Automatic conveying and balancing centrifugal machine

Abstract

The utility model relates to the technical field of centrifugal machine equipment, in particular to an automatic conveying and balancing centrifugal machine which comprises a mechanical module and an electrical module, the mechanical module comprises a body, a mechanical arm and a conveying mechanism, the mechanical arm is located between the body and the conveying mechanism, and the body comprises a box body, a rotor and a first motor. The outer surface of the rotor is fixedly connected with a rotary drum, and the tail end of an output shaft of the motor I is in transmission connection with the bottom of the rotor; the motor module comprises a conveying controller, a mechanical arm controller and a centrifugal controller with a control panel, and the centrifugal controller is fixedly connected into the body. The centrifugal tube conveying device has the advantages that centrifugal tubes conveyed through the conveying belt are correspondingly operated through the mechanical arm and sequentially enter the corresponding inclined holes, when the body is not used, the conveying belt can be folded, large-batch centrifugal tubes can be conveniently placed in a large-capacity centrifugal machine, the situation that the process of manually placing the centrifugal tubes is long, and the production efficiency is high is avoided. And time and labor are wasted.

Description

Technical Field

[0001] The utility model relates to the technical field of centrifuge equipment, in particular to an automatic transmission and balancing centrifuge. Background Art

[0002] At present, when using a centrifuge for centrifugation, balancing is the key, otherwise the centrifuge will not work properly or will be easily damaged. When there are relatively few centrifuge tubes, centrifuge tubes are generally placed manually to achieve balance, but when there are many centrifuge tubes to be centrifuged, it is not convenient to quickly calculate the balance position of a large batch of large-capacity centrifuges. Utility Model Content

[0003] In order to quickly transfer a large number of centrifuge tubes into a large-capacity centrifuge, the utility model provides an automatic transmission and balancing centrifuge.

[0004] The automatic transmission and balancing centrifuge provided by the utility model adopts the following technical solutions:

[0005] An automatic transmission and balancing centrifuge includes a mechanical module and an electrical module. The mechanical module includes a body, a mechanical arm and a transmission mechanism. The mechanical arm is located between the body and the transmission mechanism. The body includes a casing, a rotor and a motor. A drum is fixedly connected to the outer surface of the rotor. The end of the output shaft of the motor is transmission-connected to the bottom of the rotor. The motor module includes a transmission controller, a mechanical arm controller and a centrifuge controller with a control panel. The centrifuge controller is fixedly connected to the inside of the body. The transmission controller is communicatively connected to the transmission mechanism, and the mechanical arm is communicatively connected to the mechanical arm controller.

[0006] By adopting the above technical solution, the time for considering balancing when manually placing centrifuge tubes is reduced, which facilitates the rapid placement of large quantities of centrifuge tubes into a large-capacity centrifuge, avoiding the long, time-consuming and labor-intensive process of manually placing centrifuge tubes.

[0007] Preferably, a plurality of inclined holes in a circular array are opened on the top of the drum, a plurality of weighing sensors are fixedly connected to the inside of the drum, the plurality of weighing sensors and motor 1 are communicatively connected to the centrifugal controller, each of the weighing sensors is located inside the corresponding inclined hole, one side of motor 1 is fixedly connected to the inside of the box, and the outer surface of the rotor is rotatably connected to the inside of the box.

[0008] By adopting the above technical solution, the motor drives the drum to rotate, thereby causing the centrifuge tube to rotate centrifugally.

[0009] Preferably, the conveying mechanism includes a conveying frame and a conveyor belt, the conveying frame is internally rotatably connected to two rotating rollers, the outer surface of the conveyor belt overlaps the outer surfaces of the two rotating rollers, and one side of the conveying frame is fixedly connected to an infrared positioning sensor, and the infrared positioning sensor is located inside the conveyor belt.

[0010] By adopting the above technical solution, the conveying mechanism can be stopped automatically through the infrared positioning sensor, thereby avoiding damage to the conveying mechanism and the centrifuge tube.

[0011] Preferably, a second motor is fixedly connected to one side of the conveying frame, the end of the output shaft of the second motor is transmission-connected to one end of the corresponding rotating roller, and the second motor and the infrared positioning sensor are both communicatively connected to the conveying controller.

[0012] By adopting the above technical solution, the second motor drives the rotating roller to rotate, thereby causing the overlapping conveyor belt to rotate, thereby causing the centrifuge tube to move.

[0013] Preferably, a plurality of placement holes are provided on the outer surface of the conveyor belt, and centrifuge tubes are clamped inside some of the placement holes.

[0014] By adopting the above technical solution, through the placement hole, the uncentrifuged centrifuge tube is driven by the conveyor belt to move toward the direction close to the main body, or the centrifuged centrifuge tube is driven by the conveyor belt to move away from the main body.

[0015] Preferably, the robotic arm comprises a base, an extension arm 1 and an extension arm 2, the bottom of the extension arm 1 is rotatably connected to the top of the base, and one side of the extension arm 1 is rotatably connected to the top of the base, the base comprises a rotating seat and a fixed seat, the bottom of the rotating seat is rotatably connected to the top of the fixed seat, a motor 3 is fixedly connected inside the fixed seat, the end of the output shaft of the motor 3 is transmission-connected to the bottom of the rotating seat, one side of the extension arm 1 and the top of the base are both fixedly connected with a motor 4, and the ends of the two output shafts of the motor 4 are transmission-connected to one side of the extension arm 1 and one side of the extension arm 2 respectively.

[0016] By adopting the above technical solution, the extension arm 1 and the extension arm 2 are rotated by the rotation of the motor 3, thereby changing the height of the electric clamp in the vertical direction, which facilitates the rise and fall of the electric clamp.

[0017] Preferably, one end of the extension arm 2 is fixedly connected to a universal joint, the other end of the universal joint is fixedly connected to an electric clamp, and the motor 3, two motors 4, the universal joint and the electric clamp are all communicatively connected to the robotic arm controller.

[0018] By adopting the above technical solution, the steering direction of the electric clamp is adjusted by the universal joint, so that the electric clamp is convenient for clamping and placing the centrifuge tube at various angles.

[0019] As the technical solution of the present invention, the hardware setting provided is only for the purpose of facilitating the rapid transfer of large quantities of centrifuge tubes into a large-capacity centrifuge based on the hardware facilities. The specific method of how to rapidly transfer large quantities of centrifuge tubes into a large-capacity centrifuge is not the technical problem to be solved and the object of protection of the present invention. At the same time, the communication methods between the devices all adopt the existing communication methods, which are not the innovation points of the present application.

[0020] In summary, the utility model has the following beneficial technical effects:

[0021] 1. The device is provided with a conveying mechanism and a mechanical arm. The centrifuge tube that has not been centrifuged is placed inside the placement hole. The second motor is started to drive the conveyor belt to rotate. The conveyor belt drives the centrifuge tube that needs to be centrifuged to move in the direction close to the mechanical arm. The centrifuge tube is clamped by the electric clamp on the mechanical arm and transferred to the inside of the inclined hole, that is, the inside of the centrifuge hole. Under the action of multiple gravity sensors, the body can sense the weight, and then the centrifuge controller will control the drum to rotate. Then the inclined hole loaded with the centrifuge tube and the corresponding inclined hole will be turned to the claw mouth of the electric clamp, and the next centrifuge tube will enter the corresponding inclined hole to achieve balance. Next, the centrifuge tube transmitted by the conveyor belt will be operated accordingly by the mechanical arm and enter the corresponding inclined hole in turn. When the body is not used, the conveyor belt can be put away, which is convenient for quickly placing a large number of centrifuge tubes in a large-capacity centrifuge, avoiding the long process of manually placing centrifuge tubes, which is time-consuming and laborious.

[0022] 2. The device is provided with an infrared positioning sensor. The centrifuge tube on the conveyor belt is transported to one side of the infrared positioning sensor. The distance detected by the infrared positioning sensor is transmitted to the conveying controller. The conveying controller determines that the centrifuge tube is not picked up and transported by the robot arm. In order to avoid the centrifuge tube hitting the rotating roller, the conveying controller controls the motor 2 to stop operating, so that the conveyor belt stops automatically, which is convenient for controlling the conveying mechanism to stop automatically and avoids damage to the centrifuge tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the automatic transmission and balancing centrifuge of the utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the automatic transmission and balancing centrifuge of the utility model from the front view;

[0025] Figure 3 This is a schematic diagram of the structure of the automatic transmission and balancing centrifuge of the utility model from a top view;

[0026] Figure 4 It is a schematic diagram of the structure of the automatic transmission and balancing centrifuge of the utility model from the side view;

[0027] Figure 5 yes Figure 2 A cross-sectional view along line AA.

[0028] Description of reference numerals:

[0029] 1. Main body; 11. Box; 12. Drum;

[0030] 2. Mechanical arm; 21. Base; 22. Extension arm 2;

[0031] 3. Conveying mechanism; 31. Conveying rack; 32. Conveying belt;

[0032] 4. Control panel; 5. Tilt hole; 6. Infrared positioning sensor;

[0033] 7. Universal joint; 8. Electric gripper; 9. Centrifuge tube. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-5 The utility model is described in further detail.

[0035] The utility model embodiment discloses an automatic transmission and balancing centrifuge.

[0036] Reference Figure 1 , 2, 3, including a mechanical module and an electrical module, the mechanical module includes a body 1, a mechanical arm 2 (known technology) and a conveying mechanism 3, the body 1 adopts an existing centrifuge (known technology), the mechanical arm 2 adopts a desktop mechanical arm, which occupies a small area and is convenient to be placed on a desktop, the mechanical arm 2 is located between the body 1 and the conveying mechanism 3, the mechanical arm 2 picks up a centrifuge tube 9 from the inside of the conveying mechanism 3 and puts it into the inside of the body 1, the body 1 includes a box 11, a rotor and a motor 1, the motor 1 drives the rotor to rotate, and then the drum 12 rotates, the centrifuge tube 9 inside the drum 12 is centrifugally rotated to achieve solid-liquid separation, the outer surface of the rotor is fixedly connected to the drum 12 (known technology), and the end of the output shaft of the motor 1 is transmission-connected to the bottom of the rotor; the motor module includes a conveying controller, a mechanical arm controller and The centrifuge controller with a control panel 4 controls the opening and closing of the conveying mechanism 3 and the conveying direction of the conveying mechanism 3 through the conveying controller. The robot arm controller controls the robot arm 2 to transport the centrifuge tube 9 between the conveying mechanism 3 and the main body 1. The centrifuge tube 9 can be transported from the conveyor belt 32 of the conveying mechanism 3 to the inclined hole 5 of the drum 12 for centrifugation, and the centrifuge tube 9 after centrifugation can also be taken out from the inclined hole 5 and transported to the placement hole of the conveyor belt 32. The centrifuge controller is fixedly connected to the inside of the main body 1, the conveying controller is communicated with the conveying mechanism 3, and the robot arm 2 is communicated with the robot arm controller. The experimenter drives the controller to control the electrical components of the main body 1 to work by operating the control panel 4, and has the functions of adjusting the speed of the motor driving the rotor to rotate, the rotation time of the drum 12, etc.

[0037] Reference Figure 1 , 3, a plurality of inclined holes 5 in a circular array are provided on the top of the drum 12. The inclined holes 5 are centrifugal holes for placing centrifugal tubes 9. A plurality of weighing sensors are fixedly connected to the inside of the drum 12. When there are an even number of centrifugal tubes 9, the centrifugal tubes 9 will squeeze the weighing sensors after entering the inclined holes 5, so that the weighing sensors detect the weight of the centrifugal tubes 9. The weighing sensors transmit the weighed electrical signals to the centrifugal controller. The centrifugal controller controls the motor to start, driving the drum 12 to rotate, so that the positions of the other inclined holes 5 symmetrical to the previous inclined hole 5 are interchanged, and then the next centrifugal tube 9 enters the symmetrical inclined holes 5 to complete the balancing, so that the drum 12 remains balanced. When the two symmetrical inclined holes 5 are all filled with centrifugal tubes 9, The centrifuge controller controls the empty inclined holes 5 in the drum 12 to rotate to a position close to the robotic arm 2, waiting for the electric gripper 8 of the robotic arm 2 to put the centrifuge tube 9 in, and repeats the cycle until all the inclined holes 5 are filled with centrifuge tubes 9, or all the centrifuge tubes 9 are put into the inclined holes 5. Several weighing sensors and motor 1 are all connected to the centrifuge controller for communication, and each weighing sensor is located inside the corresponding inclined hole 5. One side of motor 1 is fixedly connected to the inside of the box 11, and the outer surface of the rotor is rotatably connected to the inside of the box 11. When the number of centrifuge tubes 9 is odd, when the electric gripper 8 takes three centrifuge tubes 9 left on the conveyor belt 32, the robotic arm 2 and the electric gripper 8 stop working, and the experimenter can take out three centrifuge tubes 9 individually, place them manually for balancing, and then centrifuge them individually.

[0038] Reference Figure 1 , 2 , 3, 5, the conveying mechanism 3 includes a conveying frame 31 and a conveyor belt 32. The conveying frame 31 is internally connected to two rotating rollers. The outer surface of the conveyor belt 32 overlaps the outer surfaces of the two rotating rollers. One of the two rotating rollers is close to the body 1, and the other is far away from the body 1. The infrared positioning sensor 6 is installed on the side close to the body 1. When the conveyor belt 32 conveys the centrifuge tube 9 to a position close to the body 1, the robot arm 2 will clamp the centrifuge tube 9 through the electric clamp 8 and send it into the inclined hole 5. If each inclined hole 5 on the drum 12 is filled with centrifuge tubes 9, the robot arm 2 The conveying stops. At this time, the centrifuge tubes on the conveyor belt 32 are transported to one side of the infrared positioning sensor 6. The distance detected by the infrared positioning sensor 6 is transmitted to the conveying controller. The conveying controller determines that the centrifuge tube 9 is not picked up and transported by the robot arm 2. In order to prevent the centrifuge tube 9 from hitting the rotating roller, the conveying controller controls the motor 2 to stop operating, so that the conveyor belt 32 stops automatically. An infrared positioning sensor 6 (known technology) is fixedly connected to one side of the conveying frame 31. The infrared positioning sensor 6 is located inside the conveyor belt 32. The infrared positioning sensor 6 detects the distance to the nearest centrifuge tube 9.

[0039] Reference Figure 2 , 3The conveying mechanism 3 adopts an existing desktop-usable, micro-conveying device. The conveying mechanism 3 and the mechanical arm 2 are placed on the desktop, located on one side of the main body 1. One side of the conveying frame 31 is fixedly connected with a motor 2. The end of the output shaft of the motor 2 is transmission-connected to one end of the corresponding rotating roller. The motor 2 drives the conveyor belt 32 to rotate, so that the conveyor belt 32 drives the uncentrifuged centrifuge tube 9 to be transported in a direction close to the main body 1, or the conveyor belt 32 drives the centrifuge tube 9 after centrifugation to be transported in a direction away from the main body 1. The motor 2 and the infrared positioning sensor 6 are both communicatively connected to the conveying controller.

[0040] Reference Figure 3 The outer surface of the conveyor belt 32 is provided with a plurality of placement holes, wherein a centrifuge tube 9 is clamped inside a part of the placement holes, and the centrifuge tube 9 before or after centrifugation can be placed in the placement holes.

[0041] Reference Figure 2 , 3 The robot arm 2 includes a base 21, an extension arm 1 and an extension arm 22, the extension arm 1 is fixed on the top of the rotating seat, the bottom of the extension arm 1 is rotatably connected to the top of the base 21, and one side of the extension arm 1 is rotatably connected to the top of the base 21. The base 21 includes a rotating seat and a fixed seat, the bottom of the rotating seat is rotatably connected to the top of the fixed seat, and a motor 3 is fixedly connected inside the fixed seat, and the end of the output shaft of the motor 3 is transmission-connected to the bottom of the rotating seat. One side of the extension arm 1 and the top of the base 21 are fixedly connected with a motor 4, and the ends of the two motor 4 output shafts are respectively transmission-connected to one side of the extension arm 1 and one side of the extension arm 22. The motor 4 drives the rotating seat to rotate, thereby causing the extension arm 1, the extension arm 22 and the electric clamp 8 to rotate, and adjust the orientation of the robot arm 2 toward the main body 1 or toward the transmission mechanism 3. The motor 3 drives the extension arm 1 and the extension arm 22 to rotate, thereby adjusting the height of the electric clamp 8.

[0042] Reference Figure 3 , 4 5. One end of the extension arm 22 is fixedly connected with a universal joint 7 (known technology), and the other end of the universal joint 7 is fixedly connected with an electric clamp 8 (known technology). Motor 3, two motors 4, universal joint 7 and electric clamp 8 are all communicated with the robot arm controller. The universal joint 7 can adjust the angle of the electric clamp 8, which is convenient for the electric clamp to clamp or put down the centrifuge tube 9.

[0043] The implementation principle of the automatic transmission and balancing centrifuge in the embodiment of the utility model is:

[0044] 1. A conveyor belt 32 is provided for the main body 1. The uncentrifuged centrifuge tube 9 is placed inside the placement hole. The conveyor belt 32 rotates toward the direction close to the robot arm 2, and is clamped by the electric gripper 8 on the robot arm 2 and transferred to the inside of the inclined hole 5, that is, the inside of the centrifuge hole;

[0045] 2. When the robot arm 2 puts the centrifuge tube 9 into one of the inclined holes 5, the main body 1 can sense the weight under the action of multiple gravity sensors, and then the centrifuge controller will control the drum 12 to rotate, so the inclined hole 5 loaded with the centrifuge tube 9 and the corresponding inclined hole 5 will be turned to the claw of the electric clamp 8, and the next centrifuge tube 9 will enter the corresponding inclined hole 5 to achieve balance. Next, the centrifuge tube 9 transmitted by the conveyor belt 32 will be operated accordingly by the robot arm 2 and enter the corresponding inclined hole 5 in turn. When the main body 1 is not in use, the conveyor belt 32 can be put away.

[0046] The above are all preferred embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. Automatic transmission and balancing centrifuge, characterized by: The invention comprises a mechanical module and an electrical module, wherein the mechanical module comprises a body (1), a mechanical arm (2) and a transmission mechanism (3), wherein the mechanical arm (2) is located between the body (1) and the transmission mechanism (3), wherein the body (1) comprises a housing (11), a rotor and a motor (1), wherein a drum (12) is fixedly connected to the outer surface of the rotor, and the end of the output shaft of the motor (1) is drivingly connected to the bottom of the rotor; The electrical module comprises a conveying controller, a mechanical arm controller and a centrifugal controller with a control panel (4), the centrifugal controller being fixedly connected to the inside of the body (1), the conveying controller being communicatively connected to the conveying mechanism (3), and the mechanical arm (2) being communicatively connected to the mechanical arm controller.

2. The automatic transmission and balancing centrifuge according to claim 1, characterized in that: The top of the rotating drum (12) is provided with a plurality of inclined holes (5) in a circumferential array. A plurality of weighing sensors are fixedly connected to the interior of the rotating drum (12). The plurality of weighing sensors and a motor 1 are communicatively connected to a centrifugal controller. Each of the weighing sensors is located inside a corresponding inclined hole (5). One side of the motor 1 is fixedly connected to the interior of the box (11), and the outer surface of the rotor is rotatably connected to the interior of the box (11).

3. The automatic transmission and balancing centrifuge according to claim 2, characterized in that: The conveying mechanism (3) comprises a conveying frame (31) and a conveying belt (32); the conveying frame (31) is rotatably connected to two rotating rollers; the outer surface of the conveying belt (32) overlaps the outer surfaces of the two rotating rollers; one side of the conveying frame (31) is fixedly connected to an infrared positioning sensor (6); the infrared positioning sensor (6) is located inside the conveying belt (32).

4. The automatic transmission and balancing centrifuge according to claim 3, characterized in that: A second motor is fixedly connected to one side of the conveying frame (31), and the end of the output shaft of the second motor is drivingly connected to one end of a corresponding rotating roller. The second motor and the infrared positioning sensor (6) are both communicatively connected to the conveying controller.

5. The automatic transmission and balancing centrifuge according to claim 4, characterized in that: The outer surface of the conveyor belt (32) is provided with a plurality of placement holes, and a centrifuge tube (9) is clamped inside a portion of the placement holes.

6. The automatic transmission and balancing centrifuge according to claim 5, characterized in that: The mechanical arm (2) comprises a base (21), an extension arm 1 and an extension arm 2 (22); the bottom of the extension arm 1 is rotatably connected to the top of the base (21); one side of the extension arm 1 is rotatably connected to the top of the base (21); the base (21) comprises a rotating seat and a fixed seat; the bottom of the rotating seat is rotatably connected to the top of the fixed seat; a motor 3 is fixedly connected inside the fixed seat; the end of the output shaft of the motor 3 is transmission-connected to the bottom of the rotating seat; one side of the extension arm 1 and the top of the base (21) are both fixedly connected to a motor 4; the ends of the two output shafts of the motor 4 are transmission-connected to one side of the extension arm 1 and one side of the extension arm 2 (22), respectively.

7. The automatic transmission and balancing centrifuge according to claim 6, characterized in that: One end of the second extension arm (22) is fixedly connected to a universal joint (7), the other end of the universal joint (7) is fixedly connected to an electric clamp (8), and the third motor, the two fourth motors, the universal joint (7) and the electric clamp (8) are all in communication connection with a robot arm controller.

Images