Three-dimensional platform test tube clamping system

Abstract

The utility model discloses a three-dimensional platform test tube clamping system which comprises a support, and a longitudinal track, a transverse track, a vertical track and a clamping jaw mechanism are arranged on the support. The clamping jaw mechanism comprises a clamping jaw main body and a clamping jaw assembly; the clamping jaw assembly comprises a clamping jaw support, a gear is rotationally matched with the clamping jaw support, two racks are connected to the gear in a meshed mode, the racks and the clamping jaw support are in linear sliding fit in the horizontal direction, and the two racks are parallel to the sliding direction of the clamping jaw support. Clamping jaws for grabbing test tubes are fixedly arranged at the bottom ends of the two racks; a grabbing motor used for driving the gear to rotate is arranged on the clamping jaw support. According to the utility model, the gear and the rack are used for driving the clamping jaws to carry out clamping motion, so that the linear clamping and loosening actions of the clamping jaws are ensured, the swinging space of the existing four-jaw manipulator is not needed, the operation in a narrow space is convenient, a test tube is easy to grab, the time required for grabbing the test tube is shortened, and the risk of sample damage is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of test tube clamping, and in particular relates to a three-dimensional platform test tube clamping system. Background Art

[0002] Many biological samples are stored in test tubes in test tube boxes in low-temperature liquid nitrogen storage barrels at several hundred degrees below zero according to actual needs. When sampling is required, the storage barrel needs to be opened, the test tube box needs to be taken out, and then the test tube containing the corresponding biological sample needs to be clamped with a mechanical gripper. After the clamping is completed, the test tube box is reset for low-temperature storage, and the clamped test tube also needs to be transferred to a low-temperature environment for storage and transportation.

[0003] At present, the structure of the mechanical gripper used to clamp the test tube is as follows Figure 1 As shown, it is a connecting rod-driven four-claw mechanism with a complex structure and a large size. When grasping, the claws need a certain swing space. However, many test tubes containing biological samples are very small, and the test tubes in the test tube box are arranged densely, and the intervals between adjacent test tubes are small. Therefore, the existing four-claw manipulator will conflict with the narrow space between the test tubes on the test tube box in terms of its own volume and movement space, resulting in difficulty in gripping the test tubes and a longer time required to grip the test tubes. The increase in gripping time will cause the test tube box to be exposed to the outside for an increased time, which will lead to the risk of crystallization between cells of the biological sample due to temperature difference. The resulting crystals will pierce the cell wall and damage the sample. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a three-dimensional platform test tube clamping system.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A three-dimensional platform test tube gripping system, comprising a bracket, wherein two rows of longitudinal tracks parallel to each other in the left-right direction are arranged on the bracket, transverse tracks are slidably matched in the front-back direction on the two rows of longitudinal tracks, a vertical track is slidably matched in the front side of the transverse track in the left-right direction, and a clamping claw mechanism is slidably matched in the front side of the vertical track in the vertical direction;

[0007] The clamping mechanism comprises a clamping body for slidingly cooperating with the vertical rail, and a plurality of clamping assemblies are arranged at the lower end of the clamping body;

[0008] The clamping jaw assembly comprises a clamping jaw support connected to the clamping jaw body, the clamping jaw support is rotatably matched with a gear, the central axis of the gear is in the vertical direction, the gear is meshed with two racks, the racks and the clamping jaw support are linearly slidably matched in the horizontal direction, and the sliding directions of the two racks and the clamping jaw support are parallel; the bottom ends of the two racks are fixedly provided with clamping jaws for grabbing the test tube;

[0009] The clamping jaw bracket is provided with a grabbing motor for driving the gear to rotate.

[0010] Preferably, the central axis of the gear is rotationally matched with the clamping jaw bracket via a bearing, and the clamping jaw bracket is provided with a bearing end cover for limiting the axial position of the bearing.

[0011] Preferably, the output shaft of the grabbing motor is coaxially fixedly connected to the central axis of the gear via a coupling.

[0012] Preferably, the clamping jaw bracket is provided with two symmetrical dovetail grooves, and the rack is provided with a rack slider for matching with the corresponding dovetail grooves.

[0013] Preferably, anti-slip grooves are provided on the opposite end surfaces of the two clamping jaws.

[0014] Preferably, the clamp body is provided with a plurality of hydraulic cylinders corresponding to the clamp assemblies one by one, and the piston rod ends of the hydraulic cylinders are connected to the clamp assemblies.

[0015] Preferably, a rotary motor is fixedly arranged at the end of the piston rod of the hydraulic cylinder, and the output shaft of the rotary motor is fixedly connected downwardly to the top end of the clamping jaw assembly;

[0016] The central axis of the hydraulic cylinder piston rod, the central axis of the rotary motor output shaft, and the central axis of the gear are collinear.

[0017] The beneficial effects of the utility model are:

[0018] (1) In the utility model, the clamping claws are driven by gears and racks to perform clamping movements, thereby ensuring the linear clamping and releasing movements of the clamping claws. The swing space of the existing four-claw manipulator is not required, which is convenient for working in a narrow space, making it easy to grasp the test tube, reducing the time required for grasping the test tube, and reducing the risk of sample damage.

[0019] (2) In the utility model, a plurality of clamping jaw assemblies are arranged at the lower end of the clamping jaw body, so as to facilitate the clamping of the test tubes in the entire test tube box, reduce the clamping stroke, and reduce the time for the test tubes to be exposed to the outside. At the same time, through the setting of the hydraulic cylinder, the lifting and lowering control of each clamping jaw assembly is realized, thereby realizing the operation control of a single clamping jaw assembly;

[0020] (3) The provision of a rotating motor at the top of each clamping jaw assembly in the utility model can adjust the position of the clamping jaws in the clamping jaw assembly to adapt to the optimal clamping direction of the test tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding 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 improper limitations on the present application.

[0022] Figure 1 It is a schematic diagram of the structure of a mechanical gripper used for gripping a test tube in the background art;

[0023] Figure 2 It is a structural schematic diagram of the three-dimensional platform test tube clamping system of the utility model;

[0024] Figure 3 It is a schematic structural stereogram of the clamping jaw assembly of the utility model;

[0025] Figure 4 This is a schematic front view of the structure of the clamping jaw assembly of the utility model;

[0026] Figure 5 yes Figure 4 AA section view;

[0027] Figure 6 It is a schematic diagram of the matching of the gear and the rack in the utility model;

[0028] in:

[0029] 1-longitudinal track, 2-transverse track, 3-vertical track;

[0030] 4-grip mechanism, 41-grip body, 42-grip assembly, 421-grip bracket, 422-gear, 423-rack, 424-grip, 425-grabbing motor, 426-bearing end cover, 427-coupling, 428-dovetail groove, 429-rack slider, 430-bearing, 43-rotating motor, 44-piston rod. DETAILED DESCRIPTION

[0031] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] In the present invention, the directions or positional relationships indicated by terms such as "upper", "lower", "bottom", "top", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

[0034] In the present utility model, terms such as "connected" and "connection" should be understood in a broad sense, indicating that the connection can be fixed, integral or detachable; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meaning of the above terms in the present utility model can be determined according to specific circumstances, and it cannot be understood as a limitation of the present utility model.

[0035] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0036] like Figure 2 As shown, a three-dimensional platform test tube clamping system includes a bracket, on which two rows of longitudinal rails 1 are arranged parallel to each other in the left-right direction, and the two rows of longitudinal rails 1 are slidably matched with transverse rails 2 in the front-to-back direction, and the front side of the transverse rail 2 is slidably matched with a vertical rail 3 in the left-right direction, and the front side of the vertical rail 3 is slidably matched with a clamping mechanism 4 in the vertical direction; specifically, a synchronous belt linear slide rail module is arranged between the transverse rail 2 and the longitudinal rail 1, between the vertical rail 3 and the transverse rail 2, and between the clamping mechanism 4 and the vertical rail 3 to realize the corresponding linear sliding drive; the structure of the bracket is not shown in the drawings of the present application, and the bracket can be realized by using the existing technology.

[0037] The clamp mechanism 4 includes a clamp body 41 for slidingly cooperating with the vertical rail 3, and a plurality of clamp assemblies 42 are disposed at the lower end of the clamp body 41;

[0038] like Figure 3-6As shown, the clamping jaw assembly 42 includes a clamping jaw bracket 421 used to be connected to the clamping jaw body 41, and a gear 422 is rotatably matched on the clamping jaw bracket 421, and the central axis of the gear 422 is along the vertical direction. Two racks 423 are meshed and connected on the gear 422, and the racks 423 and the clamping jaw bracket 421 are linearly slidably matched in the horizontal direction, and the sliding direction between the two racks 423 and the clamping jaw bracket 421 is parallel; the bottom ends of the two racks 423 are fixedly provided with clamping jaws 424 for grabbing the test tube;

[0039] The clamping jaw support 421 is provided with a grabbing motor 425 for driving the gear 422 to rotate.

[0040] Preferably, the central axis of the gear 422 is rotatably matched with the clamping jaw bracket 421 through a bearing 430, and the clamping jaw bracket 421 is provided with a bearing end cover 426 for limiting the axial direction of the bearing.

[0041] Preferably, the output shaft of the grabbing motor 425 is coaxially fixedly connected to the central axis of the gear 422 via a coupling 427 .

[0042] Preferably, the clamping jaw support 421 is provided with two symmetrical dovetail grooves 428, and the rack 423 is provided with a rack slider 429 for matching with the corresponding dovetail grooves 428. The dovetail groove structure in the present application has simple movement and small gap, and can achieve high movement accuracy.

[0043] Preferably, anti-slip grooves are provided on the opposite end surfaces of the two clamping jaws 424 .

[0044] Preferably, a plurality of hydraulic cylinders corresponding to the clamping jaw assemblies 42 are disposed on the clamping jaw body 41 , and the ends of the piston rods 44 of the hydraulic cylinders are connected to the clamping jaw assemblies 42 .

[0045] Preferably, a rotary motor 43 is fixedly provided at the end of the piston rod 44 of the hydraulic cylinder, and the output shaft of the rotary motor 43 is fixedly connected downwardly to the top end of the clamping jaw assembly 42;

[0046] The central axis of the hydraulic cylinder piston rod 44, the central axis of the output shaft of the rotary motor 43, and the central axis of the gear 422 are collinear.

[0047] A three-dimensional platform test tube gripping system, the specific implementation of which is as follows:

[0048] When the clamping system of the present application is working, the clamping mechanism 4 is moved to the upper part of the test tube to be grasped through the longitudinal track 1, the transverse track 2, and the vertical track 3, and then the clamping mechanism 4 is moved down to a suitable position along the vertical track 3, and then the clamping assembly 42 located on the upper part of the test tube to be grasped is controlled by the corresponding hydraulic cylinder to move downward until the two clamping jaws 424 in the clamping jaw assembly 42 are located on both sides of the test tube to be grasped, and then the corresponding grasping motor 425 is started to control the two clamping jaws 424 to move toward each other to clamp the test tube to be grasped, and then the corresponding hydraulic cylinder controls the clamping jaw assembly 42 to move upward to complete the grasping of the test tube, and the grasped test tube is transferred through the longitudinal track 1, the transverse track 2, and the vertical track 3.

[0049] In the present application, the gear 422 and the rack 423 drive the clamping jaw 424 to perform clamping movement, thereby ensuring the linear clamping and releasing action of the clamping jaw 424, and not requiring the swinging space of the existing four-jaw manipulator, making it convenient to work in a small space, easily grasping the test tube, reducing the time required for grasping the test tube, and reducing the risk of sample damage; in the present application, a plurality of clamping jaw assemblies 42 are provided at the lower end of the clamping jaw body 41, which is convenient for clamping the test tubes in the entire test tube box, reducing the clamping stroke, and reducing the time the test tubes are exposed to the outside. At the same time, through the setting of the hydraulic cylinder, the lifting and lowering control of each clamping jaw assembly 42 is realized, thereby realizing the operation control of a single clamping jaw assembly 42; in the present application, the setting of the rotating motor 43 at the top end of each clamping jaw assembly 42 can realize the orientation adjustment of the clamping jaw 424 in the clamping jaw assembly 42 to adapt to the optimal clamping direction of the test tube.

[0050] Although the above describes the specific implementation mode of the utility model in combination with the accompanying drawings, it is not a limitation of the utility model. Technical personnel in the relevant field should understand that on the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the protection scope of the utility model.

Claims

1. A three-dimensional platform test tube gripping system, comprising a bracket, characterized in that: The bracket is provided with two rows of longitudinal tracks parallel to each other in the left-right direction, the two rows of longitudinal tracks are slidably matched with transverse tracks in the front-back direction, the front sides of the transverse tracks are slidably matched with vertical tracks in the left-right direction, and the front sides of the vertical tracks are slidably matched with clamping claw mechanisms in the vertical direction; The clamping mechanism comprises a clamping body for slidingly cooperating with the vertical rail, and a plurality of clamping assemblies are arranged at the lower end of the clamping body; The clamping jaw assembly comprises a clamping jaw support connected to the clamping jaw body, the clamping jaw support is rotatably matched with a gear, the central axis of the gear is in the vertical direction, the gear is meshed with two racks, the racks and the clamping jaw support are linearly slidably matched in the horizontal direction, and the sliding directions of the two racks and the clamping jaw support are parallel; the bottom ends of the two racks are fixedly provided with clamping jaws for grabbing the test tube; The clamping jaw bracket is provided with a grabbing motor for driving the gear to rotate.

2. The three-dimensional platform test tube gripping system according to claim 1, characterized in that: The central axis of the gear is rotatably matched with the clamping jaw bracket through a bearing, and the clamping jaw bracket is provided with a bearing end cover for limiting the axial direction of the bearing.

3. The three-dimensional platform test tube gripping system according to claim 1, characterized in that: The output shaft of the grabbing motor is coaxially fixedly connected with the central axis of the gear through a coupling.

4. The three-dimensional platform test tube gripping system according to claim 1, characterized in that: The clamping jaw bracket is provided with two symmetrical dovetail grooves, and the rack is provided with a rack slider for matching with the corresponding dovetail grooves.

5. The three-dimensional platform test tube gripping system according to claim 1, characterized in that: Anti-slip grooves are arranged on the opposite end surfaces of the two clamping jaws.

6. The three-dimensional platform test tube gripping system according to claim 1, characterized in that: The clamp body is provided with a plurality of hydraulic cylinders corresponding to the clamp assemblies one by one, and the piston rod ends of the hydraulic cylinders are connected to the clamp assemblies.

7. The three-dimensional platform test tube gripping system according to claim 6, characterized in that: A rotary motor is fixedly arranged at the end of the piston rod of the hydraulic cylinder, and the output shaft of the rotary motor is fixedly connected downwardly to the top end of the clamping jaw assembly; The central axis of the hydraulic cylinder piston rod, the central axis of the rotary motor output shaft, and the central axis of the gear are collinear.

Images