Automatic loading and unloading device for floating bacterium sampling robot

Abstract

The utility model provides an automatic loading and unloading device for a planktonic bacteria sampling robot, which belongs to the technical field of planktonic bacteria sampling equipment and comprises a stacking frame and a manipulator. The stacking frame is arranged on the sampling workbench; the stacking frame is used for storing a plurality of culture dishes; wherein the top of the stacking frame is provided with lifting parts which are oppositely arranged, and the outer side of each lifting part is provided with a groove; the manipulator is arranged on the sampling workbench; the mechanical arm comprises two clamping jaws, and each clamping jaw is provided with an abutting part used for being matched with the corresponding groove in an inserted mode. When the abutting part is matched with the groove in an inserted mode, the mechanical arm can lift the stacking frame. When the stacking frame is carried, the clamping jaw on the mechanical arm moves to the lifting part of the stacking frame, the mechanical arm can lift the stacking frame upwards through insertion fit of the abutting part and the groove, and then the stacking frame can be conveniently placed at a designated position; through the arrangement, an operator does not need to place the stacking frame on a sampling workbench, and the labor intensity of the operator can be reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of floating bacteria sampling equipment, and particularly relates to an automatic loading and unloading device for a floating bacteria sampling robot. Background Art

[0002] The dust particle counter and floating bacteria sampling robot are based on the SLAM algorithm and lidar obstacle avoidance system to ensure accurate arrival at the site for sampling particles and floating bacteria in the clean room environment. In the prior art, the dust particle counter and floating bacteria sampling robot include a sampling workbench, a sampling port is arranged on the sampling workbench, and an air extraction component communicated with the sampling port is arranged inside the sampling workbench. Then, a culture dish is placed at the position of the sampling port on the workbench; the air extraction component is communicated with the outside of the sampling workbench through a pipeline; by starting the air extraction component, air can enter the sampling port after passing through the air extraction component, and then the air passes through the culture dish, and dust particles and floating bacteria in the air can stay on the culture dish.

[0003] The culture dish for sampling is as shown in the Chinese invention patent application with the application number 201110095010.4, which includes a sampling head body upstream of the culture dish. The sampling head body has a circular collection port and a plurality of slits at the collection port. The plurality of slits are evenly distributed along the circumferential direction of the collection port. Each slit extends along the radial direction of the collection port, and a buffer transition groove is arranged upstream of each slit, and the ratio of the total area of all slits to the upper surface area of the collection port meets specific conditions.

[0004] In the prior art, several culture dishes are placed on a stacking rack in the height direction, and then an operator places the stacking rack on the sampling workbench, and the culture dish on the stacking rack is placed at the sampling port position of the sampling workbench by a manipulator; however, in the above process, since the operator needs to carry the stacking rack, the labor intensity of the operator will be increased. Summary of the Utility Model

[0005] The embodiment of the utility model provides an automatic loading and unloading device for a floating bacteria sampling robot, aiming at solving the technical problem that an operator needs to carry a stacking rack in the prior art.

[0006] To achieve the above object, the technical solution adopted by the utility model is:

[0007] Provide an automatic loading and unloading device for a floating bacteria sampling robot, which is arranged on the sampling workbench and includes:

[0008] A stacking rack is arranged on the sampling workbench; the stacking rack is used for storing several culture dishes; wherein, the top of the stacking rack has oppositely arranged lifting parts, and a groove is arranged on the outside of each lifting part;

[0009] A manipulator is arranged on the sampling workbench; the manipulator includes two jaws, and each jaw has an abutting portion for plugging and cooperating with the groove.

[0010] Wherein, when the abutting portion is plugged and cooperated with the groove, the manipulator can lift the stacking rack.

[0011] In a possible implementation manner, the abutting portion is slidably arranged on the jaw, and a driving mechanism for driving the abutting portion to slide is arranged on the jaw.

[0012] In a possible implementation manner, the driving mechanism is one of a cylinder, a hydraulic rod and an electric push rod, and the driving end of the driving mechanism is connected to the abutting portion.

[0013] In a possible implementation manner, the jaw has a protruding portion, and the abutting portion has a sliding groove for sliding cooperation with the protruding portion; the end of the protruding portion and the abutting portion respectively have a limiting structure at the position of the opening of the sliding groove to limit the sliding position of the abutting portion.

[0014] In a possible implementation manner, the inside of the protruding portion has a cavity, and the cavity communicates with the outer end of the protruding portion; an elastic reset component is arranged between the abutting portion and the jaw; the driving mechanism includes:

[0015] An air inlet pipe, one end of which is communicated with the cavity of the jaw, and the other end is communicated with a gas source.

[0016] An exhaust pipe, one end of which is connected to the cavity; electromagnetic valves are arranged on both the air inlet pipe and the exhaust pipe.

[0017] In a possible implementation manner, the elastic reset component includes a spring, the spring is arranged at the bottom of the abutting portion, one end of the spring is connected to the abutting portion, and the other end of the spring is connected to the jaw.

[0018] In a possible implementation manner, there is a receiving space between the outer side wall of the protruding portion and the inner side wall of the sliding groove, and the elastic reset component includes a spring arranged in the receiving space, one end of the spring is connected to the outer side wall of the protruding portion, and the other end of the spring is connected to the inner side wall of the abutting portion.

[0019] In a possible implementation manner, the limiting structure includes a first limiting ring and a second limiting ring, the first limiting ring is fixed at the outer end of the protruding portion, and the second limiting ring is fixed at the opening position of the sliding groove.

[0020] In a possible implementation manner, the second limiting ring is in sealing cooperation with the protruding portion.

[0021] In a possible implementation, the stacking rack includes a bottom plate and two sets of support structures. The two sets of support structures are arranged oppositely, and a space for placing a culture dish is formed between the two sets of support structures and the bottom plate; the lifting part is arranged at the top of the support structure.

[0022] Compared with the prior art, the automatic loading and unloading device for a floating bacteria sampling robot provided by the present utility model enables the manipulator to move the gripper on the manipulator to the lifting part of the stacking rack when carrying the stacking rack. Through the insertion and cooperation of the abutting part and the groove, the manipulator can lift the stacking rack upward, thereby facilitating the placement of the stacking rack at a designated position; through the above arrangement of the present application, it is not necessary for an operator to place the stacking rack on the sampling workbench, which can reduce the labor intensity of the operator. Description of the Drawings

[0023] Figure 1 is a schematic diagram of an automatic loading and unloading device for a floating bacteria sampling robot provided by an embodiment of the present utility model;

[0024] Figure 2 is Figure 1 an enlarged schematic view of part A in

[0025] Figure 3 is Figure 1 an enlarged schematic view of part B in

[0026] Figure 4 is a cross-sectional view of the gripper part of an automatic loading and unloading device for a floating bacteria sampling robot provided by an embodiment of the present utility model;

[0027] Figure 5 is a cross-sectional view of the protruding part of an automatic loading and unloading device for a floating bacteria sampling robot provided by an embodiment of the present utility model.

[0028] Description of the reference numerals: 1, sampling workbench; 2, stacking rack; 21, bottom plate; 22, support rod; 3, manipulator; 31, gripper; 32, abutting part; 321, chute; 322, second limiting ring; 33, protruding part; 331, first limiting ring; 332, cavity; 4, lifting part; 41, groove; 5, elastic reset component. Detailed Embodiments

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0030] Please refer to Figures 1 to 5, a description of an automatic loading and unloading device for a floating bacteria sampling robot provided by the present utility model will be given hereinafter. The automatic loading and unloading device for a floating bacteria sampling robot is arranged on a sampling workbench 1 and includes a stacking rack 2 and a manipulator 3; the stacking rack 2 is arranged on the sampling workbench 1; the stacking rack 2 is used for storing a plurality of culture dishes; wherein, the top of the stacking rack 2 has oppositely arranged lifting parts 4, and each lifting part 4 has a groove 41 on its outer side; the manipulator 3 is arranged on the sampling workbench 1; the manipulator 3 includes two clamping jaws 31, and each clamping jaw 31 has an abutting part 32 for plugging and matching with the groove 41; wherein, when the abutting part 32 is plugged and matched with the groove 41, the manipulator 3 can lift the stacking rack 2.

[0031] Compared with the prior art, for the automatic loading and unloading device for a floating bacteria sampling robot provided by the present utility model, when the stacking rack 2 is carried, the clamping jaws 31 on the manipulator 3 move to the lifting part 4 of the stacking rack 2, and through the plugging and matching of the abutting part 32 and the groove 41, the manipulator 3 can lift the stacking rack 2 upward, thereby facilitating the placement of the stacking rack 2 at a designated position; through the above arrangement of the present application, it is not necessary for an operator to place the stacking rack 2 on the sampling workbench 1, and the labor intensity of the operator can be reduced.

[0032] In some embodiments, as Figures 1 to 5 shown, the abutting part 32 is slidably arranged on the clamping jaw 31, and the clamping jaw 31 is provided with a driving mechanism for driving the abutting part 32 to slide; the driving mechanism is one of a cylinder, a hydraulic rod and an electric push rod, and the driving end of the driving mechanism is connected to the abutting part 32.

[0033] Exemplarily, taking the electric push rod as an example for illustration; there are two electric push rods, and the two electric push rods are respectively fixed on opposite sides of the clamping jaw 31, and the driving end of the electric push rod is connected to the abutting part 32; when the clamping jaw 31 moves to the position of the lifting part 4 of the stacking rack 2, the abutting part 32 is located at the position of the groove 41; by driving the abutting part 32 to move outwards through the driving end of the electric push rod, the abutting part 32 can be plugged and matched with the groove 41; when the clamping jaw 31 moves upwards, the abutting part 32 can contact the top wall of the groove 41, thereby lifting the stacking rack 2 upwards. Through the above arrangement, by carrying the stacking rack 2 by the manipulator 3, the labor intensity of the operator can be reduced.

[0034] It should be noted that an operator places a plurality of culture dishes on the stacking rack 2. Initially, the stacking rack 2 is placed on a material platform, and the manipulator 3 can move to the position of the stacking rack 2 on the material platform and bring the stacking rack 2 to a designated position on the sampling workbench 1.

[0035] In addition, the manipulator 3 itself has a clamping structure for clamping the culture dish. The above-mentioned clamping structure is a prior art and will not be elaborated here. On the basis of the prior art, the present application adds an abutting portion 32 capable of clamping the stacking rack 2 to facilitate the automatic loading and unloading of the stacking rack 2 by the manipulator 3.

[0036] In some embodiments, as Figures 1 to 5 shown, the jaw 31 has a protrusion 33, and the abutting portion 32 has a sliding groove 321 that slidably cooperates with the protrusion 33; the end of the protrusion 33 and the abutting portion 32 respectively have a limiting structure at the opening position of the sliding groove 321 to limit the sliding position of the abutting portion 32; the limiting structure includes a first limiting ring 331 and a second limiting ring 322. The first limiting ring 331 is fixed to the outer end of the protrusion 33, and the second limiting ring 322 is fixed to the opening position of the sliding groove 321; there is an accommodating space between the outer side wall of the protrusion 33 and the inner side wall of the sliding groove 321.

[0037] It should be noted that the abutting portion 32 slidably cooperates with the protrusion 33, and through the action of the first limiting ring 331 and the second limiting ring 322, the extreme position of the abutting portion 32 can be limited, thereby reducing the situation where the abutting portion 32 slides out of the protrusion 33.

[0038] In some embodiments, as Figures 1 to 5 shown, the interior of the protrusion 33 has a cavity 332, and the cavity 332 communicates with the outer end of the protrusion 33; there is an elastic reset member 5 between the abutting portion 32 and the jaw 31; the driving mechanism includes an air inlet pipe (not shown in the figure) and an exhaust pipe (not shown in the figure); one end of the air inlet pipe communicates with the cavity 332 of the jaw 31, and the other end communicates with the air source; one end of the exhaust pipe is connected to the cavity 332; electromagnetic valves are provided on both the air inlet pipe and the exhaust pipe. The second limiting ring 322 is in sealing cooperation with the protrusion 33, which can reduce the pressure gas escaping from the connection between the abutting portion 32 and the protrusion 33.

[0039] It should be noted that when it is necessary to clamp the stacking rack 2, the abutting portion 32 follows the manipulator 3 to move to the position of the groove 41 of the stacking rack 2. The electromagnetic valve on the air inlet pipe is opened, and the electromagnetic valve on the exhaust pipe is closed. At this time, the pressure gas will enter the cavity 332, and the pressure gas in the cavity 332 will push the abutting portion 32 so that the abutting portion 32 is inserted into the groove 41. After the stacking rack 2 is placed at the designated position by the manipulator 3, the electromagnetic valve on the air inlet pipe is closed, and the electromagnetic valve on the exhaust pipe is opened. At this time, the pressure gas in the cavity 332 will be discharged, and the abutting portion 32 will slide backward under the elastic force of the elastic reset member 5, so that the abutting portion 32 is separated from the groove 41.

[0040] In some embodiments, as Figures 1 to 5As shown, the elastic reset component 5 includes a spring. The spring is disposed at the bottom of the abutting portion 32. One end of the spring is connected to the abutting portion 32, and the other end of the spring is connected to the jaw 31.

[0041] Exemplarily, the spring in this embodiment is disposed at the outer bottom of the abutting portion 32. By connecting the abutting portion 32 and the jaw 31 with the spring, elastic force can be provided to the abutting portion 32, such that the abutting portion 32 is in a retracted state in the initial state, facilitating the movement of the jaw 31 to the position of the lifting portion 4 of the stacking rack 2.

[0042] In some embodiments, as Figures 1 to 5 shown, the elastic reset component 5 includes a spring disposed in the accommodation space. One end of the spring is connected to the outer sidewall of the protruding portion 33, and the other end of the spring is connected to the inner sidewall of the abutting portion.

[0043] It should be noted that the spring can also be placed in the accommodation space between the abutting portion 32 and the protruding portion 33. This embodiment takes the spring placed in the accommodation space as an example for illustration; by disposing the spring in the accommodation space and connecting the two ends of the spring to the abutting portion and the protruding portion 33 respectively, the spring can provide elastic force to the abutting portion 32, such that the abutting portion 32 is in a retracted state in the initial state.

[0044] In some embodiments, as Figures 1 to 5 shown, the stacking rack 2 includes a bottom plate 21 and two groups of support structures. The two groups of support structures are oppositely disposed, and a space for placing culture dishes is formed between the two groups of support structures and the bottom plate 21; the lifting portion 4 is disposed at the top of the support structure.

[0045] Exemplarily, each group of support structures includes two support rods 22, and the lifting portion 4 is connected to the top end of the support rods 22; the support structure can also include a support plate; through the above settings, on the one hand, a placement space can be provided for a plurality of culture dishes, and on the other hand, by placing the lifting portion 4 at the top of the support structure, the manipulator 3 can grasp the top position of the stacking rack 2 without the manipulator 3 reaching too deep a position, facilitating the grasping of the stacking rack 2 by the manipulator 3.

[0046] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic loading and unloading device for a floating bacteria sampling robot, arranged on a sampling workbench, characterized in that: include: A stacking rack is arranged on the sampling workbench; the stacking rack is used to store a plurality of culture dishes; wherein the top of the stacking rack has lifting parts arranged opposite to each other, and the outer side of each lifting part has a groove; A manipulator is arranged on the sampling workbench; the manipulator comprises two clamping jaws, each of which has an abutment portion for plugging and cooperating with the groove; Wherein, when the abutting portion is plugged into and matched with the groove, the robot arm can lift the stacking rack.

2. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 1, characterized in that: The abutment portion is slidably arranged on the clamping jaw, and a driving mechanism for driving the abutment portion to slide is provided on the clamping jaw.

3. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 2, characterized in that: The driving mechanism is one of a cylinder, a hydraulic rod and an electric push rod, and a driving end of the driving mechanism is connected to the abutting portion.

4. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 2, characterized in that: The clamping jaw has a protruding portion, and the abutting portion has a sliding groove that slidably cooperates with the protruding portion; the end of the protruding portion and the position of the abutting portion at the opening of the sliding groove respectively have limiting structures to limit the sliding position of the abutting portion.

5. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 4, characterized in that: The protrusion has a cavity inside, and the cavity is connected to the outer end of the protrusion; An elastic reset component is provided between the abutment portion and the clamping claw; the driving mechanism comprises: An air inlet pipe, one end of which is connected to the cavity of the clamping jaw, and the other end of which is connected to the air source; An exhaust pipe has one end connected to the cavity; and solenoid valves are provided on both the air inlet pipe and the exhaust pipe.

6. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 5, characterized in that: The elastic reset component comprises a spring, which is arranged at the bottom of the abutting portion, one end of the spring is connected to the abutting portion, and the other end of the spring is connected to the clamping claw.

7. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 5, characterized in that: There is an accommodating space between the outer wall of the protruding portion and the inner wall of the sliding groove, and the elastic reset component includes a spring arranged in the accommodating space, one end of the spring is connected to the outer wall of the protruding portion, and the other end of the spring is connected to the inner wall of the abutting portion.

8. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 4, characterized in that: The limiting structure includes a first limiting ring and a second limiting ring, wherein the first limiting ring is fixed to the outer end of the protruding portion, and the second limiting ring is fixed to the opening position of the sliding groove.

9. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 8, characterized in that: The second limiting ring is in sealing cooperation with the protruding portion.

10. The automatic loading and unloading device for a floating bacteria sampling robot according to claim 1, characterized in that: The stacking rack comprises a bottom plate and two groups of supporting structures, the two groups of supporting structures are arranged opposite to each other, and a space for placing culture dishes is formed between the two groups of supporting structures and the bottom plate; the lifting part is arranged on the top of the supporting structure.

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