Multi-dimensional movement mechanism

Abstract

The utility model relates to the field of microorganism culture instruments, in particular to a multi-dimensional movement mechanism which comprises a three-dimensional driving structure and a rotary driving structure, an electric clamping jaw is fixed on the rotary driving structure, and the three-dimensional driving structure is used for driving the electric clamping jaw to lift, slide in the X direction and slide in the Y direction. The rotation driving structure is used for driving the electric clamping jaw to horizontally rotate so that the electric clamping jaw can be switched among multiple positions. The electric clamping jaw is used between two oppositely arranged culture dish mounting racks, so that the electric clamping jaw can be easily switched between the two mounting racks, and the purpose that the two mounting racks share one electric clamping jaw is achieved.

Description

Technical Field

[0001] The utility model relates to the field of microbial culture equipment, in particular to a multi-dimensional motion mechanism. Background Art

[0002] Microbial incubator is a common experimental equipment, which is mainly used to provide a stable temperature environment to simulate the ideal conditions for microbial growth, thereby promoting the cultivation and reproduction of bacteria, yeast, mold and other microorganisms. It is mainly used in low temperature constant temperature tests, culture tests, environmental tests, etc., and is widely used in biology, genetic engineering, medicine, health and epidemic prevention and other fields.

[0003] For use scenarios such as hospitals, multiple samples are usually processed at the same time, so large-capacity incubators are needed to meet daily testing needs. The incubators used in hospitals are generally concentrated and compactly placed in special equipment rooms or laboratories. Due to the large number of equipment and limited space, it is necessary to comprehensively consider factors such as the external space occupancy rate and internal space utilization rate of the microbial incubator, and strive to maximize the internal space utilization rate of the incubator with a lower external space occupancy rate.

[0004] Therefore, the inventor has developed an integrated microbial incubator, in which multiple rows of mounting racks are arranged, and multiple layers of culture dishes are placed on each row of mounting racks, so that a large number of culture dishes can be stored at the same time, and the loading and unloading of the culture dishes are grasped by electric grippers. In order to reduce the number of electric grippers configured and save costs, the inventor intends to divide the mounting racks into groups of two, and the culture dishes on the two mounting racks in each group are arranged opposite to each other, and a common electric gripper is intended to be configured between the two mounting racks. How to make the electric gripper switch between two opposite mounting racks is a problem that needs to be solved urgently. Utility Model Content

[0005] The utility model aims to provide a multi-dimensional motion mechanism so as to enable an electric clamping claw to switch between two oppositely arranged mounting frames.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The multi-dimensional motion mechanism includes a three-dimensional driving structure and a rotation driving structure. The electric gripper is fixed on the rotation driving structure. The three-dimensional driving structure is used to drive the electric gripper to lift, slide in the X direction and slide in the Y direction. The rotation driving structure is used to drive the electric gripper to rotate horizontally so that the electric gripper can switch between multiple positions.

[0008] The principles and beneficial effects of this scheme are:

[0009] This solution uses a three-dimensional driving structure to drive the electric gripper to lift, slide in the X direction and slide in the Y direction, and uses a rotary driving structure to drive the electric gripper to rotate horizontally, thereby realizing multi-dimensional movement of the electric gripper. The electric gripper can conveniently load and unload culture dishes on two mounting racks. After the operation of the mounting rack on one side is completed, the electric gripper only needs to rotate horizontally 180 degrees to operate the mounting rack on the other side. This makes it convenient to switch between two opposite mounting racks, thereby achieving the purpose of sharing one electric gripper for two mounting racks.

[0010] Preferably, as an improvement, the three-dimensional driving structure includes a lifting frame, which is slidably connected to a supporting frame, and the lifting frame is provided with a lifting driving assembly and a sensor, the lifting driving assembly is used to drive the supporting frame to rise and fall on the lifting frame, and the sensor is used to position the supporting frame.

[0011] Beneficial effects: The lifting drive assembly drives the support frame to move up and down on the lifting frame, so that the electric clamp can be lifted and lowered. The support frame is positioned by the sensor, so that the processing accuracy can be controlled.

[0012] Preferably, as an improvement, the three-dimensional driving structure also includes an X-direction slide rail fixed on the supporting frame, the X-direction slide rail is slidably connected to the Y-direction slide rail, the rotation driving structure is slidably connected to the Y-direction slide rail, an X-direction sliding driving component is provided on the X-direction slide rail, and a Y-direction sliding driving component is provided on the Y-direction slide rail. The X-direction sliding driving component is used to drive the Y-direction slide rail to slide back and forth on the X-direction slide rail, and the Y-direction sliding driving component is used to drive the rotation driving structure to slide back and forth on the Y-direction slide rail, and the X-direction slide rail and the Y-direction slide rail are also provided with sensors.

[0013] Beneficial effect: The X-direction sliding drive component drives the Y-direction slide rail to reciprocate on the X-direction slide rail, and the Y-direction sliding drive component drives the rotary drive structure to reciprocate on the Y-direction slide rail, so that the X-direction movement and Y-direction movement of the electric gripper can be realized.

[0014] Preferably, as an improvement, the rotary drive structure is also provided with a sensor.

[0015] Beneficial Effects: The sensor is used to position the electric gripper.

[0016] Preferably, as an improvement, the rotary drive structure includes an adapter plate, which is slidably connected to the Y-direction slide rail, and a driven synchronous wheel is rotatably installed on the adapter plate. The driven synchronous wheel is connected to the active synchronous wheel through a synchronous belt, and the active synchronous wheel is connected to a stepping motor, and the electric clamp is connected to the driven synchronous wheel.

[0017] Beneficial effect: The active synchronous wheel is driven to rotate by the stepping motor, and the active synchronous wheel drives the driven synchronous wheel to rotate through the synchronous belt, so as to drive the electric clamp to rotate horizontally. The structure is simple, and the stepping motor can realize the reciprocating rotation of the electric clamp with high control accuracy.

[0018] Preferably, as an improvement, the support frame includes a rectangular support frame and connecting plates fixed to the bottom of both sides of the support frame, one end of the connecting plate is slidably connected to the lifting frame, and the other end of the connecting plate is slidably connected to a vertical guide rail, and the X-direction slide rail is fixed on the support frame.

[0019] Beneficial effects: The structure of the rectangular support frame and the connecting plate can reduce the weight and consumables of the support frame compared to the whole-piece support plate, and also facilitates the hot air circulation in the incubator.

[0020] Preferably, as an improvement, an extension plate is fixed on the electric clamp, a clamping plate is fixed on the extension plate, and a buffer layer is provided on the inner side of the clamping plate.

[0021] Beneficial effects: The extension plate can lengthen the distance between the free end of the electric clamp and the main body of the electric clamp, thereby increasing the contact area between the clamp and the culture dish, improving the clamping stability, and can also clamp larger-sized culture dishes, expanding the scope of application. The buffer layer can buffer the friction between the clamp and the culture dish, avoiding wear of the culture dish.

[0022] Preferably, as an improvement, the number of the lifting frames is two, and the two lifting frames are respectively arranged on both sides of the mounting frame in the X direction.

[0023] Beneficial effect: Two lifting frames are used and are respectively arranged on both sides of the mounting frame in the X direction. Compared with the whole-piece lifting frame, the floor space of the lifting frame in the left and right directions can be greatly reduced, and at the same time, the electric gripper does not affect the operation of the culture dishes on the two relatively arranged mounting frames. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of an embodiment of the utility model.

[0025] Figure 2 It is a schematic structural diagram of the support frame in the embodiment of the utility model.

[0026] Figure 3 It is a structural schematic diagram of the rotary drive structure and the electric clamp in the embodiment of the utility model. DETAILED DESCRIPTION

[0027] The following is further described in detail through specific implementation methods:

[0028] The figure marks in the drawings of the specification include: lifting frame 1, transmission shaft 11, motor 12, support frame 2, support frame 21, connecting plate 22, guide rail 23, X-direction slide rail 3, Y-direction slide rail 4, rotary drive structure 5, adapter plate 51, driven synchronous wheel 52, synchronous belt 53, active synchronous wheel 54, stepping motor 55, electric clamp 6, extension plate 62, clamping plate 63, buffer layer 64.

[0029] Example:

[0030] like Figure 1 As shown, the multi-dimensional motion mechanism includes a three-dimensional drive structure and a rotation drive structure 5, and the electric clamp 6 is fixed on the rotation drive structure 5. The multi-dimensional motion mechanism is used between two oppositely arranged mounting frames, and the mounting frames are used to store culture dishes. Specifically, the three-dimensional drive structure includes a lifting frame 1, a support frame 2, an X-direction slide rail 3 and a Y-direction slide rail 4. The number of lifting frames 1 is two, and the two lifting frames 1 are respectively installed on both sides of the X direction of one of the mounting frames, combined with Figure 2 As shown, the support frame 2 includes a rectangular support frame 21 and L-shaped connecting plates 22 fixed to the bottom of both sides of the support frame 21 by screws. The right ends of the two connecting plates 22 are slidably connected to the two lifting frames 1 respectively, and the left ends of the two connecting plates 22 are slidably connected to the vertical guide rails 23, which are fixed in the incubator by screws. A lifting drive assembly is installed on the lifting frame 1 to drive the support frame 2 to rise and fall on the lifting frame 1. In this embodiment, the lifting drive assembly adopts a structure of a motor 12 plus a synchronous pulley. Both lifting frames 1 are provided with synchronous pulleys, and the synchronous pulleys are driven to move by the motor 12. In this embodiment, one motor 12 is used. A transmission shaft 11 is connected between the two lifting frames 1 to transmit the power of the motor 12, so that one motor 12 drives the synchronous pulleys in the two lifting frames 1 to move at the same time. A sensor is also installed on the lifting frame 1 to position the support frame 2.

[0031] The X-direction slide rail 3 is screwed to one side of the support frame 21, and the Y-direction slide rail 4 is mounted between the two sides of the support frame 21. The right end of the Y-direction slide rail 4 is slidably connected to the X-direction slide rail 3, and the left end is slidably connected to the support frame 21. An X-direction sliding drive assembly is installed on the X-direction slide rail 3 to drive the Y-direction slide rail 4 to slide back and forth on the X-direction slide rail 3. A sensor is also installed on the X-direction slide rail 3 to position the Y-direction slide rail 4.

[0032] Combination Figure 3As shown, the rotary drive structure 5 includes an adapter plate 51, which is slidably connected to the Y-direction slide rail 4. The Y-direction slide rail 4 is equipped with a Y-direction sliding drive assembly to drive the rotary drive structure 5 to slide back and forth on the Y-direction slide rail 4. The Y-direction slide rail 4 is also equipped with a sensor for positioning the rotary drive structure 5. In this embodiment, the X-direction sliding drive assembly and the Y-direction sliding drive assembly both adopt a motor plus a screw structure. The motor plus a screw drive reciprocating structure is a prior art and is not described in detail here. The rotary drive structure 5 is also equipped with a sensor for positioning the electric gripper 6.

[0033] A driven synchronous wheel 52 is rotatably mounted on the adapter plate 51, the driven synchronous wheel 52 is connected to a driving synchronous wheel 54 via a synchronous belt 53, the driving synchronous wheel 54 is connected to a stepping motor 55, and the electric clamp 6 is fixedly connected to the driven synchronous wheel 52 via screws. An extension plate 62 is screwed to the clamping jaw of the electric clamp 6, a clamping plate 63 is integrally formed on the extension plate 62, a buffer layer 64 is glued and fixed to the inner side of the clamping plate 63, and the buffer layer 64 is a rubber layer.

[0034] In actual use, the two lifting frames 1 are respectively installed on both sides of the X direction of one of the mounting frames, and the supporting frame 2, X-direction slide rail 3, Y-direction slide rail 4, electric clamp 6 and other structures are located between the two mounting frames. The lifting drive assembly drives the supporting frame 2 to lift on the lifting frame 1 to drive the electric clamp 6 to lift, the X-direction sliding drive assembly drives the Y-direction slide rail 4 to slide back and forth on the X-direction slide rail 3 to drive the electric clamp 6 to slide in the X direction, the Y-direction sliding drive assembly drives the adapter plate 51 to reciprocate on the Y-direction slide rail 4 to drive the electric clamp 6 to slide in the Y direction, and the rotary drive structure 5 drives the electric clamp 6 to rotate horizontally, thereby realizing the four-dimensional movement of the electric clamp 6, which is convenient for loading and unloading the culture dishes on the two mounting frames. Among them, the switching of the electric clamp 6 between the two relatively arranged mounting frames is also realized by the rotating drive structure 5. The specific operation is: after the operation of one mounting frame is completed, the stepping motor 55 drives the active synchronous wheel 54 to rotate, and the active synchronous wheel 54 drives the driven synchronous wheel 52 to rotate through the synchronous belt 53, and the driven synchronous wheel 52 drives the electric clamp 6 to rotate horizontally toward the other mounting frame, thereby achieving the purpose of two relatively arranged mounting frames sharing one electric clamp 6, and the electric clamp 6 only needs to rotate horizontally to switch, and the switching is fast and convenient.

[0035] The above is only an embodiment of the utility model, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the utility model, several deformations and improvements can be made, which should also be regarded as the protection scope of the utility model, and these will not affect the effect of the implementation of the utility model and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Multi-dimensional motion mechanism, characterized by: It includes a three-dimensional driving structure and a rotation driving structure. The electric gripper is fixed on the rotation driving structure. The three-dimensional driving structure is used to drive the electric gripper to lift, slide in the X direction and slide in the Y direction. The rotation driving structure is used to drive the electric gripper to rotate horizontally so that the electric gripper can switch between multiple positions.

2. The multi-dimensional motion mechanism according to claim 1, characterized in that: The three-dimensional driving structure includes a lifting frame, which is slidably connected to a supporting frame. The lifting frame is provided with a lifting driving assembly and a sensor. The lifting driving assembly is used to drive the supporting frame to move up and down on the lifting frame, and the sensor is used to position the supporting frame.

3. The multi-dimensional motion mechanism according to claim 2, characterized in that: The three-dimensional driving structure also includes an X-direction slide rail fixed on the supporting frame, the X-direction slide rail is slidably connected to the Y-direction slide rail, the rotation driving structure is slidably connected to the Y-direction slide rail, the X-direction slide rail is provided with an X-direction sliding driving component, the Y-direction slide rail is provided with a Y-direction sliding driving component, the X-direction sliding driving component is used to drive the Y-direction slide rail to slide back and forth on the X-direction slide rail, the Y-direction sliding driving component is used to drive the rotation driving structure to slide back and forth on the Y-direction slide rail, and the X-direction slide rail and the Y-direction slide rail are also provided with sensors.

4. The multi-dimensional motion mechanism according to claim 3, characterized in that: The rotary drive structure is also provided with a sensor.

5. The multi-dimensional motion mechanism according to claim 1, characterized in that: The rotary drive structure includes an adapter plate, which is slidably connected to the Y-direction slide rail. A driven synchronous wheel is installed on the adapter plate. The driven synchronous wheel is connected to the active synchronous wheel through a synchronous belt. The active synchronous wheel is connected to a stepping motor, and an electric clamp is connected to the driven synchronous wheel.

6. The multi-dimensional motion mechanism according to claim 2, characterized in that: The support frame includes a rectangular support frame and connecting plates fixed at the bottom of both sides of the support frame. One end of the connecting plate is slidably connected to the lifting frame, and the other end of the connecting plate is slidably connected to a vertical guide rail. The X-direction slide rail is fixed on the support frame.

7. The multi-dimensional motion mechanism according to claim 1, characterized in that: An extension plate is fixed on the electric clamping claw, a clamping plate is fixed on the extension plate, and a buffer layer is arranged on the inner side of the clamping plate.

8. The multi-dimensional motion mechanism according to claim 6, characterized in that: There are two lifting frames, which are respectively arranged on two sides of the mounting frame in the X direction.

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