Multifunctional clamping manipulator for ultralow-temperature biological storage equipment

Abstract

The utility model relates to a multifunctional clamping manipulator for ultralow temperature biological storage equipment, which comprises a manipulator main body, the manipulator main body is provided with a base, a first movable joint, a second movable joint, a third movable joint, a fourth movable joint and a reversing joint, and a reversing motor is arranged between the fourth movable joint and the reversing joint. The output end of the reversing joint is provided with a clamping manipulator assembly, the clamping manipulator assembly is provided with a manipulator support, one end of the manipulator support is provided with a biological storage box clamping manipulator, and the other end of the manipulator support is provided with a biological test tube clamping manipulator. A reversing motor is arranged between a fourth movable joint and a reversing joint to complete switching of a biological storage box clamping manipulator and a biological test tube clamping manipulator, the function of clamping a biological storage box and a biological test tube is achieved at the same time, the use function of the clamping manipulator assembly is improved, and the clamping manipulator assembly is simple in structure, convenient to use and practical.

Description

Technical Field

[0001] The utility model belongs to the technical field of biological storage equipment, and in particular relates to a multifunctional clamping manipulator for ultra-low temperature biological storage equipment. Background Art

[0002] Ultra-low temperature biological storage equipment needs to store organisms including human organ tissues, whole blood, plasma, serum, biological fluids or processed biological samples under ultra-low temperature conditions. Generally, the low-temperature insulated storage tank of the ultra-low temperature biological storage equipment stores as many biological samples as possible. The biological samples are stored in several biological storage boxes. At the same time, each biological storage box will be provided with several biomass test tubes for storing different biomasses. Therefore, when the ultra-low temperature biological storage equipment performs intelligent retrieval and placement of biomass test tubes, the biological storage box must first be clamped to the predetermined position for code scanning and identification, and then the biological test tube at the precise position is retrieved and placed. At the same time, due to the large differences in volume, size and shape of biological storage boxes and biomass test tubes, the clamping robot cannot be universal during retrieval and placement. Therefore, at present, only the biological storage box is generally only retrieved and placed by a robot, and the retrieval and placement of biomass test tubes requires manual operation, so the efficiency of retrieval and placement of biological test tubes is not high. Utility Model Content

[0003] In order to solve the above technical problems existing in the prior art, the utility model provides a multifunctional gripping manipulator for ultra-low temperature biological storage equipment.

[0004] In order to solve the above technical problems, a multifunctional gripping manipulator for ultra-low temperature biological storage equipment is provided, comprising a manipulator body, the manipulator body being provided with a base, a first movable joint, a second movable joint, a third movable joint, a fourth movable joint, and a reversing joint; a reversing motor being provided between the fourth movable joint and the reversing joint; a gripping manipulator assembly being provided at the output end of the reversing joint; the gripping manipulator assembly being provided with a manipulator bracket; a biological storage box gripping manipulator being provided at one end of the manipulator bracket; and a biological test tube gripping manipulator being provided at the other end of the manipulator bracket; the biological storage box gripping manipulator being used to grip the biological storage box, and the biological test tube gripping manipulator being used to grip the biological test tube after reversal.

[0005] Furthermore, an adjustment motor is provided between the reversing joint and the clamping mechanism, and the adjustment motor is used to adjust the radial angle of the clamping mechanism.

[0006] Furthermore, the biological storage box clamping robot is provided with a first clamping electromagnet, and a pair of clamping arms are provided at the output end of the first clamping electromagnet.

[0007] Furthermore, the biological test tube clamping manipulator is provided with a second clamping electromagnet, and the second clamping electromagnet is provided with a plurality of columnar clamping heads.

[0008] Furthermore, a first rotating motor is arranged between the base and the first movable joint, a second rotating motor is arranged between the first movable joint and the second movable joint, a third rotating motor is arranged between the second movable joint and the third movable joint, and a fourth rotating motor is arranged between the third movable joint and the fourth movable joint.

[0009] The present utility model relates to a multifunctional gripping manipulator for ultra-low temperature biological storage equipment, comprising a manipulator body, the manipulator body being provided with a base, a first movable joint, a second movable joint, a third movable joint, a fourth movable joint, and a reversing joint, a reversing motor being provided between the fourth movable joint and the reversing joint, a gripping manipulator assembly being provided at the output end of the reversing joint, the gripping manipulator assembly being provided with a manipulator bracket, a biological storage box gripping manipulator being provided at one end of the manipulator bracket, and a biological test tube gripping manipulator being provided at the other end of the manipulator bracket. By providing a reversing motor between the fourth movable joint and the reversing joint, the switching between the biological storage box gripping manipulator and the biological test tube gripping manipulator is completed, and the manipulator has the function of gripping both biological storage boxes and biological test tubes, thereby improving the usability of the gripping manipulator assembly, and having a simple structure, convenience, and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of the three-dimensional structure of a multifunctional gripping robot for ultra-low temperature biological storage equipment;

[0011] Figure 2 This is an enlarged schematic diagram of the C-section of the multifunctional gripping manipulator for ultra-low temperature biological storage equipment;

[0012] Figure 3 A magnified schematic diagram of the D position of the multifunctional gripping manipulator for ultra-low temperature biological storage equipment

[0013] Figure 4 This is a schematic diagram of the coordination relationship among the storage unit, sub-storage unit, biological storage box and biological biomass test tube. DETAILED DESCRIPTION

[0014] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of the components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present invention, but the description is for the purpose of illustrating the general principles of the present invention, and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined as defined by the attached claims.

[0015] The present invention will be further described in detail below with reference to the accompanying drawings, but the accompanying drawings are not intended to limit the present invention.

[0016] Example

[0017] like Figure 1-3 As shown, a multifunctional gripping robot for ultra-low temperature biological storage equipment includes a robot body 3, the robot body 3 being provided with a base 3a, a first movable joint 3b, a second movable joint 3c, a third movable joint 3d, a fourth movable joint 3e, and a reversing joint 3f. A reversing motor is provided between the fourth movable joint 3e and the reversing joint 3f. A gripping robot assembly 3g is provided at the output end of the reversing joint 3f. The gripping robot assembly 3g is provided with a robot bracket 3g1. A biological storage box gripping robot 3g2 is provided at one end of the robot bracket 3g1, and a biological test tube gripping robot 3g3 is provided at the other end of the robot bracket 3g1. The biological storage box gripping robot 3g2 is used to grip the biological storage box, and the biological test tube gripping robot 3g3 is used to grip the biological test tube after reversing.

[0018] like Figure 4 As shown, the storage unit 2a is provided with several layers of sub-storage units 2a3, each layer of sub-storage units 2a3 stores biological storage boxes 2a4, and the biological storage boxes 2a4 are used to store biological test tubes 2a4-1. The storage unit 2a is generally stored vertically and is also kept vertical when being picked up and transported. Therefore, when removing the storage unit 2a, as shown in FIG. Figure 1As shown, first, the biological storage box 2a4 is clamped by the biological storage box clamping manipulator 3g2 provided in the clamping manipulator assembly 3g, and moved to the code scanning mechanism (the code scanning mechanism is not shown in the figure) to automatically scan and identify the biological storage box 2a4 and the biological test tube 2a4-1 respectively, and then further clamped to a special pick-up and placement position to specifically pick up and place the biological test tube 2a4-1. At this time, a reversing motor can be set between the fourth movable joint 3e and the reversing joint 3f to drive the manipulator bracket 3g1 to rotate 180°, and then the required biological test tube 2a4-1 is clamped by the biological test tube clamping manipulator 3g3. Therefore, the gripping robot assembly 3g is provided with a robot bracket 3g1, and a biological storage box gripping robot 3g2 and a biological test tube gripping robot 3g3 are respectively provided at both ends of the robot bracket 3g1. Finally, a reversing motor is provided between the fourth movable joint 3e and the reversing joint 3f to complete the switching between the biological storage box gripping robot 3g2 and the biological test tube gripping robot 3g3. At the same time, it has the function of gripping the biological storage box 2a4 and the biological test tube 2a4-1, thereby improving the usability of the gripping robot assembly 3g.

[0019] Preferably, an adjustment motor is provided between the reversing joint 3f and the clamping mechanism 3g, and the adjustment motor is used to adjust the radial angle of the clamping mechanism 3g. The clamping angle of the clamping mechanism 3g is adjusted by the adjustment motor, thereby enhancing the flexibility of the clamping mechanism 3g and realizing the clamping of the biological storage box 2a4 and the biological test tube 2a4-1 at any angle and position.

[0020] More preferably, the biological storage box clamping manipulator 3g2 is provided with a first clamping electromagnet 3g2-1, and a pair of clamping arms 3g2-2 are provided at the output end of the first clamping electromagnet 3g2-1.

[0021] Furthermore, Figure 2 As shown, the biological test tube gripping manipulator 3g3 is provided with a second gripping electromagnet 3g3-1, which is provided with a plurality of columnar gripping heads 3g3-2. Since the biological test tube 2a4-1 is a tubular structure and the plurality of biological test tubes 2a4-1 are relatively close together, with small gaps between them, the biological test tube gripping manipulator 3g3 is provided with columnar gripping heads 3g3-2 for more convenient gripping of the biological test tube 2a4-1. Preferably, four columnar gripping heads 3g3-2 are provided, and gripping of the biological test tube 2a4-1 is controlled by the second gripping electromagnet 3g3-1.

[0022] Furthermore, a first rotating motor is arranged between the base 3a and the first movable joint 3b, a second rotating motor is arranged between the first movable joint 3b and the second movable joint 3c, a third rotating motor is arranged between the second movable joint 3c and the third movable joint 3d, and a fourth rotating motor is arranged between the third movable joint 3d and the fourth movable joint 3e.

[0023] like Figure 1 As shown, the first movable joint 3b can be driven by the first rotary motor to rotate 360° along the axis of the base 3a, thereby allowing the first movable joint 3b to be arbitrarily adjusted on the base 3a. Similarly, the second movable joint 3c can be arbitrarily adjusted on the first movable joint 3b by the second rotary motor, the third movable joint 3d can be arbitrarily adjusted on the second movable joint 3c by the third rotary motor, and the fourth movable joint 3e can be arbitrarily adjusted on the third movable joint 3d by the fourth rotary motor. Therefore, the setting of the first rotary motor to the fourth rotary motor can enable the clamping robot assembly 3g to be adjusted to any angle and any position, thereby better completing the clamping work of the biological storage box 2a4 and the biological test tube 2a4-1.

[0024] The present utility model relates to a multifunctional gripping manipulator for ultra-low temperature biological storage equipment, comprising a manipulator body, the manipulator body being provided with a base, a first movable joint, a second movable joint, a third movable joint, a fourth movable joint, and a reversing joint, a reversing motor being provided between the fourth movable joint and the reversing joint, a gripping manipulator assembly being provided at the output end of the reversing joint, the gripping manipulator assembly being provided with a manipulator bracket, a biological storage box gripping manipulator being provided at one end of the manipulator bracket, and a biological test tube gripping manipulator being provided at the other end of the manipulator bracket. By providing a reversing motor between the fourth movable joint and the reversing joint, the switching between the biological storage box gripping manipulator and the biological test tube gripping manipulator is completed, and the manipulator has the function of gripping both biological storage boxes and biological test tubes, thereby improving the usability of the gripping manipulator assembly, and having a simple structure, convenience, and practicality.

[0025] The foregoing description shows and describes preferred embodiments of the present invention. However, as previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the present invention as taught herein or through the techniques or knowledge of the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be protected by the claims appended hereto.

Claims

1. A multifunctional gripping manipulator for ultra-low temperature biological storage equipment, comprising a manipulator body (3), wherein the manipulator body (3) is provided with a base (3a), a first movable joint (3b), a second movable joint (3c), a third movable joint (3d), a fourth movable joint (3e), and a reversing joint (3f); characterized in that: A reversing motor is provided between the fourth movable joint (3e) and the reversing joint (3f); a gripping manipulator assembly (3g) is provided at the output end of the reversing joint (3f); the gripping manipulator assembly (3g) is provided with a manipulator bracket (3g1); a biological storage box gripping manipulator (3g2) is provided at one end of the manipulator bracket (3g1); a biological test tube gripping manipulator (3g3) is provided at the other end of the manipulator bracket (3g1); the biological storage box gripping manipulator (3g2) is used to grip the biological storage box, and the biological test tube gripping manipulator (3g3) is used to grip the biological test tube after reversing.

2. The multifunctional gripping manipulator for ultra-low temperature biological storage equipment according to claim 1, characterized in that: An adjustment motor is provided between the reversing joint (3f) and the clamping mechanism (3g), and the adjustment motor is used to adjust the radial angle of the clamping mechanism (3g).

3. A multifunctional gripping manipulator for ultra-low temperature biological storage equipment according to claim 1 or 2, characterized in that: The biological storage box clamping manipulator (3g2) is provided with a first clamping electromagnet (3g2-1), and a pair of clamping arms (3g2-2) are provided at the output end of the first clamping electromagnet (3g2-1).

4. The multifunctional gripping manipulator for ultra-low temperature biological storage equipment according to claim 3, characterized in that: The biological test tube clamping manipulator (3g3) is provided with a second clamping electromagnet (3g3-1), and the output end of the second clamping electromagnet (3g3-1) is provided with a plurality of columnar clamping heads (3g3-2).

5. A multifunctional gripping manipulator for ultra-low temperature biological storage equipment according to claim 1, 2 or 4, characterized in that: A first rotating motor is provided between the base (3a) and the first movable joint (3b), a second rotating motor is provided between the first movable joint (3b) and the second movable joint (3c), a third rotating motor is provided between the second movable joint (3c) and the third movable joint (3d), and a fourth rotating motor is provided between the third movable joint (3d) and the fourth movable joint (3e).

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