Automatic unpacking equipment for culture dishes
By designing automatic packaging unpacking equipment, including feeding modules, suction modules, cutting modules and other modules working together, the problems of low efficiency and poor neatness of automatic removal of petri dish pack bags in the existing technology have been solved, and high efficiency has been achieved , safe automatic removal process.
Patent Information
- Application Number
- CN202211347115.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-31
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2042-10-31
AI Technical Summary
The prior art is difficult to automatically remove 20 Petri dish packs stacked into one group, resulting in low unpacking efficiency and untidy dishes box after removal, which makes it easy to slide off.
An automatic packaging including feeding module, suction module, cutting module, toggling module, grabbing packaging bag module, cutting module, loading module, packaging bag module and discharge buffer module were designed. The equipment automatically removes the Petri dish packaging bag through the coordinated working of the module, and coordinates the various actions under the control of the electronic control module.
The automatic removal of the Petri dish packaging bags is achieved, the unpacking efficiency is improved, the neat stacking of the Petri dish groups is ensured, and the problem of sliding is avoided.
Smart Images
Figure CN116022427B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of automatic unpacking, in particular to automatic unpacking equipment for culture dishes. Background Art
[0002] At present, automatic unpacking equipment has been applied in many fields. For example, Chinese patent CN217515567U discloses an automatic unpacking machine for unpacking material bags; Chinese patent application CN115009640A discloses an automatic unpacking device for packaging bags; Chinese patent application CN115072112A discloses an automatic unpacking device for small packaged seeds. However, the unpacking of packaging bags of 20 culture dishes stacked in a group is still done manually. This is because the height of the 20 culture dishes stacked in a group is relatively high, and the center of gravity is relatively high. It is very difficult to keep the stacked culture dishes from collapsing after automatic unpacking. In the process of unpacking the packaging bag of the culture dish, the top of the packaging bag is generally cut with scissors manually, and then the whole is laid flat on the workbench. The packaging bag is peeled off from top to bottom with both hands manually, and the internal culture dish is taken out after the packaging bag is peeled to the bottom, so as to complete the removal of a culture dish packaging bag. This process takes a long time, and the culture dish boxes are not neatly placed after the packaging bags are removed. If you are not careful during the placement, the culture dishes will slide off. In order to solve this series of problems, this equipment is specially developed. Summary of the invention
[0003] The technical problem to be solved by the present invention is to provide an automatic unpacking device for culture dishes, which can complete the removal of the packaging bags of designated culture dishes, improve the unpacking efficiency, and keep the culture dish groups neatly stacked after unpacking.
[0004] In order to solve the above technical problems, the technical solution provided by the present invention is an automatic unpacking device for culture dishes, comprising a feeding module, a suction module, a cutting module, a toggling module, a packaging bag grabbing module, a feeding module, a packaging bag receiving module, a discharging buffer module and an electric control module; wherein: the feeding module transports the culture dish group with the packaging bag to the suction module; the suction module sucks the top part of the packaging bag of the culture dish group to form a bulge; the cutting module cuts the bulge on the top of the packaging bag of the culture dish group sucked by the suction module; the toggling module pushes the cut culture dish group to the packaging bag grabbing module; the The material module positions and conveys the culture dish groups at the packaging bag grabbing module and the packaging bag receiving module, conveys the culture dish group at the packaging bag receiving module to the material discharging buffer module, and conveys the culture dish group at the packaging bag grabbing module to the packaging bag receiving module; the packaging bag grabbing module clamps the packaging bag part at the bottom of the culture dish group and pulls it downward for a distance; the packaging bag receiving module completely pulls the packaging bag of the culture dish group pulled out one end distance by the packaging bag grabbing module away from the culture dish group from the bottom; the material discharging buffer module caches the culture dish group after the packaging bag is removed by the packaging bag receiving module; the electronic control module controls the actions of each module.
[0005] Preferably, the feeding module is a conveyor belt, and at least one conveying channel is arranged on the conveyor belt.
[0006] Preferably, the suction module includes a positioning device and an adsorption device, the positioning device includes a side positioning device and a top positioning device, which respectively position the culture dish group from the side and the top; the adsorption device absorbs the packaging bag part on the top of the culture dish group from the top of the culture dish group to form a bulge.
[0007] Preferably, the cutting module includes a positioning device and a cutting device, the positioning device includes a side positioning device and a top positioning device, which respectively position the culture dish group from the side and the top; the cutting device cuts the raised part of the packaging bag on the top of the culture dish group in at least two directions.
[0008] Preferably, the top positioning device comprises two sets of pressing rollers that are arranged opposite to each other and can be displaced horizontally, and the two sets of pressing rollers can press the top of the culture dish group from opposite sides of the top of the culture dish group.
[0009] Preferably, the toggle module includes a toggle block that can be horizontally displaced along the displacement direction of the culture dish group; the toggle block can be extended and retracted perpendicular to the displacement direction of the culture dish group, and the toggle block can be extended to the displacement channel of the culture dish group. When the toggle block is displaced along the displacement direction of the culture dish group, it can drive the culture dish group cut by the cutting module to move to the grabbing packaging bag module station.
[0010] Preferably, the unloading module includes two groups of side positioning devices that can be displaced along the displacement direction of the culture dish group, wherein one group of side positioning devices positions the culture dish group at the packaging bag grabbing module from the side, and the other group of side positioning devices positions the culture dish group at the packaging bag receiving module from the side; the two groups of side positioning devices can respectively move the culture dish group they position from their positioning station to the next adjacent station.
[0011] Preferably, the side positioning device includes four vertical positioning rods, and the positioning rods are arranged in pairs on both sides of the displacement direction of the culture dish group, and the two positioning rods on the same side are arranged at intervals; the positioning rods arranged on both sides of the displacement direction of the culture dish group can approach or move away from each other, and when they approach, they position the culture dish group from the side.
[0012] Preferably, the positioning rods for positioning the suction module and the grabbing packaging bag module are composed of two positioning rods located on the side of the discharge end of the culture dish group as a group, and two positioning rods located on the side of the inlet end of the culture dish group as a group; a group of positioning rods located on the side of the discharge end moves before a group of positioning rods located on the side of the inlet end.
[0013] Preferably, the four positioning rods of the side positioning device of the packaging bag receiving module move synchronously.
[0014] Preferably, the packaging bag grabbing module includes a lifting mechanism and a grabbing mechanism; the lifting mechanism can lift the culture dish group from the bottom so that the bottom of the culture dish group is in rolling contact with the lifting mechanism; the grabbing mechanism grabs the packaging bag part at the bottom of the culture dish group from the bottom of the culture dish group and pulls it downward for a distance.
[0015] Preferably, the packaging bag receiving module includes a lifting mechanism and a clamping mechanism; the lifting mechanism can lift the culture dish group from the bottom so that the bottom of the culture dish group is in rolling contact with the lifting mechanism; the clamping mechanism clamps the packaging bag part pulled out from the bottom of the culture dish group from the bottom of the culture dish group and pulls it down, so that the packaging bag is completely separated from the culture dish box in the culture dish group.
[0016] Preferably, the discharging buffer module comprises a conveyor belt and a buffer platform connected to the conveyor belt, and a conveying channel for guidance is arranged on the conveyor belt.
[0017] The automatic unpacking device for culture dishes of the present invention can realize the automatic dismantling function of the packaging bags of culture dishes, and solve the problems of low manual dismantling efficiency, untidy placement, and easy slipping during dismantling and placement. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 This is a schematic diagram of the structure of the automatic unpacking equipment for culture dishes.
[0019] Figure 2It is a schematic diagram of the feeding module structure.
[0020] Figure 3 Schematic diagram of the culture dish group structure.
[0021] Figure 4 This is a schematic diagram of the absorption module structure.
[0022] Figure 5 This is a schematic diagram of the positioning device structure of the suction module.
[0023] Figure 6 It is a schematic diagram of the cutting module structure.
[0024] Figure 7 It is a schematic diagram of the toggle module and the partially enlarged structure.
[0025] Figure 8 It is a schematic diagram of the structure of the blanking module.
[0026] Fig. 9 This is a schematic diagram of the structure of the grabbing and packaging bag module without the blanking module and the toggling module.
[0027] Fig.10 This is a schematic diagram and a partial enlarged view of the structure of the grabbing and packaging bag module after removing the bottom plate, placement platform and unloading module.
[0028] Fig.11 It is a schematic diagram of the grasping mechanism structure.
[0029] Fig.12 This is a schematic diagram of the packaging bag module structure after removing the blanking module.
[0030] Fig.13 This is a schematic diagram of the packaging bag module and a partially enlarged structure after removing the bottom plate, placement platform and unloading module.
[0031] Fig.14 This is a schematic diagram of the discharge buffer structure. DETAILED DESCRIPTION
[0032] With respect to the above technical solution, a preferred embodiment is now given and specifically described in conjunction with the drawings. Figure 1 , including a feeding module 2, a suction module 3, a cutting module 4, a toggling module 5, a bag grabbing module 6, a material unloading module 7, a bag collecting module 8, a material discharging buffer module 9 and an electric control module. Among them:
[0033] Feeding module 2, see Figure 2, which is integrally installed on one side of the feeding end of the suction module 3. The feeding module 2 includes a bracket 20, on which a conveyor belt 26 is installed. The conveyor belt 26 is driven by a motor 22, and a small electric box 21 controls the start and stop of the motor 22. Baffles are placed on both sides of the conveyor belt 26 to prevent the culture dish group 25 from falling from the conveyor belt. A guide plate 23 is arranged between the baffles, and a channel for the culture dish group 25 with a packaging bag to pass through is reserved between the guide plate 23 and the baffles on both sides. One end of the guide plate 23 extends to the suction module 3. A conveying channel for the culture dish group 25 with a packaging bag to pass through is reserved between the guide plate 23 and the baffles on both sides, which is respectively connected to a working line of the suction module 3, and the culture dish group 25 is respectively conveyed to the two working lines of the suction module 3 through two channels. A sensor 24 is arranged on the baffle close to one side of the suction module 3. When the culture dish group 25 with a packaging bag passes through the sensor 24, the sensor 24 is triggered, and the suction module 3 is actuated. Petri dish set 25, see Figure 3 , which is formed by stacking 20 culture dish boxes vertically and then packaging them in plastic bags. Figure 3 In the figure, the plastic packaging bag outside the culture dish group 25 is not shown. The purpose of the device of the present invention is to remove the plastic packaging bag outside the culture dish group 25.
[0034] Working principle: the culture dish group 25 is manually placed on the conveyor belt 26 , and the conveyor belt 26 transports the culture dish group 25 to the suction module 3 through the guide plate 23 .
[0035] A mounting plate 31 is provided on the frame, see Figure 4 Two conveyor belts 32 are installed in parallel and at intervals on the mounting plate 31. On the mounting plate 31 on both sides of each conveyor belt 32, along the conveying direction of the conveyor belt, suction modules 3 and cutting modules 4 are installed at intervals. The feed end of each conveyor belt 32 is connected to the discharge end of a conveying channel of the feed module 2. Guide plates 33 are respectively arranged on both sides of the conveyor belt 32 to ensure that the culture dish group 25 is transported from the conveyor belt without falling or tilting.
[0036] See also Figure 4 and Figure 5 The suction module 3 includes a sensing device, a positioning device and a suction device.
[0037] The sensing device includes: a sensor 34, a sensor receiving plate 35, and a sensor 41 for sensing whether the adsorption is successful. The sensor 34 and the sensor receiving plate 35 are respectively arranged on both sides of the conveyor belt 32 located on the feeding end side of the suction module 3, and a through hole for the sensor's rays to pass through is opened on the guide plate 33. The sensor 34 is used to sense that the culture dish group 25 enters the conveyor belt 32.
[0038] The positioning device includes positioning slide cylinders (37, 45, 46, 47) and a top positioning cylinder 39. The positioning slide cylinders (45, 46) form a group, and the positioning slide cylinders (37, 47) form a group. A mounting plate is provided on each positioning slide cylinder, and a vertical positioning rod 38 is provided on the side of the mounting plate close to the conveyor belt. When the culture dish group 25 moves to the positioning slide cylinder, the two groups of positioning slide cylinders (37, 45, 46, 47) move toward each other, driving the positioning rod 38 to position the culture dish group 25 from the side.
[0039] A set of top positioning slide cylinders 39 are respectively arranged on both sides of the conveyor belt. The top positioning slide cylinders 39 are arranged on the vertical support plate, and a pressing roller 40 is arranged on the side of the positioning slide cylinders 39 close to the conveyor belt. When the culture dish group 25 is positioned, the positioning slide cylinders 39 drive the pressing roller 40 to move from one side of the conveyor belt to the top of the culture dish group 25, and press the packaging bag part located at the edge of the culture dish box from the top.
[0040] The adsorption device includes an adsorption assembly 42, a vacuum generator 43, and a slide cylinder 44. The slide cylinder 44 is arranged on a vertical support plate, and an adsorption assembly 42 is arranged on the slide cylinder 44. The adsorption assembly 42 is connected to the vacuum generator 43, and negative pressure is provided to the adsorption assembly 42 through the vacuum generator 43. The adsorption assembly 42 is located above the positioning position of the culture dish group by the positioning cylinder, and is composed of a plurality of suction heads, and is used to adsorb the top part of the packaging bag of the culture dish group 25 from the top to separate it from the culture dish group.
[0041] The sensor 41 is arranged on the support plate where the top slide cylinder 39 is located, and is located above the slide cylinder 39, and is used to sense whether the adsorption device is successful.
[0042] During operation, the culture dish group 25 is transported to the suction module through the conveyor belt 32, and then the sensor 34 senses the entry of the material. At this time, the positioning cylinders (45, 46) are activated, driving the positioning rods 38 to move forward together, blocking the culture dish group 25, and then the positioning cylinders (37, 47) are extended again, and then the positioning wheels 40 are extended to press down the packaging bag at the edge of the culture dish, thereby completing the positioning of the culture dish packaging bag. After the positioning is completed, the slide cylinder 44 is activated, driving the adsorption component 42 to move downward. After it drops to a specified height, the vacuum generator 43 is activated, and the vacuum generated is sucked upward by the adsorption component 42 to separate the top end surface of the culture dish group and protrude from the top. When the sensor 41 at the top detects that the plastic bag part at the top of the culture dish group is successfully absorbed, the absorption action is stopped, and each device of the absorption module returns to the original position. The top packaging bag part of the culture dish group remains in the state after absorption and flows to the cutting module 4 along the conveyor belt.
[0043] Cutting module 4, see Figure 6 , including a sensing device, a positioning device and a cutting device. The sensing device and the positioning device of the cutting module 4 have the same structure as the sensing device and the positioning device of the suction module 3. Only the positioning cylinders (68, 69, 70, 71), the positioning rod 73, and the sensor 67 are marked in the figure, and other parts are not marked.
[0044] The cutting device includes two groups of cutting knives (65, 66), and the two groups of cutting knives are located on one side of the conveyor belt. The two groups of cutting knives have the same structure, and one group is used as an example for explanation. It includes a mounting block 62 located on one side of the conveyor belt 32, a slide cylinder 61 is installed on the mounting block 62, a cylinder 63 is installed on the slide of the slide cylinder 61, a cutting knife 65 is connected to the cylinder 63, and the cutting knife 65 is driven to move horizontally by the cylinder 63. A protective cover 64 is arranged on the cylinder 63, and when the cylinder 63 retracts, the cutting knife 65 is located in the protective cover.
[0045] When the suction module is finished, the conveyor belt 32 conveys the culture dish group 25 to the cutting module 4. At this time, the feed sensor senses the culture dish group, and the positioning cylinder is activated to first position the culture dish group from the side and then from the top; when the sensor 67 detects the part of the packaging bag sucked up at the top of the culture dish group, the slide cylinder 61 moves to the cutting position, and the cylinder 63 moves to drive the cutting knife 65 to move forward to cut the top of the packaging bag; after the cutting knife 65 moves, the cutting knife 66 starts to move, and the part of the packaging bag at the top of the culture dish group is cut in a cross shape, and finally the cutting process is completed.
[0046] A placement platform 96 and a conveyor belt 129 are sequentially connected to one side of the discharge end of the conveyor belt 32. The grabbing and packaging bag module 6 and the receiving and packaging bag module 8 are respectively located at the placement platform 96 and below the placement platform 96. The unloading module 7 is arranged on both sides of the placement platform 96, responsible for positioning the materials entering the placement platform 96 at the workstations of the grabbing and packaging bag module 6 and the receiving and packaging bag module 8, and transferring the materials at the grabbing and packaging bag module 6 to the receiving and packaging bag module 8, and transferring the materials at the receiving and packaging bag module 8 to the conveyor belt 129. The shifting module 5 is arranged on one side of the discharge end of the conveyor belt 32 and the placement platform 96, and is located on the outside of the unloading module 7 on the same side, responsible for shifting the materials at the discharge end of the conveyor belt 32 to the grabbing and packaging bag module 6. The shifting module 5 and the unloading module 7 are arranged at different positions and heights to avoid mutual interference.
[0047] The bottom plate 90 is provided with a long through hole 901, and the placement platform 96 is arranged on the long through hole of the bottom plate 90. The placement platform 96 is provided with a long channel 961 that passes through the upper and lower sides thereof along the material moving direction, and the long channel is connected with the long through hole of the bottom plate 90. The grabbing and packaging bag module 6 and the receiving and packaging bag module 8 are respectively arranged below the long through hole of the bottom plate 90, and part of their structures are located in the long through hole of the bottom plate 90 and in the long channel of the placement platform 96. The culture dish group 25 entering the placement platform 96 is located above the long channel of the placement platform, and the two sides of its bottom are supported by the upper surface of the placement platform 96 located on both sides of the long channel, and moves along the long channel.
[0048] Toggle module 5, see Figure 7 , mounted on a base plate 90. It includes a toggle block 91, a cylinder 92, a sensor 93, a slide cylinder 95, and a mounting bracket 97.
[0049] The mounting bracket 97 is mounted on the bottom plate 90, and is located at the discharge end of the conveyor belt 32 and one side of the placement platform 96. A slide cylinder 95 is arranged on the mounting bracket 97. A slide cylinder 92 is arranged on the slide of the slide cylinder 95, and a toggle block 91 is arranged on the slide cylinder 92. The slide of the slide cylinder 95 can be horizontally displaced along the moving direction of the culture dish group 25, and the slide of the slide cylinder 92 can be horizontally displaced perpendicular to the moving direction of the culture dish group 25. When the toggle block 91 does not need to toggle the culture dish group, the toggle block 91 is located outside the moving direction of the culture dish group to avoid affecting the displacement of the culture dish group 25. A sensor 93 is arranged on the mounting bracket 97 to sense whether the culture dish group 25 has reached the toggle position.
[0050] When the culture dish group 25 moves from the conveyor belt 32 to the discharge end of the conveyor belt 32, the sensor 93 detects the culture dish group 25, and the slide cylinder 92 is actuated to drive the toggle block 91 to move forward to the toggle position. Then the slide cylinder 95 is actuated to drive the slide cylinder 92 and the toggle block 91 to move in the direction of the overall placement platform 96. The toggle block 91 pushes the culture dish group 25 onto the placement platform 96, so that the culture dish group 25 is at the work station of the grabbing packaging bag module 6, completing the toggle process.
[0051] Cutting module 7, see Figure 8, which is integrally mounted on the bottom plate 90. It includes two groups of positioning devices for the culture dish groups 25 located in the grabbing and packaging bag module 6 and the receiving and packaging bag module 8, respectively. Each group of positioning devices includes four vertical positioning rods 119. Two positioning rods 119 are respectively arranged on both sides of the placement platform 96. The four positioning rods 119 surround the culture dish group 25 from four directions to achieve positioning, and the top of the positioning rod exceeds the top of the culture dish group. The four positioning rods 119 located at the grabbing and packaging bag module 6 are respectively installed on four positioning slide cylinders (120, 122, 123) located on both sides of the placement platform, one of which is not shown in the figure. The positioning slide cylinder 120 and the positioning slide cylinder not shown in the figure are located on one side of the placement platform 96, and the positioning slide cylinders (122, 123) are located on the other side of the placement platform 96. The four positioning rods 119 located at the packaging bag receiving module 8 are installed on the positioning slide cylinders (126, 133) through Y-shaped positioning blocks, wherein the positioning slide cylinder 126 is located on one side of the placement platform 96, and the positioning slide cylinder 133 is located on the other side of the placement platform 96. A Y-shaped positioning block is installed on each of the positioning slide cylinders (126, 133), and a positioning rod 119 is installed at each of the forked ends of the Y-shaped positioning block. Driven by the positioning slide cylinder, the positioning rod can position the culture dish group, and after positioning is completed, it can also retract and detach from the culture dish group.
[0052] A transfer slide cylinder 127 is installed on both sides of the placement platform 96, and a mounting block 124 is installed on the slide of the slide cylinder 127. The positioning slide cylinders with positioning rods 119 installed on the same side of the placement platform 96 are respectively installed on the mounting blocks 124 on the slide cylinder 127. When the slide cylinder 127 is in motion, the culture dish group 25 at the grabbing and packaging bag module 6 can be transferred to the packaging bag receiving module 8 under the positioning clamping of the positioning rod, and the culture dish group 25 at the packaging bag receiving module 8 is transferred to the conveyor belt 129.
[0053] Sensors (94, 125, 128) for sensing materials are respectively arranged on the bottom plate 90 on one side of the packaging bag grabbing module 6, the packaging bag receiving module 8, and the feeding end of the conveyor belt 129, and corresponding sensor reflectors (130, 131, 132) are arranged at corresponding positions on the other side of the placement platform 96.
[0054] Its working principle is as follows: when the toggle module 5 toggles the culture dish group 25 to the placement platform 96, the positioning slide cylinder 123 and the corresponding positioning slide cylinder on the other side are activated, and the positioning rod 119 extends to block the displacement channel of the culture dish group 25. When the toggle module 5 toggles the culture dish group 25 to the grabbing and packaging bag module 6, the sensor 94 senses the culture dish group 25, and the positioning slide cylinders (120, 122) are activated to extend the positioning rods, and the four positioning rods 119 position the culture dish group 25 at the grabbing and packaging bag module 6. When the sensor 125 senses that there is material at the packaging bag receiving module 8, the positioning slide cylinders (126, 133) are activated at the same time to extend the positioning rods to position the culture dish group 25 at the packaging bag receiving module 8. After the processes of grabbing the packaging bag module 6 and receiving the packaging bag module 8 are completed, the slide cylinders 127 located on both sides of the placement platform 96 operate simultaneously, and the mounting block 124 drives the two sets of positioning devices and the culture dish groups 25 positioned by them to move along the feeding direction, and the culture dish group 25 at the packaging bag receiving module 8 station is moved to the conveyor belt 129 and enters the discharge buffer module 9; at the same time, the culture dish group 25 at the packaging bag grabbing module 6 station is moved to the packaging bag receiving module 8 station. After the moving work is completed, the unloading module 7 retracts the positioning rod, returns to the original position, and extends the positioning rod again to perform the positioning function.
[0055] Grab the bag module 6, see Figures 9 to 11 , located below the bottom plate 90 and the placement platform 96. It includes a lifting mechanism and a grabbing mechanism. The lifting mechanism includes a lifting base 106 installed in the hollow channel of the placement platform 96, and the lifting base 106 has a notch for the clamping claw 110 to pass through. Four lifting wheels 107 are arranged on the lifting base 106. The lifting base 106 is connected to the lifting cylinder 108, and the lifting base 106 is lifted by the lifting cylinder 108 so that the lifting wheel 107 lifts the bottom of the culture dish group 25 to make it separate from the surface of the placement platform 96. The lifting cylinder 108 is fixed in the long through hole of the bottom plate 90 and the long channel of the placement platform 96. Since the lifting wheel 107 is rolling, when the clamping claw 110 grabs the packaging bag downward, the friction between the packaging bag and the lifting wheel 107 is much smaller than the friction between the packaging bag and the placement platform 96, and it is easier to pull out the packaging bag.
[0056] The grabbing mechanism includes a mounting base 100 located below the bottom plate 90, and the top of the mounting base 100 is fixed below the bottom plate 90. A vertical slide rail 102 is mounted on the mounting base 100, and a slider is arranged on the slide rail 102. The slider is driven by a screw rod, and the screw rod is driven to rotate by a motor 101. A protective cover 105 is arranged on the slider 102, and a grabbing cylinder 109 is arranged in the protective cover 105, and a clamping claw 110 is arranged on the grabbing cylinder 109.
[0057] After the culture dish packaging bag enters the positioning position of the grabbing packaging bag module station, the sensor 94 detects the entry of the material, and then the motor 101 is activated, the clamping jaw 110 moves upward with the slider of the slide rail 102, and the lifting cylinder 108 also moves, holding the bottom of the packaging bag of the culture dish group 25 and moving it upward for a distance. When the clamping jaw 110 rises to the clamping position, the grabbing cylinder 109 closes the clamping jaw, and the motor 101 reverses and drives the slider of the slide rail 102 to move downward. Then the clamping jaw 110 pulls down a part of the packaging bag of the culture dish group 25, and after the clamping jaw 110 is loosened, the lifting cylinder 108 drops to its original position again, and the culture dish group 25 is placed on the placement platform 96. At this time, the pulled-out packaging bag part is located in the hollow channel of the placement platform, and the action of this station is completed. Then it is sent to the station of the receiving packaging bag module 8 through the unloading module 7.
[0058] Packaging bag module 8, see Figure 12 to Figure 13 , including a lifting mechanism and a clamping mechanism. The lifting mechanism has the same structure as the lifting mechanism of the grabbing packaging bag module 6, and the clamping mechanism is similar to the clamping mechanism of the grabbing packaging bag module 6.
[0059] The lifting mechanism includes a lifting wheel 137, a lifting base 138, a lifting cylinder 139, and a mounting base 140. The lifting cylinder 139 is mounted on the mounting base 140, the lifting base 138 is arranged on the lifting cylinder 139, the lifting wheel 137 is arranged on the lifting base 138, and the mounting base 140 is installed in the long through hole of the bottom plate 90 and the long channel of the placement platform 96, and its bottom is fixed under the bottom plate 90. An inverted U-shaped notch is opened on the lifting base 138, and the open end of the inverted U-shaped notch is located on one side of the lifting base 138; the inverted U-shaped notch on the lifting base 138 can allow the clamp to pass through.
[0060] The clamping mechanism includes a base 141, a slide cylinder 142, a fixed seat 143, a cylinder 134, a clamping cylinder 135, and a clamping claw 136. The base 41 is mounted on the mounting base below the base plate 90, and the slide cylinder 142 is vertically mounted on the base 41. A fixed seat 143 is mounted on the slide of the slide cylinder 142, and the cylinder 134 is mounted on the fixed seat 143. A mounting plate is connected to the front end of the cylinder 134, and a clamping claw cylinder 135 is mounted on the mounting plate. The clamping claw cylinder 135 is located on the side of the cylinder 134, and two horizontally arranged clamping claws 136 are mounted on the clamping claw cylinder 135. The clamping claw 136 is a rod-shaped structure, and its front end is a sharp tip structure that can pierce the packaging bag.
[0061] During operation, after the sensor 125 detects the culture dish group 25, the positioning device of the unloading module 7 positions the culture dish group 25, and then the lifting cylinder 139 moves upward to drive the lifting base 138 and the lifting wheel 137 upward, lifting the culture dish group 25 so that it is out of contact with the placement platform 96.
[0062] The slide cylinder 142 moves upward to drive the fixed seat 143 to the clamping position synchronously, and then the cylinder 134 moves to drive the clamping claw cylinder 135 installed on the side to move forward toward the bottom of the raised culture dish group 25. When moving forward, the front ends of the two clamping claws 136 pierce the packaging bag part pulled out from the bottom of the culture dish group 25 until the front ends of the two clamping claws 136 pass through the packaging bag of the culture dish group. At this time, the cylinder 134 moves to the bottom, and then the clamping claw cylinder 135 moves to drive the two clamps 136 to move toward each other, clamping the packaging bag of the culture dish group inward. After the packaging bag is clamped, the sliding cylinder 132 moves downward in the opposite direction, driving the entire clamping claw to pull the packaging bag of the culture dish group downward. After the sliding cylinder 132 moves downward to the set position, the packaging bag of the culture dish group is finally separated from the culture dish group, and the packaging bag is unpacked. Then, the various mechanisms of the packaging bag receiving module 8 return to the original position. When the clamping column 136 is released and the cylinder 134 retracts, the packaging bag on it is blocked by the mounting plate at the front end of the cylinder 134, and is separated from the clamping claw 136 and falls into the packaging bag collection box below. After the process of the packaging bag receiving module 8 is completed, the culture dish group 25 without the packaging bag is sent to the conveyor belt 129 by the unloading module 7 and enters the discharging buffer module 9.
[0063] Output buffer module 9, see Fig.14 , which is installed as a whole at the end of the whole machine, includes a conveyor belt 129, sensors (128, 153), baffles 152, brackets 154, and a buffer platform 155. The sensor 128 is provided at the feeding end of the conveyor belt 129, which is used to sense whether the culture dish group 25 enters the conveyor belt 129, and the sensor 153 is provided at the discharging end of the conveyor belt 129, which is used for counting. The buffer platform 155 is provided at one side of the discharging end of the conveyor belt 129, which is supported by the bracket 154. Guide plates 152 are provided on both sides of the conveyor belt 129, and a conveying channel is formed on the conveyor belt 129, so that the culture dish group entering the conveyor belt 129 can be transported along the conveying channel.
[0064] During operation, when the sensor 128 detects the culture dish set 25 with the packaging bag removed, the conveyor belt 129 moves immediately, and starts counting when the culture dish set 25 passes the sensor 153, and finally conveys the culture dish set to the buffer platform 155, thereby completing the process of removing the culture dish packaging bag.
[0065] The actions of the above modules are controlled by the electronic control module.
Claims
1. An automatic unpacking device for culture dishes, characterized in that: It includes a feeding module, a suction module, a cutting module, a toggling module, a bag grabbing module, a feeding module, a bag collecting module, a discharging buffer module and an electric control module, and at least one conveyor belt; wherein: The feeding module transports the culture dish group with the packaging bag to the suction module; The suction module sucks the top part of the packaging bag of the culture dish group to form a bulge; The cutting module cuts the raised portion of the top of the packaging bag of the culture dish group sucked by the suction module; The shifting module pushes the cut culture dish set to the grabbing and packaging bag module; The unloading module positions and transports the culture dish groups at the grabbing and packaging bag modules and the packaging bag receiving module, transports the culture dish groups at the packaging bag receiving module to the discharging buffer module, and transports the culture dish groups at the grabbing and packaging bag modules to the packaging bag receiving module; The grabbing packaging bag module clamps the packaging bag portion at the bottom of the culture dish group and pulls it downward for a distance; The packaging bag receiving module completely pulls the packaging bag of the culture dish group pulled out of one end distance by the packaging bag grabbing module away from the bottom of the culture dish group; wherein: the packaging bag receiving module includes a first lifting mechanism and a clamping mechanism; The clamping mechanism includes a slide cylinder, a fixed seat, a cylinder, a clamping claw cylinder, and a clamping claw; a fixed seat is installed on the slide of the slide cylinder, a cylinder is installed on the fixed seat, a mounting plate is connected to the front end of the cylinder, a clamping claw cylinder is installed on the mounting plate, the clamping claw cylinder is located on the side of the cylinder, and two horizontally arranged clamping claws are installed on the clamping claw cylinder, the clamping claw is a rod-shaped structure, and its front end is a sharp tip structure that can pierce the packaging bag; The first lifting mechanism comprises a lifting wheel, a lifting base, and a lifting cylinder; the lifting cylinder is provided with a lifting base, the lifting base is provided with a lifting wheel, and the lifting base is provided with an inverted U-shaped notch; the inverted U-shaped notch on the lifting base can allow the clamping claw of the clamping mechanism to pass through; The first lifting mechanism can lift the culture dish group from the bottom, so that the bottom of the culture dish group is in rolling contact with the first lifting mechanism; the clamping claw of the clamping mechanism passes through the lifting base, clamps the packaging bag part pulled out from the bottom of the culture dish group from the bottom of the culture dish group and pulls it down, so that the packaging bag is completely separated from the culture dish box in the culture dish group; The material discharging buffer module buffers the culture dish group after the packaging bag is removed by the packaging bag receiving module; the electric control module controls the actions of each module.
2. The automatic unpacking equipment for culture dishes according to claim 1, characterized in that: The feeding module is a conveyor belt, and at least one conveying channel is arranged on the conveyor belt.
3. The automatic unpacking equipment for culture dishes according to claim 1, characterized in that: The suction module includes a positioning device and an adsorption device. The positioning device includes a side positioning device and a top positioning device, which respectively position the culture dish group from the side and the top; the adsorption device absorbs the packaging bag part on the top of the culture dish group from the top to form a bulge.
4. The automatic unpacking equipment for culture dishes according to claim 1, characterized in that: The cutting module includes a positioning device and a cutting device. The positioning device includes a side positioning device and a top positioning device, which respectively position the culture dish group from the side and the top; the cutting device cuts the raised part of the packaging bag on the top of the culture dish group in at least two directions.
5. The automatic unpacking equipment for culture dishes according to claim 3 or 4, characterized in that: The top positioning device comprises two sets of pressing rollers which are arranged opposite to each other and can be displaced horizontally. The two sets of pressing rollers can press the top of the culture dish group from two opposite sides of the top of the culture dish group.
6. The automatic unpacking equipment for culture dishes according to claim 1, characterized in that: The toggle module includes a toggle block that can be horizontally displaced along the displacement direction of the culture dish group; the toggle block can be extended and retracted perpendicular to the displacement direction of the culture dish group, and the toggle block can be extended to the displacement channel of the culture dish group. When the toggle block is displaced along the displacement direction of the culture dish group, it can drive the culture dish group cut by the cutting module to move to the grabbing packaging bag module station.
7. The automatic unpacking equipment for culture dishes according to claim 1, characterized in that: The unloading module includes two groups of side positioning devices that can be displaced along the displacement direction of the culture dish group, one group of side positioning devices positions the culture dish group at the grabbing and packaging bag module from the side, and the other group of side positioning devices positions the culture dish group at the receiving and packaging bag module from the side; the two groups of side positioning devices can respectively move the culture dish group they position from their positioning station to the next adjacent station.
8. The automatic unpacking equipment for culture dishes according to claim 3 or 7, characterized in that: The side positioning device includes four vertical positioning rods, which are arranged in pairs on both sides of the displacement direction of the culture dish group, and the two positioning rods on the same side are arranged at intervals; the positioning rods arranged on both sides of the displacement direction of the culture dish group can approach or move away from each other, and when they approach, they position the culture dish group from the side.
9. The automatic unpacking equipment for culture dishes according to claim 8, characterized in that: The positioning rods for positioning the suction module and the grabbing packaging bag module are composed of two positioning rods located on the discharge end of the culture dish group as a group, and two positioning rods located on the inlet end of the culture dish group as a group; the group of positioning rods located on the discharge end side moves before the group of positioning rods on the inlet end side.
10. The automatic unpacking equipment for culture dishes according to claim 8, characterized in that: The four positioning rods of the side positioning device of the packaging bag receiving module move synchronously.
11. The automatic unpacking equipment for culture dishes according to claim 1, characterized in that: The packaging bag grabbing module includes a second lifting mechanism and a grabbing mechanism; the second lifting mechanism can lift the culture dish group from the bottom so that the bottom of the culture dish group is in rolling contact with the second lifting mechanism; the grabbing mechanism grabs the packaging bag part at the bottom of the culture dish group from the bottom of the culture dish group and pulls it downward for a distance.
12. The automatic unpacking equipment for culture dishes according to claim 1, characterized in that: The discharging buffer module comprises a conveyor belt and a buffer platform connected to the conveyor belt, and a conveying channel for guidance is arranged on the conveyor belt.