An automated stack that can automatically clamp

Abstract

The utility model discloses an automatic stacking of automatic clamping, including stacking frame, and the upper high -speed eccentric motor and lower high -speed eccentric motor are set up respectively in stacking frame top and below, the fixed connection through the support frame body between the clamping frame and lower motor base, the fixed mounting has the servo motor in the clamping frame, and the output of servo motor is coaxial fixed connection with the screw rod, is equipped with Z type pivot in the clamping frame bottom surface, and Z type pivot is rotatably connected with clamping frame, and one end of the one end fixed connection limit of Z type pivot upper end plucks, and the other end of limit plucks is rotatably connected with screw rod nut through pivot, and screw rod nut is connected with screw rod cooperation thread, and the rotatable pluck of fixed mounting has in Z type pivot lower extreme. The utility model overcomes the deficiency of prior art, solved the problem such as clamping instability under high frequency oscillation, artificial intervention pollution and poor container compatibility, and the reliability, safety and efficiency of biological culture have been improved significantly.

Description

Technical Field

[0001] This utility model relates to the field of biological shaker technology, specifically to an automated stack that can be automatically clamped. Background Technology

[0002] Biological shakers (or shaking incubators) are core equipment in fields such as biopharmaceuticals, cell culture, and microbial fermentation. They promote the uniform distribution of oxygen and nutrients by providing controllable temperature, humidity, gas environment, and constant oscillation frequency, thereby enabling efficient cell expansion or product expression.

[0003] Traditional shaker equipment and sample loading / unloading methods are no longer sufficient to meet the core requirements of modern bioprocessing for "full automation, zero human intervention, and zero contamination risk." Existing technologies suffer from the following critical technical deficiencies that urgently need to be addressed:

[0004] First, the clamping reliability is poor, posing a risk to sample safety: Most current shakers use mechanical rigid clamps or spring clips to fix containers such as culture flasks and multi-well plates. Under high-frequency (typically ≥200 rpm) and long-term oscillation conditions, mechanical connection points are prone to loosening due to fatigue, and spring pressure may decrease, causing the culture container to shift, collide, or even tip over. This not only causes cross-contamination of samples or damage to containers, but also seriously affects the consistency of the cell growth environment, leading to distorted experimental data or production batch failures, posing significant risks and losses to scientific research or production.

[0005] Second, the stacks suffer from poor coordination and lack independent control: To improve space utilization and throughput, existing technologies integrate multiple stack units into a single cabinet. However, these stacks are typically driven by a single motor via a drive shaft, resulting in all stacks performing only the same synchronous oscillation motion (same speed, same amplitude). The inability to achieve independent start / stop or independent oscillation mode control (such as different speeds or different tracks) for each stack unit severely limits the versatility of equipment applications and its ability to handle different experimental conditions in parallel.

[0006] Third, the system lacks intelligent sensing and fault tolerance capabilities: the clamping and oscillation actions of the existing equipment lack effective real-time monitoring and feedback mechanisms. Critical states such as whether the clamping force is sufficient, whether the oscillation process is stable, and whether the motor loses its steps cannot be detected by the system. Once an anomaly occurs, such as clamping failure or motor overload, the system cannot self-adjust or safely shut down, which can easily lead to equipment damage or sample loss. Utility Model Content

[0007] To address the shortcomings of existing technologies, this invention provides an automated stack with automatic clamping, which overcomes the deficiencies of existing technologies and solves problems such as clamping instability under high-frequency oscillation, contamination from manual intervention, and poor container compatibility, thus significantly improving the reliability, safety, and efficiency of biological culture.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] An automated stack with automatic clamping capability includes a stack frame. An upper high-speed eccentric motor and a lower high-speed eccentric motor are respectively disposed above and below the stack frame. The upper high-speed eccentric motor is fixedly mounted on the lower surface of the clamping frame, and the lower high-speed eccentric motor is fixedly mounted above the lower motor base. The output shaft of the upper high-speed eccentric motor is inserted into the upper surface of the stack frame and fixedly connected to it, and the output shaft of the lower high-speed eccentric motor is inserted into the lower surface of the stack frame and fixedly connected to it. The clamping frame and the lower motor base are fixedly connected by a support frame.

[0010] A servo motor is fixedly installed inside the clamping frame. The output end of the servo motor is coaxially and fixedly connected to the lead screw. A Z-shaped rotating shaft is passed through the bottom surface of the clamping frame. The Z-shaped rotating shaft is rotatably connected to the clamping frame. One end of a limiting plate is fixedly connected to the upper end of the Z-shaped rotating shaft. The other end of the limiting plate is rotatably connected to a lead screw nut through the rotating shaft. The lead screw nut is threadedly connected to the lead screw. A rotating plate is fixedly installed at the lower end of the Z-shaped rotating shaft.

[0011] Preferably, the lower high-speed eccentric motor is connected to the lower encoder, the upper high-speed eccentric motor is connected to the upper encoder, the control terminal of the upper high-speed eccentric motor is connected to the upper motor control board, the lower encoder is used to detect the speed and phase of the lower high-speed eccentric motor and feed the signal back to the upper motor control board, and the upper motor control board controls the upper high-speed eccentric motor and the lower high-speed eccentric motor to rotate synchronously according to the feedback signal.

[0012] Preferably, two limit switches are fixedly installed inside the clamping frame. The two limit switches are used to detect the states of the limit lever being fully open and fully clamped, respectively. The signal output terminal of the limit switch is connected to the signal input terminal of the control system. The control system controls the start, stop and direction of the servo motor according to the signal of the limit switch.

[0013] Preferably, one end of a compression spring is fixedly connected to the inner sidewall of the stack frame, and the other end of the compression spring is fixedly connected to a clamping plate, with the rotating paddle in movable contact with the clamping plate.

[0014] Preferably, an upper origin sensor is fixedly installed on the lower surface of the clamping frame, and a lower origin sensor is fixedly installed on the upper surface of the lower motor base. The upper origin sensor is used to detect the initial position of the upper high-speed eccentric motor, and the lower origin sensor is used to detect the initial position of the lower high-speed eccentric motor. The signal output terminals of both the upper and lower origin sensors are connected to the signal input terminals of the control system. The control system calibrates the initial phase positions of the upper and lower high-speed eccentric motors after they stop based on the signals from the upper and lower origin sensors.

[0015] Preferably, the Z-shaped rotating shaft passes through the bottom surface of the clamping frame and is rotatably connected to the clamping frame via a self-lubricating bushing.

[0016] Preferably, a sealing ring is provided between the self-lubricating bushing and the clamping frame.

[0017] This invention provides an automated stack with automatic clamping capabilities, offering the following advantages: A stable and repeatable clamping force is provided by a servo motor-driven screw and nut mechanism, combined with adaptive clamping from compression springs and clamping plates, forming a flexible, backlash-free clamping system. Furthermore, synchronous control of the upper and lower high-speed eccentric motors effectively ensures minimal phase difference between the upper and lower oscillation sources, eliminating abnormal shear forces caused by asynchronous oscillations. This fundamentally prevents displacement, collision, or overturning of the culture container during oscillation, providing a highly stable environment for cell growth and significantly improving the reliability and reproducibility of experimental data. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this utility model or the prior art, the accompanying drawings used in the description of this utility model or the prior art will be briefly introduced below.

[0019] Figure 1 A schematic diagram of the structure of this utility model in use;

[0020] Figure 2 A schematic diagram of the structure of this utility model;

[0021] Figure 3 A schematic diagram of the planar structure of this utility model;

[0022] Figure 4 A schematic diagram of the clamping mechanism in this utility model;

[0023] Figure 5 A schematic diagram of the internal structure of the clamping frame in this utility model;

[0024] Figure 6 This utility model includes a schematic diagram of the structure above the lower motor base.

[0025] Explanation of the labels in the diagram:

[0026] 1. Stack frame; 2. Upper high-speed eccentric motor; 3. Lower high-speed eccentric motor; 4. Clamping frame; 5. Lower motor base; 6. Support frame; 7. Servo motor; 8. Lead screw; 9. Z-shaped rotating shaft; 10. Limiting lever; 11. Lead screw nut; 12. Rotating lever; 13. Compression spring; 14. Pressure plate; 15. Limit switch; 16. Lower home position sensor. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0028] Example 1, as Figure 1-6 As shown, an automated stack with automatic clamping capability includes a stack frame 1. An upper high-speed eccentric motor 2 and a lower high-speed eccentric motor 3 are respectively disposed above and below the stack frame 1. The upper high-speed eccentric motor 2 is fixedly mounted on the lower surface of a clamping frame 4, and the lower high-speed eccentric motor 3 is fixedly mounted above a lower motor base 5. The output shaft of the upper high-speed eccentric motor 2 is inserted into the upper surface of the stack frame 1 and fixedly connected to it, while the output shaft of the lower high-speed eccentric motor 3 is inserted into the lower surface of the stack frame 1 and fixedly connected to it. The clamping frame 4 and the lower motor base 5 are fixedly connected by a support frame 6.

[0029] A servo motor 7 is fixedly installed inside the clamping frame 4. The output end of the servo motor 7 is coaxially and fixedly connected to the lead screw 8. A Z-shaped rotating shaft 9 is passed through the bottom surface of the clamping frame 4. The Z-shaped rotating shaft 9 is rotatably connected to the clamping frame 4. One end of the limiting plate 10 is fixedly connected to the upper end of the Z-shaped rotating shaft 9. The other end of the limiting plate 10 is rotatably connected to the lead screw nut 11 through the rotating shaft. The lead screw nut 11 is threadedly connected to the lead screw 8. A rotating plate 12 is fixedly installed at the lower end of the Z-shaped rotating shaft 9.

[0030] Working principle:

[0031] When an external integrated control system (such as a robotic arm controller) or a user issues a "ready to load" command through a human-machine interface (HMI), the command is transmitted to the stack's control system. The control system then starts the servo motor 7 to rotate in the forward direction. The servo motor 7 drives the lead screw 8 to rotate, which in turn drives the lead screw nut 11 to move forward along the axis of the lead screw 8. Subsequently, the lead screw nut 11 drives the limit plate 10 to rotate around the Z-shaped rotating shaft 9. Since the limit plate 10 is fixedly connected to the rotating plate 12 through the Z-shaped rotating shaft 9, the rotation of the limit plate 10 can drive the rotating plate 12 to rotate synchronously, so that the rotating plate 12 rotates outward to the preset opening angle.

[0032] Subsequently, the external telescopic conveyor arm smoothly pushes the culture plate or other container to the target position within the stack frame 1. After confirming that the container is in place, the conveyor arm retracts from the stack frame 1. Then, the control system controls the servo motor 7 to rotate in the reverse direction, driving the lead screw 8 to rotate in the reverse direction. This drives the lead screw nut 11 to move backward along the axis of the lead screw 8, thereby causing the limit plate 10 to rotate in the reverse direction. Through the Z-shaped rotating shaft 9, the rotating plate 12 rotates inward synchronously, gradually closing and firmly clamping the sidewall of the culture container, ensuring reliable container clamping.

[0033] Subsequently, the user can set oscillation parameters (such as rotation speed and time) and issue a start command via the control panel. Upon receiving the start command, the control system drives the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 to start synchronously, thereby driving the entire stack frame 1 to perform high-speed eccentric rotation, thus achieving uniform oscillation of the culture containers held inside the stack frame 1. After the set time is reached or a stop command is received, the control system simultaneously sends a stop signal to the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3, causing them to stop operating, and the stack frame 1 stops rotating. Then, the control system controls the servo motor 7 to rotate forward again, driving the lead screw 8 to rotate, causing the lead screw nut 11 to move forward along the axis of the lead screw 8, thereby driving the limit plate 10 to rotate around the Z-shaped rotating shaft 9, and then driving the rotating plate 12 to rotate outward synchronously, gradually opening. At this time, the telescopic conveyor arm can re-enter the stack frame 1, smoothly pushing the culture containers that have completed the oscillation treatment to the next process position.

[0034] In Example 2, as a further preferred embodiment of Example 1, the lower high-speed eccentric motor 3 is connected to the lower encoder, and the upper high-speed eccentric motor 2 is connected to the upper encoder. The control terminal of the upper high-speed eccentric motor 2 is connected to the upper motor control board. The lower encoder is used to detect the speed and phase of the lower high-speed eccentric motor 3 and feeds the signal back to the upper motor control board. The upper motor control board controls the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 to maintain synchronous rotation based on the feedback signal. Therefore, when the control system drives the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 to start synchronously, the control system first drives the lower high-speed eccentric motor 3, which acts as the main motor, to start. The lower encoder collects the speed and phase angle signals of the lower high-speed eccentric motor 3 in real time and feeds the signal back to the upper motor control board. The upper motor control board then adjusts the drive parameters of the upper high-speed eccentric motor 2 in real time based on the received feedback signal, so that the upper high-speed eccentric motor 2 can follow the lower motor 3 to rotate synchronously with the same speed and phase angle, thereby achieving precise synchronous operation of the upper and lower high-speed eccentric motors. Throughout the oscillation process, the lower encoder and the upper encoder continuously monitor the operating status of the lower high-speed eccentric motor 3 and the upper high-speed eccentric motor 2, respectively, and transmit the monitoring data to the upper motor control board in real time. If a slight phase difference occurs between the upper and lower high-speed eccentric motors due to load disturbances or other reasons, the upper motor control board will immediately make dynamic adjustments to the upper high-speed eccentric motor 2 to ensure that the phase difference is controlled within a very small range (such as ≤0.5°), thereby achieving stable and uniform oscillation and completely avoiding container loosening or displacement caused by shear force generated by asynchronous oscillation.

[0035] In Example 3, as a further preferred embodiment of Example 1, two limit switches 15 are fixedly installed inside the clamping frame 4. These two limit switches 15 are used to detect the states of the limit lever 10 being fully open and fully clamped, respectively. The signal output terminals of the limit switches 15 are connected to the signal input terminals of the control system. The control system controls the start, stop, and direction of the servo motor 7 based on the signals from the limit switches 15. Therefore, when the limit lever 10 is fully open or fully clamped, the corresponding limit switch 15 is triggered and sends a position signal to the control system. Upon receiving this signal, the control system immediately stops the power supply to the drive motor to prevent overload operation.

[0036] In Embodiment Four, as a further preferred embodiment of Embodiment One, one end of a compression spring 13 is fixedly connected to the inner wall of the stacking frame 1, and the other end of the compression spring 13 is fixedly connected to a clamping plate 14. A rotating paddle 12 is in movable contact with the clamping plate 14. Thus, when the rotating paddle 12 rotates inward, its side pushes the clamping plate 14, causing the clamping plate 14 to move inward under the push of the rotating paddle 12, thereby clamping the container placed within the clamping frame 4 to prevent it from shaking or shifting during oscillation. Simultaneously, the clamping plate 14 is connected to the inner wall of the stacking frame 1 via the compression spring 13, allowing the clamping plate 14 to have a certain displacement through the elastic force of the compression spring 13, accommodating containers of different sizes and thicknesses and ensuring that each container is reliably clamped during oscillation.

[0037] In Example 5, as a further preferred embodiment of Example 1, an upper origin sensor is fixedly mounted on the lower surface of the clamping frame 4, and a lower origin sensor is fixedly mounted on the upper surface of the lower motor base 5. The upper origin sensor is used to detect the initial position of the upper high-speed eccentric motor 2, and the lower origin sensor is used to detect the initial position of the lower high-speed eccentric motor 3. The signal output terminals of both the upper and lower origin sensors are connected to the signal input terminals of the control system. The control system calibrates the initial phase positions of the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 after they stop, based on the signals from the upper and lower origin sensors. When the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 stop operating, due to inertia and resistance, the output shaft phases of the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 may be random. At this time, the control system can control the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 to start rotating slowly. When the output shafts of the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 rotate to a position aligned with the upper and lower origin sensors (specifically, a physical mark can be set on the output shafts of the upper and lower high-speed eccentric motors 2 and 3), the upper and lower origin sensors will detect the initial position signal and feed it back to the control system. The control system then calibrates the phase of the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 based on the received initial position signal, ensuring that their output shafts return to the preset starting angle, thus providing an accurate starting point for the next oscillation. This method not only improves the repeatability and positioning accuracy of the equipment but also effectively reduces vibration imbalance caused by phase deviation, further ensuring the stability and safety of the oscillation process.

[0038] In Example Six, as a further preferred embodiment of Example One, the Z-shaped rotating shaft 9 passes through the bottom surface of the clamping frame 4 and is rotatably connected to the clamping frame 4 via a self-lubricating bushing. A sealing ring is provided between the self-lubricating bushing and the clamping frame 4. By using a self-lubricating bushing, the frictional resistance of the Z-shaped rotating shaft 9 during rotation can be significantly reduced, thereby improving the operating efficiency and lifespan of the equipment. Simultaneously, the sealing ring effectively prevents external dust or liquid from seeping into the clamping frame 4. This combination of the clamping frame, lower motor base, and support frame forming a sealed chamber, along with the self-lubricating bushing and sealing ring, achieves clean transmission without grease or oil, making it suitable for experimental environments with high cleanliness requirements.

[0039] This invention utilizes a servo motor-driven screw and nut mechanism to provide stable and repeatable clamping force. Combined with the adaptive clamping of the compression spring 3 and the clamping plate 14, it forms a flexible, backlash-free clamping system. Furthermore, the synchronous control and drive of the upper high-speed eccentric motor 2 and the lower high-speed eccentric motor 3 effectively ensures a minimal phase difference between the upper and lower oscillation sources, eliminating abnormal shear forces caused by asynchronous oscillation. This fundamentally avoids displacement, collision, or overturning of the culture container during oscillation, providing a highly stable environment for cell growth and greatly improving the reliability and repeatability of experimental data.

[0040] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automated stack capable of automatic clamping, characterized in that: The system includes a stack frame (1), with an upper high-speed eccentric motor (2) and a lower high-speed eccentric motor (3) respectively installed above and below the stack frame (1). The upper high-speed eccentric motor (2) is fixedly installed on the lower surface of the clamping frame (4), and the lower high-speed eccentric motor (3) is fixedly installed above the lower motor base (5). The output shaft of the upper high-speed eccentric motor (2) is inserted into the upper surface of the stack frame (1) and fixedly connected to the stack frame (1), and the output shaft of the lower high-speed eccentric motor (3) is inserted into the lower surface of the stack frame (1) and fixedly connected to the stack frame (1). The clamping frame (4) and the lower motor base (5) are fixedly connected by a support frame (6). A servo motor (7) is fixedly installed inside the clamping frame (4). The output end of the servo motor (7) is coaxially fixedly connected to the lead screw (8). A Z-shaped rotating shaft (9) is passed through the bottom surface of the clamping frame (4). The Z-shaped rotating shaft (9) is rotatably connected to the clamping frame (4). One end of a limiting paddle (10) is fixedly connected to the upper end of the Z-shaped rotating shaft (9). The other end of the limiting paddle (10) is rotatably connected to a lead screw nut (11) through the rotating shaft. The lead screw nut (11) is threadedly connected to the lead screw (8). A rotating paddle (12) is fixedly installed at the lower end of the Z-shaped rotating shaft (9).

2. The automated stack with automatic clamping capability according to claim 1, characterized in that: The lower high-speed eccentric motor (3) is connected to the lower encoder, the upper high-speed eccentric motor (2) is connected to the upper encoder, the control terminal of the upper high-speed eccentric motor (2) is connected to the upper motor control board, the lower encoder is used to detect the speed and phase of the lower high-speed eccentric motor (3) and feed the signal back to the upper motor control board, the upper motor control board controls the upper high-speed eccentric motor (2) and the lower high-speed eccentric motor (3) to keep rotating synchronously according to the feedback signal.

3. The automated stack with automatic clamping capability according to claim 1, characterized in that: Two limit switches (15) are fixedly installed inside the clamping frame (4). The two limit switches (15) are used to detect the state of the limit lever (10) being opened and clamped respectively. The signal output terminal of the limit switch (15) is connected to the signal input terminal of the control system. The control system controls the start, stop and direction of the servo motor (7) according to the signal of the limit switch (15).

4. An automated stack with automatic clamping capability according to claim 2, characterized in that: One end of a compression spring (13) is fixedly connected to the inner wall of the stack frame (1), and the other end of the compression spring (13) is fixedly connected to a clamping plate (14). The rotating paddle (12) is in contact with the clamping plate (14).

5. An automated stack with automatic clamping capability according to claim 1, characterized in that: An upper origin sensor is fixedly installed on the lower surface of the clamping frame (4), and a lower origin sensor is fixedly installed on the upper surface of the lower motor base (5). The upper origin sensor is used to detect the initial position of the upper high-speed eccentric motor (2), and the lower origin sensor is used to detect the initial position of the lower high-speed eccentric motor (3). The signal output terminals of the upper origin sensor and the lower origin sensor are both connected to the signal input terminal of the control system. The control system calibrates the initial phase position of the upper high-speed eccentric motor (2) and the lower high-speed eccentric motor (3) after stopping based on the signals of the upper origin sensor and the lower origin sensor.

6. An automated stack with automatic clamping capability according to claim 1, characterized in that: The Z-shaped rotating shaft (9) passes through the bottom surface of the clamping frame (4) and is rotatably connected to the clamping frame (4) through a self-lubricating bushing.

7. An automated stack with automatic clamping capability according to claim 6, characterized in that: A sealing ring is provided between the self-lubricating bushing and the clamping frame (4).

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