098] Corresponding to the foregoing application function implementation device embodiment, the present application further provides an experimental equipment and a corresponding embodiment.

[0099] The experimental equipment comprises an experimental platform and at least one tray supporting device as described above, and the tray supporting device is fixedly arranged on the experimental platform.

[0100] As a preferred embodiment, the experimental equipment further comprises a manipulator, which is fixedly arranged on the experimental platform, and the manipulator is used to take and place the tray 2 on the tray supporting device, or take and place the materials in the tray 2 placed on the tray supporting device.

[0101] The placement and removal of the tray 2 and the taking and placing of the materials on the tray 2 are realized by the manipulator, and the automatic experimental operation is realized.

[0102] The bottom surface of the frame body 1 of the tray supporting device can be provided with a pin hole, and the tray supporting device is positioned on the experiment platform by cooperating with the pin on the experiment platform, and then the tray supporting device is fixed on the experiment platform by screws, so as to stabilize the tray supporting device and prevent the tray supporting device from being displaced when the manipulator takes and places the materials on the tray, thereby affecting the grabbing precision of the manipulator.

[0103] The solutions of the present application have been described in detail above with reference to the drawings. In the above-described embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. It should also be known by those skilled in the art that the actions and modules involved in the specification are not necessarily required by the present application. In addition, it can be understood that the modules in the device of the embodiments of the present application can be combined, divided and deleted according to actual needs.

[0104] The above has described various embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical application or improvement of the technology in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims

1. A pallet support device, characterized by The tray support device comprises: a frame body, the frame body comprising a placing plate for placing a tray; two locking mechanisms, the two locking mechanisms being arranged on opposite sides of the placing plate; two driving mechanisms, the two driving mechanisms being connected to the two locking mechanisms respectively, when the two driving mechanisms drive the two locking mechanisms to move, the two locking mechanisms move close to each other to lock the tray placed on the placing plate, or the two locking mechanisms move away from each other to release the tray; wherein the locking mechanism comprises a locking piece, one end of the locking piece is connected to the driving mechanism, the other end of the locking piece is a free end, and the free end is higher than the placing plate; the height of the free end of the locking piece is matched with the height of the bottom plate or the top plate of the tray, when the driving mechanism drives the locking piece to lock, the free end of the locking piece abuts against the bottom plate or the top plate of the tray.

2. The tray support apparatus of claim 1, wherein The locking piece is in a U-shaped structure, and the opening of the U-shaped structure is arranged towards the placing plate.

3. The tray support device according to claim 1, wherein: the driving mechanism comprises an electromagnet and a push rod, the electromagnet is fixedly arranged on the placing plate, one end of the push rod is connected to the locking piece, and the other end of the push rod is drivingly connected to the electromagnet; when the electromagnet is powered off, the push rod drives the locking piece to move towards the end close to the electromagnet, so that the locking piece is locked; when the electromagnet is powered on, the push rod drives the locking piece to move towards the end away from the electromagnet, so that the locking piece is released.

4. The tray support device according to claim 3, wherein: the driving mechanism further comprises a resilient piece, one end of the resilient piece is connected to the electromagnet, and the other end of the resilient piece is connected to the push rod.

5. The tray support apparatus of claim 3, wherein the driving mechanism further comprises: a track arranged on the bottom surface of the placing plate; a sliding block slidingly arranged on the track, and the two ends of the sliding block are connected to the locking piece and the push rod respectively.

6. The tray support apparatus of claim 1, wherein the locking mechanism further comprises a state detection device for detecting whether the locking piece completely presses or releases the tray.

7. The tray support apparatus of claim 6, wherein the state detection device comprises a sensor arranged on the frame body; the sensor and the locking piece are located on the same side of the frame body.

8. The tray support apparatus of claim 7, wherein, the state detection device further comprises an inductive sheet arranged on the locking piece, and the inductive sheet cooperates with the sensor to detect the working state of the locking piece.

9. The tray support device according to claim 1, wherein: the frame body further comprises a bottom plate and two opposite side plates, the bottom plate is arranged opposite to the placing plate, one end of each of the two side plates is connected to the bottom plate, and the other end of each of the two side plates is connected to the opposite sides of the placing plate, and the two side plates are arranged away from the locking mechanisms; the bottom plate, the two side plates and the placing plate jointly enclose a containing space; the driving mechanisms are located in the containing space and connected to the bottom surface of the placing plate.

10. The tray support apparatus of any of claims 1-9, wherein, The tray supporting device further comprises a tray sensing device arranged on the top surface of the placing plate, and used for sensing whether a tray is placed on the placing plate.

11. The tray support apparatus of any of claims 1-9, wherein, The tray supporting device further comprises a positioning member arranged on the top surface of the placing plate, and used for cooperating with a fixing member on the bottom of a tray to position the tray on the placing plate.

12. The tray support apparatus of claim 11, wherein, The positioning member is two positioning pins arranged on the top surface of the placing plate, and the two positioning pins are adapted to two positioning holes on the bottom of a tray to position the tray.

13. An experimental apparatus characterized by, The experimental equipment comprises an experimental platform and at least one tray supporting device as claimed in any one of claims 1-12, and the tray supporting device is fixedly arranged on the experimental platform.

14. The experimental apparatus of claim 13, wherein, The experimental equipment further comprises a mechanical arm fixedly arranged on the experimental platform, and the mechanical arm is used for taking and placing a tray on the tray supporting device, or taking and placing materials in a tray placed on the tray supporting device.

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