Microorganism assembly line carrying trolley positioning and clamping mechanism

Abstract

The utility model discloses a microorganism assembly line carrying trolley positioning and clamping mechanism which realizes the following four states: a first state: a trolley is released and is not positioned in the front-back direction and the left-right direction; in the second state, the trolley is positioned in the front-back direction; in the third state, the trolley is positioned in the left-right direction; in the fourth state, the trolley is positioned in the front-back and left-right directions at the same time; the positioning and clamping mechanism is driven by a motor to achieve the four states. The trolley is driven by a motor, can be positioned in the advancing direction and the left-right direction through a set of multi-connecting-rod mechanism, and is convenient for a manipulator to clamp a culture dish. The whole clamping mechanism is simple in structure, convenient to implement and low in cost.

Description

Technical Field

[0001] This utility model belongs to the field of microbial production line technology, and in particular, it is a positioning and clamping mechanism for a microbial production line transport trolley. Background Technology

[0002] In microbiology-related experiments or production processes, the positioning and clamping technology of assembly line trolleys plays a crucial role.

[0003] In traditional microbiological operations, sample or culture handling often relies on manual labor, which is not only inefficient but also prone to contamination, confusion, or damage due to human error, making it difficult to meet the demands of large-scale, high-precision microbiological processing. With the development of automation technology, automated guided vehicles (AGVs) have been introduced into the field of microbiology. However, early AMVs had numerous problems with positioning and clamping. Their positioning accuracy was insufficient, often failing to accurately stop at the predetermined operating point, making subsequent microbial detection, culture, and analysis difficult to execute precisely. Regarding clamping, some existing mechanisms only restrict the forward and backward directions, lacking left and right positioning, making it difficult to position sample containers. Other mechanisms achieve both forward / backward and left / right positioning, but this is achieved through two drive mechanisms, making the mechanisms relatively complex. Utility Model Content

[0004] The purpose of this utility model is to provide a positioning and clamping mechanism for a microbial production line transport trolley, addressing the problems existing in the prior art.

[0005] The technical solution to achieve the purpose of this utility model is: a positioning and clamping mechanism for a microbial production line transport trolley, wherein the positioning and clamping mechanism realizes the following four states:

[0006] First state: Release the car, without positioning in the front-back or left-right directions;

[0007] Second state: Position the car in the forward and backward directions;

[0008] Third state: Position the car in the left and right directions;

[0009] Fourth state: Simultaneously perform forward / backward and left / right positioning of the vehicle;

[0010] The positioning and clamping mechanism is driven by a motor to achieve the above four states.

[0011] Furthermore, the clamping mechanism includes a front-to-back positioning structure for clamping the fingers and a left-to-right positioning structure for clamping the fingers;

[0012] The clamping finger front and rear positioning structure is used to position the trolley in the front and rear directions by means of the first clamping finger and the second clamping finger under the drive of the motor.

[0013] The left and right positioning structure for the clamping fingers is used to position the trolley in the left and right directions by means of the first clamping finger and the second clamping finger under the drive of the motor.

[0014] Furthermore, the first and second gripping fingers are located on the left and right sides of the trolley's running direction, respectively. In the first state, the first and second gripping fingers open outwards under the drive of the motor, meaning both gripping fingers are far from the front-back and left-right positions of the trolley. In the second state, the first and second gripping fingers close inwards under the drive of the motor, positioning the trolley in the front-back direction. In the third state, the first and second gripping fingers close inwards under the drive of the motor, positioning the trolley in the left-right direction. In the fourth state, the first and second gripping fingers close inwards under the drive of the motor, simultaneously positioning the trolley in both the front-back and left-right directions.

[0015] Furthermore, the first clamping finger includes a first panel and a second panel, and the second clamping finger includes a third panel and a fourth panel, wherein the first panel and the third panel are used to position the trolley in the forward and backward direction, and the second panel and the fourth panel are used to position the trolley in the left and right direction.

[0016] Furthermore, when the first and third panels are in operation, they are perpendicular to the forward and backward movement direction of the trolley, while when the second and fourth panels are in operation, they are parallel to the forward and backward movement direction of the trolley.

[0017] Furthermore, the first panel and the second panel are connected to form an integral structure, and the third panel and the fourth panel are connected to form an integral structure.

[0018] Further, the first panel and the second panel are movably connected, and the second panel and the fourth panel are movably connected; in the second state, the second panel is not working and rotates to the same plane as the first panel under the drive of the motor, and the fourth panel is not working and rotates to the same plane as the third panel under the drive of the motor; in the third state, the first panel is not working and rotates to the same plane as the second panel under the drive of the motor, and the third panel is not working and rotates to the same plane as the fourth panel under the drive of the motor; in the fourth state, both the first panel and the second panel are working and form an L-shaped structure under the drive of the motor.

[0019] Furthermore, the motor drives the first and second gripping fingers to work through a multi-link mechanism; the multi-link mechanism includes a linkage drive block, a gripping mechanism fixing seat, a first multi-link group, and a second multi-link group; one end of the first multi-link group is mounted on the gripping mechanism fixing seat, and the other end is connected to the first gripping finger; one end of the second multi-link group is mounted on the gripping mechanism fixing seat, and the other end is connected to the second gripping finger; the linkage drive block is connected to the end of the motor, and drives the first and second multi-link groups to work under the drive of the motor, thereby driving the first and second gripping fingers to work.

[0020] Furthermore, the first multi-link group and the second multi-link group have the same structure, both including a first link, a second link and a third link. One end of the first link and one end of the second link are connected to the clamping mechanism fixing seat and can rotate around the clamping mechanism fixing seat. At the same time, the clamping mechanism fixing seat, the first link, the second link and the first clamping finger or the second clamping finger form a parallelogram linkage mechanism. One end of the third link is fixed at the middle position of the second link, and the other end is connected to the link drive block.

[0021] Furthermore, the clamping mechanism also includes a reset mechanism, which is used to ensure that the multi-link mechanism returns to a fixed initial position each time.

[0022] Compared with the prior art, the significant advantages of this utility model are:

[0023] (1) Driven by a motor and through a multi-link mechanism, the trolley can be positioned in the forward and left and right directions, making it convenient for the robot to pick up the culture dish.

[0024] (2) Through a set of clamping mechanisms, multiple clamping states can be realized automatically to meet different clamping needs.

[0025] (3) A reset mechanism is set up so that the multi-link mechanism returns to a fixed initial position each time, thus ensuring the stability of clamping.

[0026] (4) The entire clamping mechanism has a simple structure, is easy to implement, and has a low cost.

[0027] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0028] Figure 1 A schematic diagram of the positioning and clamping mechanism for the transport trolley in the microbial production line.

[0029] Figure 2 This is a schematic diagram of the positioning and clamping mechanism of the microbial production line transport trolley in one embodiment.

[0030] Figure 3 This is a schematic diagram illustrating four states of the positioning and clamping mechanism in one embodiment, wherein... Figure 3 (a) to (d) represent the first state, the third state, the second state, and the fourth state, respectively.

[0031] Figure 4 This is a front view of the positioning and clamping mechanism of the microbial production line transport trolley in one embodiment.

[0032] Figure 5 This is a cross-sectional view of the positioning and clamping mechanism of the microbial production line transport trolley in one embodiment. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0036] In one embodiment, combined Figure 1 and Figure 3 A positioning and clamping mechanism for a microbial production line transport vehicle is provided, wherein the positioning and clamping mechanism 1 realizes the following four states:

[0037] First state: Release the car, without positioning in the front-back or left-right directions;

[0038] Second state: Position the car in the forward and backward directions;

[0039] Third state: Position the car in the left and right directions;

[0040] Fourth state: Simultaneously perform forward / backward and left / right positioning of the vehicle;

[0041] The positioning and clamping mechanism is driven by a motor to achieve the above four states.

[0042] Furthermore, in one embodiment, combined with Figure 2 The clamping mechanism includes a front-to-back positioning structure for clamping fingers and a left-to-right positioning structure for clamping fingers;

[0043] The clamping finger front and rear positioning structure 2 is used to position the trolley in the front and rear directions by means of the first clamping finger and the second clamping finger under the drive of the motor.

[0044] The left and right positioning structure 3 for gripping fingers is used to position the trolley in the left and right directions by means of the first gripping finger and the second gripping finger under the drive of the motor.

[0045] Further, in one embodiment, the first clamping finger and the second clamping finger are located on the left and right sides of the trolley's running direction, respectively; when the first state is achieved, the first and second clamping fingers open outward under the drive of the motor, that is, both clamping fingers are away from the front-back and left-right positions of the trolley; when the second state is achieved, the first and second clamping fingers close inward under the drive of the motor to position the trolley in the front-back direction; when the third state is achieved, the first and second clamping fingers close inward under the drive of the motor to position the trolley in the left-right direction; when the fourth state is achieved, the first and second clamping fingers close inward under the drive of the motor, simultaneously positioning the trolley in the front-back and left-right directions.

[0046] Preferably, in some embodiments, the first clamping finger includes a first panel and a second panel, and the second clamping finger includes a third panel and a fourth panel, wherein the first panel and the third panel are used to position the trolley in the forward and backward direction, and the second panel and the fourth panel are used to position the trolley in the left and right direction.

[0047] Preferably, in some embodiments, when the first panel and the third panel are in operation, they are both perpendicular to the front-to-back movement direction of the trolley, and when the second panel and the fourth panel are in operation, they are both parallel to the front-to-back movement direction of the trolley.

[0048] Preferably, in some embodiments, the first panel and the second panel are connected to form an integral structure, and the third panel and the fourth panel are connected to form an integral structure.

[0049] Preferably, in some embodiments, the first panel and the second panel are movably connected, and the second panel and the fourth panel are movably connected; in the second state, the second panel is not working and rotates under the drive of the motor to be on the same plane as the first panel, and the fourth panel is not working and rotates under the drive of the motor to be on the same plane as the third panel; in the third state, the first panel is not working and rotates under the drive of the motor to be on the same plane as the second panel, and the third panel is not working and rotates under the drive of the motor to be on the same plane as the fourth panel; in the fourth state, both the first panel and the second panel are working and, under the drive of the motor, they form an L-shaped structure.

[0050] Furthermore, in one embodiment, the motor drives the first and second gripping fingers to work via a multi-link mechanism 4.

[0051] Preferably, in some embodiments, combined with Figure 4 and Figure 5 The multi-link mechanism includes a link drive block 11, a clamping mechanism fixing seat 8, a first multi-link group, and a second multi-link group. One end of the first multi-link group is mounted on the clamping mechanism fixing seat 8, and the other end is connected to the first clamping finger 9. One end of the second multi-link group is mounted on the clamping mechanism fixing seat 8, and the other end is connected to the second clamping finger 10. The link drive block 11 is connected to the end of the motor 12, and drives the first and second multi-link groups to work under the drive of the motor, thereby driving the first clamping finger 9 and the second clamping finger 10 to work. The clamping mechanism fixing seat 8 is mounted on a fixed platform of the microbial production line.

[0052] Preferably, in some embodiments, the first multi-link group and the second multi-link group have the same structure, both including a first link 5, a second link 6 and a third link 7. One end of the first link 5 and one end of the second link 6 are connected to the clamping mechanism fixing seat 8 and can rotate around the clamping mechanism fixing seat 8. At the same time, the clamping mechanism fixing seat 8, the first link 5, the second link 6, and the first clamping finger 9 or the second clamping finger 10 form a parallelogram linkage mechanism. One end of the third link 7 is fixed at the middle position of the second link 6, and the other end is connected to the link drive block 11.

[0053] Furthermore, in one embodiment, the clamping mechanism further includes a reset mechanism, which is used to ensure that the multi-link mechanism returns to a fixed initial position each time, thereby ensuring the stability of the clamping.

[0054] Preferably, in some embodiments, the reset mechanism includes a photoelectric sensor 14 and a sensor baffle 13. Other reset structures may also be used, as long as they have the same function as this utility model, they all fall within the protection scope of this utility model.

[0055] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A positioning and clamping mechanism for a microbial production line transport trolley, characterized in that, The positioning and clamping mechanism achieves the following four states: First state: Release the car, without positioning in the front-back or left-right directions; Second state: Position the car in the forward and backward directions; Third state: Position the car in the left and right directions; Fourth state: Simultaneously perform forward / backward and left / right positioning of the vehicle; The positioning and clamping mechanism is driven by a motor to achieve the above four states.

2. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 1, characterized in that, The clamping mechanism includes a front-to-back positioning structure for clamping fingers and a left-to-right positioning structure for clamping fingers. The clamping finger front and rear positioning structure is used to position the trolley in the front and rear directions by means of the first clamping finger and the second clamping finger under the drive of the motor. The left and right positioning structure for the clamping fingers is used to position the trolley in the left and right directions by means of the first clamping finger and the second clamping finger under the drive of the motor.

3. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 2, characterized in that, The first and second gripping fingers are located on the left and right sides of the trolley's running direction, respectively. In the first state, the first and second gripping fingers open outwards under the drive of the motor, meaning both gripping fingers are far from the front-back and left-right positions of the trolley. In the second state, the first and second gripping fingers close inwards under the drive of the motor, positioning the trolley in the front-back direction. In the third state, the first and second gripping fingers close inwards under the drive of the motor, positioning the trolley in the left-right direction. In the fourth state, the first and second gripping fingers close inwards under the drive of the motor, simultaneously positioning the trolley in both the front-back and left-right directions.

4. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 2, characterized in that, The first clamping finger includes a first panel and a second panel, and the second clamping finger includes a third panel and a fourth panel, wherein the first panel and the third panel are used to position the trolley in the forward and backward direction, and the second panel and the fourth panel are used to position the trolley in the left and right direction.

5. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 4, characterized in that, When the first and third panels are in operation, they are perpendicular to the forward and backward movement direction of the trolley, while when the second and fourth panels are in operation, they are parallel to the forward and backward movement direction of the trolley.

6. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 5, characterized in that, The first panel and the second panel are connected to form an integral structure, and the third panel and the fourth panel are connected to form an integral structure.

7. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 6, characterized in that, The first panel and the second panel are movably connected, and the second panel and the fourth panel are movably connected. In the second state, the second panel is not working and rotates to the same plane as the first panel under the drive of the motor. The fourth panel is not working and rotates to the same plane as the third panel under the drive of the motor. In the third state, the first panel is not working and rotates to the same plane as the second panel under the drive of the motor. The third panel is not working and rotates to the same plane as the fourth panel under the drive of the motor. In the fourth state, both the first panel and the second panel are working and form an L-shaped structure under the drive of the motor.

8. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 2, characterized in that, The motor drives the first and second gripping fingers to work through a multi-link mechanism. The multi-link mechanism includes a linkage drive block, a gripping mechanism fixing seat, a first multi-link group, and a second multi-link group. One end of the first multi-link group is mounted on the gripping mechanism fixing seat, and the other end is connected to the first gripping finger. One end of the second multi-link group is mounted on the gripping mechanism fixing seat, and the other end is connected to the second gripping finger. The linkage drive block is connected to the end of the motor and drives the first and second multi-link groups to work under the drive of the motor, thereby driving the first and second gripping fingers to work.

9. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 8, characterized in that, The first multi-link group and the second multi-link group have the same structure, both including a first link, a second link and a third link. One end of the first link and one end of the second link are connected to the clamping mechanism fixing seat and can rotate around the clamping mechanism fixing seat. At the same time, the clamping mechanism fixing seat, the first link, the second link, and the first clamping finger or the second clamping finger form a parallelogram linkage mechanism. One end of the third link is fixed at the middle position of the second link, and the other end is connected to the link drive block.

10. The positioning and clamping mechanism for the microbial production line transport trolley according to claim 8, characterized in that, The clamping mechanism also includes a reset mechanism, which is used to ensure that the multi-link mechanism returns to a fixed initial position each time.

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