Centrifugal machine and feeding manipulator

Abstract

The invention relates to the technical field of centrifugal machines, and particularly discloses a centrifugal machine and a feeding manipulator, the centrifugal machine comprises a centrifugal machine body and a manipulator, a centrifugal cavity is formed in the centrifugal machine body, a horizontal rotor is arranged in the centrifugal cavity, and a hanging basket is rotatably connected in a mounting groove of the horizontal rotor; a bracket for placing a centrifugal tube is mounted on the hanging basket in a matched manner; a limiting piece is arranged at the bottom of the hanging basket, the inner wall of the limiting piece forms a wedging groove matched with the bracket, and the bracket and the hanging basket are provided with a horizontal sensor and a vertical sensor which are used for detecting whether the bracket is wedged in place or not; the positioning adjusting assembly drives the butt joint positioning rod to position the hanging basket and position the bracket, that is, the device can reduce the probability that the bracket is not stably placed in the wedging groove by enabling the hanging basket to be in a fixed and stable state during feeding, and also can position the bracket by positioning the bracket, so that the bracket is not stably placed in the wedging groove. And the bracket which is not balanced and matched in the matching groove is adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of centrifuges, and particularly relates to a centrifuge and a feeding manipulator. Background Art

[0002] With the popularization of laboratory automation, a variety of experiments have been transferred from manual processing to automated equipment. When centrifuging a large number of samples, for the feeding method of the samples, the manipulator can grasp multiple centrifuge tubes filled with samples at one time for feeding; or by placing the centrifuge tubes on a bracket and making the manipulator grasp the bracket and place it in the corresponding hanging basket of the centrifuge. This feeding method has the advantage of being able to reach the upper limit of the centrifuge tubes carried by the hanging basket at one time, thus improving efficiency; however, since the centrifuge tubes are installed on the hanging basket through the bracket, it is necessary to ensure the fit between the bracket and the hanging basket; if the fit is not enough, during the centrifugation process, the bracket is likely to fall out of the hanging basket, and it will cause the horizontal rotor to be unbalanced. Therefore, in order to ensure the fit between the bracket and the hanging basket, a solution is urgently needed. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a centrifuge and a feeding manipulator, which have the advantage of ensuring the stable fit of the bracket in the hanging basket.

[0004] The centrifuge and the feeding manipulator of the present invention include a centrifuge body and a manipulator. An inner part of the centrifuge body forms a centrifugal chamber, and a horizontal rotor is arranged inside the centrifugal chamber. A hanging basket is rotatably connected inside an installation groove of the horizontal rotor;

[0005] A bracket for placing centrifuge tubes is fittingly installed on the hanging basket;

[0006] At least one grasping window for the manipulator to enter the centrifugal chamber is opened on the centrifuge body. A closing cover plate for closing the grasping window is arranged inside the centrifugal chamber, and the closing cover plate is driven by a switch assembly; the grasping window is opened at the top of the centrifuge body and partially located on the side of the centrifuge body;

[0007] A limiting member is arranged at the bottom of the hanging basket. An inner wall of the limiting member forms a fitting groove adapted to the bracket. The bracket fits in the fitting groove and is in close cooperation with the inner wall of the limiting member. A horizontal sensor and a vertical sensor for detecting whether the bracket fits in place are arranged on the bracket and the hanging basket.

[0008] In some embodiments, a guiding hole is opened at the bottom of the hanging basket, and a docking block is fixedly connected to the bottom of the bracket corresponding to the guiding hole.

[0009] In some embodiments, a positioning adjustment component is also included, and the positioning component includes a linear drive mechanism, and the linear drive mechanism is provided with a docking positioning rod for clamping with the hanging basket, and the hanging basket is provided with a docking portion adapted to the docking positioning rod, and the docking positioning rod is inserted into the docking portion at the bottom of the hanging basket to form a positioning lock for the hanging basket.

[0010] In some embodiments, the side surfaces of the docking block and the docking portion are respectively provided with a first docking hole and a second docking hole adapted to the docking positioning rod, and the first docking hole and the second docking hole are located on the movable axis of the docking positioning rod;

[0011] The first docking hole is configured in a conical shape on one side close to the linear drive mechanism, and is used to capture and guide the docking positioning rod to pass through.

[0012] In some embodiments, a switch assembly is further included, the switch assembly including a first rack, a second rack and a gear set, the first rack is an arc or annular arrangement fixedly connected to the closing cover, and the first rack and the second rack are transmission-connected via the gear set;

[0013] The closing cover plate is rotatably connected to the top center of the centrifugal chamber via a bearing.

[0014] In some embodiments, the second rack is fixedly connected to the docking positioning rod in the positioning adjustment assembly through a connecting rod, and the second rack moves synchronously with the docking positioning rod, and the sides of the first docking hole and the second docking hole are both provided with through holes for the connecting rod to pass through.

[0015] In some embodiments, the gear set in the switch assembly is installed between the linear drive mechanism and the docking portion.

[0016] In some embodiments, the area where the hanging basket carrying bracket can rotate on the horizontal rotor is set as area C, and the area C rotates with the horizontal rotor to form an annular activity area D. The positioning assembly and the switch assembly are both installed outside the annular activity area D of the hanging basket.

[0017] In some embodiments, the inner wall of the limiting member is provided with a plurality of protrusions, and the bracket is provided with a plurality of grooves corresponding to the protrusions.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention can realize the positioning of the hanging basket by driving the docking positioning rod through the positioning adjustment component, and can also position the bracket. That is, the device can reduce the probability of the bracket not being stably placed in the fitting groove by making the hanging basket in a fixed and stable state during loading, and can also adjust the bracket that is not balanced and fitted in the fitting groove by positioning the bracket.

[0020] 2. By combining the positioning and adjusting component with the switch component, the present invention can not only position the hanging basket and adjust the bracket, but also have the function of opening the grasping window. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0022] Figure 1 It is a schematic diagram of the first embodiment of the present invention in a top cross-sectional structure;

[0023] Figure 2 is Figure 1 an enlarged schematic diagram of part A in

[0024] Figure 3 It is a schematic diagram of the hanging basket cross-sectional structure of the first embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of the horizontal rotor cross-sectional structure of the second embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of the hanging basket cross-sectional structure of the second embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of the half-sectional structure of the third embodiment of the present invention;

[0028] Figure 7 is Figure 6 an enlarged schematic diagram of part B in

[0029] Figure 8 It is a schematic diagram of the top half-sectional structure of the third embodiment of the present invention;

[0030] Figure 9 It is a schematic diagram of the side cross-sectional structure of the docking block of the third embodiment of the present invention.

[0031] In the figure: 1, centrifuge body; 2, horizontal rotor; 3, installation groove;

[0032] 4, hanging basket; 41, limiting member; 42, fitting groove; 43, guiding hole;

[0033] 5, bracket; 51, docking block; 52, first docking hole;

[0034] 6, grasping window;

[0035] 7, switch component; 71, first rack; 72, second rack; 73, gear set; 74, connecting rod;

[0036] 8, closing cover plate;

[0037] 9. Positioning and adjusting component; 91. Linear driving mechanism; 92. Docking positioning rod; 93. Docking part; 94. Second docking hole;

[0038] 10. Through hole. Specific implementation manner

[0039] The following will disclose multiple implementation manners of the present invention in diagrams. For the sake of clear illustration, many physical details will be described together in the following narrative. However, it should be understood that these physical details are not used to limit the present invention. That is to say, in some implementation manners of the present invention, these physical details are unnecessary. In addition, for the purpose of simplifying the diagrams, some conventional structures and components will be shown in a simple schematic manner in the diagrams.

[0040] In addition, in the present invention, descriptions such as "first", "second", etc. are only for descriptive purposes, and do not particularly refer to the meaning of order or sequence, nor are they used to limit the present invention. They are merely used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0041] Embodiment 1:

[0042] Please refer to Figures 1-3 , the centrifuge and the feeding manipulator of the present invention include a centrifuge body 1 and a manipulator. An inner part of the centrifuge body 1 forms a centrifugal chamber. A horizontal rotor 2 is arranged inside the centrifugal chamber. A hanging basket 4 is rotatably connected inside an installation groove 3 of the horizontal rotor 2. A bracket 5 for placing centrifuge tubes is fitted and installed on the hanging basket 4;

[0043] After the bracket 5 is fitted and installed on the hanging basket 4, an activity area for a mechanical handle is formed between an outer side of the bracket 5 and an inner wall of the installation groove 3 of the horizontal rotor 2;

[0044] At least one grabbing window 6 for the manipulator to enter the centrifugal chamber is opened on the centrifuge body 1. A closing cover plate 8 for closing the grabbing window 6 is arranged inside the centrifugal chamber. The closing cover plate 8 is driven by a switch assembly 7; The grabbing window 6 is opened at the top of the centrifuge body 1 and partially located on the side of the centrifuge body 1;

[0045] A limiting member 41 is provided at the bottom of the hanging basket 4. The inner wall of the limiting member 41 forms a fitting groove 42 adapted to the bracket 5. The bracket 5 fits into the fitting groove 42 and closely cooperates with the inner wall of the limiting member 41. A horizontal sensor and a vertical sensor for detecting whether the bracket 5 is properly fitted are provided on the bracket 5 and the hanging basket 4.

[0046] A guiding hole 43 is formed at the bottom of the hanging basket 4, and a docking block 51 is fixedly connected to the bottom of the bracket 5 corresponding to the guiding hole 43.

[0047] In this embodiment:

[0048] After the bracket 5 equipped with the sample centrifuge tube is placed on the hanging basket 4 by the manipulator, the horizontal sensor and the vertical sensor are used to detect the position of the bracket 5 on the hanging basket 4, so as to avoid the situation that the bracket 5 starts to run without being stably fitted on the hanging basket 4.

[0049] Embodiment Two:

[0050] Please refer to Figure 4 and Figure 5 , as a further improvement of Embodiment One, a positioning and adjusting assembly 9 is further included. The positioning assembly includes a linear driving mechanism 91. A docking positioning rod 92 for clamping with the hanging basket 4 is provided on the linear driving mechanism 91. A docking portion 93 adapted to the docking positioning rod 92 is provided on the hanging basket 4. The hanging basket 4 is positioned and locked by inserting the docking positioning rod 92 into the docking portion 93 at the bottom of the hanging basket 4.

[0051] First docking holes 52 and second docking holes 94 adapted to the docking positioning rod 92 are respectively formed on the sides of the docking block 51 and the docking portion 93. The first docking holes 52 and the second docking holes 94 are on the moving axis of the docking positioning rod 92. One side of the first docking hole 52 close to the linear driving mechanism 91 is tapered for capturing and guiding the docking positioning rod 92 to penetrate. The hanging basket 4 is locked by the docking positioning rod 92 penetrating through the second docking hole 94 on the docking portion 93, and the position of the bracket 5 is finely adjusted by the docking positioning rod 92 penetrating through the first docking hole 52 on the docking block 51.

[0052] The docking portion 93 is located between the linear driving mechanism 91 and the docking block 51, so that when the linear driving mechanism 91 extends to work, it can only stabilize the hanging basket 4, and while stabilizing the hanging basket 4, it does not affect the manipulator to grab the bracket 5.

[0053] Working principle:

[0054] Before the manipulator places the bracket 5, the linear drive mechanism 91 is used to insert the docking positioning rod 92 into the second docking hole 94 of the docking block 51 at the bottom of the hanging basket 4, thereby locking the hanging basket 4, ensuring that when the manipulator carries the bracket 5 and places it in the fitting groove 42 on the hanging basket 4, the hanging basket 4 is in a fixed and stable state, thereby reducing the probability that the bracket 5 is not stably placed in the fitting groove 42;

[0055] When the manipulator carries the bracket 5 and places it in the fitting groove 42 of the hanging basket 4, it is detected by the horizontal sensor and the vertical sensor. If the detection result is unbalanced, the linear drive mechanism 91 can be further started to make the docking positioning rod 92 inserted into the docking block 51 at the bottom of the bracket 5 through the second docking hole 94. Because the first docking hole 52 is partially conical, that is, when the bracket 5 is not stably balanced, the first docking hole 52 is partially located on the movable axis of the docking positioning rod 92. When the docking positioning rod 92 can be inserted into the conical part of the first docking hole 52, the docking block 51 will be sleeved on the docking positioning rod 92 through the first docking hole 52 under the guidance of the docking positioning rod 92, so that the bottom of the bracket 5 can be stably fitted on the bottom of the inner wall of the fitting groove 42 of the hanging basket 4.

[0056] That is, in this solution, the positioning and adjusting component 9 can not only realize the positioning of the hanging basket 4, but also the positioning of the bracket 5. That is, the device can reduce the probability that the bracket 5 is not stably placed in the fitting groove 42 by making the hanging basket 4 in a fixed and stable state during loading, and can also adjust the bracket 5 that is not balanced and fitted in the fitting groove 42 by positioning the bracket 5.

[0057] Among them, the area where the hanging basket 4 carrying the bracket 5 can rotate on the horizontal rotor 2 is set as area C. Area C rotates from both sides of the hanging basket 4 to a horizontal range at the connection rotation point with the horizontal rotor 2. Area C rotates with the horizontal rotor 2 to form an annular activity area D. The positioning component and the switch component 7 are both installed outside the annular activity area D of the hanging basket 4.

[0058] Embodiment three:

[0059] See also Figures 6-9 As a further improvement of the second embodiment, a switch assembly 7 is further included. The switch assembly 7 includes a first rack 71, a second rack 72 and a gear set 73. The first rack 71 is an arc or annular arrangement fixedly connected to the closing cover 8, and the first rack 71 and the second rack 72 are transmission-connected through the gear set 73.

[0060] The closing cover plate 8 is rotatably connected to the top center of the centrifugal chamber via a bearing.

[0061] The second rack 72 is fixedly connected to the docking positioning rod 92 in the positioning and adjustment assembly 9 through the connecting rod 74, and the second rack 72 moves synchronously with the docking positioning rod 92. Through holes 10 for the connecting rod 74 to pass through are provided on the sides of the first docking hole 52 and the second docking hole 94;

[0062] When the manipulator grasping bracket 5 is placed on the hanging basket 4, the switch assembly 7 needs to carry the closing cover 8 in the state of opening the grasping window 6, and the hanging basket 4 is in the locked state; therefore, the restriction on the docking block 51 needs to be released earlier than the restriction on the docking part 93, and the closing of the switch assembly 7 needs to be later than the release of the restriction on the docking block 51;

[0063] The gear set 73 in the switch assembly 7 is installed between the linear drive mechanism 91 and the docking part 93 or the docking block 51.

[0064] Working principle:

[0065] When the linear drive mechanism 91 is started, the docking positioning rod 92 will drive the second rack 72 to move through the connecting rod 74. The movement of the second rack 72 will drive the gear set 73 engaged therewith to drive the first rack 71 to rotate around the center of the centrifuge body 1, so that the closing cover 8 rotates under the drive of the linear drive mechanism 91, thereby opening the grasping window 6;

[0066] During or after the rotation of the closing cover 8, the docking positioning rod 92 will be inserted into the second docking hole 94 of the docking part 93 at the bottom of the hanging basket 4, thereby realizing the locking of the hanging basket 4 in the second embodiment, facilitating the manipulator to load and unload the bracket 5;

[0067] After the manipulator carries the bracket 5 and places it in the fitting groove 42 of the hanging basket 4, and after being detected by the horizontal sensor and the vertical sensor, if the detection result is unbalanced, the linear drive mechanism 91 can be further started to adjust the bracket 5 by the docking positioning rod 92;

[0068] That is, the device can combine the positioning and adjustment assembly 9 with the switch assembly 7 to realize the positioning of the hanging basket 4, the adjustment of the bracket 5, and also have the function of opening the grasping window 6.

[0069] In Embodiments 1 to 3, a plurality of convex blocks are provided on the inner wall of the limiting member 41, and a plurality of grooves are provided on the bracket 5 corresponding to the convex blocks;

[0070] The linear drive mechanism 91 can be an electric telescopic rod or a linear motor, etc.

[0071] The above are only the embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A centrifuge and a feeding manipulator, comprising a centrifuge body (1) and a manipulator, wherein a centrifuge chamber is formed inside the centrifuge body (1), a horizontal rotor (2) is arranged inside the centrifuge chamber, a hanging basket (4) is rotatably connected inside a mounting groove (3) of the horizontal rotor (2), and characterized in that: The hanging basket (4) is fitted with a bracket (5) for placing a centrifuge tube; The centrifuge body (1) is provided with at least one grabbing window (6) for a manipulator to enter the centrifugal chamber, and the interior of the centrifugal chamber is provided with a closing cover (8) for closing the grabbing window (6), and the closing cover (8) is driven by a switch assembly (7); the grabbing window (6) is provided at the top of the centrifuge body (1) and is partially located on the side of the centrifuge body (1); A limiting piece (41) is provided at the bottom of the hanging basket (4); the inner wall of the limiting piece (41) forms a fitting groove (42) adapted to the bracket (5); the bracket (5) fits in the fitting groove (42) and is tightly matched with the inner wall of the limiting piece (41); and a horizontal sensor and a vertical sensor for detecting whether the bracket (5) is fitted in place are provided on the bracket (5) and the hanging basket (4).

2. The centrifuge and the feeding manipulator according to claim 1, characterized in that: A guide hole (43) is provided at the bottom of the hanging basket (4), and a docking block (51) is fixedly connected to the bottom of the bracket (5) corresponding to the guide hole (43).

3. The centrifuge and the feeding manipulator according to claim 2, wherein: The invention also comprises a positioning adjustment component (9), wherein the positioning component comprises a linear drive mechanism (91), the linear drive mechanism (91) is provided with a docking positioning rod (92) for being clamped with the hanging basket (4), the hanging basket (4) is provided with a docking portion (93) adapted to the docking positioning rod (92), and the hanging basket (4) is positioned and locked by inserting the docking positioning rod (92) into the docking portion (93) at the bottom of the hanging basket (4).

4. A centrifuge and a feeding manipulator according to claim 3, characterized in that: The side surfaces of the docking block (51) and the docking portion (93) are respectively provided with a first docking hole (52) and a second docking hole (94) adapted to the docking positioning rod (92), and the first docking hole (52) and the second docking hole (94) are located on the movable axis of the docking positioning rod (92); The first docking hole (52) is arranged in a conical shape on a side close to the linear drive mechanism (91) and is used to capture and guide the docking positioning rod (92) to pass through.

5. A centrifuge and a feeding manipulator according to claim 4, characterized in that: The device also includes a switch assembly (7), wherein the switch assembly (7) includes a first rack (71), a second rack (72) and a gear set (73), wherein the first rack (71) is an arc-shaped or annular arrangement fixedly connected to the closing cover plate (8), and the first rack (71) and the second rack (72) are transmission-connected via the gear set (73); The closing cover plate (8) is rotatably connected to the top center of the centrifugal chamber via a bearing.

6. A centrifuge and a feeding manipulator according to claim 5, characterized in that: The second rack (72) is fixedly connected to the docking positioning rod (92) in the positioning and adjusting assembly (9) through a connecting rod (74), and the second rack (72) moves synchronously with the docking positioning rod (92). Through holes (10) for the connecting rod (74) to pass through are formed on the sides of the first docking hole (52) and the second docking hole (94).

7. A centrifuge and a feeding manipulator according to claim 6, characterized in that: The gear set (73) in the switch assembly (7) is installed between the linear drive mechanism (91) and the docking part (93).

8. A centrifuge and a feeding manipulator according to claim 6, characterized in that: The area where the hanging basket (4) carries the bracket (5) and can rotate on the horizontal rotor (2) is set as area C. Area C rotates with the horizontal rotor (2) to form an annular activity area D. The positioning assembly and the switch assembly (7) are both installed outside the annular activity area D of the hanging basket (4).

9. The centrifuge and the feeding manipulator according to claim 1, characterized in that: Several bumps are provided on the inner wall of the limiting member (41), and several grooves are correspondingly formed on the bracket (5) for the bumps.

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