Full-automatic microbial culture system and magnetic attraction shaking driving mechanism thereof

Abstract

The utility model discloses a kind of magnetic attraction shaking driving mechanisms, including shaking connecting rod assembly and shaking driving assembly;Shaking driving assembly includes driving component and driven driving component;Driving component includes driving motor fixedly installed on first mounting plate and the magnetic clutch driving wheel transmission connection with driving motor;Driven driving component includes driven shaft that rotates and cooperates installation on second mounting plate and the magnetic clutch driven wheel transmission connection with driven shaft;The rotating shaft of magnetic clutch driving wheel and magnetic clutch driven wheel is perpendicular to each other and constitutes magnetic attraction transmission mechanism;Shaking connecting rod assembly installation and driven shaft transmission connection, second mounting plate can be moved relative to first mounting plate, to make magnetic clutch driving wheel and magnetic clutch driven wheel between separation or coupling.The utility model also discloses a kind of full-automatic microorganism culture system.There is the advantage that structure is simple, and the problem of jamming and collision is solved.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, specifically a fully automatic microbial culture system and its magnetic oscillation drive mechanism. Background Technology

[0002] Chinese patent CN217202771U discloses a prefabricated microbial incubation unit. By setting a shaking drive mechanism to drive the incubation module to shake, microorganisms can grow faster. By installing the drive motor in the control area, the heat generated by the drive motor during operation is avoided from affecting the temperature inside the incubation cabinet, preventing the temperature inside the incubation cabinet from exceeding the rated value. Since the drive motor is installed in the control area, and the drawer support is slidably engaged with the incubation cabinet, the drive motor cannot move synchronously with the drawer support; therefore, a clutch mechanism is required. Specifically, when the drawer support slides out of the opening of the incubation cabinet, the clutch mechanism disengages, and the incubation module stops shaking; when the drawer support slides into the incubation cabinet, the clutch mechanism engages, and the drive motor can drive the incubation module to shake. Although existing prefabricated microbial incubation units can meet the requirements of microbial incubation and improve space utilization, the applicant has found the following shortcomings during use:

[0003] (1) The power transmission of the drive motor is mainly achieved by five transmission chains, namely, the synchronous belt of the motor, the clutch mechanism, the clutch driven synchronous belt, the crank rocker mechanism, and the swaying linkage mechanism, to realize the swaying of the incubation module. The transmission chain is too long, which makes the function implementation complicated and the instrument installation process complicated.

[0004] (2) The first transmission chain of the drive motor transmits power through the synchronous belt pulley mechanism. The shafts of the two synchronous pulleys are fixed in the form of a "cantilever beam" and connected in the middle by a belt. Due to the large driving torque of the drive incubation module, the synchronous belt needs to provide a large tension, which causes the shafts of the two synchronous pulleys to lean towards each other and the belt to slide to the outside of the synchronous pulley, resulting in wear, chipping and abnormal noise with the synchronous pulley. There is a risk of belt breakage and noise problem.

[0005] (3) The second transmission chain of the drive motor transmits power through the clutch mechanism. After the first clutch column on the first clutch plate and the second clutch column on the second clutch plate are engaged, the power is transmitted through tangential force. When the clutch mechanism is switched from the disengaged state to the engaged state, since the end diameters of the first clutch column and the second clutch column are not zero, there is a situation of jamming after the end contacts are made at the beginning of contact. When the clutch mechanism is in the engaged state, since the inner diameter of the distribution circle of the first clutch column is larger than the inner diameter of the distribution circle of the second clutch column, there is a gap between the second clutch column between every two first clutch columns. When the drive motor starts, the first clutch column on the first clutch plate starts to rotate first, and then moves to contact the second clutch column. During this period, there is a contact collision movement, which poses a risk of collision damage to each clutch column and noise problems. Utility Model Content

[0006] In view of this, in order to solve the problems existing in the prior art, the purpose of this utility model is to provide a fully automatic microbial culture system and its magnetic oscillation drive mechanism.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] This invention first proposes a magnetic attraction swaying drive mechanism, including a swaying linkage assembly and a swaying drive assembly; the swaying drive assembly includes an active drive assembly and a driven drive assembly; the active drive assembly includes a drive motor fixedly mounted on a first mounting plate and a magnetic clutch drive wheel driven by the drive motor; the driven drive assembly includes a driven shaft rotatably mounted on a second mounting plate and a magnetic clutch driven wheel driven by the driven shaft; the magnetic clutch drive wheel and the magnetic clutch driven wheel cooperate with each other to form a magnetic attraction transmission mechanism; the swaying linkage assembly is driven by the driven drive assembly, and the second mounting plate can move relative to the first mounting plate to separate or non-contactly couple the magnetic clutch drive wheel and the magnetic clutch driven wheel.

[0009] Furthermore, the magnetic clutch drive wheel is sleeved on the output shaft of the drive motor and rotates synchronously with the output shaft of the drive motor; the magnetic clutch driven wheel is sleeved on the driven shaft and rotates synchronously with the driven shaft; the rotation axes of the magnetic clutch drive wheel and the magnetic clutch driven wheel are perpendicular to each other.

[0010] Furthermore, a motor heat insulation sheet is provided between the drive motor and the first mounting plate.

[0011] Furthermore, the second mounting plate is provided with a driven shaft seat, and the driven shaft is rotatably mounted in the driven shaft seat; the second mounting plate can move relative to the first mounting plate in a direction parallel to the axis of the driven shaft; and / or, the transmission ratio of the magnetic drive mechanism is 2:1.

[0012] Furthermore, the driven assembly also includes a drive rod and an eccentric shaft that is eccentrically disposed relative to the driven shaft. The eccentric shaft can rotate synchronously with the driven shaft around its axis, and the first end of the drive rod is hinged to the eccentric shaft.

[0013] Furthermore, the rocking linkage assembly includes a linkage rod and several parallel support rods; the first end of the support rod is hinged to the linkage rod via a first shaft, and the second end is hinged to a second shaft disposed on the second mounting plate; the second end of the drive rod is hinged to one of the first shafts.

[0014] Furthermore, an optocoupler sensor is installed on the second mounting plate; the optocoupler sensor is used to detect the angular range of rotation of the first end of the support rod around the second axis; or, a measuring rod corresponding to one of the support rods is installed on the second mounting plate, the first end and the second end of the measuring rod are respectively hinged to the corresponding first axis and second axis, and the optocoupler sensor is used to detect the angular range of rotation of the first end of the measuring rod around the second axis.

[0015] This utility model also proposes a fully automated microbial culture system, including an incubation cabinet and a drawer support installed inside the incubation cabinet. At least one incubation module is installed inside the drawer support. The drawer support is movable relative to the incubation cabinet. A magnetic swaying drive mechanism is provided between the incubation cabinet and the drawer support.

[0016] The magnetic swaying drive mechanism includes a swaying linkage assembly and a swaying drive assembly; the swaying drive assembly includes an active drive assembly and a driven drive assembly;

[0017] The active drive assembly is installed on the incubation cabinet, and the active drive assembly includes a drive motor located outside the drawer bracket and a magnetic clutch drive wheel that is connected to the drive motor in a transmission manner;

[0018] The driven assembly includes a driven shaft mounted on the drawer bracket and a magnetic clutch driven wheel that is driveably connected to the driven shaft;

[0019] The magnetic clutch driving wheel and the magnetic clutch driven wheel cooperate with each other to form a magnetic suction transmission mechanism;

[0020] The rocking linkage assembly is mounted on the drawer bracket or the incubation module, and the rocking linkage assembly drives the magnetic clutch driven wheel to the incubation module.

[0021] Furthermore, the magnetic clutch drive wheel is sleeved on the output shaft of the drive motor and rotates synchronously with the output shaft of the drive motor; the magnetic clutch driven wheel is sleeved on the driven shaft and rotates synchronously with the driven shaft; the rotation axes of the magnetic clutch drive wheel and the magnetic clutch driven wheel are perpendicular to each other.

[0022] This utility model also proposes a fully automated microbial culture system, including an incubation cabinet and a drawer support installed inside the incubation cabinet. At least one incubation module is installed inside the drawer support. The drawer support is movable relative to the incubation cabinet. A magnetic attraction and shaking drive mechanism as described above is provided between the incubation cabinet and the drawer support. The drive motor is located outside the drawer support. A first mounting plate is disposed on the incubation cabinet, and a second mounting plate is disposed on the drawer support.

[0023] Furthermore, the drawer support includes a front drawer end plate and a rear drawer end plate located at the front and rear ends of the incubation module, respectively; the first mounting plate is the top plate of the incubation cabinet or is mounted on the top surface of the incubation cabinet; the second mounting plate is the front drawer end plate or the rear drawer end plate, or the second mounting plate is mounted on the front drawer end plate or the rear drawer end plate.

[0024] Furthermore, the second mounting plate is movable relative to the first mounting plate in a direction parallel to the axis of the driven shaft; a guide assembly is provided between the incubator and the drawer support for guiding the drawer support to move in a direction parallel to the driven shaft.

[0025] The beneficial effects of this utility model are as follows:

[0026] This utility model relates to a fully automated microbial culture system. By incorporating a magnetic oscillation drive mechanism between the incubation cabinet and the incubation support, and by arranging an active drive component on the incubation cabinet and a driven drive component on the drawer support, a non-contact transmission method is achieved between the magnetic clutch drive wheel and the magnetic clutch driven wheel: when the drawer support is removed from the incubation cabinet, the magnetic clutch drive wheel and the magnetic clutch driven wheel separate, and the active drive component and the driven drive component are not connected by transmission; when the drawer support is pushed into the incubation cabinet, the magnetic clutch drive wheel and the magnetic clutch driven wheel are coupled without contact, and the driving power on the magnetic clutch drive wheel can be transmitted to the magnetic clutch driven wheel. This allows the incubation module to oscillate via the oscillation linkage assembly, and achieves the following technical effects:

[0027] (1) Replacing the existing synchronous belt mechanism and clutch with a magnetic drive mechanism can effectively reduce the transmission chain and simplify the structure; at the same time, since the synchronous belt mechanism is no longer used, there is no problem of synchronous belt wear.

[0028] (2) The magnetic clutch drive wheel and the magnetic clutch driven wheel in the magnetic drive mechanism are in a non-contact transmission mode, which can avoid the jamming and collision problems when the drawer bracket is pushed into the incubation cabinet, and will not produce collision noise. It achieves the unexpected technical effect of solving the jamming and unsmoothness of the existing clutch during the separation and engagement process.

[0029] (3) The problem of synchronous belt shedding is fundamentally solved: Specifically, on the one hand, the instruments on the market do not have external motors, so the fully automatic microbial culture system of these instruments does not need to be equipped with a clutch structure, but the heat generated by the motor will affect the microbial incubation temperature; on the other hand, in order to avoid the motor heat affecting microbial incubation, the applicant's prior application with publication number CN217202771U has external motors. Although the heat generated by the motor is isolated, the addition of a clutch structure leads to the problem of shedding. Through the applicant's research, it was found that the cause of shedding is: the transmission mechanism needs to be designed as a cantilever beam structure. Due to the inherent defects in the design of the cantilever beam structure, and the large driving torque of the drive incubation module, the synchronous belt needs to provide a large tension, which causes the axes of the two synchronous pulleys to approach and tilt towards each other, and the belt to slide to the outside of the synchronous pulley. In this special scenario, multiple factors exacerbate the problem of belt wear. Therefore, the fully automatic microbial culture system of this utility model fundamentally solves the problem of synchronous belt shedding by using a magnetic swaying drive mechanism to replace the traditional clutch structure.

[0030] (4) Since the transmission mechanism needs to be designed as a cantilever beam structure, if the magnetic clutch driving wheel and the magnetic clutch driven wheel are set coaxially or parallel to each other, the transmission chain will become complicated, the number of parts will increase, the tolerance will accumulate and increase, and there may also be problems such as abnormal noise and abnormal wear. This utility model can solve the above technical problems by setting the rotating shafts of the magnetic clutch driving wheel and the magnetic clutch driven wheel to be perpendicular to each other. Attached Figure Description

[0031] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration:

[0032] Figure 1 This is a schematic diagram of the structure of an embodiment of the fully automated microbial culture system of this utility model;

[0033] Figure 2 for Figure 1 Axonometric drawing;

[0034] Figure 3 This is an internal isometric view of the fully automated microbial culture system in this embodiment;

[0035] Figure 4 A three-dimensional view of the swaying drive mechanism in the first direction;

[0036] Figure 5 This is a two-dimensional view of the shaking drive mechanism in the second direction.

[0037] Explanation of reference numerals in the attached figures:

[0038] 10-Incubation cabinet; 20-Drawer support; 21-Incubation module; 22-Second mounting plate; 23-Optical coupler sensor; 30-Shaking linkage assembly; 31-Linkage rod; 32-Support rod; 33-First shaft; 34-Second shaft; 35-Measuring rod; 36-Sensing plate; 40-Active drive assembly; 41-Drive motor; 42-Magnetic clutch drive wheel; 43-Motor heat insulation plate; 44-First mounting plate; 50-Driven drive assembly; 51-Driven shaft; 52-Magnetic clutch driven wheel; 53-Driven shaft seat; 54-Drive rod; 55-Eccentric shaft. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0040] like Figure 1-3 As shown, the fully automated microbial culture system of this embodiment includes an incubation cabinet 10 and a drawer support 20 installed inside the incubation cabinet. At least one incubation module 21 is installed inside the drawer support 20. The drawer support 20 and the incubation cabinet 10 are relatively movable, meaning they can move relative to each other, thereby moving the incubation module 21 to place or remove the substrate to be incubated. Specifically, a magnetic attraction and shaking drive mechanism is provided between the incubation cabinet 10 and the drawer support 20 in this embodiment. Specifically, in this embodiment, the magnetic attraction and shaking drive mechanism includes a shaking linkage assembly 30 and a shaking drive assembly. The shaking drive assembly in this embodiment includes an active drive assembly 40 and a driven drive assembly 50.

[0041] like Figure 3-5 As shown, the active drive assembly 40 in this embodiment includes a drive motor 41 fixedly mounted on a first mounting plate 44 and a magnetic clutch drive wheel 42 that is driveably connected to the drive motor 41. Specifically, in this embodiment, the magnetic clutch drive wheel 42 is sleeved on the output shaft of the drive motor 41 and rotates synchronously with the output shaft of the drive motor 41, which simplifies the structure. Of course, in some other embodiments, the drive shaft of the magnetic clutch drive wheel 42 and the output shaft of the drive motor 41 can also be connected by a synchronous belt mechanism, a gear transmission mechanism, or a chain transmission mechanism, which will not be elaborated further.

[0042] like Figure 3-5As shown, the driven drive assembly 50 of this embodiment includes a driven shaft 51 rotatably mounted on a second mounting plate 22 and a magnetic clutch driven wheel 52 that is driveably connected to the driven shaft 51. In this embodiment, a driven shaft seat 53 is provided on the second mounting plate 22, and the driven shaft 51 is rotatably mounted in the driven shaft seat 53, which can effectively improve the rotational stability of the driven shaft 51. In this embodiment, the magnetic clutch driven wheel 52 is sleeved on the driven shaft 51 and rotates synchronously with the driven shaft 51, which can effectively simplify the structure. Of course, in some other embodiments, the magnetic clutch driven wheel 52 and the driven shaft 51 can also be connected by a synchronous belt mechanism, a gear transmission mechanism, or a chain transmission mechanism, which will not be described in detail here.

[0043] Specifically, the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52 cooperate with each other to form a magnetic attraction transmission mechanism. In this embodiment, the rotation axes of the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52 are perpendicular to each other, that is, in this embodiment, the output shaft of the drive motor 41 and the driven shaft 51 are perpendicular to each other.

[0044] In this embodiment, the second mounting plate 22 is movable relative to the first mounting plate 44 to separate or non-contactly couple the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52. In this embodiment, the second mounting plate 22 is movable relative to the first mounting plate 44 in a direction parallel to the axis of the driven shaft 51. Specifically, when the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52 are separated, there is no power transmission between them due to the large distance between them; when there is no contact coupling between them, the distance between them is small, and the power on the magnetic clutch drive wheel 42 can be transmitted to the magnetic clutch driven wheel 52.

[0045] like Figure 3 As shown, in this embodiment, the first mounting plate 44 is mounted on the incubation cabinet 10 or integrated with the incubation cabinet 10. That is, the active drive component 40 in this embodiment is mounted on the incubation cabinet 10. Preferably, the drive motor 41 is mounted on the incubation cabinet 10 and located outside the drawer bracket 20 to avoid the drive motor 41 generating heat and affecting the incubation temperature. In this embodiment, the second mounting plate 22 is disposed on the drawer bracket 20 or integrated with the drawer bracket 20. That is, in this embodiment, the driven shaft 51 is rotatably mounted on the drawer bracket 20.

[0046] In this embodiment, the rocking linkage assembly 30 is connected to the driven component for transmission. The rocking linkage assembly 30 is mounted on the drawer bracket 20 or the incubation module 21. In this embodiment, the rocking linkage assembly 30 is mounted on the drawer bracket 20. Specifically, the drawer bracket 20 includes a front drawer end plate and a rear drawer end plate located at the front and rear ends of the incubation module 21, respectively. The rocking linkage assembly 30 is provided on the front drawer end plate and the rear drawer end plate. The first mounting plate 44 is the top plate of the incubation cabinet 10 or is mounted on the top surface of the incubation cabinet 10. In this embodiment, the first mounting plate 44 is mounted on the top plate of the incubation cabinet 10. In this embodiment, the second mounting plate 22 is either the front drawer end plate or the rear drawer end plate, or the second mounting plate is mounted on either the front drawer end plate or the rear drawer end plate. Specifically, when the second mounting plate 22 is a front drawer end plate or is mounted on a front drawer end plate, the active drive component is located at the front end of the incubator 10, and the rocking linkage assembly 30 mounted on the front drawer end plate is drive-connected to the driven drive component; when the second mounting plate 22 is a rear drawer end plate or is mounted on a rear drawer end plate, the active drive component is located at the rear end of the incubator 10, and the rocking linkage assembly 30 mounted on the rear drawer end plate is drive-connected to the driven drive component. In this embodiment, the second mounting plate 22 is a rear drawer end plate.

[0047] In this embodiment, the second mounting plate 22 can move relative to the first mounting plate 44 in a direction parallel to the axis of the driven shaft 51; a guide assembly (not shown in the figure) is provided between the incubator and the drawer support for guiding the drawer support to move in a direction parallel to the driven shaft. The guide assembly can be a guide rail or the like provided between the incubator and the drawer support, which will not be described in detail here.

[0048] In a preferred embodiment of this example, a motor heat insulation sheet 43 is provided between the drive motor 41 and the first mounting plate 44 to prevent the heat generated by the drive motor 41 from being conducted into the incubation cabinet 10, thereby avoiding any impact on the temperature inside the incubation cabinet 10.

[0049] In a preferred embodiment of this example, the transmission ratio of the magnetic drive mechanism is 2:1, that is, the transmission ratio between the magnetic clutch driving wheel 42 and the magnetic clutch driven wheel 52 is 2, which increases the upper limit of the maximum transmission torque of the shaking drive component, can directly replace the shaking drive component of the existing fully automatic microbial culture system, and ensures that the swing speed of the incubation module 21 is consistent.

[0050] like Figure 3-5As shown, in this embodiment, the driven drive assembly 50 further includes a drive rod 54 and an eccentric shaft 55 eccentrically disposed relative to the driven shaft 51. The eccentric shaft 55 can rotate synchronously with the driven shaft 51 around its axis. The first end of the drive rod 51 is hinged to the eccentric shaft 55. In this embodiment, the rocking linkage assembly 30 includes a linkage rod 31 and several parallel support rods 32. The first end of the support rod 32 is hinged to the linkage rod 31 via a first shaft 33, and the second end of the support rod 32 is hinged to a second shaft 34 disposed on the second mounting plate 22. The second end of the drive rod 51 is hinged to one of the first shafts 33.

[0051] like Figure 4 As shown, in a preferred embodiment of this example, an optocoupler sensor 23 is mounted on the second mounting plate 22. The optocoupler sensor 23 is used to detect the angular range of rotation of the first end of the support rod 32 around the second axis 34. Specifically, in this embodiment, a measuring rod 35 corresponding to one of the support rods 32 is mounted on the second mounting plate 21. The first end and the second end of the measuring rod 35 are respectively hinged to the corresponding first axis 33 and second axis 34. The optocoupler sensor 23 is used to detect the angular range of rotation of the first end of the measuring rod 35 around the second axis 34. In this embodiment, two optocoupler sensors 23 are provided. The two optocoupler sensors 23 are respectively used to detect the positions of the two ends of the angular range of rotation of the first end of the measuring rod 35 around the second axis 34. The measuring rod 35 in this embodiment is provided with a sensing plate 35 that cooperates with the optocoupler sensor 23.

[0052] The fully automated microbial culture system of this embodiment drives the incubation module 21 to shake via a magnetic oscillation drive mechanism as follows: When the drawer support 20 is pushed into the incubation cabinet 10, the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52 are coupled without contact and can achieve power transmission; the drive motor 41 is started to drive the magnetic clutch drive wheel 42 to rotate. Utilizing the coupling relationship between the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52, the magnetic clutch driven wheel 52 is driven to rotate, thereby driving the driven shaft 51 and the eccentric shaft 55 to rotate. Since the eccentric shaft 55 is eccentrically set relative to the driven shaft 51, the first end of the drive rod 54 can be driven to swing, thereby driving the first shaft 33, the linkage rod 31, and the support rod 32 to swing around the second shaft 34. Finally, the support rod 32 drives the incubation module 21 to shake. When the drawer support 20 is pulled out of the incubator 10, the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52 are separated, and power transmission between the magnetic clutch drive wheel 42 and the magnetic clutch driven wheel 52 is impossible.

[0053] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A magnetic swaying drive mechanism, comprising a swaying linkage assembly and a swaying drive assembly; characterized in that: The wobbling drive assembly includes an active drive assembly and a driven drive assembly. The active drive assembly includes a drive motor fixedly mounted on a first mounting plate and a magnetic clutch drive wheel driven by the drive motor. The driven drive assembly includes a driven shaft rotatably mounted on a second mounting plate and a magnetic clutch driven wheel driven by the driven shaft. The magnetic clutch drive wheel and the magnetic clutch driven wheel cooperate with each other to form a magnetic attraction transmission mechanism. The wobbling linkage assembly is driven by the driven drive assembly. The second mounting plate is movable relative to the first mounting plate to separate or non-contactly couple the magnetic clutch drive wheel and the magnetic clutch driven wheel.

2. The magnetic wobbling drive mechanism according to claim 1, characterized in that: The magnetic clutch drive wheel is sleeved on the output shaft of the drive motor and rotates synchronously with the output shaft of the drive motor; the magnetic clutch driven wheel is sleeved on the driven shaft and rotates synchronously with the driven shaft; the rotation axes of the magnetic clutch drive wheel and the magnetic clutch driven wheel are perpendicular to each other.

3. The magnetic wobbling drive mechanism according to claim 1, characterized in that: A motor heat insulation sheet is provided between the drive motor and the first mounting plate.

4. The magnetic wobbling drive mechanism according to claim 1, characterized in that: The second mounting plate is provided with a driven shaft seat, and the driven shaft is rotatably mounted in the driven shaft seat; the second mounting plate can move relative to the first mounting plate in a direction parallel to the axis of the driven shaft; and / or, the transmission ratio of the magnetic drive mechanism is 2:

1.

5. The magnetic wobbling drive mechanism according to any one of claims 1-4, characterized in that: The driven assembly further includes a drive rod and an eccentric shaft eccentrically disposed relative to the driven shaft. The eccentric shaft can rotate synchronously with the driven shaft around its axis. The first end of the drive rod is hinged to the eccentric shaft. The rocking linkage assembly includes a linkage rod and several parallel support rods. The first end of each support rod is hinged to the linkage rod via a first shaft, and the second end is hinged to a second shaft disposed on the second mounting plate. The second end of the drive rod is hinged to one of the first shafts.

6. The magnetic wobbling drive mechanism according to claim 5, characterized in that: An optical coupler sensor is mounted on the second mounting plate; the optical coupler sensor is used to detect the angular range of rotation of the first end of the support rod around the second axis; or, a measuring rod is mounted on the second mounting plate corresponding to one of the support rods, the first end and the second end of the measuring rod are respectively hinged to the corresponding first axis and the second axis, and the optical coupler sensor is used to detect the angular range of rotation of the first end of the measuring rod around the second axis.

7. A fully automated microbial culture system, characterized in that: The device includes an incubation cabinet and a drawer support installed inside the incubation cabinet. At least one incubation module is installed inside the drawer support. The drawer support is movable relative to the incubation cabinet. A magnetic swaying drive mechanism is provided between the incubation cabinet and the drawer support. The magnetic swaying drive mechanism includes a swaying linkage assembly and a swaying drive assembly; the swaying drive assembly includes an active drive assembly and a driven drive assembly; The active drive assembly is installed on the incubation cabinet, and the active drive assembly includes a drive motor located outside the drawer bracket and a magnetic clutch drive wheel that is connected to the drive motor in a transmission manner; The driven assembly includes a driven shaft mounted on the drawer bracket and a magnetic clutch driven wheel that is driveably connected to the driven shaft; The magnetic clutch driving wheel and the magnetic clutch driven wheel cooperate with each other to form a magnetic suction transmission mechanism; The rocking linkage assembly is mounted on the drawer bracket or the incubation module, and the rocking linkage assembly drives the magnetic clutch driven wheel to the incubation module.

8. The fully automated microbial culture system according to claim 7, characterized in that: The magnetic clutch drive wheel is sleeved on the output shaft of the drive motor and rotates synchronously with the output shaft of the drive motor; the magnetic clutch driven wheel is sleeved on the driven shaft and rotates synchronously with the driven shaft; the rotation axes of the magnetic clutch drive wheel and the magnetic clutch driven wheel are perpendicular to each other.

9. A fully automated microbial culture system, characterized in that: The device includes an incubation cabinet and a drawer bracket installed inside the incubation cabinet. At least one incubation module is installed inside the drawer bracket. The drawer bracket is movable relative to the incubation cabinet. A magnetic swaying drive mechanism as described in any one of claims 1-6 is provided between the incubation cabinet and the drawer bracket. The drive motor is located outside the drawer bracket. A first mounting plate is disposed on the incubation cabinet, and a second mounting plate is disposed on the drawer bracket.

10. The fully automated microbial culture system according to claim 9, characterized in that: The second mounting plate is movable relative to the first mounting plate in a direction parallel to the axis of the driven shaft; a guide assembly is provided between the incubator and the drawer support for guiding the drawer support to move in a direction parallel to the driven shaft.

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