Multi-degree-of-freedom transfer transmission mechanism

Abstract

The utility model discloses a multi-degree-of-freedom transfer transmission mechanism which comprises a base, a transverse driving mechanism and a vertical driving mechanism. The transverse driving mechanism comprises a first motor, a horizontal transmission assembly and a transverse moving plate, the first motor is installed on the base, the output end of the first motor is connected with the transverse moving plate through the horizontal transmission assembly, and the first motor is used for driving the transverse moving plate to reciprocate in the horizontal direction; the vertical driving mechanism comprises a second motor, a lead screw, a stroke multiplication transmission assembly and a carrying platform, the second motor is installed on the transverse moving plate, the lower end of the lead screw is connected with the output end of the second motor, the upper end of the lead screw is connected with the carrying platform through the stroke multiplication transmission assembly, and the second motor is used for driving the carrying platform to reciprocate in the vertical direction. According to the multi-degree-of-freedom transfer transmission mechanism, the existing defects are overcome, manual operation is replaced with a machine, and the requirement of a sample library for the environment is met.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a multi-degree-of-freedom transport transmission mechanism. Background Art

[0002] A biobank is a large-scale device used to store important biological samples at low temperatures for a long time. Biobanks usually store sample tubes in units of sample tubes, which are stored in racks. Multiple racks are placed in the deep cryogenic storage area of ​​the biobank in various arrangements. Whenever samples are input or output from the sample bank, the racks are usually placed in a special transfer tank, and the input and output of samples are achieved through a transfer window.

[0003] In the prior art, the transfer of transfer cans is usually done manually. When taking out the transfer can, the staff needs to reach into the transfer window to take the transfer can. When putting in the transfer can, the staff needs to place the transfer can on the lifting device inside the transfer window. The manual pick-and-place operation is inconvenient due to the small space inside the transfer window, which will reduce work efficiency. At the same time, since the transfer window is open for too long, the temperature and humidity in the environment outside the biological sample library will have an uncontrollable impact on the environment inside the sample library. Therefore, a multi-degree-of-freedom transfer transmission mechanism is proposed to address the above problems. Utility Model Content

[0004] The utility model aims to overcome the existing defects and provide a multi-degree-of-freedom transport transmission mechanism, using a machine to replace manual operation, and ensuring the environmental requirements of the sample library.

[0005] The technical solution to achieve the above object is: a multi-degree-of-freedom transport transmission mechanism, comprising: a base, a lateral drive mechanism and a vertical drive mechanism;

[0006] The transverse driving mechanism comprises a first motor, a horizontal transmission assembly and a transverse moving plate, wherein the first motor is mounted on the base, an output end of the first motor is connected to the transverse moving plate through the horizontal transmission assembly, and the first motor is used to drive the transverse moving plate to reciprocate in the horizontal direction;

[0007] The vertical drive mechanism includes a second motor, a screw rod, a stroke multiplication transmission assembly and a loading platform. The second motor is installed on the transverse moving plate. The lower end of the screw rod is connected to the output end of the second motor. The upper end of the screw rod is connected to the loading platform through the stroke multiplication transmission assembly. The second motor is used to drive the loading platform to reciprocate in the vertical direction.

[0008] Preferably, the horizontal transmission assembly comprises: a rack, a horizontal guide rail and a slider;

[0009] The rack and the horizontal guide rail are fixed on the same side of the transverse moving plate and extend in the horizontal direction. The slider is arranged on the horizontal guide rail. The horizontal guide rail is slidably connected to the base through the slider. The rack is meshed with the gear of the first motor.

[0010] Preferably, the stroke multiplication transmission assembly comprises: a fixed seat, a nut seat, a synchronous belt assembly, a primary moving plate and a secondary moving plate;

[0011] The fixing seat is fixed to one end of the transverse moving plate, the second motor is installed on the transverse moving plate through the fixing seat, the nut seat is installed on the upper end of the screw rod, and when the second motor drives the screw rod to rotate, the screw rod can drive the nut seat to reciprocate in the vertical direction;

[0012] The primary movable plate and the secondary movable plate are both vertically arranged and parallel to each other. The primary movable plate is fixedly connected to the nut seat. The secondary movable plate is connected to the primary movable plate through the synchronous belt assembly. Driven by the synchronous belt assembly, the secondary movable plate moves in the same direction as the primary movable plate.

[0013] Preferably, the synchronous belt assembly comprises: two synchronous wheels, two synchronous wheel transmission shafts, a synchronous belt, a first fixed block and a second fixed block;

[0014] The two synchronous wheel transmission shafts are rotatably connected to the upper and lower ends of the primary movable plate, the two synchronous wheels and the two synchronous wheel transmission shafts are arranged in a one-to-one correspondence, the synchronous wheels are sleeved on the synchronous wheel transmission shafts, the synchronous belt is wound around the two synchronous wheels, and one side of the synchronous belt is fixedly connected to the lateral movable plate through the second fixed block, and the other side of the synchronous belt is fixedly connected to the secondary movable plate through the first fixed block.

[0015] Preferably, the vertical drive mechanism further comprises: a first gear and a second gear;

[0016] The first gear is mounted on the lower end of the second motor and meshes with the gear of the second motor;

[0017] The second gear is installed at the lower end of the screw rod and meshes with the first gear.

[0018] Preferably, the vertical driving mechanism further comprises: a first displacement guide assembly and a second displacement guide assembly;

[0019] The first displacement guide assembly includes a primary slider and a primary slide rail, wherein the primary slide rail is fixed to the primary movable plate and is vertically arranged, and the primary slider is arranged on the primary slide rail and is fixedly connected to the transverse movable plate;

[0020] The second displacement guide assembly includes a secondary slider and a secondary slide rail. The secondary slide rail is fixed on the secondary movable plate and is vertically arranged. The secondary slider is arranged on the secondary slide rail and is fixedly connected to the primary movable plate.

[0021] Preferably, the transverse moving plate is an L-shaped plate as a whole, and the L-shaped plate includes a horizontal portion and a vertical portion;

[0022] The first motor and the second motor are located at opposite sides of the horizontal portion, and the primary moving plate is located between the vertical portion of the lateral moving plate and the secondary moving plate.

[0023] Preferably, the loading platform is a transfer tank placing plate, which is fixed to the lower end of the secondary movable plate and arranged horizontally, and is used to place the transfer tank. A plate rack is provided in the transfer tank, and the plate rack is used to place sample tubes, and the sample tubes are used to store biological samples.

[0024] The beneficial effects of the utility model are as follows: the multi-degree-of-freedom transfer transmission mechanism uses a single motor to drive a secondary stroke, the stroke is doubled, and the cost is low, the control is simple, and the structure is more compact; the synchronous belt and the lead screw are used as the drive, the operation accuracy is high, and the vertical movement reduces the human-computer interaction, and the transfer tank (or the transportation of items used in other scenarios, etc.) can be lowered to a lower height, which can adapt to more usage scenarios; the combined lateral and vertical movement and the modular design method can be used in more scenarios by only changing the placement plate; the multi-degree-of-freedom transfer transmission mechanism uses a machine structure instead of manual operation, and the operation efficiency is high, which ensures the environmental requirements of the sample library. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an axonometric diagram of the multi-degree-of-freedom transport transmission mechanism of the utility model;

[0026] Figure 2 This is another perspective axonometric diagram of the multi-degree-of-freedom transport transmission mechanism of the utility model;

[0027] Figure 3 It is a front view of the multi-degree-of-freedom transport transmission mechanism of the utility model;

[0028] Figure 4 It is a partial cross-sectional view of the utility model.

[0029] In the figure: 1. base; 3. first motor; 4. rack; 5. horizontal guide rail; 6. slider; 7. transverse moving plate; 8. transfer tank; 9. second motor; 10. screw; 11. first gear; 12. second gear; 13. fixed seat; 14. nut seat; 15. synchronous wheel; 16. synchronous wheel transmission shaft; 17. synchronous belt; 18. primary moving plate; 19. secondary moving plate; 20. first fixed block; 21. second fixed block; 22. primary slider; 23. primary slide rail; 24. secondary slider; 25. secondary slide rail; 26. loading platform. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on 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.

[0031] The utility model will be further described below in conjunction with the accompanying drawings.

[0032] like Figure 1-4 As shown, the multi-degree-of-freedom transport transmission mechanism includes: a base 1, a transverse driving mechanism and a vertical driving mechanism; the transverse driving mechanism includes a first motor 3, a horizontal transmission assembly and a transverse moving plate 7, the first motor 3 is installed on the base 1, the output end of the first motor 3 is connected to the transverse moving plate 7 through the horizontal transmission assembly, and the first motor 3 is used to drive the transverse moving plate 7 to reciprocate in the horizontal direction; the vertical driving mechanism includes a second motor 9, a screw rod 10, a stroke multiplication transmission assembly and a loading platform 26, the second motor 9 is installed on the transverse moving plate 7, the lower end of the screw rod 10 is connected to the output end of the second motor 9, the upper end of the screw rod 10 is connected to the loading platform 26 through the stroke multiplication transmission assembly, and the second motor 9 is used to drive the loading platform 26 to reciprocate in the vertical direction.

[0033] Specifically, Figure 1 As shown, the horizontal transmission assembly includes a rack 4, a horizontal guide rail 5 and a slider 6; the rack 4 and the horizontal guide rail 5 are fixed on the same side of the transverse moving plate 7 and both extend in the horizontal direction, the slider 6 is arranged on the horizontal guide rail 5, the horizontal guide rail 5 is slidably connected to the base 1 through the slider 6, and the rack 4 is meshed with the gear of the first motor 3.

[0034] like Figure 2 and Figure 4 As shown, the stroke multiplication transmission assembly includes a fixed seat 13, a nut seat 14, a synchronous belt assembly, a primary movable plate 18 and a secondary movable plate 19. The fixed seat 13 is fixed to one end of the transverse movable plate 7. The second motor 9 is installed on the transverse movable plate 7 through the fixed seat 13. The nut seat 14 is installed on the upper end of the screw rod 10. When the second motor 9 drives the screw rod 10 to rotate, the screw rod 10 can drive the nut seat 14 to reciprocate in the vertical direction; the primary movable plate 18 and the secondary movable plate 19 are both vertically arranged and parallel to each other. The primary movable plate 18 is fixedly connected to the nut seat 14, and the secondary movable plate 19 is connected to the primary movable plate 18 through the synchronous belt assembly. Driven by the synchronous belt assembly, the secondary movable plate 19 moves in the same direction as the primary movable plate 18.

[0035] like Figure 4 As shown, the synchronous belt assembly includes two synchronous wheels 15, two synchronous wheel transmission shafts 16, a synchronous belt 17, a first fixed block 20 and a second fixed block 21; the upper and lower ends of the primary movable plate 18 are provided with mounting grooves for mounting the synchronous wheel transmission shafts 16, the two synchronous wheel transmission shafts 16 are rotatably connected to the upper and lower ends of the primary movable plate 18, the two synchronous wheels 15 and the two synchronous wheel transmission shafts 16 are arranged one by one, the synchronous wheels 15 are sleeved on the synchronous wheel transmission shafts 16, the synchronous belt 17 is wound around the two synchronous wheels 15, and one side of the synchronous belt 17 is fixedly connected to the transverse movable plate 7 through the second fixed block 21, and the other side of the synchronous belt 17 is fixedly connected to the secondary movable plate 19 through the first fixed block 20, and the first fixed block 20 is located above the second fixed block 21. When the nut seat 14 drives the primary movable plate 18 to move downward, the synchronous wheel 15 moves downward accordingly, and drives the first fixed block 20 to move downward, and the second fixed block 21 is fixed. If the distance that the primary moving plate 18 moves downward is X, the distance that the secondary moving plate 19 moves downward is 2X, and vice versa. In this way, a single motor is used to drive the secondary stroke, and the stroke is doubled in the vertical direction.

[0036] like Figure 3 and Figure 4 As shown, the lateral moving plate 7 is an L-shaped plate as a whole, which includes a horizontal part and a vertical part. The first motor 3 and the second motor 9 are located on opposite sides of the horizontal part, and the primary moving plate 18 is located between the vertical part of the lateral moving plate 7 and the secondary moving plate 19.

[0037] like Figure 2 As shown, the vertical drive mechanism also includes a first gear 11 and a second gear 12 ; the first gear 11 is mounted on the lower end of the second motor 9 and meshes with the gear of the second motor 9 ; the second gear 12 is mounted on the lower end of the screw rod 10 and meshes with the first gear 11 .

[0038] like Figure 1 and Figure 4 As shown, the vertical drive mechanism also includes a first displacement guide assembly and a second displacement guide assembly; the first displacement guide assembly includes a primary slider 22 and a primary slide rail 23, the primary slide rail 23 is fixed on the primary movable plate 18 and is vertically arranged, the primary slider 22 is arranged on the primary slide rail 23 and is fixedly connected to the transverse movable plate 7; the second displacement guide assembly includes a secondary slider 24 and a secondary slide rail 25, the secondary slide rail 25 is fixed on the secondary movable plate 19 and is vertically arranged, the secondary slider 24 is arranged on the secondary slide rail 25 and is fixedly connected to the primary movable plate 18.

[0039] Specifically, the loading platform 26 is fixedly connected to the secondary movable plate 19. In this embodiment, the loading platform 26 is a transfer tank placement plate, which is fixed to the lower end of the secondary movable plate 19 and is arranged horizontally, and the transfer tank placement plate is used to place the transfer tank 8, and a plate rack is arranged in the transfer tank 8, and the plate rack is used to place the sample tube, and the sample tube is used to store the biological sample. The multi-degree-of-freedom transport transmission mechanism is installed on the biological sample storage device, and can realize the back and forth transmission of the transfer tank 8 between the biological sample storage device and the external transfer window.

[0040] Specifically, the first motor 3, the rack 4, the horizontal guide rail 5, the slider 6, and the transverse moving plate 7 constitute a transverse driving mechanism; wherein the rack and pinion is used as a driving component to provide transverse movement power for the transverse moving plate 7 and the components fixed on the transverse moving plate 7;

[0041] Specifically, the second motor 9, the first gear 11, the second gear 12, the fixed seat 13, the nut seat 14, and the screw 10 constitute a vertical drive mechanism; wherein the nut seat 14 is fixed to the primary movable plate 18, and can drive the primary movable plate 18 to move up and down; a synchronous wheel 15 is fixed at each end of the primary movable plate 18, and the synchronous wheel 15 can rotate around the synchronous wheel transmission shaft 15, and the synchronous belt 18 wound around the synchronous wheel 15 serves as a passive driving part, one side of the synchronous belt 18 is fixed to the transverse movable plate 7 through the second fixed block, and the other side of the synchronous belt 18 is fixed to the secondary movable plate 19 through the first fixed block 20; the primary slider 22 and the primary slide rail 23 are arranged between the transverse movable plate 7 and the primary movable plate 18, mainly for the displacement guide of the primary movable plate 18, and to enhance its strength; the secondary slider 24 and the secondary slide rail 25 are arranged between the primary movable plate 18 and the secondary movable plate 19, mainly for the displacement guide of the secondary movable plate 19, and to enhance its strength; the above components constitute a single motor driven vertical secondary movement.

[0042] In another embodiment, the first motor 3 and the second motor 9 are both electrically connected to the control unit, and the control unit controls the lateral drive mechanism and the vertical drive mechanism, so that the lateral drive mechanism and the vertical drive mechanism can work independently to achieve lateral movement and vertical movement respectively; they can also work simultaneously and move according to a preset trajectory.

[0043] The multi-freedom transfer transmission mechanism uses a single motor to drive the secondary stroke, which doubles the stroke and can lower the loading platform to a lower height to adapt to more usage scenarios. It has low cost, simple control, and a more compact structure. It uses synchronous belts and screws as drives and has high operating accuracy. It has a combination of lateral and vertical movement and a modular design, so it can be used in more scenarios by simply changing the loading platform. The multi-freedom transfer transmission mechanism uses a machine structure instead of manual operation, has high motion efficiency, and ensures the environmental requirements of the sample library.

[0044] The above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A multi-degree-of-freedom transport transmission mechanism, characterized in that: include: A base (1), a lateral drive mechanism and a vertical drive mechanism; The transverse driving mechanism comprises a first motor (3), a horizontal transmission assembly and a transverse moving plate (7), wherein the first motor (3) is mounted on the base (1), an output end of the first motor (3) is connected to the transverse moving plate (7) via the horizontal transmission assembly, and the first motor (3) is used to drive the transverse moving plate (7) to reciprocate in a horizontal direction; The vertical drive mechanism comprises a second motor (9), a screw rod (10), a stroke multiplication transmission assembly and a loading platform (26); the second motor (9) is mounted on the transverse moving plate (7); the lower end of the screw rod (10) is connected to the output end of the second motor (9); the upper end of the screw rod (10) is connected to the loading platform (26) via the stroke multiplication transmission assembly; the second motor (9) is used to drive the loading platform (26) to reciprocate in the vertical direction.

2. The multi-degree-of-freedom transport transmission mechanism according to claim 1, characterized in that: The horizontal transmission assembly comprises: a rack (4), a horizontal guide rail (5) and a slide block (6); The rack (4) and the horizontal guide rail (5) are fixed on the same side of the transverse moving plate (7) and extend in the horizontal direction. The slider (6) is arranged on the horizontal guide rail (5). The horizontal guide rail (5) is slidably connected to the base (1) through the slider (6). The rack (4) is meshed with the gear of the first motor (3).

3. The multi-degree-of-freedom transport transmission mechanism according to claim 1, characterized in that: The stroke multiplication transmission assembly comprises: a fixed seat (13), a nut seat (14), a synchronous belt assembly, a primary moving plate (18) and a secondary moving plate (19); The fixing seat (13) is fixed to one end of the transverse moving plate (7), the second motor (9) is installed on the transverse moving plate (7) through the fixing seat (13), the nut seat (14) is installed on the upper end of the screw rod (10), and when the second motor (9) drives the screw rod (10) to rotate, the screw rod (10) can drive the nut seat (14) to reciprocate in the vertical direction; The primary movable plate (18) and the secondary movable plate (19) are both arranged vertically and parallel to each other; the primary movable plate (18) is fixedly connected to the nut seat (14); the secondary movable plate (19) is connected to the primary movable plate (18) via the synchronous belt assembly; driven by the synchronous belt assembly, the secondary movable plate (19) and the primary movable plate (18) move in the same direction.

4. The multi-degree-of-freedom transport transmission mechanism according to claim 3, characterized in that: The synchronous belt assembly comprises: two synchronous wheels (15), two synchronous wheel transmission shafts (16), a synchronous belt (17), a first fixed block (20) and a second fixed block (21); The two synchronous wheel transmission shafts (16) are rotatably connected to the upper and lower ends of the first movable plate (18); the two synchronous wheels (15) and the two synchronous wheel transmission shafts (16) are arranged in a one-to-one correspondence; the synchronous wheels (15) are sleeved on the synchronous wheel transmission shafts (16); the synchronous belt (17) is wound around the two synchronous wheels (15); one side of the synchronous belt (17) is fixedly connected to the transverse movable plate (7) through the second fixed block (21); and the other side of the synchronous belt (17) is fixedly connected to the secondary movable plate (19) through the first fixed block (20).

5. The multi-degree-of-freedom transport transmission mechanism according to claim 3, characterized in that: The vertical driving mechanism further comprises: a first gear (11) and a second gear (12); The first gear (11) is mounted on the lower end of the second motor (9) and meshes with the gear of the second motor (9); The second gear (12) is mounted on the lower end of the screw rod (10) and meshes with the first gear (11).

6. The multi-degree-of-freedom transport transmission mechanism according to claim 3, characterized in that: The vertical drive mechanism further comprises: a first displacement guide assembly and a second displacement guide assembly; The first displacement guide assembly comprises a primary slider (22) and a primary slide rail (23), wherein the primary slide rail (23) is fixed on the primary movable plate (18) and is arranged vertically, and the primary slider (22) is arranged on the primary slide rail (23) and is fixedly connected to the transverse movable plate (7); The second displacement guide assembly comprises a secondary slider (24) and a secondary slide rail (25); the secondary slide rail (25) is fixed on the secondary movable plate (19) and is arranged vertically; the secondary slider (24) is arranged on the secondary slide rail (25) and is fixedly connected to the primary movable plate (18).

7. The multi-degree-of-freedom transport transmission mechanism according to claim 3, characterized in that: The transverse moving plate (7) is an L-shaped plate as a whole, and the L-shaped plate comprises a horizontal part and a vertical part; The first motor (3) and the second motor (9) are located on opposite sides of the horizontal portion, and the primary moving plate (18) is located between the vertical portion of the transverse moving plate (7) and the secondary moving plate (19).

8. The multi-degree-of-freedom transport transmission mechanism according to claim 3, characterized in that: The loading platform (26) is a transfer tank placement plate, which is fixed to the lower end of the secondary movable plate (19) and is arranged horizontally. The transfer tank placement plate is used to place the transfer tank (8). A plate rack is arranged in the transfer tank (8), and the plate rack is used to place sample tubes, and the sample tubes are used to store biological samples.

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