Intelligent transfer device

Abstract

An intelligent transfer device is used for transferring an incubator in a honeycomb and comprises a transfer trolley with a navigation module, a lifting seat and a bearing platform used for bearing the incubator are arranged on the transfer trolley, the bearing platform is arranged on the lifting seat, and a detection assembly used for detecting the angle and position of the bearing platform relative to the honeycomb is arranged on the bearing platform. According to the utility model, the bearing platform is arranged on the driving assembly, the driving assembly is arranged on the lifting seat, the stroke of the lifting seat is large, and the stroke of rotation and translation is small, so that the driving arrangement is reasonable, the adjustment stability is high, the detection assembly is arranged on the lifting seat, and the detection assembly is in signal connection with the driving assembly and the lifting seat. And the trolley is accurately butted with the honeycomb, the butting precision is high, and intelligent butting transfer can be realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to honeycomb cell culture device technical field especially, it is intelligent transfer device. BACKGROUND

[0002] With the continuous improvement of human medical technology, the maturity and popularization of gene and cell therapy technology, the room where the honeycomb incubator is located belongs to a clean factory building, so the cross-room manual transfer of the honeycomb incubator becomes an obstacle to the development of the honeycomb culture system to large scale and intelligence. The existing incubator transfer device is generally manually transferred, for example, the carbon dioxide incubator transfer trolley with lifting function disclosed in the publication No. CN215851315U. In addition, there are also intelligent transfer devices, for example, the carrying robot and its working method disclosed in the publication No. However, the positioning accuracy of the current carrying robot AGV cannot meet the requirements of transferring the honeycomb incubator. The table surface carrying the incubator cannot be connected with the honeycomb guide rail. The table surface may be inclined relative to the honeycomb system, or it may be horizontally misaligned relative to the honeycomb system. It cannot be adjusted by the walking part of the carrying robot. Therefore, it is urgent to solve the problem of precise connection of the trolley and the honeycomb system. SUMMARY

[0003] The technical problem to be solved by the utility model is to overcome the shortcomings of the prior art and provide an intelligent transfer device and a connection method capable of precise positioning.

[0004] The technical solution adopted by the utility model to solve the technical problem is: an intelligent transfer device for transferring an incubator in a honeycomb, comprising a transfer trolley with a navigation module, a lifting seat and a carrying platform for carrying the incubator are provided on the transfer trolley, the carrying platform is provided on the lifting seat, a detection assembly for detecting the angle and position of the carrying platform relative to the honeycomb is provided on the carrying platform, a driving assembly for driving the carrying platform to rotate and translate is provided on the lifting seat, the detection assembly is signal connected with the driving assembly and the lifting seat, the carrying platform rotates and translates directly through the driving assembly, and indirectly lifts through the lifting seat. The lifting stroke is large, while the rotating and translating stroke is small. The above driving arrangement is more reasonable, and the adjustment stability is higher.

[0005] Further, the driving assembly comprises a rotary driving mechanism, a horizontal driving mechanism and a telescopic driving mechanism. The rotary driving mechanism is used to drive the carrying platform to rotate. The horizontal driving mechanism is used to drive the carrying platform to move horizontally relative to the honeycomb. The telescopic driving mechanism is used to drive the carrying platform to approach or move away from the honeycomb. The rotary driving mechanism is provided on the horizontal driving mechanism and the telescopic driving mechanism. The carrying platform is provided on the rotary driving mechanism.

[0006] Further, the horizontal driving mechanism and the telescopic driving mechanism are screw rod and sliding block mechanisms, and the rotary driving mechanism is a gear and arc-shaped rack transmission mechanism. The rotary driving mechanism is driven by the gear and arc-shaped rack transmission mechanism to drive the bearing platform to rotate. The screw rod and sliding block mechanism has a self-locking function, and the gear and arc-shaped rack transmission mechanism does not have a self-locking function. Therefore, the rotary driving mechanism is arranged on the horizontal driving mechanism and the telescopic driving mechanism to avoid the rotation of the platform when the horizontal and telescopic driving mechanisms are adjusted.

[0007] Further, the telescopic driving mechanism is provided with a mounting seat for connecting with the lifting seat, and the horizontal driving mechanism is arranged on the telescopic driving mechanism. The rotary driving mechanism comprises a fixing seat arranged on the horizontal driving mechanism, and the bearing platform is rotatably arranged on the fixing seat. The gear of the rotary driving mechanism is arranged on the fixing seat, and the arc-shaped rack of the rotary driving mechanism is arranged on the bearing platform.

[0008] Further, the detection assembly comprises first and second sensors for detecting distances. The driving assembly drives the bearing platform to rotate according to the difference between the detection values of the first and second sensors. The driving assembly drives the bearing platform to translate according to the detection value of the first or second sensor. The lifting seat is lifted according to the detection value of the first or second sensor. The first and second sensors are arranged on the two sides of the bearing platform. If the bearing platform has an angular deviation relative to the honeycomb, the detection values of the first and second sensors will be different. If the detection values are equal, there is no deviation. The honeycomb is provided with marks, such as protrusions or blind holes, for identification by the sensors. The front surface of the honeycomb is a plane. When the bearing platform moves horizontally, the detection values of the sensors will change when the sensors pass the marks. At this time, it can be considered that the bearing platform is translated to the position. The lifting is the same.

[0009] Further, the first and second sensors are laser sensors, which have low cost.

[0010] Further, the detection assembly comprises a home switch for detecting the abutment of the bearing platform and the honeycomb to confirm whether the bearing platform is in place.

[0011] Further, the lifting seat is provided with a lifting drive, a first lifting screw rod and a second lifting screw rod. The lifting drive is connected with the first and second lifting screw rods through synchronous transmission shafts to ensure synchronization and high stability.

[0012] Further, the bearing platform is provided with a box guide rail and a box locking mechanism. The box guide rail is provided with a positioning pin for abutting with the honeycomb.

[0013] Further, the lifting seat is in the shape of a concave letter. The top of the lifting seat is concave to form a placing area for accommodating the incubator. The bearing platform is arranged at the bottom of the placing area. The lifting seat can better accommodate the incubator and effectively prevent the incubator from being knocked or falling during transportation.

[0014] The utility model discloses the bearing platform is located on the drive assembly, and the drive interval is located on the lifting seat, and the stroke of lifting seat is big, and the stroke of rotation and translation is small, so that the drive arrangement is reasonable, and the adjustment stability is high, and the trolley and the honeycomb butt joint accurately, and the butt joint precision is high, can realize intelligent butt joint transfer. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the front view of the utility model and honeycomb, incubator,

[0016] Figure 2 It is the plan view of the utility model and honeycomb, incubator,

[0017] Figure 3 It is the perspective view of the utility model,

[0018] Figure 4 It is the perspective view of the utility model internal structure,

[0019] Figure 5 It is the perspective view of the bearing platform of the utility model,

[0020] Figure 6 It is the front view of the bearing platform of the utility model,

[0021] Figure 7 It is another perspective view of the bearing platform of the utility model,

[0022] Figure 8 It is the activity schematic diagram of the bearing platform of the utility model.

[0023] In the drawing: 01-honeycomb, 02-incubator, 1-transfer trolley, 2-navigation module, 3-lifting seat, 31-placing area, 32-lifting drive, 33-synchronous transmission shaft, 34-first lifting screw rod, 35-second lifting screw rod, 4-bearing platform, 41-first sensor, 42-second sensor, 43-in-place switch, 44-box guide rail, 45-box locking mechanism, 46-positioning pin, 5-drive assembly, 51-rotary drive mechanism, 52-horizontal drive mechanism, 53-telescopic drive mechanism. DETAILED DESCRIPTION

[0024] Reference Figures 1-8The application discloses an intelligent transfer device for transferring a culture box 02 in a beehive 01, which comprises a transfer trolley 1 provided with a navigation module 2, wherein the navigation module 2 is a laser radar, and the trolley with the laser radar is prior art, for example, an AGV trolley; the transfer trolley 1 is provided with a lifting seat 3 and a bearing platform 4 for bearing the culture box 02; the bearing platform 4 is arranged on the lifting seat 3; the bearing platform 4 is provided with a detection assembly for detecting the angle and position of the bearing platform 4 relative to the beehive 01; the lifting seat 3 is provided with a driving assembly 5 for driving the bearing platform 4 to rotate and translate; and the detection assembly is in signal connection with the driving assembly 5 and the lifting seat 3.

[0025] The detection assembly comprises a first sensor 41 and a second sensor 42 for detecting distances and a reach switch 43 for detecting the docking of the bearing platform 4 and the beehive 01; the first sensor 41, the second sensor 42 and the reach switch 43 are located on one side of the bearing platform 4, and the reach switch 43 is located between the first sensor 41 and the second sensor 42; the first sensor 41 and the second sensor 42 are laser sensors; the driving assembly 5 drives the bearing platform 4 to rotate according to the difference between the detection values of the first sensor 41 and the second sensor 42; the driving assembly 5 drives the bearing platform 4 to translate according to the detection value of the first sensor 41 or the second sensor 42; the lifting seat 3 lifts according to the detection value of the first sensor 41 or the second sensor 42; and the first sensor 41 and the second sensor 42 are respectively arranged on two sides of the bearing platform 4, for example, if the bearing platform 4 has an angular deviation relative to the beehive 01, the detection values of the first sensor 41 and the second sensor 42 will be different; if the detection values are equal, there is no deviation; the beehive 01 is provided with an identification mark, for example, a protrusion or a blind hole, for sensor identification, and the front surface of the beehive 01 is a plane; when the bearing platform 4 moves horizontally, the detection values of the sensors will change when the sensors pass through the identification mark, at this moment, it can be considered that the bearing platform 4 has translated to a position; and the reach switch 43 is used for confirming whether the bearing platform has reached the position.

[0026] The driving assembly 5 comprises a rotary driving mechanism 51, a horizontal driving mechanism 52 and a telescopic driving mechanism 53, the rotary driving mechanism 51 is used to drive the rotation of the bearing platform 4, the horizontal driving mechanism 52 is used to drive the horizontal movement of the bearing platform 4 relative to the honeycomb 01, and the telescopic driving mechanism 53 is used to drive the bearing platform 4 to be close to or away from the honeycomb 01; the horizontal driving mechanism 52 and the telescopic driving mechanism 53 are screw and block mechanisms, and the rotary driving mechanism 51 is a gear and arc-shaped rack transmission mechanism, which is driven by gear and arc-shaped gear meshing transmission to realize rotary driving, so as to drive the rotation of the bearing platform 4, the rotary driving mechanism 51 is arranged on the horizontal driving mechanism 52 and the telescopic driving mechanism 53, and the bearing platform 4 is arranged on the rotary driving mechanism 51; the screw and block mechanism has a self-locking function, the gear and arc-shaped rack transmission mechanism does not have a self-locking function, therefore, the rotary driving mechanism 51 is arranged on the horizontal driving mechanism 52 and the telescopic driving mechanism 53, so as to avoid the rotation of the platform when the horizontal and telescopic driving mechanisms are adjusted, the bottom of the telescopic driving mechanism 53 is provided with a mounting seat used to be connected with the lifting seat 3, the horizontal driving mechanism 52 is arranged on the telescopic driving mechanism 53, the rotary driving mechanism 51 comprises a fixing seat arranged on the horizontal driving mechanism 52, the bearing platform 4 is rotatably arranged on the fixing seat, the gear of the rotary driving mechanism 51 is arranged on the fixing seat, and the arc-shaped rack of the rotary driving mechanism 51 is arranged on the bearing platform 4.

[0027] As shown in Figure 4 The lifting seat 3 is provided with a lifting driving 32, a first lifting screw 34 and a second lifting screw 35, the lifting driving 32 is connected with the first lifting screw 34 and the second lifting screw 35 through synchronous transmission shafts 33 respectively, so as to ensure synchronization and high stability, the lifting driving 32 is a motor, the motor output shaft is connected with two horizontal transmission shafts, the horizontal transmission shafts extend to the vertical transmission shafts on the two sides of the lifting seat 3 and are connected with the vertical transmission shafts, the vertical transmission shafts are connected with the first lifting screw 34 and the second lifting screw 35 through synchronous belts, the motor can drive the first lifting screw 34 and the second lifting screw 35 to rotate through the transmission part simultaneously, and then drive the lifting seat 3 to lift; the lifting seat 3 is in the shape of a concave character, the top of the lifting seat 3 is concave to form a placing area 31 used to accommodate the incubator 02, and the bearing platform 4 is arranged at the bottom of the placing area 31, so that the lifting seat 3 can better accommodate the incubator 02 and effectively prevent the incubator 02 from being knocked or falling during transfer.

[0028] As shown in Figure 5As shown, the carrying platform 4 is equipped with a box guide rail 44 and a box locking mechanism 45. The box guide rail 44 is equipped with a positioning pin 46 that docks with the honeycomb 01. The incubator 02 is equipped with rollers. When the incubator 02 moves, it needs to be guided by the box guide rail 44. The box guide rail 44 is located on both sides of the carrying platform 4 and is parallel to each other. The positioning pin 46 is located at the end of the box guide rail 44. After the carrying platform 4 docks with the honeycomb 01, the positioning pin 46 will dock with the guide rail on the honeycomb 01. The box locking mechanism 45 is used to fix the incubator 02 and fix the incubator 02 during the transfer of the incubator 02 in this utility model.

[0029] like Figure 8 As shown, A1 and A2 are schematic diagrams of the bearing platform 4 rotating in two directions, and the action of the schematic diagram is completed by the rotation drive mechanism 51; Y1 and Y2 are schematic diagrams of the bearing platform 4 translating in the y direction, and the action of the schematic diagram is completed by the telescopic drive mechanism 53; X1 and X2 are schematic diagrams of the bearing platform 4 translating in the x direction, and the action of the schematic diagram is completed by the horizontal drive mechanism 52.

[0030] The working principle and use method of the utility model: transfer trolley 1 moves to the front of honeycomb 01 through navigation module 2, and transfer trolley 1 can communicate wirelessly with honeycomb 01 and incubator 02, after transfer trolley 1 is in place, lifting seat 3 lifts to the approximate position of incubator 02, lifting seat 3 lifts slightly, and first sensor 41 or second sensor 42 detects distance change, if first sensor 41 or second sensor 42 detects distance change, then lifting reaches target height, and then rotary drive mechanism 51 drives bearing platform 4 to rotate, bearing platform 4 rotates according to the difference between the detection values of first sensor 41 and second sensor 42, for example, if the value of first sensor 41 is greater than the value of second sensor 42, then rotary drive mechanism 51 drives bearing platform 4 to rotate to the direction of second sensor 42, until bearing platform 4 rotates to the value of first sensor 41 and second sensor 42, and then horizontal drive mechanism 52 drives bearing platform 4, if the detection value of first sensor 41 or second sensor 42 changes, then it is considered that the sensor has passed the position mark on honeycomb 01, for example, if the mark is a protrusion, when the sensor detects that the distance value increases, then the sensor has just moved to the position mark, if the value decreases, then it is considered that the sensor has left the position mark, after bearing platform 4 is adjusted horizontally, telescopic drive mechanism 53 acts, drives bearing platform 4 to butt joint with honeycomb 01, at this time, if the detection value of first sensor 41 or second sensor 42 becomes zero, then it is considered that the butt joint is in place, but in the embodiment, the sensor is a laser sensor, and too close distance will cause the sensor to fail, therefore, the in-place switch 43 is added, and whether the butt joint is in place is judged through the in-place switch 43, after bearing platform 4 butt joints with honeycomb 01, incubator 02 receives the signal and moves to the utility model, the inside of incubator 02 is provided with a battery and power, and the automatic walking of incubator 02 can be realized, after incubator 02 is in place, the box locking mechanism 45 of the utility model acts and fixes incubator 02, the transfer of incubator 02 from honeycomb 01 to the utility model is completed, the function of honeycomb 01 is to provide electricity and the like for incubator 02, when incubator 02 works, the culture medium needs to be added into incubator 02 or observed, then the utility model needs to transfer incubator 02 to the cell work station (also called isolator), when the cell works, the sterile operation is carried out, after the operation is completed, the utility model transfers incubator 02 to honeycomb 01 again, generally, honeycomb 01 and the cell work station are arranged in two rooms, in this way, the utility model can realize the intelligent and unmanned cross-room or same-room transfer of honeycomb 01 incubator 02, and it is possible for the honeycomb 01 culture system to be large-scale and factory-like.

[0031] Although the embodiments of the utility model have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary, and cannot be understood as the limitation of the utility model, and the ordinary skilled person in the art can change, modify, replace and transform the above-mentioned embodiments within the scope of the utility model.

Claims

1. An intelligent transfer device for transferring an incubator (02) in a honeycomb (01), comprising a transfer trolley (1) having a navigation module (2), the transfer trolley (1) being provided with a lifting seat (3) and a carrying platform (4) for carrying the incubator (02), the carrying platform (4) being disposed on the lifting seat (3), characterized in that: The bearing platform (4) is provided with a detection assembly for detecting the angle and position of the bearing platform (4) relative to the honeycomb (01), and the lifting seat (3) is provided with a driving assembly (5) for driving the bearing platform (4) to rotate and translate, and the detection assembly is signal connected with the driving assembly (5) and the lifting seat (3).

2. The intelligent transfer device of claim 1, wherein: The driving assembly (5) comprises a rotary driving mechanism (51), a horizontal driving mechanism (52) and a telescopic driving mechanism (53), the rotary driving mechanism (51) is used for driving the bearing platform (4) to rotate, the horizontal driving mechanism (52) is used for driving the bearing platform (4) to move horizontally relative to the honeycomb (01), and the telescopic driving mechanism (53) is used for driving the bearing platform (4) to move close to or away from the honeycomb (01), the rotary driving mechanism (51) is arranged on the horizontal driving mechanism (52) and the telescopic driving mechanism (53), and the bearing platform (4) is arranged on the rotary driving mechanism (51).

3. The intelligent transfer device of claim 2, wherein: The horizontal driving mechanism (52) and the telescopic driving mechanism (53) are screw and sliding block mechanisms, and the rotary driving mechanism (51) is a gear and arc-shaped rack transmission mechanism.

4. The intelligent transfer device of claim 3, wherein: The bottom of the telescopic driving mechanism (53) is provided with a mounting seat for being connected with the lifting seat (3), the horizontal driving mechanism (52) is arranged on the telescopic driving mechanism (53), the rotary driving mechanism (51) comprises a fixing seat arranged on the horizontal driving mechanism (52), the bearing platform (4) is rotatably arranged on the fixing seat, a gear of the rotary driving mechanism (51) is arranged on the fixing seat, and an arc-shaped rack of the rotary driving mechanism (51) is arranged on the bearing platform (4).

5. The intelligent transfer device of claim 1, wherein: The detection assembly comprises first and second sensors (41) and (42) for detecting distances, the driving assembly (5) drives the bearing platform (4) to rotate according to the difference between the detection values of the first and second sensors (41) and (42), the driving assembly (5) drives the bearing platform (4) to translate according to the detection value of the first or second sensor (41) or (42), and the lifting seat (3) is lifted according to the detection value of the first or second sensor (41) or (42).

6. The intelligent transfer device of claim 1, wherein: The detection assembly comprises a reach switch (43) for detecting the butt joint of the bearing platform (4) and the honeycomb (01).

7. The intelligent transfer device of claim 5, wherein: The first and second sensors (41) and (42) are laser sensors.

8. The intelligent transfer device of any one of claims 1 to 7, wherein: The lifting seat (3) is provided with a lifting drive (32), a synchronous transmission shaft (33), a first lifting screw (34) and a second lifting screw (35), and the lifting drive (32) is connected with the first and second lifting screws (34) and (35) through the synchronous transmission shaft (33).

9. The intelligent transfer device of any one of claims 1 to 7, wherein: The bearing platform (4) is provided with a box guide rail (44) and a box locking mechanism (45), and the box guide rail (44) is provided with a positioning pin (46) for butt joint with the honeycomb (01).

10. The intelligent transfer device of any one of claims 1 to 7, wherein: The lifting seat (3) is in the shape of a concave character, the top of the lifting seat (3) is concave to form a placing area (31) for accommodating the incubator (02), and the bearing platform (4) is arranged at the bottom of the placing area (31).

Images