A low temperature operation test device with a manipulator

Abstract

The present invention relates to a low-temperature operation test device with a manipulator, which aims to solve the technical problems of insufficient low-temperature effect and large space required for the current low-temperature operation test, including an operation cabinet; the internal gap of the operation cabinet constitutes a low-temperature operation chamber for drug testing; a fixed table for placing test vessels is arranged inside the low-temperature operation chamber; a multi-axis manipulator is arranged inside the low-temperature operation chamber; and a multi-function clamping unit is arranged at the end of the multi-axis manipulator. In the present invention, a cooling component for the low-temperature operation chamber is arranged at the bottom of the operation cabinet. The component is an existing refrigeration and freezing cooling technology, so it will not be described in detail. The multi-axis manipulator and the multi-function clamping unit can be arranged to operate the internally detected and tested drug raw materials through an external control device. The low-temperature operation test device with a manipulator can realize the test operation with good sealing and heat preservation in a limited and compact space.

Description

Technical Field

[0001] The invention relates to the technical field of pharmaceutical product testing, and in particular to a low-temperature operation testing device with a manipulator. Background Art

[0002] Pharmaceutical product testing: Pharmaceutical products require a low temperature environment (around 0°C) during testing, and raw material manufacturers usually operate manually in cold storage. User manufacturer requirements: When the user manufacturer verifies the product, the laboratory conditions are limited and it is impossible to simulate the test environment of the raw material manufacturer, resulting in the test personnel having to manually prepare samples in the refrigerator.

[0003] The traditional operation mode puts the test personnel in a low-temperature environment, which affects their work efficiency and health; the existing "isolation glove box" cannot meet the requirements of low temperature and simple and compact structure. Therefore, it is particularly important to provide a low-temperature operation sample configuration device that is easy for personnel to operate and does not require direct exposure to the low-temperature environment. In view of this, we propose a low-temperature operation test device with a manipulator. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, meet actual needs, and provide a low-temperature operation test device with a manipulator to solve the technical problems of insufficient low-temperature effect and large space required for current low-temperature operation tests.

[0005] In order to achieve the purpose of the present invention, the technical scheme adopted by the present invention is as follows: a low-temperature operation test device with a manipulator is designed, including an operation cabinet; the internal gap of the operation cabinet constitutes a low-temperature operation chamber for drug testing; a fixed table for placing test vessels is arranged inside the low-temperature operation chamber; a multi-axis mechanical arm is arranged inside the low-temperature operation chamber; a multi-function clamping unit is arranged at the end of the multi-axis mechanical arm; the multi-function clamping unit includes a basic winding frame; the basic winding frame is arranged at the end of the multi-axis mechanical arm; a plurality of flip frames are arranged at equal intervals in an annular manner at the end of the basic winding frame; the internal gaps of the plurality of flip frames constitute a rotating chamber; a secondary driving slide is fixedly arranged in an axial position inside the basic winding frame; an annular flipping mechanism is rotatably arranged inside the rotating chamber; a driving mechanism A for driving the annular flipping mechanism is arranged on the side of the basic winding frame; a plurality of clamping arm assemblies are arranged on the side of the basic winding frame in an annular manner at equal intervals; a self-rotation adjustment gear ring that is pressed and matched with the annular flipping mechanism is rotatably arranged in the secondary driving slide; a secondary driving system meshing and connected with the self-rotation adjustment gear ring is arranged inside the basic winding frame.

[0006] Preferably, the annular flip mechanism includes a sub-planetary extrusion drive gear rotatably arranged in the flip frame; a plurality of spiral extrusion grooves A distributed in an annular manner with equal spacing are arranged inside the sub-planetary extrusion drive gear, and a driving tooth groove A is arranged on the outer wall of the sub-planetary extrusion drive gear; a driving planetary carrier A is rotatably arranged outside the sub-planetary extrusion drive gear, a plurality of planetary gears A meshing with the driving tooth groove A are arranged in an annular manner with equal spacing inside the driving planetary carrier A, a solar-level rotating cavity is arranged inside the driving planetary carrier A, and a plurality of spiral extrusion grooves A distributed in an annular manner with equal spacing are arranged on the outer surface of the driving planetary carrier A. Rotating extrusion groove B; a sun gear A is rotatably arranged inside the solar-stage rotating cavity, and an outer wall of the sun gear A is relatively close to the open end of the solar-stage rotating cavity and is provided with an extension tooth extending out of the solar-stage rotating cavity; a primary driving gear ring is rotatably arranged inside the rotating cavity, and a plurality of extrusion protrusions A are equidistantly arranged in a ring shape on one side of the primary driving gear ring, and meshing driving teeth are arranged in a ring structure on the outer wall of the primary driving gear ring; the driving mechanism A includes a driving motor A arranged on the side of the basic winding frame; the output end of the driving motor A is provided with a primary driving gear meshingly connected with the meshing driving teeth.

[0007] Preferably, the clamping arm assembly includes a plurality of clamping arm bodies hingedly arranged in a ring shape and at equal intervals on the basic winding frame, the hinged end of the clamping arm body is provided with a secondary driving tooth meshingly connected to the extension tooth, the clamping arm body is a triangular structure, and the internal gap of the clamping arm body constitutes a buffer compensation cavity; and a plurality of support shaft buckles are movably hooked inside the buffer compensation cavity.

[0008] Preferably, an extrusion protrusion B that slidably and extrudably cooperates with the spiral extrusion groove B is provided on the side of the self-rotation adjustment gear ring, and a plurality of three-stage driving teeth are distributed in a ring shape on the inner wall of the self-rotation adjustment gear ring.

[0009] Preferably, the secondary drive system includes a basic plug-in mounting seat fixedly arranged on the basic winding frame; a mounting frame is provided on the basic plug-in mounting seat; a drive motor B and a drive motor C are symmetrically installed on the mounting frame; synchronous wheels A and B are respectively provided at the output ends of the drive motor B and the drive motor C, and a central drive shaft is rotatably provided on the basic plug-in mounting seat through a bearing seat; a planetary rotating frame is rotatably provided on the outer wall of the central drive shaft through a bearing; a plurality of key gears are rotatably provided in a ring shape at equal intervals on the top of the planetary rotating frame; and the key gear is meshed and connected with the self-rotation adjustment gear ring, and an extension connecting shaft is key-connected inside the key gear; the extension connecting shaft is key-connected with the planetary rotating frame, and a nautilus block is provided at the end of the extension connecting shaft.

[0010] Preferably, a synchronous wheel C is fixed at the bottom of the planetary rotating frame, and the planetary rotating frame is transmission connected to the synchronous wheel B through the synchronous wheel C and a transmission belt; and a rotating sleeve that is adapted to the shape of the extended connecting shaft is provided on the planetary rotating frame relative to the extended connecting shaft, and the rotating sleeve is rotationally connected to the planetary rotating frame.

[0011] Preferably, the nautilus block is in a planar spiral shape, and a plurality of elastic blocks are arranged inside the nautilus block.

[0012] Preferably, the secondary drive system also includes a lifting drive adjustment mechanism; the lifting drive adjustment mechanism includes a micro electric push rod arranged on the side of the basic plug-in mounting seat; the movable end of the micro electric push rod is provided with a rotating seat, and a limited forked shaft is rotatably provided on the rotating seat, and the limited forked shaft is rotatably connected to the extended connecting shaft.

[0013] A method for using a low temperature operation test device with a manipulator comprises the following steps:

[0014] S100, cooling treatment: cooling the low-temperature operation chamber by using a cooling component;

[0015] S200, placement work: manually place the test materials, test vessels, equipment and weighing scales in the low-temperature storage box into the low-temperature operation chamber;

[0016] S300, adjustment process of test operation:

[0017] S301, basic size equipment clamping work: only drive motor A to make a fixed number of turns of power output, and then use the primary drive gear to rotate the primary drive gear ring as a whole so that the extrusion protrusion A sequentially performs a circumferential extrusion action on the spiral extrusion groove A, and the sub-planetary extrusion drive gear is rotated through the extrusion operation, and the planetary gear A is rotated through the rotating sub-planetary extrusion drive gear, and the sun gear A is rotated as a whole based on the rotation locking of the driving planet carrier A, and the extension teeth and the clamping arm assembly are clamped by multiple rotating sun gears A, and the clamping action is adapted to the clamping operation of glassware, volumetric flasks and other large diameter sizes;

[0018] S302, clamping of small and medium-sized equipment: Based on the clamping of S301 basic size equipment, the central gear set on the top of the central drive shaft drives multiple key gears on the side to rotate, and the self-rotating key gears make the self-rotating adjustment gear ring rotate as a whole, and the self-rotating adjustment gear ring rotates and adjusts the sun gear A synchronously, so that the clamping arm body further performs secondary rotation adjustment to clamp small and medium-sized equipment.

[0019] S303, threaded cover opening operation, through the micro electric push rod return stroke work to make the rotating seat and the limit fork shaft as a whole rise and fall adjustment, and then based on the S301 basic size equipment clamping work, the central gear set on the top of the central drive shaft drives the multiple key gears on the side to rotate, and the self-rotating key gear is used to make the self-rotating adjustment gear ring rotate as a whole. After the secondary rotation adjustment and the nautilus block clamping fit compensation, it is used to clamp the test vessels and equipment of small diameter size, and based on the rotation adjustment of the key gear, the extended connecting shaft synchronously drives the nautilus block to rotate, and the test tube cover is opened through the nautilus block;

[0020] S304, squeeze drop operation: The micro electric push rod is used to return the stroke to adjust the rotating seat and the limit fork shaft as a whole, so as to synchronously drive the extended connecting shaft and the nautilus block to rotate, and the nautilus block after rotation is used to open the press cover in the vessel or equipment, and at the same time, the rubber end of the dropper is pressed by the forked end of the limit fork shaft based on the lifting adjustment to absorb the reagent solution;

[0021] S400, test operation: the multifunctional clamping unit adjusted by the multi-axis robotic arm sequentially adds raw materials and stock solution to carry out test work.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. In the present invention, a cooling component for the low-temperature operation chamber is arranged at the bottom of the operation cabinet. The component is an existing refrigeration and freezing cooling technology and will not be described in detail. In addition, the pharmaceutical raw materials for internal inspection and testing can be operated through an external control device through the multi-axis robotic arm and the multi-functional clamping unit. The low-temperature operation test device with a robotic arm can realize the test operation with good sealing and heat preservation in a limited and compact space.

[0024] 2. The present invention drives the primary drive gear ring to rotate as a whole through the driving mechanism A, and the rotating primary drive gear ring causes the extrusion protrusion A to perform a circular extrusion action on the spiral extrusion groove A in turn, and the sub-planetary extrusion drive gear is rotated through the extrusion operation, and the planetary gear A is rotated through the rotating sub-planetary extrusion drive gear. Based on the rotational locking of the driving planetary frame A, the sun gear A is rotated as a whole, and the extension teeth and the clamping arm assembly are clamped to expand or close through multiple rotating sun gears A. At the same time, the clamping action is adapted to clamping operations with larger diameters such as glassware and volumetric flasks.

[0025] 3. The present invention forms a buffer compensation cavity through the triangular structure of the clamp arm body, so that the clamp arm body is deformable, and the deformed clamp arm body can adapt to the shape required by different test operations to the outer wall of the container, effectively improving the stability after clamping. And a number of hinged support shaft buckles are used to maintain the basic stability of the clamp arm body.

[0026] 4. The present invention uses the setting of the self-rotating adjustment gear ring to enable the extrusion protrusion B to synchronously rotate and extrude the spiral extrusion groove B, so that multiple driving planetary frames A can adjust the movement. Through this setting, the rotation angle of the clamping arm body can be further adjusted to perform secondary rotation adjustment work to clamp test equipment with smaller diameters such as droppers and test tubes. This operation method performs secondary clamping work based on the primary rotation clamping work of a fixed value.

[0027] 5. The present invention drives the synchronous wheel A and the synchronous wheel B to rotate or lock the central drive shaft and the planetary rotating frame respectively through the driving motor B and the driving motor C, and synchronously forms a planetary transmission structure. After the first-level fixed value rotation of the planetary transmission structure, the driving motor C is locked, and the driving motor B outputs power to rotate the central drive shaft. The central gear set on the top of the central drive shaft drives the multiple key gears on the side to rotate, and the self-rotating key gears make the self-rotating adjustment gear ring rotate as a whole, and the sun gear is synchronously adjusted by the self-rotating adjustment gear ring. Wheel A enables the clamp arm body to further perform secondary rotation adjustment, and through the primary fixed value rotation adjustment, it enables the clamp arm body to be clamped and compensated within a certain range to adapt to the clamping of test vessels and equipment with relatively large diameters; at the same time, based on the primary fixed value rotation adjustment, it cooperates with the above-mentioned secondary rotation adjustment and is compensated for by the clamping of the nautilus block to clamp test vessels and equipment with small diameters, and the rotation adjustment based on the key gear allows the extended connecting shaft to synchronously drive the nautilus block to rotate, and the test tube cover is opened through the nautilus block, effectively improving the functionality of the manipulator.

[0028] 6. The present invention uses a planar spiral nautilus block to enable the nautilus block to rotate around a fixed center point of an extended connecting shaft. The planar spiral feature allows the nautilus block to make rotational frictional contact with vessels and equipment lids with smaller diameters, forcing the lids to rotate and open, thereby effectively avoiding the manual operation of opening the lids. The elastic setting is used to allow both sides of the nautilus block to be compressively deformed, thereby effectively adapting to the rotational opening operation of vessels and equipment lids within a certain size range.

[0029] 7. The present invention uses the return stroke of the micro electric push rod to adjust the overall lifting and lowering of the rotating seat and the limit fork shaft, and in this way, the extended connecting shaft and the nautilus block are synchronously driven to rotate. The nautilus block after rotation is used to push and open the push cover in the container or equipment. At the same time, the rubber end of the dropper is pressed by the forked end of the limit fork shaft based on the lifting and lowering adjustment. The multifunctionality of the single manipulator is realized through the above operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the three-dimensional structure of the multi-axis mechanical arm and the multi-functional clamping unit in the present invention;

[0032] Figure 3 It is a schematic diagram of the three-dimensional structure of the multifunctional clamping unit in the present invention;

[0033] Figure 4 It is a schematic diagram of the three-dimensional split structure of the multifunctional clamping unit in the present invention;

[0034] Figure 5 It is a schematic diagram of the three-dimensional split structure of the annular flip mechanism in the present invention;

[0035] Figure 6 For the present invention Figure 4 A schematic diagram of the partially enlarged structure at center A;

[0036] Figure 7 This is a schematic diagram of the three-dimensional structure of the drive mechanism A in the present invention;

[0037] Figure 8 For the present invention Figure 7 A schematic diagram of the partially enlarged structure at B in the middle;

[0038] Fig. 9 It is a schematic diagram of the three-dimensional structure of the secondary drive system in the present invention;

[0039] Fig.10 It is a schematic diagram of the three-dimensional structure of the nautilus block in the present invention;

[0040] Fig.11 It is a schematic diagram of the three-dimensional structure of the planetary rotating frame in the present invention.

[0041] In the figure: 1. Operation cabinet; 2. Fixed table; 3. Multi-axis robot arm; 4. Multifunctional clamping unit; 5. Basic winding frame; 6. Ring flip mechanism; 7. Drive mechanism A; 8. Clamping arm assembly; 9. Self-rotation adjustment gear ring; 10. Secondary drive system; 11. Basic plug-in mounting seat; 12. Drive motor B; 13. Drive motor C; 14. Central drive shaft; 15. Planetary rotating frame; 16. Key gear; 17. Extended connecting shaft; 18. Nautilus block; 19. Lifting drive adjustment mechanism;

[0042] 501, turning frame; 502, secondary driving slide;

[0043] 601, sub-planetary extrusion drive gear; 6011, spiral extrusion groove A; 6012, drive tooth groove A; 602, drive planet carrier A; 6021, planetary gear A; 6022, spiral extrusion groove B; 603, sun gear A; 6031, extension tooth; 604, primary drive gear ring; 6041, extrusion protrusion A; 6042, meshing drive tooth;

[0044] 701, driving motor A; 7011, primary driving gear;

[0045] 801, clamp arm body; 8011, secondary driving gear; 8012, support shaft buckle;

[0046] 901, extrusion protrusion B; 902, three-stage driving teeth;

[0047] 1501, rotating sleeve;

[0048] 1801, fast elasticity;

[0049] 1901. Micro electric push rod; 1902. Rotating seat; 1903. Limiting fork shaft. DETAILED DESCRIPTION

[0050] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0051] Example 1: A low temperature operation test device with a manipulator, see Figures 1 to 11, including an operating cabinet 1; the internal gap of the operating cabinet 1 constitutes a low-temperature operating chamber for drug testing; a fixed table 2 for placing test vessels is arranged inside the low-temperature operating chamber; a multi-axis robotic arm 3 is arranged inside the low-temperature operating chamber; a multi-function clamping unit 4 is arranged at the end of the multi-axis robotic arm 3; the multi-function clamping unit 4 includes a basic winding frame 5; the basic winding frame 5 is arranged at the end of the multi-axis robotic arm 3; a plurality of flip frames 501 are arranged at equal intervals in a ring shape at the end of the basic winding frame 5; the internal gaps of the plurality of flip frames 501 constitute a rotating chamber; a secondary driving slide 502 is fixedly arranged at an axial position inside the basic winding frame 5; an annular flip mechanism 6 is rotatably arranged inside the rotating chamber; a driving mechanism A7 for driving the annular flip mechanism 6 is arranged on the side of the basic winding frame 5; a plurality of clamping arm assemblies 8 are arranged on the side of the basic winding frame 5 in a ring shape at equal intervals; a self-rotation adjusting gear ring 9 that is pressed and matched with the annular flip mechanism 6 is rotatably arranged inside the secondary driving slide 502; a secondary driving system 10 meshing and connected with the self-rotation adjusting gear ring 9 is arranged inside the basic winding frame 5. In the present invention, a cooling component for the low-temperature operation chamber is arranged at the bottom of the operation cabinet 1. The component is an existing refrigeration and freezing cooling technology and will not be described in detail. The multi-axis robotic arm 3 and the multi-functional clamping unit 4 are arranged to operate the internally inspected and tested pharmaceutical raw materials through an external control device. The low-temperature operation test device with a robotic arm can realize the test operation with good sealing and heat preservation in a limited and compact site space.

[0052] Specifically, the annular flip mechanism 6 includes a sub-planetary extrusion drive gear 601 rotatably arranged in the flip frame 501; a plurality of spiral extrusion grooves A6011 distributed in an annular manner with equal spacing are arranged inside the sub-planetary extrusion drive gear 601, and a driving tooth groove A6012 is arranged on the outer wall of the sub-planetary extrusion drive gear 601; a driving planetary frame A602 is rotatably arranged outside the sub-planetary extrusion drive gear 601, and a plurality of planetary gears A6021 meshing with the driving tooth groove A6012 are arranged in an annular manner with equal spacing inside the driving planetary frame A602, a solar-level rotating cavity is arranged inside the driving planetary frame A602, and a plurality of spiral extrusion grooves A6011 distributed in an annular manner with equal spacing are arranged on the outer surface of the driving planetary frame A602. Rotate the extrusion groove B6022; a sun gear A603 is rotatably arranged inside the solar-stage rotating cavity, and an extension tooth 6031 extending out of the solar-stage rotating cavity is arranged on the outer wall of the sun gear A603 relatively close to the opening end of the solar-stage rotating cavity; a primary driving gear ring 604 is rotatably arranged inside the rotating cavity, and a plurality of extrusion protrusions A6041 are equidistantly arranged in a ring shape on one side of the primary driving gear ring 604, and meshing driving teeth 6042 are arranged on the outer wall of the primary driving gear ring 604 in a ring structure; the driving mechanism A7 includes a driving motor A701 arranged on the side of the basic winding frame 5; a primary driving gear 7011 meshingly connected with the meshing driving teeth 6042 is arranged at the output end of the driving motor A701. The present invention drives the first-stage drive gear ring 604 to rotate as a whole through the driving mechanism A7, and the rotating first-stage drive gear ring 604 causes the extrusion protrusion A6041 to perform a circular extrusion action on the spiral extrusion groove A6011 in turn, and the sub-planetary extrusion drive gear 601 is rotated through the extrusion operation, and the planetary gear A6021 is rotated through the rotating sub-planetary extrusion drive gear 601. Based on the rotational locking of the driving planetary frame A602, the sun gear A603 is rotated as a whole, and the extension teeth 6031 and the clamping arm assembly 8 are clamped to expand or close through multiple rotating sun gears A603. At the same time, the clamping action is adapted to clamping operations with larger diameters such as glassware and volumetric flasks.

[0053] Furthermore, the clamping arm assembly 8 includes a plurality of clamping arm bodies 801 that are hingedly arranged in a circular shape with equal spacing on the basic winding frame 5. The hinged end of the clamping arm body 801 is provided with a secondary driving tooth 8011 that meshes with the extension tooth 6031. The clamping arm body 801 is in a triangular structure, and the internal gap of the clamping arm body 801 forms a buffer compensation cavity; and a plurality of support shaft buckles 8012 are movably hooked inside the buffer compensation cavity. The present invention forms a buffer compensation cavity by forming the clamping arm body 801 in a triangular structure, so that the clamping arm body 801 has deformability, and the deformed clamping arm body 801 can adapt to the outer wall of the vessel required by different test operations, thereby effectively improving the stability after clamping. And a plurality of support shaft buckles 8012 are hingedly arranged to maintain the basic stability of the clamping arm body 801.

[0054] Furthermore, the side of the self-rotation adjustment gear ring 9 is provided with an extrusion protrusion B901 that is slidably extruded with the spiral extrusion groove B6022, and the inner wall of the self-rotation adjustment gear ring 9 is provided with a plurality of three-stage driving teeth 902 distributed in a ring shape. The present invention uses the setting of the self-rotation adjustment gear ring 9 to allow the extrusion protrusion B901 to synchronously perform rotational extrusion on the spiral extrusion groove B6022 so that the multiple driving planetary frames A602 adjust the movement. Through this setting, the rotation angle of the clamping arm body 801 is further adjusted to perform a secondary rotation adjustment work to clamp test equipment with a smaller diameter such as droppers and test tubes. This operation mode performs a secondary clamping work after the primary rotation clamping work based on a fixed value.

[0055] It is worth mentioning that the secondary drive system 10 includes a basic plug-in mounting seat 11 fixedly arranged on the basic winding frame 5; a mounting frame is arranged on the basic plug-in mounting seat 11; a drive motor B12 and a drive motor C13 are symmetrically installed on the mounting frame; the output ends of the drive motor B12 and the drive motor C13 are respectively provided with synchronous wheels A and synchronous wheels B, and a central drive shaft 14 is rotatably arranged on the basic plug-in mounting seat 11 through a bearing seat; a planetary rotating frame 15 is rotatably arranged on the outer wall of the central drive shaft 14 through a bearing; a plurality of key gears 16 are rotatably arranged in a ring shape at equal intervals on the top of the planetary rotating frame 15; and the key gear 16 is meshed and connected with the self-rotation adjustment gear ring 9, and an extension connecting shaft 17 is key-connected inside the key gear 16; the extension connecting shaft 17 is key-connected with the planetary rotating frame 15, and a nautilus block 18 is arranged at the end of the extension connecting shaft 17. The present invention drives the synchronous wheel A and the synchronous wheel B to rotate or lock the central drive shaft 14 and the planetary rotating frame 15 respectively through the driving motor B12 and the driving motor C13, and synchronously forms a planetary transmission structure. After the first-level fixed value rotation of the planetary transmission structure, the driving motor C13 is locked, and the driving motor B12 outputs power to rotate the central drive shaft 14. The central gear set on the top of the central drive shaft 14 drives the multiple key gears 16 on the side to rotate. The self-rotating key gear 16 rotates the self-rotating adjustment gear ring 9 as a whole, and the self-rotating adjustment gear ring 9 rotates synchronously to adjust the sun gear. Gear A603 enables the clamp arm body 801 to further perform secondary rotation adjustment, and through the primary fixed value rotation adjustment method, the clamp arm body 801 is clamped and compensated within a certain range to adapt to the clamping of test vessels and equipment with relatively large diameters; at the same time, based on the primary fixed value rotation adjustment, the above-mentioned secondary rotation adjustment is coordinated and the clamping and fitting compensation of the nautilus block 18 is used to clamp test vessels and equipment with small diameters, and the rotation adjustment based on the key gear 16 allows the extended connecting shaft 17 to synchronously drive the nautilus block 18 to rotate, and the test tube cover is opened through the nautilus block 18, thereby effectively improving the functionality of the manipulator.

[0056] It is worth noting that a synchronous wheel C is fixed at the bottom of the planetary rotating frame 15, and the planetary rotating frame 15 is connected to the synchronous wheel B through the synchronous wheel C and the transmission belt; and a rotating sleeve 1501 that is adapted to the shape of the extended connecting shaft 17 is provided at the position of the planetary rotating frame 15 relative to the extended connecting shaft 17, and the rotating sleeve 1501 is rotatably connected to the planetary rotating frame 15.

[0057] It is worth mentioning that the nautilus block 18 is in a planar spiral shape, and a plurality of elastic blocks 1801 are arranged inside the nautilus block 18. The present invention uses the planar spiral nautilus block 18 to make the nautilus block 18 rotate with the fixed center point of the extended connecting shaft 17, and the planar spiral characteristics make the nautilus block 18 rotate and frictionally contact with the lid of a vessel or equipment with a smaller diameter, forcing the lid to rotate and open, thereby effectively avoiding the manual operation of opening the lid; and the setting of the elastic blocks 1801 makes the two sides of the nautilus block 18 compress and deform, thereby effectively adapting to the rotation and opening operation of the lid of the vessel or equipment within a certain size range.

[0058] It is worth emphasizing that the secondary drive system 10 also includes a lifting drive adjustment mechanism 19; the lifting drive adjustment mechanism 19 includes a micro electric push rod 1901 arranged on the side of the basic plug-in mounting seat 11; the movable end of the micro electric push rod 1901 is provided with a rotating seat 1902, and a limited forked shaft 1903 is rotatably provided on the rotating seat 1902, and the limited forked shaft 1903 is rotatably connected with the extended connecting shaft 17. The present invention causes the rotating seat 1902 and the limited forked shaft 1903 to be lifted and adjusted as a whole through the return stroke of the micro electric push rod 1901, and synchronously drives the extended connecting shaft 17 and the nautilus block 18 to rotate in this way, and the nautilus block 18 after rotation adjustment is used to open the press cover in the vessel and equipment, and at the same time, the rubber end of the dropper is pressed based on the lifting adjustment using the forked end of the limited forked shaft 1903, and the multifunctionality of the single manipulator is realized through the above operation.

[0059] besides,.

[0060] Embodiment 2: A method for using a low temperature operation test device having a manipulator, comprising the following steps:

[0061] S100, cooling treatment: cooling the low-temperature operation chamber by using a cooling component;

[0062] S200, placement work: manually place the test materials, test vessels, equipment and weighing scales in the low-temperature storage box into the low-temperature operation chamber;

[0063] S300, adjustment process of test operation:

[0064] S301, basic size equipment clamping work: only through the drive motor A701 to make a fixed number of power output, and then through the primary drive gear 7011 to rotate the primary drive gear ring 604 as a whole, so that the extrusion protrusion A6041 sequentially performs a circumferential extrusion action on the spiral extrusion groove A6011, through the extrusion operation, the sub-planetary extrusion drive gear 601 is rotated, and the planetary gear A6021 is rotated by the rotating sub-planetary extrusion drive gear 601, based on the driving planet carrier A602 rotation lock, the sun gear A603 is rotated as a whole, and the extension teeth 6031 and the clamping arm assembly 8 are opened or closed by multiple rotating sun gears A603. At the same time, the clamping action is adapted to the clamping operation of glassware, volumetric flasks and other large diameter sizes;

[0065] S302, clamping of small and medium-sized equipment: Based on the clamping of basic-sized equipment in S301, the central gear set on the top of the central drive shaft 14 drives the multiple key gears 16 on the side to rotate, and the self-rotating key gear 16 makes the self-rotating adjustment gear ring 9 rotate as a whole, and the sun gear A603 is rotated by the self-rotating adjustment gear ring 9 to make the clamping arm body 801 further perform secondary rotation adjustment to clamp small and medium-sized equipment.

[0066] S303, threaded cover opening operation, through the micro electric push rod 1901 return stroke work to make the rotating seat 1902 and the limit fork shaft 1903 as a whole rise and fall adjustment, and then based on the S301 basic size equipment clamping work, the central gear set on the top of the central drive shaft 14 drives the multiple key gears 16 on the side to rotate, and the self-rotating key gear 16 makes the self-rotating adjustment gear ring 9 rotate as a whole, after the secondary rotation adjustment and the nautilus block 18 clamping fit compensation, it is used for the clamping of small diameter test vessels and equipment, and based on the rotation adjustment of the key gear 16, the extended connecting shaft 17 synchronously drives the nautilus block 18 to rotate, and the test tube cover is opened through the nautilus block 18;

[0067] S304, squeeze and drip operation: The micro electric push rod 1901 is used to work in the return stroke to adjust the rotating seat 1902 and the limit bifurcation shaft 1903 as a whole, and in this way, the extended connecting shaft 17 and the nautilus block 18 are synchronously driven to rotate, and the press cover in the vessel or equipment is opened by rotating the adjusted nautilus block 18. At the same time, based on the lifting adjustment, the rubber end of the dropper is pressed by the bifurcation end of the limit bifurcation shaft 1903 to absorb the reagent solution;

[0068] S400, test operation: the multifunctional clamping unit 4 adjusted by the multi-axis robot arm 3 sequentially adds raw materials and stock solution to perform test work.

[0069] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A low temperature operation test device with a manipulator, characterized in that: It comprises an operating cabinet (1); the internal gap of the operating cabinet (1) constitutes a low-temperature operating chamber for drug testing; a fixing table (2) for placing test vessels is arranged inside the low-temperature operating chamber; a multi-axis mechanical arm (3) is arranged inside the low-temperature operating chamber; and a multi-function clamping unit (4) is arranged at the end of the multi-axis mechanical arm (3); The multifunctional clamping unit (4) comprises a basic rotating frame (5); the basic rotating frame (5) is arranged at the end of the multi-axis mechanical arm (3); a plurality of turning frames (501) are arranged at equal intervals in a ring shape at the end of the basic rotating frame (5); the internal gaps of the plurality of turning frames (501) constitute a rotating cavity; a secondary driving slide (502) is fixedly arranged at an axial position inside the basic rotating frame (5); an annular turning mechanism (6) is rotatably arranged inside the rotating cavity; a driving mechanism A (7) for driving the annular turning mechanism (6) is arranged on the side of the basic rotating frame (5); a plurality of clamping arm assemblies (8) are arranged on the side of the basic rotating frame (5) in a ring shape and at equal intervals; a self-rotation adjusting gear ring (9) which is pressed and matched with the annular turning mechanism (6) is rotatably arranged inside the secondary driving slide (502); a secondary driving system (10) which is meshed and connected with the self-rotation adjusting gear ring (9) is arranged inside the basic rotating frame (5).

2. The low temperature operation test device with a manipulator according to claim 1, characterized in that: The annular turning mechanism (6) comprises a sub-planetary extrusion driving gear (601) rotatably arranged in the turning frame (501); a plurality of spiral extrusion grooves A (6011) distributed in an annular shape and at equal intervals are arranged inside the sub-planetary extrusion driving gear (601); and a driving tooth groove A (6012) is arranged on the outer wall of the sub-planetary extrusion driving gear (601); The sub-planetary extrusion drive gear (601) is rotatably provided with a driving planet carrier A (602) outside, the driving planet carrier A (602) is provided with a plurality of planetary gears A (6021) meshing with the driving tooth grooves A (6012) in an annular shape and at equal intervals inside, the driving planet carrier A (602) is provided with a solar-level rotating cavity inside, and the outer surface of the driving planet carrier A (602) is provided with a plurality of spiral extrusion grooves B (6022) distributed in an annular shape and at equal intervals; A sun gear A (603) is rotatably arranged inside the solar stage rotating cavity, and an extension tooth (6031) extending out of the solar stage rotating cavity is arranged on an outer wall of the sun gear A (603) relatively close to an opening end of the solar stage rotating cavity; A primary drive gear ring (604) is rotatably arranged inside the rotating cavity, a plurality of extrusion protrusions A (6041) are arranged in a ring shape and at equal intervals on one side of the primary drive gear ring (604), and meshing drive teeth (6042) are arranged in a ring shape on the outer wall of the primary drive gear ring (604); The driving mechanism A (7) comprises a driving motor A (701) arranged on the side of the basic winding frame (5); the output end of the driving motor A (701) is provided with a primary driving gear (7011) meshingly connected with the meshing driving teeth (6042).

3. The low temperature operation test device with a manipulator according to claim 2, characterized in that: The clamping arm assembly (8) comprises a plurality of clamping arm bodies (801) which are hingedly arranged in a ring shape at equal intervals on the basic winding frame (5); a secondary driving tooth (8011) which is meshed and connected with the extension tooth (6031) is provided at the hinged end of the clamping arm body (801); the clamping arm body (801) is in a triangular structure; and the internal gap of the clamping arm body (801) constitutes a buffer compensation cavity; and a plurality of support shaft buckles (8012) are movably hooked inside the buffer compensation cavity.

4. The low temperature operation test device with a manipulator according to claim 3, characterized in that: An extrusion protrusion B (901) that is slidably extruded and matched with the spiral extrusion groove B (6022) is provided on the side of the self-rotation adjustment tooth ring (9), and a plurality of three-stage driving teeth (902) are distributed in an annular shape on the inner wall of the self-rotation adjustment tooth ring (9).

5. The low temperature operation test device with a manipulator according to claim 4, characterized in that: The secondary drive system (10) comprises a basic plug-in mounting seat (11) fixedly arranged on the basic winding frame (5); a mounting frame is arranged on the basic plug-in mounting seat (11); a drive motor B (12) and a drive motor C (13) are symmetrically mounted on the mounting frame; a synchronous wheel A and a synchronous wheel B are respectively arranged at the output ends of the drive motor B (12) and the drive motor C (13); a central drive shaft (14) is rotatably arranged on the basic plug-in mounting seat (11) via a bearing seat; A planetary rotating frame (15) is rotatably arranged on the outer wall of the central driving shaft (14) via a bearing; a plurality of key gears (16) are rotatably arranged in a ring shape at equal intervals on the top of the planetary rotating frame (15); the key gears (16) are meshingly connected with the self-rotation adjusting gear ring (9), and an extension connecting shaft (17) is key-connected inside the key gear (16); the extension connecting shaft (17) is key-connected with the planetary rotating frame (15), and a nautilus block (18) is arranged at the end of the extension connecting shaft (17).

6. The low temperature operation test device with a manipulator according to claim 5, characterized in that: A synchronous wheel C is fixed at the bottom of the planetary rotating frame (15), and the planetary rotating frame (15) is transmission-connected to the synchronous wheel B via the synchronous wheel C and a transmission belt; and a rotating sleeve (1501) having a shape matching that of the extending connecting shaft (17) is provided at a position of the planetary rotating frame (15) relative to the extending connecting shaft (17), and the rotating sleeve (1501) is rotationally connected to the planetary rotating frame (15).

7. The low temperature operation test device with a manipulator according to claim 6, characterized in that: The nautilus block (18) is in a planar spiral shape, and a plurality of elastic blocks (1801) are arranged inside the nautilus block (18).

8. The low temperature operation test device with a manipulator according to claim 7, characterized in that: The secondary drive system (10) further comprises a lifting drive adjustment mechanism (19); the lifting drive adjustment mechanism (19) comprises a micro electric push rod (1901) arranged on the side of the basic plug-in mounting seat (11); a rotating seat (1902) is provided at the movable end of the micro electric push rod (1901), a limited position forked shaft (1903) is rotatably provided on the rotating seat (1902), and the limited position forked shaft (1903) is rotatably connected to the extended connecting shaft (17).

9. The method for using the low temperature operation test device with a manipulator according to claim 8, characterized in that: The following steps are involved: S100, cooling treatment: cooling the low-temperature operation chamber by using a cooling component; S200, placement work: manually place the test materials, test vessels, equipment and weighing scales in the low-temperature storage box into the low-temperature operation chamber; S300, adjustment process of test operation: S301, basic size equipment clamping operation: only the driving motor A (701) is used to output power for a fixed number of turns, and then the primary driving gear (7011) is used to rotate the primary driving gear ring (604) as a whole, so that the extrusion protrusion A (6041) sequentially performs a circular extrusion action on the spiral extrusion groove A (6011), and the sub-planetary extrusion driving gear (601) is rotated through the extrusion operation, and the planetary gear A (6021) is rotated through the rotating sub-planetary extrusion driving gear (601), and based on the rotation locking of the driving planetary frame A (602), the sun gear A (603) is rotated as a whole, and the extension teeth (6031) and the clamping arm assembly (8) are clamped to expand or close through multiple rotating sun gears A (603), and the clamping action is adapted to the clamping operation of glassware, volumetric flasks and other large diameters; S302, clamping work of small and medium-sized equipment: Based on the clamping work of the basic size equipment of S301, the central gear set on the top of the central drive shaft (14) drives the multiple key gears (16) on the side to rotate, and the self-rotating key gear (16) causes the self-rotating adjustment gear ring (9) to rotate as a whole, and synchronously adjusts the sun gear A (603) through the self-rotating adjustment gear ring (9) so that the clamping arm body (801) further performs secondary rotation adjustment to clamp the small and medium-sized equipment. S303, threaded cover opening operation, through the micro electric push rod (1901) backstroke work to make the rotating seat (1902) and the limit fork shaft (1903) rise and fall as a whole, and then based on the S301 basic size equipment clamping work, the central gear set on the top of the central drive shaft (14) drives the multiple key gears (16) on the side to rotate, and the self-rotating key gear (16) makes the self-rotating adjustment gear ring (9) rotate as a whole. After the secondary rotation adjustment, it is clamped and fitted with the nautilus block (18) to compensate for the clamping of small diameter test vessels and equipment, and based on the rotation adjustment of the key gear (16), the extended connecting shaft (17) synchronously drives the nautilus block (18) to rotate, and the test tube cover is opened through the nautilus block (18); S304, squeezing and dripping operation: the micro electric push rod (1901) performs a return stroke operation to cause the rotating seat (1902) and the limit forked shaft (1903) to be adjusted in overall lifting and lowering, thereby synchronously driving the extended connecting shaft (17) and the nautilus block (18) to rotate, and the nautilus block (18) after rotation and adjustment is used to push and open the press cover in the vessel or equipment, and at the same time, based on the lifting and lowering adjustment, the forked end of the limit forked shaft (1903) is used to press the rubber end of the dropper to absorb the reagent liquid; S400, test operation: the multifunctional clamping unit (4) adjusted by the multi-axis mechanical arm (3) sequentially adds raw materials and stock solution to carry out test work.

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