Miniature oscillation robot

Abstract

The utility model discloses a miniature oscillation robot which comprises a base, the base is of a hollow structure, a hollow area is arranged in the middle of the upper surface of the base, an oscillation mechanism is arranged in the base, the output end of the oscillation mechanism is inserted into a hole in the middle of a movable disc through the hollow area and fixed, and four corners of the upper surface of the base are respectively provided with a driven reset mechanism. Each driven reset mechanism comprises a pin, the pin is sequentially sleeved with a limiting roller, a fluorine rubber O-shaped ring and a positioning swing column from bottom to top, the positioning swing column is sequentially sleeved with a gasket, a compression spring and a limiting sleeve from bottom to top, the limiting sleeve is cylindrical, an annular check ring is arranged on the inner side of the limiting sleeve to limit the compression spring on the inner side of the limiting sleeve, and the limiting sleeve is fixed to the upper portion of the base. The upper portion of the positioning swing column extends out from the top of the limiting sleeve and is inserted into a hole, matched with the positioning swing column, of the bottom of the movable disc, and the device is low in cost, high in precision and small in size.

Description

Technical Field

[0001] The utility model relates to the field of roller processing, in particular to a micro-oscillating robot. Background Art

[0002] Nowadays, in some laboratories, medical equipment and other occasions, such as some cultivation, fermentation, hybridization and chemical reactions, as well as enzyme and cell tissue research, which have high requirements on temperature and oscillation frequency, in the research and application fields of molecular biology, food, environmental protection, etc., an instrument that can shake or oscillate the test body is needed. In the past, these instruments were often bulky, complex, high-cost and low-precision.

[0003] The fully automatic oscillator for preparing Ikabetner particles disclosed in application number CN202122707985.X is an existing medical oscillation device, which also has the defects of the above-mentioned existing instruments. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies in the prior art, the utility model provides a micro-oscillation robot with low cost, high precision and small size, whose structure includes: a base, the base is a hollow structure, and a hollow area is provided in the middle of the upper surface, an oscillation mechanism is installed inside the base, the output end of the oscillation mechanism is inserted into the hole in the middle of the moving disk through the hollow area and fixed, a driven reset mechanism is installed at each of the four corners of the upper surface of the base, each driven reset mechanism includes a pin, the outer side of the pin is sequentially sleeved with a limit roller, a fluororubber O-ring, and a positioning rocker from bottom to top, the outer side of the positioning rocker is sequentially sleeved with a gasket, a compression spring, and a limit sleeve from bottom to top, the limit sleeve is cylindrical, and an annular retaining ring is provided on the inner side thereof to limit the compression spring to its inner side, the limit sleeve is fixed to the upper part of the base, the upper part of the positioning rocker is extended from the top of the limit sleeve, and is inserted into the hole at the bottom of the moving disk that matches the positioning rocker.

[0005] Preferably, the oscillation mechanism includes: a stator fixed in four directions within the base, an excitation coil wound outside the stator, a power supply wire harness of the excitation coil led out from the front end of the base, an output shaft is provided in the middle of the four stators, and the output shaft includes an iron core, a magnet, an iron core, a magnet, and an iron core from bottom to top; the iron core is cross-shaped, a square hole is provided in the middle, and the magnet is annular; another square columnar locating pin is inserted into the square hole of the lowest iron core, and the upper part of the locating pin extends out from the square hole of the highest iron core, the locating pin is below the countersunk hole in the center of the moving disk, an axial screw hole is provided on the top of the locating pin, a countersunk screw is screwed into the screw hole from the countersunk hole, and the countersunk hole is closed with a cover.

[0006] Preferably, L-shaped stoppers are provided at the four corners of the upper surface of the movable plate, and the stoppers are fixed by a plurality of hexagon socket head screws which are screwed into the movable plate and the stoppers in sequence from the bottom of the movable plate.

[0007] Preferably, anti-collision silicone pads are provided at the four corners of the chassis.

[0008] Preferably, a circuit board is provided above the stator, the circuit board integrates the power supply circuit of the stator and is electrically connected to the stator and the wiring harness, and the circuit board is fixed to the base by a plurality of hexagon socket countersunk screws.

[0009] Preferably, a through hole is provided in the lower center of the base, two permanent magnets are provided on both sides of the through hole, and a metal cover plate is sucked to close the through hole; the nail cap at the bottom of the locating pin is suspended above the cover plate, and the lowest iron core is placed on the bottom surface of the inner side of the base.

[0010] The utility model places a moving disk for carrying a test body on a driven reset mechanism of a chassis, and provides a power source to the moving disk fixed to the output end through the output end of an oscillation mechanism arranged in the middle of the chassis to realize reciprocating oscillation motion. The oscillation mechanism is energized in sequence by four-way stators through different input signals to form magnetic poles and attract the iron core, so that the output shaft, i.e., the positioning pin, can realize four-way oscillation motion in reciprocation, thereby driving the test body on the moving disk to make oscillation motion. The utility model has low cost, high precision and small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0013] In the figure: 1. Base; 2. Pin; 3. Limit roller; 4. Fluorine rubber O-ring; 5. Positioning rocker; 6. Limit sleeve; 7. Washer; 8. Compression spring; 9. Positioning rocker; 10. Stator; 11. Circuit board; 12. Hexagon socket head screw; 13. Moving plate; 14. Iron core; 15. Magnet; 16. Iron core; 17. Positioning pin; 18. Countersunk screw; 19. Magnet; 20. Cover; 21. Block; 22. Hexagon socket head screw; 23. Wiring harness; 24. Anti-collision silicone pad; 25. Cover. DETAILED DESCRIPTION

[0014] The various devices selected in this application (components whose specific structures are not described) are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0015] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0016] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0017] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0018] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0019] In addition, each functional unit in each embodiment of the present utility model may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. Example 1

[0020] like Figure 1As shown, the micro-oscillation robot described in this embodiment includes: its structure includes: a base 1, the base 1 is a hollow structure, and there is a hollow area in the middle of the upper surface. An oscillation mechanism is installed inside the base 1, and the output end of the oscillation mechanism is inserted into the hole in the middle of the moving disk 13 by the hollow area and fixed. A driven reset mechanism is installed at each of the four corners of the upper surface of the base 1, and each driven reset mechanism includes a pin 2. The outer side of the pin 2 is sequentially sleeved with a limiting roller 3, a fluororubber o-ring 4, and a positioning rocker 5 from bottom to top. The outer side of the positioning rocker 5 is sequentially sleeved with a gasket 7, a compression spring 8, and a limiting sleeve 6 from bottom to top. The limiting sleeve 6 is cylindrical, and there is an annular retaining ring on its inner side to limit the compression spring 8 to its inner side. The limiting sleeve 6 is fixed to the upper part of the base 1, and the upper part of the positioning rocker 5 is extended from the top of the limiting sleeve 6. A positioning rocker 9 is arranged on the inner side of the positioning rocker 5, and the upper parts of the positioning rockers 5 and 9 are inserted into the holes at the bottom of the moving disk 13 that match the positioning rockers 5 and 9.

[0021] Preferably, the oscillation mechanism includes: a stator 10 fixed in four directions inside the base 1, an excitation coil is wound outside the stator 10, a power supply wire harness 23 of the excitation coil is led out from the front end of the base 1, an output shaft is provided in the middle of the four stators 10, and the output shaft includes an iron core, a magnet, an iron core 16, a magnet 15, and an iron core 14 from bottom to top; the iron cores 14 and 16 are cross-shaped, with a square hole in the middle, and the magnet is annular; another square columnar positioning pin 17 is inserted into the square hole of the lowest iron core, and the upper part of the positioning pin 17 extends out from the square hole of the highest iron core 14, the positioning pin 17 is below the countersunk hole in the center of the moving disk 13, and an axial screw hole is provided on the top of the positioning pin 17, and a countersunk screw 18 is screwed into the screw hole from the countersunk hole, and the countersunk hole is closed with a cover 25.

[0022] Preferably, L-shaped stoppers 21 are provided at the four corners of the upper surface of the movable disc 13 , and the stoppers 21 are fixed by a plurality of hexagon socket head screws 12 which are screwed into the movable disc 13 and the stoppers 21 in sequence from the bottom of the movable disc 13 .

[0023] Preferably, anti-collision silicone pads 24 are provided at the four corners of the chassis.

[0024] Preferably, a circuit board 11 is provided above the stator 10 , the circuit board 11 integrates the power supply circuit of the stator 10 and is electrically connected to the stator 10 and the wiring harness 23 , and the circuit board 11 is fixed to the base 1 by a plurality of hexagon socket countersunk screws 22 .

[0025] Preferably, a through hole is also provided in the lower center of the base 1, two permanent magnets are provided on both sides of the through hole, and a metal cover plate 20 is sucked to close the through hole; the nail cap at the bottom of the positioning pin 17 is suspended above the cover plate 20, and the lowest iron core 14 is placed on the bottom surface of the inner side of the base 1.

[0026] The utility model places a moving disk for carrying a test body on a driven reset mechanism of a chassis, and provides a power source to the moving disk fixed to the output end through the output end of an oscillation mechanism arranged in the middle of the chassis to realize reciprocating oscillation motion. The oscillation mechanism is energized in sequence by four-way stators through different input signals to form magnetic poles and attract the iron core, so that the output shaft, i.e., the positioning pin, can realize four-way oscillation motion in reciprocation, thereby driving the test body on the moving disk to make oscillation motion. The utility model has low cost, high precision and small size.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A micro-oscillating robot, characterized in that: include: The base is a hollow structure with a hollow area in the middle of the upper surface. An oscillation mechanism is installed inside the base. The output end of the oscillation mechanism is inserted into the hole in the middle of the moving disk through the hollow area and fixed. A driven reset mechanism is installed at each of the four corners of the upper surface of the base. Each driven reset mechanism includes a pin. The outer side of the pin is sequentially sleeved with a limit roller, a fluororubber O-ring, and a positioning rocker from bottom to top. The outer side of the positioning rocker is sequentially sleeved with a gasket, a compression spring, and a limit sleeve from bottom to top. The limit sleeve is cylindrical and has an annular retaining ring on its inner side to limit the compression spring to its inner side. The limit sleeve is fixed to the upper part of the base. The upper part of the positioning rocker is extended from the top of the limit sleeve and inserted into the hole at the bottom of the moving disk that matches the positioning rocker.

2. The micro-oscillating robot according to claim 1, characterized in that: The oscillation mechanism includes: a stator fixed in four directions in the base, an excitation coil is wound outside the stator, a power supply line of the excitation coil is synthesized into a wiring harness and led out from the front end of the base, an output shaft is arranged in the middle of the four stators, and the output shaft includes an iron core, a magnetic steel, an iron core, a magnetic steel, and an iron core from bottom to top; the iron core is cross-shaped, a square hole is arranged in the middle, and the magnetic steel is annular; another square columnar positioning pin is inserted into the square hole of the lowest iron core, and the upper part of the positioning pin extends out from the square hole of the highest iron core, the positioning pin is located below the countersunk hole in the center of the moving disk, an axial screw hole is arranged on the top of the positioning pin, a countersunk screw is screwed into the screw hole from the countersunk hole, and the countersunk hole is closed with a cover.

3. The micro-oscillating robot according to claim 2, characterized in that: L-shaped stoppers are arranged at the four corners of the upper surface of the moving plate, and the stoppers are fixed by a plurality of hexagon socket head screws screwed into the moving plate and the stoppers in sequence from the bottom of the moving plate.

4. The micro-oscillating robot according to claim 3, characterized in that: Anti-collision silicone pads are arranged at the four corners of the base.

5. The micro-oscillating robot according to claim 4, characterized in that: A circuit board is arranged above the stator. The circuit board integrates the power supply circuit of the stator and is electrically connected with the stator and the wiring harness. The circuit board is fixed on the base by a plurality of hexagon socket countersunk screws.

6. The micro-oscillating robot according to claim 5, characterized in that: A through hole is also provided in the center of the lower part of the base, and two permanent magnets are arranged on both sides of the through hole and absorb a metal cover plate to close the through hole; the nail cap at the bottom of the positioning pin is suspended above the cover plate, and the lowest iron core is placed on the bottom surface of the inner side of the base.

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