Universal mechanical arm and freezing tube scanning equipment

Abstract

A universal mechanical arm comprises a mechanical arm body and a scanning camera arranged at the tail end of the mechanical arm body, the mechanical arm body is a multi-degree-of-freedom mechanical arm and is fixed to a foundation, and a data processing unit electrically connected with the scanning camera is arranged on the foundation. According to the universal mechanical arm, multi-angle and multi-position scanning of the freezing pipe box is achieved, and the comprehensiveness and accuracy of scanning are improved; the universal mechanical arm is adopted, so that the scanning camera can move flexibly, and the scanning range is expanded; the automation degree of the scanning equipment is improved, and the difficulty and the cost of manual operation are reduced; and the scanning result can be transmitted to the data processing unit in real time for processing and analysis, so that the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of automation technology, in particular to a freezing tube scanning device which uses a universal mechanical arm to perform multi-angle and multi-position scanning, and specifically relates to a universal mechanical arm and the freezing tube scanning device. Background Art

[0002] In the process of storing biological samples, cryotubes are often used for storage. In order to facilitate storage and management, current cryotubes are often stored in a cryobox with a barcode on the side. Due to the large number of cryotube boxes to be stored, the information on the surface of the cryotube boxes used for different biological samples is inconsistent, and the specifications of the cryotube boxes are also different. When storing different cryotubes in the cryotube box, a variety of information barcodes will be marked at different positions on the surface of the cryotube box. Before storage, the information on the cryotube box needs to be scanned and stored.

[0003] Traditional cryotube scanning equipment usually uses a fixed-position scanning camera, which only supports a single or a small number of fixed-position scanning, and cannot meet the requirements of comprehensive, multi-angle, multi-position, and multi-model scanning of cryotube boxes. Therefore, how to provide a cryotube scanning equipment that can achieve multi-angle and multi-position scanning has become an urgent problem to be solved in the field. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a universal mechanical arm and a cryotube scanning device using the universal mechanical arm, so as to solve the problem that traditional scanning devices only support single or a small number of fixed position scanning.

[0005] The technical solution adopted by the utility model to solve the above technical problems is:

[0006] A universal robotic arm comprises a robotic arm body and a scanning camera arranged at the end of the robotic arm body. The robotic arm body is a multi-degree-of-freedom robotic arm. The robotic arm body is fixed on a base, and a data processing unit electrically connected to the scanning camera is arranged on the base. The base described in the present application is a cryotube scanning device.

[0007] Furthermore, the robotic arm body includes a first rotating joint, a second rotating joint and a third rotating joint, the robotic arm body is installed on the base through the first rotating joint, a connecting piece is arranged between the first rotating joint and the second rotating joint, and a large arm is arranged between the second rotating joint and the third rotating joint.

[0008] Furthermore, the scanning camera is connected to the third rotating joint at the end of the upper arm through a support rod.

[0009] Furthermore, the scanning camera is a photoelectric sensor or a laser sensor.

[0010] The present application also provides a cryotube scanning device, which includes at least one universal robotic arm.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] The universal robotic arm of the present application realizes multi-angle and multi-position scanning of the freezing tube box, thereby improving the comprehensiveness and accuracy of the scanning; the universal robotic arm used in the present application enables the scanning camera to move flexibly, thereby expanding the scanning range; the degree of automation of the scanning equipment is improved, and the difficulty and cost of manual operation are reduced; the scanning results can be transmitted to the data processing unit in real time for processing and analysis, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of the universal mechanical arm of the utility model;

[0014] Figure 2 It is an exploded view of the freezing tube scanning device of the utility model.

[0015] In the figure, 1-foundation, 11-sinking groove, 12-mounting seat, 13-middle layer, 14-pillar, 15-reflecting plate, 16-upper cover, 17-lower cover, 18-outer shell, 2-mechanical arm body, 21-first rotating joint, 22-connecting piece, 23-second rotating joint, 24-upper arm, 25-third rotating joint, 26-support rod, 3-scanning camera. DETAILED DESCRIPTION

[0016] The technical solution of the utility model is further described below in conjunction with the accompanying drawings and specific embodiments.

[0017] Embodiment 1: Figure 1 , Figure 2 As shown, a universal robotic arm includes a robotic arm body and a scanning camera arranged at the end of the robotic arm body. The robotic arm body is a multi-degree-of-freedom robotic arm. The robotic arm body is fixed on a base, and a data processing unit electrically connected to the scanning camera is arranged on the base. The base described in the present application is the upper cover structure of the cryotube scanning device, the robotic arm body is installed on the upper cover of the cryotube scanning device, and the scanning camera is installed at the end of the robotic arm body.

[0018] Furthermore, the mechanical arm body includes a first rotating joint, a second rotating joint and a third rotating joint, the mechanical arm body is installed on the base through the first rotating joint, a connecting piece is provided between the first rotating joint and the second rotating joint, and a large arm is provided between the second rotating joint and the third rotating joint. The mechanical arm body adopts a mechanical principle based on mechanics, includes a plurality of rotating joints, each rotating joint is only responsible for the movement of one degree of freedom; by controlling the rotation of each rotating joint, the mechanical arm can be moved in any direction in three-dimensional space.

[0019] Furthermore, the scanning camera is connected to the third rotating joint at the end of the upper arm through a support rod.

[0020] Furthermore, the scanning camera is a photoelectric sensor or a laser sensor, which can quickly read the QR code information on the cryotube. The scanning camera is electrically connected to a data processing unit provided on the cryotube scanning device via a data line to transmit the scanned image information to the data processing unit for analog-to-digital conversion and then store the processed data.

[0021] When in use, the scanning camera can be moved to the barcode position and angle of the cryotube box for scanning by controlling the rotation of the universal mechanical arm. The data processing unit can generate a detailed information report of all cryotube placement QR codes based on the scanning results for users to store and record.

[0022] Embodiment 2: A cryotube scanning device, comprising at least one universal robotic arm.

[0023] The freezing tube scanning device includes an upper cover 16, a lower cover 17, four pillars 143 connected between the upper cover 16 and the lower cover 17, and an outer shell 18 arranged around; an intermediate layer 13 is arranged between the upper cover 16 and the lower cover 17, a light strip is arranged around the intermediate layer 13, and a reflector 15 is arranged on the surface of the intermediate layer 13. The freezing tube scanning device adds an intermediate layer 13 and an exposure component arranged along the intermediate layer 14, which is provided with light by the light strip plugged into the USB to provide illumination. Since the freezing box photographed by the internal scanning camera below is a square front, in order to achieve an ideal imaging effect, the entire surface needs to be evenly illuminated, taking into account the middle, surroundings, and four corners. The four pillars 14 and the intermediate layer 13 are used as structural support, and the light strip is arranged around. The surface of the reflector 15 is used to generate diffuse reflection, thereby providing light exposure for the scanning surface of the freezing tube box from bottom to top. The lower cover 17 includes a base and a cover plate that can be closed and connected to the base. A sinking groove 11 is opened in the base, and a desiccant is arranged in the sinking groove 11. A plurality of air holes are also opened along the four sides of the base to absorb moisture in the internal space of the outer shell 18 through the air holes after the cover plate is closed. A mounting seat 12 is arranged at the center position of the lower cover 17, and an internal scanning component is arranged on the mounting seat 12 for scanning information such as the QR code at the bottom of the freezing tube box.

[0024] Although the preferred embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications and substitutions may be made to these embodiments without departing from the principles and intent of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A universal robotic arm, characterized in that: It includes a robotic arm body and a scanning camera arranged at the end of the robotic arm body. The robotic arm body is a multi-degree-of-freedom robotic arm. The robotic arm body is fixed on a base, and a data processing unit electrically connected to the scanning camera is arranged on the base.

2. The universal robot arm according to claim 1, characterized in that: The robotic arm body includes a first rotating joint, a second rotating joint and a third rotating joint. The robotic arm body is installed on a base through the first rotating joint. A connecting piece is arranged between the first rotating joint and the second rotating joint. A large arm is arranged between the second rotating joint and the third rotating joint.

3. The universal robot arm according to claim 2, characterized in that: The scanning camera is connected to the third rotating joint at the end of the upper arm through a supporting rod.

4. The universal robot arm according to claim 1, characterized in that: The scanning camera is a photoelectric sensor or a laser sensor.

5. A cryotube scanning device, characterized in that: Comprising at least one universal robotic arm as described in any one of claims 1-4.

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