Transfer device and sample transfer equipment

Abstract

The utility model belongs to the technical field of sample transfer, and discloses a transfer device and sample transfer equipment. The transfer device comprises a first driving mechanism, a second driving mechanism, a rotary driving mechanism and a clamping mechanism, the first driving mechanism and the second driving mechanism can output movement in the first direction and the second direction, the second driving mechanism is arranged at the output end of the first driving mechanism, and the first direction is perpendicular to the second direction; the rotary driving mechanism is arranged at the output end of the second driving mechanism and can output rotary motion around the first axis, and the clamping mechanism is arranged at the output end of the rotary driving mechanism and is used for clamping a sample. The clamping mechanism of the transfer device can take out the sample from the transfer barrel in a vertical state, adjust the direction to a horizontal state and put the sample into a freezing frame. Compared with two sets of transfer manipulators needing to be matched, the transfer device is low in manufacturing cost and low in requirement for matching precision.

Description

TECHNICAL FIELD

[0001] The utility model relates to sample transfer technical field especially, a kind of transfer device and sample transfer equipment. BACKGROUND

[0002] In sample transfer scene, there is the transfer demand that sample needs to be taken out from transfer barrel in vertical state, and sample is placed in horizontal state in frozen rack. In order to meet this transfer demand, at least two sets of transfer manipulators are needed currently, and the clamping directions of two sets of transfer manipulators are different, and the use of two sets of transfer manipulators not only makes equipment cost increase, and needs higher cooperation precision.

[0003] Therefore, how to propose a kind of transfer device with lower manufacturing cost and lower cooperation precision requirement is the technical problem to be solved urgently at present. UTILITY MODEL CONTENT

[0004] The utility model is to provide a kind of transfer device and sample transfer equipment, not only manufacturing cost is lower, and cooperation precision requirement is low.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A kind of transfer device, for transferring sample, the transfer device includes: first drive mechanism, the first drive mechanism can output movement along first direction;Second drive mechanism, the second drive mechanism is arranged at the output end of the first drive mechanism, and can output movement along second direction, the first direction is perpendicular to the second direction;Rotary drive mechanism, the rotary drive mechanism is arranged at the output end of the second drive mechanism, and can output rotary motion around first axis;Clamping mechanism, for clamping the sample, the clamping mechanism is arranged at the output end of the rotary drive mechanism, under the drive of the rotary drive mechanism, the clamping mechanism can carry the sample and rotate to target direction, the target direction includes vertical direction and horizontal direction.

[0007] As preferred, the rotary drive mechanism includes drive motor and rotating shaft, the motor shaft of the drive motor is in transmission connection with one end of the rotating shaft, and the other end of the rotating shaft is connected with the clamping mechanism.

[0008] As preferred, the transfer device further includes rotating shaft support mechanism, the rotating shaft support mechanism includes bearing mounting seat and bearing, two bearing mounting seats are spaced apart in the first direction and arranged at both ends of the rotating shaft respectively, at least one bearing is arranged in each bearing mounting seat, and the rotating shaft is arranged in the bearing.

[0009] Preferably, the transport device further comprises a bearing and a shaft adjusting mechanism, the bearing is sleeved on the shaft, the shaft adjusting mechanism is fixed with the shaft, and the shaft adjusting mechanism is limited and abuts with the inner ring of the bearing.

[0010] Preferably, the shaft adjusting mechanism comprises a threaded fixing ring, the shaft is provided with an external thread structure, the threaded fixing ring is threadedly connected with the external thread structure, and the end of the threaded fixing ring is limited and abuts with the inner ring of the bearing.

[0011] Preferably, the shaft adjusting mechanism comprises an adjusting ring, the adjusting ring is sleeved on the shaft, and the end of the adjusting ring is limited and abuts with the inner ring of the bearing.

[0012] Preferably, the bearing is provided with two groups, the two groups of bearings are arranged at intervals in the first direction, the adjusting ring is arranged between the two groups of bearings, and at least one end of the adjusting ring is limited and abuts with the inner ring of the bearing located on the same side.

[0013] Preferably, the transport device further comprises a zero point detection mechanism, the zero point detection mechanism comprises a sensor blocking piece and a photoelectric sensor, the sensor blocking piece is sleeved on the shaft and clamped between the adjusting ring and the inner ring of the bearing; one of the bearings is installed in one of the bearing mounting seats, the two bearing mounting seats are connected through a connecting frame, and the photoelectric sensor is fixed to the connecting frame and used for detecting the sensor blocking piece.

[0014] Preferably, the first driving mechanism comprises a first motor, a first gear and a first rack, the first rack is arranged in extension in the first direction, the motor shaft of the first motor is connected with the first gear, the gear and the rack are engaged, and the second driving mechanism is fixed with the first motor through a first mounting frame; and / or, the second driving mechanism comprises a second motor, a second gear and a second rack, the second rack is arranged in extension in the second direction, the motor shaft of the second motor is connected with the second gear, the gear and the rack are engaged, and the rotary driving mechanism is fixed with the second rack through a second mounting frame.

[0015] A sample transport device, comprising a portal truss, a third driving mechanism and the above-mentioned transport device, the third driving mechanism is arranged on the portal truss and can output movement in a third direction, and the transport device is arranged at the output end of the third driving mechanism.

[0016] The utility model discloses beneficial effects:

[0017] The transfer device provided by the utility model comprises a first driving mechanism, a second driving mechanism, a rotary driving mechanism and a clamping mechanism, the first driving mechanism can output movement in a first direction, the second driving mechanism is arranged at the output end of the first driving mechanism and can output movement in a second direction, the first direction is perpendicular to the second direction, the rotary driving mechanism is arranged at the output end of the second driving mechanism and can output rotary movement around a first axis, and the clamping mechanism is arranged at the output end of the rotary driving mechanism and is used for clamping a sample; under the driving of the rotary driving mechanism, the clamping mechanism can be rotated to a target direction. The transfer device drives the clamping mechanism through the three driving components, i.e. the first driving mechanism and the second driving mechanism which can output linear movement and the rotary driving mechanism which can output rotary movement, so that the clamping mechanism can move in two directions and can carry the sample to rotate to the target direction; the target direction comprises a vertical direction and a horizontal direction, so the clamping mechanism can take out the sample from the transfer barrel in a vertical state and place the sample into the freezing rack after adjusting the direction to a horizontal state. Compared with the two sets of transfer mechanical hands which need to be matched, the transfer device provided by the utility model has low manufacturing cost and low matching precision requirement. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the schematic view of the transfer device provided by the utility model;

[0019] Figure 2 It is the rear view of the transfer device provided by the utility model;

[0020] Figure 3 It is the side view of the transfer device provided by the utility model;

[0021] Figure 4 It is the schematic view of the rotary driving mechanism and the clamping mechanism provided by the utility model.

[0022] In the drawing:

[0023] 100, first driving mechanism; 110, first motor; 120, first gear; 130, first rack; 140, first mounting frame; 141, transverse plate; 142, first vertical plate; 143, reinforcing rib plate; 150, first speed reducer;

[0024] 200, second driving mechanism; 210, second motor; 220, second gear; 230, second rack; 240, second mounting frame; 241, second vertical plate; 242, connecting frame; 250, second speed reducer;

[0025] 300, rotating driving mechanism; 310, driving motor; 320, third speed reducer; 330, rotating shaft support mechanism; 331, bearing mounting seat; 332, bearing; 340, inner thread fixing ring; 350, adjusting ring; 360, zero point detection mechanism; 361, sensor blocking piece; 362, photoelectric sensor;

[0026] 400, clamping mechanism. DETAILED DESCRIPTION

[0027] The utility model will be described in further detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model and are not limited to the utility model. In addition, it should be noted that only the parts related to the utility model are shown in the drawings for ease of description, not all the structures.

[0028] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0029] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0030] In the description of the embodiment, the terms "up", "down", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only used to distinguish in description, and have no special meaning.

[0031] The utility model discloses a transfer device, this transfer device can realize the transfer of sample, specifically can the sample be transferred from the transfer barrel to the freezing frame. It needs to be explained in advance that the sample is placed in the transfer barrel in the vertical state, and the sample needs to be placed in the freezing frame in the horizontal state.

[0032] As Figures 1 to 4 The transfer device comprises a first driving mechanism 100, a second driving mechanism 200, a rotary driving mechanism 300 and a clamping mechanism 400, the first driving mechanism 100 can output movement along a first direction, the second driving mechanism 200 is arranged at the output end of the first driving mechanism 100 and can output movement along a second direction, the first direction is perpendicular to the second direction, the rotary driving mechanism 300 is arranged at the output end of the second driving mechanism 200 and can output rotary motion about a first axis, and the clamping mechanism 400 is arranged at the output end of the rotary driving mechanism 300; under the drive of the rotary driving mechanism 300, the clamping mechanism 400 can carry the sample and rotate to a target direction, and the target direction comprises a vertical direction and a horizontal direction. Figure 1 The first direction is shown as a in Figure 1 The second direction is shown as b in Figure 1 The first axis is shown as c in

[0033] The transfer device is provided with three driving members, namely the first driving mechanism 100, the second driving mechanism 200 and the rotary driving mechanism 300, wherein the first driving mechanism 100 and the second driving mechanism 200 can both output linear motion, the directions of the linear motion output by the two are perpendicular to each other, and the rotary driving mechanism 300 can output rotary motion; under the drive of the three driving members, the clamping mechanism 400 can realize movement in two directions and rotation about an axis, so that the clamping mechanism 400 can take out the sample from the transfer barrel in a vertical state, adjust the direction to a horizontal state, and then put the sample into the freezing frame. Compared with two sets of transfer manipulators that need to be matched, the transfer device provided by the utility model not only has low manufacturing cost, but also has low matching precision requirement.

[0034] As Figure 1 And Figure 3 As shown in some embodiments, the first driving mechanism 100 comprises a first motor 110, a first gear 120 and a first rack 130, the first rack 130 is arranged in extension along the first direction and is fixedly arranged, the motor shaft of the first motor 110 is connected with the first gear 120, the first gear 120 and the first rack 130 are engaged, and the second driving mechanism 200 is fixed with the first motor 110 through a first mounting bracket 140. Under the drive of the first motor 110, the first gear 120 can move along the first rack 130, so that the first motor 110 and the first mounting bracket 140 both move along the first direction.

[0035] Optionally, the first rack 130 is mounted on an assembling plate (not shown in the figure), which can be mounted on an external mechanism where the transfer device needs to be fixed.

[0036] Optionally, the first driving mechanism 100 further comprises a first speed reducer 150, which is connected to the motor shaft of the first motor 110, and the speed reducer shaft of the first speed reducer 150 is connected to the first gear 120.

[0037] Optionally, the first mounting frame 140 comprises a horizontal plate 141 and a first vertical plate 142 connected perpendicularly, and the motor housing of the first motor 110 or the speed reducer housing of the first speed reducer 150 is mounted on the horizontal plate 141. Further optionally, the first mounting frame 140 further comprises a reinforcing rib plate 143, which is connected between the horizontal plate 141 and the first vertical plate 142.

[0038] Continuing to refer to Figure 1 and Figure 2 , in some embodiments, the second driving mechanism 200 comprises a second motor 210, a second gear 220 and a second rack 230, the second rack 230 is arranged along a second direction and fixedly arranged, the motor shaft of the second motor 210 is connected to the second gear 220, the second gear 220 and the second rack 230 are engaged, and the rotating driving mechanism 300 is fixed with the second rack 230 through a second mounting frame 240. Under the driving of the second motor 210, the second gear 220 can drive the second rack 230 to move along the second direction, so that the rotating driving mechanism 300 and the clamping mechanism 400 move along the second direction.

[0039] Optionally, the second driving mechanism 200 further comprises a second speed reducer 250, which is connected to the motor shaft of the second motor 210, and the speed reducer shaft of the second speed reducer 250 is connected to the second gear 220.

[0040] Optionally, the second mounting frame 240 comprises a second vertical plate 241, and the second rack 230 is arranged on the second vertical plate 241.

[0041] It should be noted that, in addition to the above-mentioned combination of motors and gear racks, the first driving mechanism 100 and the second driving mechanism 200 can also use other mechanisms capable of outputting linear motion, such as air cylinders, linear motors or combinations of rotary motors and synchronous belt structures.

[0042] Continuing to refer to Figure 4 , in some embodiments, the rotating driving mechanism 300 comprises a driving motor 310 and a rotating shaft, the motor shaft of the driving motor 310 is drivingly connected to one end of the rotating shaft, and the other end of the rotating shaft is connected to the clamping mechanism 400. It should be noted that the driving motor 310 is fixedly arranged, which can be fixed on an external mechanism.

[0043] Optionally, the rotating driving mechanism 300 further comprises a third speed reducer 320 connected to the motor shaft of the driving motor 310, and a reducer shaft of the third speed reducer 320 is connected with the rotating shaft. Optionally, the reducer shaft of the third speed reducer 320 is coaxially connected with the rotating shaft through a shaft coupling.

[0044] In order to realize stable support of the rotating shaft, in some embodiments, the rotating device further comprises a rotating shaft support mechanism 330, the rotating shaft support mechanism 330 comprises bearing mounting seats 331 and bearings 332, two bearing mounting seats 331 are arranged in the first direction and are respectively arranged at two ends of the rotating shaft, at least one bearing 332 is arranged in each bearing mounting seat 331, and the rotating shaft is arranged in the bearing 332. In an embodiment, two bearings 332 are arranged in each bearing mounting seat 331.

[0045] Optionally, the bearing 332 adopts a flanged deep groove ball bearing, and of course, in addition to the flanged deep groove ball bearing, other bearing members with an inner ring can also be adopted.

[0046] In order to solve the problem that when the driving motor 310 drives the load to rotate, a large vibration and poor stability are caused due to the long rotating shaft and heavy load, in some embodiments, the rotating device further comprises a rotating shaft adjusting mechanism, the rotating shaft adjusting mechanism is fixedly arranged at a position of the rotating shaft, and the rotating shaft adjusting mechanism is in limiting abutment with the inner ring of the bearing 332. The arrangement of the rotating shaft adjusting mechanism can obviously improve the rotating angle accuracy, so as to meet the demand of use in an environment with high accuracy requirement.

[0047] In some embodiments, the rotating shaft adjusting mechanism comprises an internally threaded fixing ring 340, an externally threaded structure is arranged on the rotating shaft, the internally threaded fixing ring 340 is threadedly connected to the externally threaded structure, and an end of the internally threaded fixing ring 340 is in limiting abutment with the inner ring of the bearing 332. Optionally, the internally threaded fixing ring 340 is arranged between the shaft coupling and one of the bearing mounting seats 331. The internally threaded fixing ring 340 is locked by threads, the internally threaded fixing ring 340 located on the left side is pressed to the inner side ring of the flanged deep groove ball bearing; a step surface is arranged on the right side of the rotating shaft, and the right side step is also pressed to the inner side ring of the flanged deep groove ball bearing on the rightmost side under the action of threads, so that the rotating shaft and the bearing 332 are pressed together and become an integral whole.

[0048] In some embodiments, the rotating shaft adjusting mechanism comprises an adjusting ring 350, the adjusting ring 350 is sleeved on the rotating shaft, and the end of the adjusting ring 350 is limited to abut against the inner ring of the bearing 332. Optionally, two sets of bearings 332 are arranged corresponding to the two bearing mounting seats 331, the two sets of bearings 332 are arranged in the first direction, the adjusting ring 350 is arranged between the two sets of bearings 332, and at least one end of the adjusting ring 350 is limited to abut against the inner ring of the bearing 332 on the same side. It should be noted that the inner threaded fixing ring 340 and the adjusting ring 350 can be arranged simultaneously or selectively.

[0049] Continuing to refer to Figure 4 As shown, the transfer device further comprises a zero point detection mechanism 360, the zero point detection mechanism 360 comprises a sensor blocking piece 361 and a photoelectric sensor 362, the sensor blocking piece 361 is sleeved on the rotating shaft and clamped between the adjusting ring 350 and the inner ring of the bearing 332. The second mounting frame 240 further comprises a connecting frame 242, the two bearing mounting seats 331 are connected through the connecting frame 242, and the photoelectric sensor 362 is fixed to the connecting frame 242 and used for detecting the sensor blocking piece 361.

[0050] Regarding the adjusting ring 350, its function is the same as that of the inner threaded fixing ring 340, that is, the sensor blocking piece 361 and the adjusting ring 350 are pressed to the inner side of the steel ring of the second bearing 332 on the left side. Such arrangement can ensure that the position of the sensor blocking piece 361 does not change, thereby ensuring that the position of the sensor blocking piece 361 triggers the photoelectric sensor 362 each time, so as to ensure that the zero point does not change. When the driving motor 310 rotates, the rotating shaft can stably run under the action of the plurality of deep groove ball bearings and will not vibrate. At the same time, due to the action of the bearing mounting seat 331, the rigidity and strength of the rotating shaft are increased, thereby ensuring that the rotating angle accuracy is also very high under high load.

[0051] Regarding the structure of the clamping mechanism 400, existing pneumatic clamping jaws or existing electric clamping jaws can be used. The specific structure of the clamping mechanism 400 is not described here.

[0052] In the embodiment, the transfer device further comprises a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a plurality of microcontrollers distributed in multiple parts. The microcontroller can run a control program to control the first driving mechanism 100, the second driving mechanism 200, the rotating driving mechanism 300 and the clamping mechanism 400 to realize their respective functions.

[0053] The utility model discloses still disclose a kind of sample transfer equipment, sample transfer equipment includes portal truss, third driving mechanism and the transfer device above-mentioned, third driving mechanism is located on portal truss, and can output movement along third direction, and transfer device is located at the output end of third driving mechanism.The specific structure about third driving mechanism can be same with first driving mechanism 100 and second driving mechanism 200, and can be different, not repeated here.Third direction, second direction and first direction are perpendicular to each other.

[0054] The sample transfer equipment can drive the transfer device to move along the third direction by the third driving mechanism installed on the portal truss, and since the first direction, the second direction and the third direction are perpendicular to each other, the clamping mechanism 400 can complete the movement action in three directions and the angle rotation action in one direction, can flexibly take samples from the transfer barrel, and then changes the sample from vertical to horizontal state by rotating, and then performs the operation of warehousing, and the flexibility of clamping and transfer is higher.It should be noted that the third driving mechanism can be controlled by the above-mentioned control mechanism simultaneously, or a special control component can be provided for the third driving mechanism to control.

[0055] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not the limitation of the embodiments of the utility model. For ordinary skilled in the art, various obvious changes, readjustment and replacement can be carried out without departing from the protection scope of the utility model. Here, all the embodiments need not and cannot be exhausted. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. A transfer device, characterized by The transport device comprises: a first driving mechanism (100) capable of outputting movement in a first direction; a second driving mechanism (200) provided at the output end of the first driving mechanism (100) and capable of outputting movement in a second direction, the first direction being perpendicular to the second direction; a rotary driving mechanism (300) provided at the output end of the second driving mechanism (200) and capable of outputting rotary movement about a first axis; a clamping mechanism (400) for clamping the sample, the clamping mechanism (400) being provided at the output end of the rotary driving mechanism (300) and capable of carrying the sample to rotate to a target direction under the driving of the rotary driving mechanism (300), the target direction including a vertical direction and a horizontal direction.

2. The transfer device of claim 1, wherein, The rotary driving mechanism (300) comprises a driving motor (310) and a rotating shaft, a motor shaft of the driving motor (310) being in transmission connection with one end of the rotating shaft, and the other end of the rotating shaft being connected with the clamping mechanism (400).

3. The transfer device of claim 2, wherein, The transport device further comprises a rotating shaft support mechanism (330), the rotating shaft support mechanism (330) comprising bearing mounting seats (331) and bearings (332), two bearing mounting seats (331) being spaced apart in the first direction and respectively provided at two ends of the rotating shaft, at least one bearing (332) being provided in each bearing mounting seat (331), and the rotating shaft being provided in the bearings (332).

4. The transfer device of claim 2, wherein, The transport device further comprises bearings (332) and a rotating shaft adjusting mechanism, the bearings (332) being sleeved on the rotating shaft, the rotating shaft adjusting mechanism being fixed in position with the rotating shaft, and the rotating shaft adjusting mechanism being in position-limiting abutment with the inner rings of the bearings (332).

5. The transfer device of claim 4, wherein, The rotating shaft adjusting mechanism comprises an internally-threaded fixing ring (340), the rotating shaft being provided with an externally-threaded structure, the internally-threaded fixing ring (340) being threadedly connected with the externally-threaded structure, and the end of the internally-threaded fixing ring (340) being in position-limiting abutment with the inner ring of the bearing (332).

6. The transfer device of claim 4, wherein, The rotating shaft adjusting mechanism comprises an adjusting ring (350), the adjusting ring (350) being sleeved on the rotating shaft, and the end of the adjusting ring (350) being in position-limiting abutment with the inner ring of the bearing (332).

7. The transfer device of claim 6, wherein, The bearings (332) are provided in two groups, the two groups of bearings (332) being spaced apart in the first direction, the adjusting ring (350) being provided between the two groups of bearings (332), and at least one end of the adjusting ring (350) being in position-limiting abutment with the inner ring of the bearing (332) located on the same side.

8. The transfer device of claim 6, wherein, The transport device further comprises a zero-point detection mechanism (360), the zero-point detection mechanism (360) comprising a sensor blocking piece (361) and a photoelectric sensor (362), the sensor blocking piece (361) being sleeved on the rotating shaft and clamped between the adjusting ring (350) and the inner ring of the bearing (332); A group of the bearings (332) are installed in a bearing mounting seat (331), two of the bearing mounting seats (331) are connected through a connecting frame (242), the photoelectric sensor (362) is fixed to the connecting frame (242) and is used for detecting the sensor blocking piece (361).

9. The transfer device of claim 1, wherein, The first driving mechanism (100) comprises a first motor (110), a first gear (120) and a first rack (130), the first rack (130) is arranged to extend along the first direction, the motor shaft of the first motor (110) is connected with the first gear (120), the first gear (120) and the first rack (130) are engaged, the second driving mechanism (200) is fixed with the first motor (110) through a first mounting frame (140); And / or, the second driving mechanism (200) comprises a second motor (210), a second gear (220) and a second rack (230), the second rack (230) is arranged to extend along the second direction, the motor shaft of the second motor (210) is connected with the second gear (220), the second gear (220) and the second rack (230) are engaged, the rotary driving mechanism (300) is fixed with the second rack (230) through a second mounting frame (240).

10. A sample transport apparatus, characterized by, The gantry truss, the third driving mechanism and the transfer device of any one of claims 1-9 are included, the third driving mechanism is arranged on the gantry truss and can output movement along a third direction, and the transfer device is arranged at the output end of the third driving mechanism.

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