Culture dish clamping device for planktonic bacteria sampling robot

Abstract

The utility model provides a culture dish clamping device for a planktonic bacteria sampling robot, and belongs to the technical field of clean room sampling, the culture dish clamping device comprises a main body part and two clamping jaws, and the two clamping jaws are both arranged at one end of the main body part; the two clamping jaws have degrees of freedom of getting close to each other or getting away from each other; each clamping jaw is provided with a center clamping part and end clamping parts located at the two ends of the center clamping part. When the central clamping part clamps the peripheral wall of the culture dish, the end part clamping parts are in contact with the peripheral wall of the culture dish and provide abutting force for the peripheral wall of the culture dish; when the two clamping jaws get close to the culture dish, the center clamping part can finally clamp the culture dish, and after the center clamping part clamps the culture dish, the end clamping parts can also clamp the culture dish; after the center clamping part and the end part clamping parts clamp the culture dish, the culture dish can be clamped from different positions, so that the condition that the culture dish slides between the two clamping jaws is reduced.

Description

Technical Field

[0001] This application belongs to the field of cleanroom sampling technology, specifically relating to a petri dish clamping device for a biogas sampling robot. Background Technology

[0002] The sampling process of the existing airborne bacteria sampling robot is as follows: the robotic arm picks up one of the culture dishes in the material cylinder and places the culture dish on the sampling head for sampling; after sampling, the robotic arm places the sampled culture dish into another material cylinder.

[0003] In the prior art, the robotic arm uses two grippers to contact the two sides of the culture dish and apply clamping force to hold the culture dish. However, since both grippers are tangent to the culture dish, the culture dish is prone to slipping during the gripping process. Utility Model Content

[0004] This application provides a petri dish gripping device for a planar bacteria sampling robot, which aims to solve the problem that petri dishes tend to slip during the gripping process of existing robotic arms.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] A petri dish clamping device is provided for a planar bacteria sampling robot, comprising:

[0007] Main body;

[0008] Two grippers are each disposed at one end of the main body; the two grippers have the freedom to move closer to each other or further apart; each gripper has a central gripping component and end gripping components located at both ends of the central gripping component;

[0009] When the central clamping component clamps the outer peripheral wall of the culture dish, the end clamping component contacts other positions on the outer peripheral wall of the culture dish and provides a clamping force to the outer peripheral wall of the culture dish.

[0010] In one possible implementation, the gripper has a groove at the position of the end clamping member, and the end clamping member slides in the groove; the groove is provided with an elastic member, and the two ends of the elastic member are respectively connected to the end clamping member and the gripper.

[0011] In one possible implementation, the length of the end gripping member outside the gripper is greater than the length of the central gripping member;

[0012] When holding the culture dish, the end clamping component first contacts the culture dish; when the center clamping component clamps the culture dish, the end clamping component provides a clamping force to the culture dish.

[0013] In one possible implementation, each end of the central clamping member has a plurality of end clamping members.

[0014] In one possible implementation, the central clamping component is a strip-shaped structure and is elastic; wherein, when the central clamping component clamps the culture dish, the surface of the central clamping component in contact with the culture dish can be deformed into an arc surface that matches the culture dish.

[0015] In one possible implementation, the main body has two parallel slides at one end of the gripper along the length direction, and the slides correspond one-to-one with the gripper.

[0016] The gripper has a sliding component that slides in conjunction with the corresponding slide rail, and the main body is provided with a drive mechanism for driving the two sliding components to slide.

[0017] In one possible implementation, the sliding member is fixed relative to the main body portion along the axial direction of the main body portion, and the driving mechanism includes:

[0018] A gear is rotatably mounted on the main body; the gear is located in the middle of the two slides, and the two opposing parts of the gear are respectively located within the slides;

[0019] Two racks are slidably disposed in corresponding slide tracks; both racks mesh with the gear, and the racks are connected to the corresponding sliding components;

[0020] A drive motor is connected to the main body; the output shaft of the drive motor is connected to the gear so that the gear drives two racks to move closer or further apart.

[0021] In one possible implementation, the slide is a T-shaped groove and the rack is a T-shaped structure.

[0022] In one possible implementation, the rack has a threaded hole, and the sliding member has a through hole aligned with the threaded hole; when the through hole on the sliding member is aligned with the threaded hole on the rack, the sliding member and the rack are fixed together by bolts.

[0023] In one possible implementation, the end clamping component is elastic.

[0024] This application provides a culture dish clamping device for a planar bacteria sampling robot. Compared with the prior art, during the clamping process, the two grippers are placed horizontally and located on both sides of the culture dish. As the two grippers approach the culture dish, the central gripping component can eventually clamp the culture dish. After the central gripping component clamps the culture dish, the end gripping component can also clamp the culture dish. After both the central gripping component and the end gripping component clamp the culture dish, the culture dish can be clamped from different positions, thereby reducing the possibility of the culture dish sliding between the two grippers. Attached Figure Description

[0025] Figure 1 A schematic diagram showing the state of a culture dish clamping device for a planar bacteria sampling robot being installed on a robotic arm, as provided in an embodiment of this application;

[0026] Figure 2 A schematic diagram of a culture dish clamping device for a planar bacteria sampling robot provided in this application embodiment;

[0027] Figure 3 A schematic diagram of the main body of a culture dish clamping device for a planar bacteria sampling robot provided in an embodiment of this application;

[0028] Figure 4 A schematic diagram of a sliding component of a culture dish clamping device for a planar bacteria sampling robot provided in an embodiment of this application;

[0029] Figure 5 A schematic diagram of the drive mechanism portion of a culture dish clamping device for a planar bacteria sampling robot provided in an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the central clamping component of a culture dish clamping device for a planar bacteria sampling robot, provided as an embodiment of this application.

[0031] Explanation of reference numerals in the attached drawings: 1. Main body; 11. Slide rail; 12. Receiving cavity; 13. Opening; 2. Gripper; 21. Slide groove; 22. Elastic component; 23. Sliding component; 3. Central clamping component; 4. End clamping component; 5. Robotic arm; 6. Drive mechanism; 61. Gear; 62. Rack. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects to be solved by 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 are not intended to limit the scope of this application.

[0033] Please refer to the following: Figures 1 to 6This application describes a petri dish clamping device for a planar bacteria sampling robot. The device includes a main body 1 and two grippers 2, each gripper 2 being disposed at one end of the main body 1. The grippers 2 have the freedom to move closer to or further away from each other. Each gripper 2 has a central gripping component 3 and end gripping components 4 located at both ends of the central gripping component 3. When the central gripping component 3 clamps the outer peripheral wall of the petri dish, the end gripping components 4 contact other parts of the outer peripheral wall of the petri dish and provide a clamping force against it.

[0034] This application provides a culture dish clamping device for a planar bacteria sampling robot. Compared with the prior art, during the clamping process, the two grippers 2 are placed horizontally and are located on both sides of the culture dish. As the two grippers 2 approach the culture dish, the central clamping component 3 can eventually clamp the culture dish. After the central clamping component 3 clamps the culture dish, the end clamping component 4 can also clamp the culture dish. After both the central clamping component 3 and the end clamping component 4 clamp the culture dish, the culture dish can be clamped from different positions, thereby reducing the possibility of the culture dish sliding between the two grippers 2.

[0035] It should be noted that the main body 1 is connected to the drive end of the robotic arm 5. The robotic arm 5 can drive the main body 1 to rotate and move. The robotic arm 5 can drive the main body 1 to the position of the material cylinder, and the robotic arm 5 can also drive the main body 1 to the position of the sampling head. The robotic arm 5 can make the two grippers 2 in a horizontal position so that the two grippers 2 can grasp the culture dish. The robotic arm 5 is existing technology and will not be described in detail here.

[0036] In some embodiments, such as Figures 1 to 6 As shown, the gripper 2 has a groove 21 at the position of the end gripping member 4, and the end gripping member 4 slides in the groove 21; the groove 21 is provided with an elastic member 22, and the two ends of the elastic member 22 are respectively connected to the end gripping member 4 and the gripper 2.

[0037] It should be noted that a portion of the end clamping component 4 is located inside the slide groove 21, and another portion is located outside the slide groove 21. The elastic component 22 can be a spring, which provides elastic force to the end clamping component 4. Initially, the spring has zero elastic force, and the end clamping component 4 extends outward to its maximum length. When the end clamping component 4 contacts the side wall of the culture dish, the spring is not under force. During continued clamping, the end clamping component 4 slides into the slide groove 21, compressing the spring. At this time, the spring provides elastic force to the end clamping component 4, causing the end clamping component 4 to provide a clamping force against the outer peripheral wall of the culture dish, thereby clamping the culture dish. Through the cooperation of the central clamping component 3 and the end clamping component 4, the stability of the culture dish can be improved after clamping, reducing the possibility of the culture dish slipping.

[0038] In some embodiments, such as Figures 1 to 6 As shown, the length of the end clamping component 4 outside the gripper 2 is greater than the length of the central clamping component 3; wherein, when clamping the culture dish, the end clamping component 4 first contacts the culture dish; when the central clamping component 3 clamps the culture dish, the end clamping component 4 provides a clamping force to the culture dish.

[0039] It should be noted that the outer peripheral wall of the culture dish has a cylindrical structure. Therefore, the contact positions between the central clamping component 3 and the end clamping component 4 and the culture dish are different. By setting the length of the end clamping component 4 to be greater than the length of the central clamping component 3, both the central clamping component 3 and the end clamping component 4 can clamp the outer peripheral wall of the culture dish.

[0040] Specifically, during the clamping process, the end clamping component 4 first contacts the outer peripheral wall of the culture dish, and then the end clamping component 4 slides into the groove 21 and provides clamping force to the outer peripheral wall of the culture dish; when the central clamping component 3 clamps the outer peripheral wall of the culture dish, the two jaws 2 stop moving. This is the maximum moving position of the jaws 2, so that both the central clamping component 3 and the end clamping component 4 can clamp the culture dish.

[0041] In some embodiments, such as Figures 1 to 6 As shown, each end of the central clamping component 3 has several end clamping components 4. In this embodiment, two end clamping components 4 are used as an example. By providing two end clamping components 4 at each end of the central clamping component 3, multiple clamping positions can be provided after the culture dish is clamped, thereby improving clamping stability and reducing the occurrence of culture dish slippage.

[0042] In some embodiments, such as Figures 1 to 6As shown, the central clamping component 3 has a strip-shaped structure and is elastic; wherein, when the central clamping component 3 clamps the culture dish, the surface of the central clamping component 3 in contact with the culture dish can be deformed into an arc surface that matches the culture dish.

[0043] It should be noted that the central clamping component 3 is made of an elastic material. After the central clamping component 3 clamps the culture dish, the contact surface of the central clamping component 3 can deform, and the contact surface is always in contact with the outer peripheral wall of the culture dish. Therefore, the contact surface of the central clamping component 3 can be deformed into an arc surface that matches the outer peripheral wall of the culture dish. With the above-mentioned configuration of this application, when the central clamping component 3 clamps the culture dish, the contact area between the central clamping component 3 and the culture dish can be increased, and the clamping stability can be improved.

[0044] In some embodiments, such as Figures 1 to 6 As shown, the main body 1 has two parallel slides 11 at one end of the gripper 2 along the length direction, and the slides 11 correspond one-to-one with the gripper 2; the gripper 2 has a sliding component 23 that slides in cooperation with the corresponding slide 11, and the main body 1 is provided with a drive mechanism 6 for driving the two sliding components 23 to slide.

[0045] It should be noted that the gripper 2 slides on the end plane of the main body 1, and the gripper 2 is fixed relative to the main body 1 in the axial direction of the main body 1; by setting two parallel slides 11 on the main body 1, and by sliding the sliding component 23 in sliding engagement with the slides 11, the two grippers 2 can be brought closer to each other or moved away from each other, thereby realizing the operation of the two grippers 2 clamping or releasing the culture dish; the drive mechanism 6 can provide power to the two sliding components 23 so that the sliding components 23 slide in the slides 11.

[0046] In some embodiments, such as Figures 1 to 6 As shown, the sliding component 23 is fixed relative to the main body 1 along the axial direction of the main body 1. The drive mechanism 6 includes a gear 61, two racks 62, and a drive motor (not shown in the figure). The gear 61 is rotatably mounted on the main body 1. The gear 61 is located in the middle of the two slide rails 11, and the two opposing parts of the gear 61 are respectively located in the slide rails 11. The two racks 62 are slidably mounted in the corresponding slide rails 11. Both racks 62 mesh with the gear 61, and the racks 62 are connected to the corresponding sliding component 23. The drive motor is connected to the main body 1. The output shaft of the drive motor is connected to the gear 61 so that the gear 61 drives the two racks 62 to move closer or further away from each other.

[0047] It should be noted that the main body 1 has a cavity 12 for accommodating the gear 61 and the drive motor, and the drive motor is fixed inside the main body 1; the slide rail 11 has an opening 13 communicating with the cavity 12, and a part of the gear 61 extends from the opening 13 into the slide rail 11 so that the gear 61 can mesh with the rack 62; under the driving action of the drive motor, the gear 61 can rotate around its axis, thereby driving the two racks 62 to slide in opposite directions, which can drive the two grippers 2 to move closer or further away from each other.

[0048] For example, the two grippers 2 are aligned with each other, and the two sliding parts 23 are misaligned. When the two grippers 2 move relative to each other, interference between the two sliding parts 23 can be avoided.

[0049] For example, the slide 11 is a T-shaped groove and the rack 62 is a T-shaped structure; with the above configuration, the position between the main body 1 and the rack 62 can be limited in the axial direction of the main body 1, so that the rack 62 and the main body 1 are relatively fixed in the axial direction.

[0050] In some embodiments, such as Figures 1 to 6 As shown, the rack 62 has a threaded hole, and the sliding member 23 has a through hole aligned with the threaded hole; when the through hole on the sliding member 23 is aligned with the threaded hole on the rack 62, the sliding member 23 and the rack 62 are fixed together by bolts.

[0051] It should be noted that the sliding component 23 is fixed to the rack 62 by bolts, which facilitates the assembly and disassembly of the gripper 2. In order to improve the connection strength and to prevent the sliding component 23 from rotating around the bolts, the number of bolts between the sliding component 23 and the rack 62 is at least two.

[0052] In some embodiments, such as Figures 1 to 6 As shown, the end clamping component 4 is elastic. This embodiment is another implementation of the end clamping component 4, that is, without relying on a spring, the deformation of the end clamping component 4 itself can provide clamping force to the culture dish.

[0053] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A petri dish clamping device for a planar bacteria sampling robot, characterized in that, include: Main body; Two grippers are each disposed at one end of the main body; the two grippers have the freedom to move closer to each other or further apart; each gripper has a central gripping component and end gripping components located at both ends of the central gripping component; When the central clamping component clamps the outer peripheral wall of the culture dish, the end clamping component contacts other positions on the outer peripheral wall of the culture dish and provides a clamping force to the outer peripheral wall of the culture dish.

2. The culture dish clamping device for a planar bacteria sampling robot as described in claim 1, characterized in that, The gripper has a groove at the position of the end gripping component, and the end gripping component slides in the groove; an elastic component is provided in the groove, and the two ends of the elastic component are respectively connected to the end gripping component and the gripper.

3. The culture dish clamping device for a planar bacteria sampling robot as described in claim 2, characterized in that, The length of the end clamping component located outside the jaws is greater than the length of the center clamping component; When holding the culture dish, the end clamping component first contacts the culture dish; when the center clamping component clamps the culture dish, the end clamping component provides a clamping force to the culture dish.

4. The culture dish clamping device for a planar bacteria sampling robot as described in claim 1, characterized in that, Each end of the central clamping component has several end clamping components.

5. The culture dish clamping device for a planar bacteria sampling robot as described in claim 1, characterized in that, The central clamping component is a strip-shaped structure and is elastic; wherein, when the central clamping component clamps the culture dish, the surface of the central clamping component in contact with the culture dish can be deformed into an arc surface that matches the culture dish.

6. The culture dish clamping device for a planar bacteria sampling robot as described in claim 1, characterized in that, The main body has two parallel slides at one end of the gripper along the length direction, and the slides correspond one-to-one with the gripper. The gripper has a sliding component that slides in conjunction with the corresponding slide rail, and the main body is provided with a drive mechanism for driving the two sliding components to slide.

7. The culture dish clamping device for a planar bacteria sampling robot as described in claim 6, characterized in that, The sliding component is fixed relative to the main body along the axial direction of the main body, and the driving mechanism includes: A gear is rotatably mounted on the main body; the gear is located in the middle of the two slides, and the two opposing parts of the gear are respectively located within the slides; Two racks are slidably disposed in corresponding slide tracks; both racks mesh with the gear, and the racks are connected to the corresponding sliding components; A drive motor is connected to the main body; the output shaft of the drive motor is connected to the gear so that the gear drives two racks to move closer or further apart.

8. The culture dish clamping device for a planar bacteria sampling robot as described in claim 7, characterized in that, The slide is a T-shaped groove, and the rack is a T-shaped structure.

9. The culture dish clamping device for a planar bacteria sampling robot as described in claim 7, characterized in that, The rack has a threaded hole, and the sliding component has a through hole aligned with the threaded hole; when the through hole on the sliding component is aligned with the threaded hole on the rack, the sliding component and the rack are fixed together by bolts.

10. The culture dish clamping device for a planar bacteria sampling robot as described in claim 1, characterized in that, The end clamping component is elastic.

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