CN219313661U - Material storage device and automatic experiment system - Google Patents

Abstract

The material storage device comprises a base, at least one rotating frame and a carrying mechanism, wherein an interaction station is arranged on the base and used for carrying out material interaction with the outside; at least one rotating frame is arranged on the base, is rotationally connected with the base and is used for placing a material tray; the conveying mechanism is arranged on the base and used for transferring the material trays from the rotating frame to the interaction station and/or transferring the material trays from the interaction station to the rotating frame. Through setting up swivel mount and transport mechanism, the swivel mount can place the material tray that holds the material, satisfies the demand of putting in storage, can realize the removal of material tray through transport mechanism operation, can realize the circulation of material, has promoted the automation level of experimental facilities.

Description

Material storage device and automatic experiment system

Technical Field

The utility model relates to the technical field of experimental equipment, in particular to a material storage device and an automatic experimental system.

Background

With the development of technology, industries such as biology, chemistry and the like gradually develop towards experimental automation, so that experimental staff are liberated from a large number of repeated labor. The current experimental equipment generally needs to perform operations such as material storage and transfer when performing experiments, but the current method mainly comprises the steps of manually carrying to a storage platform and manually placing, so that the automation level is not high, and the labor cost is high.

Disclosure of Invention

The utility model aims to provide a material storage device and an automatic experiment system, which solve the problem that the automation level of the existing experiment equipment is not high.

In order to achieve the purpose of the utility model, the utility model provides the following technical scheme:

in a first aspect, the present utility model provides a material storage device comprising: the base is provided with an interaction station which is used for carrying out material interaction with the outside; the rotating frame is arranged on the base, is rotationally connected with the base and is used for placing a material tray; the conveying mechanism is arranged on the base and used for transferring the material tray from the rotating frame to the interaction station and/or transferring the material tray from the interaction station to the rotating frame.

In one embodiment, the rotating frame comprises a driving piece, a transmission piece and a frame body, wherein the driving piece is fixedly connected with the base, the transmission piece is connected with the driving piece and the frame body, and the driving piece drives the transmission piece to drive the frame body to rotate; the frame body is provided with a matching position, and the matching position is used for placing a material tray.

In one embodiment, the frame body comprises a rotating bottom plate, a rotating top plate and a connecting shaft, the rotating bottom plate and the rotating top plate are oppositely arranged, two opposite ends of the connecting shaft are respectively connected and fixed with the rotating bottom plate and the rotating top plate, the rotating bottom plate or the connecting shaft is connected with the transmission piece, a plurality of matching positions are arranged on the rotating bottom plate and/or the rotating top plate, and the matching positions are annularly distributed by taking the connecting shaft as an axis.

In one embodiment, the rotary bottom plate is provided with a plurality of first matching parts which are distributed in an annular interval, the rotary top plate is provided with a plurality of second matching parts which are distributed in an annular interval, the first matching parts and the second matching parts are in one-to-one correspondence, and each matching position comprises one first matching part and one second matching part which corresponds to the first matching part.

In one embodiment, the material storage device further comprises a material rack, and the matching position is used for placing the material rack; the work or material rest is provided with first position of placing, first position of placing is used for placing the material tray.

In one embodiment, one end of the material rack in the height direction is connected with one of the first matching parts, the other end of the material rack in the height direction opposite to the other end of the material rack in the height direction is connected with the corresponding second matching part, and the material rack is provided with a plurality of first placing positions along the height direction of the material rack.

In one embodiment, the material rack comprises a matched bottom plate, a matched top plate, two vertical supporting plates and a plurality of supporting blocks, wherein the two vertical supporting plates are oppositely arranged, the matched bottom plate and the matched top plate are oppositely arranged, the matched bottom plate is connected with one ends of the two vertical supporting plates, the matched top plate is connected with the other ends of the two vertical supporting plates, the plurality of supporting blocks are respectively arranged on the two opposite surfaces of the two vertical supporting plates, the two vertical supporting plates are respectively provided with one supporting block at the same height so as to form a first placing position, the matched bottom plate is used for being connected with the first matching part, and the matched top plate is used for being connected with the second matching part.

In one embodiment, the material rack is provided with a handle.

In one embodiment, the number of the rotating frames is two, two rotating frames are located on a first side of the base, the carrying mechanism is located on a second side of the base, the interaction station is located on a third side of the base, the first side is opposite to the second side, and the third side is adjacent to the first side and the second side.

In one embodiment, the number of the rotating frames is four, and four rotating frames are arranged around the carrying mechanism; or, the number of the rotating frames is four, two rotating frames are located on a first side of the base, the other two rotating frames are located on a second side of the base, the interaction station is located on a third side of the base, the carrying mechanism is located in the middle of the base, the first side is opposite to the second side, and the third side is adjacent to the first side and the second side.

In one embodiment, the handling mechanism comprises a mechanical arm and a handling clamping jaw, one end of the mechanical arm is connected with the base, the other end of the mechanical arm is connected with the handling clamping jaw, the mechanical arm is used for driving the handling clamping jaw to move, and the handling clamping jaw is used for clamping a material tray.

In an embodiment, the transport clamping jaw includes base, power spare, slide mechanism and clamping piece, the base with the arm is connected, the power spare install in the base, slide mechanism with base sliding connection, slide mechanism's one end with the power spare is connected, the clamping piece with slide mechanism is dorsad the one end of power spare is connected, the clamping piece is dorsad the direction of power spare stretches out the base, just the clamping piece with the base defines the centre gripping space jointly, the centre gripping space is used for acceping the material tray.

In one embodiment, the sliding mechanism comprises a first sliding block, a second sliding block, a connecting piece and an elastic piece, wherein the first sliding block and the second sliding block are in sliding connection with the base, the first sliding block is connected with the power piece, the second sliding block is located on one side, opposite to the power piece, of the first sliding block, the connecting piece is fixedly connected with the first sliding block, the elastic piece is elastically abutted to the second sliding block and the connecting piece, and when the first sliding block and the second sliding block are gradually far away from each other, the compression amount of the elastic piece is increased.

In one embodiment, the clamping member comprises a supporting plate and a stop block, one end of the supporting plate is connected with the second sliding block, the stop block is arranged at one end, away from the second sliding block, of the supporting plate and protrudes out of the surface of the supporting plate, and the supporting plate, the stop block and the base jointly define the clamping space.

In one embodiment, the handling jaw is detachably connected to the robotic arm; the material storage device further comprises a first quick change frame, the first quick change frame is arranged on the base, the carrying clamping jaw is arranged on the first quick change frame, the mechanical arm is connected and fixed with the carrying clamping jaw at the first quick change frame, and the carrying clamping jaw is moved to be separated from the first quick change frame.

In one embodiment, the first quick-change rack comprises a base frame and a supporting arm, the base frame is fixed with the base, the supporting arm is connected with the base frame and extends out of the base frame, the supporting arm encloses to form a containing opening, the opening direction of the containing opening faces the outside of the base frame, and the containing opening is used for containing the carrying clamping jaw.

In one embodiment, the material storage device further comprises a frame, the frame is arranged on the base, the frame and the base enclose a containing space together, at least one of the rotating frame and the carrying mechanism is contained in the containing space, the frame is provided with an interaction window, and the interaction window corresponds to the interaction station.

In one embodiment, the material storage device further comprises a detection component, wherein the detection component is accommodated in the accommodating space and is used for detecting whether the material tray exists on the rotating frame or not and detecting materials contained in the material tray.

In one embodiment, the detection assembly comprises a first detection member arranged on the carrying clamping jaw and used for detecting whether a material tray exists on the rotating frame or not; or, the first detecting piece is used for detecting whether a material rack exists on the rotating rack and whether a material tray exists on the material rack.

In one embodiment, the detection assembly further comprises a first identification member disposed on the carrying jaw, the first identification member being configured to identify a material tray on the rotating frame detected by the first detection member, or the first identification member being configured to identify the material tray on the rotating frame detected by the first detection member, and to identify the material tray on the material frame detected by the first detection member.

In one embodiment, the detection assembly further comprises a second detection member for detecting the amount of material in the material tray.

In an embodiment, the material storage device further comprises a code scanning clamping jaw, the detection assembly further comprises a second identification piece, the code scanning clamping jaw is detachably connected with the mechanical arm, the code scanning clamping jaw is used for taking out materials in the material tray, and the second identification piece is used for identifying the materials moved by the code scanning clamping jaw.

In an embodiment, the material storage device further comprises a second quick-change rack, the second quick-change rack is arranged on the base, the code scanning clamping jaw is arranged on the second quick-change rack, the mechanical arm is connected and fixed with the code scanning clamping jaw at the second quick-change rack, and the code scanning clamping jaw is moved to be separated from the second quick-change rack.

In one embodiment, the interactive station is provided with an interactive frame, the interactive frame is provided with a second placing position, and the second placing position is used for placing the material tray.

In one embodiment, the interactive frame comprises a plurality of layers of transverse plates which are sequentially arranged along the height direction, and each layer of transverse plate is provided with at least one second placement position; the second placement position at the top of the interaction frame is opposite to the second detection piece.

In one embodiment, the material storage device further comprises an information management system electrically connected to the detection assembly, the information management system configured to receive and manage information detected by the detection assembly.

In one embodiment, the material storage device further comprises a housing, the housing encloses the frame, the housing is provided with the interaction window, the housing is further provided with a storage door and a maintenance window, the storage door is opened to put a material tray into the rotating frame and/or a material rack filled with the material tray, and the maintenance window is used for maintaining the device in the accommodating space.

In one embodiment, at least part of the housing is made of transparent material, or a transparent observation window is arranged on the housing.

In one embodiment, the material storage device further comprises a positioning mechanism, and the mobile robot outside the material storage device positions the material storage device according to the positioning mechanism;

the positioning mechanism comprises:

the three-axis calibration support is arranged on the outer wall of the frame and is close to the interaction window, the three-axis calibration support comprises an X-direction connecting plate, a Y-direction connecting plate and a Z-direction connecting plate which are arranged in a mutually perpendicular mode, one end of the Y-direction connecting plate is connected with one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected with one end of the Z-direction connecting plate;

The three positioning code calibration plates are respectively arranged at two ends of the X-direction connecting plate, and the other positioning code calibration plate is arranged at the other end of the Z-direction connecting plate;

each positioning code calibration plate is internally provided with a positioning code, and the positioning codes are used for enabling an external mobile robot to position the interaction window.

In a second aspect, the present utility model provides a method of material storage, the method of material storage being applied to a material storage device as in any of the various embodiments of the first aspect, the method of material storage comprising:

and (3) warehousing: placing a material tray containing materials into the rotating frame;

the detection step comprises: detecting whether a new warehouse-in material tray exists on the rotating frame by utilizing a detection assembly, and if yes, identifying tray information of the material tray; detecting the quantity of the materials in the material tray by utilizing the detection assembly again, and identifying the material information of each material;

information input step: storing the tray information and the material information to an information management system;

the storage step: and the material tray with information input completed is moved to the appointed position of the rotating frame by using the carrying mechanism.

In one embodiment, the warehousing step includes:

and placing a material tray into the rotating frame through a warehouse entry door, or placing the material tray into the interaction station, and placing the material tray into the rotating frame through the conveying mechanism.

In one embodiment, the detecting step includes:

detecting whether a newly-put material rack exists on the rotary rack and whether a material tray exists on the material rack by utilizing a detection assembly, if so, identifying the material rack information of the material rack and the tray information of the material tray; detecting the quantity of the materials in the material tray by utilizing the detection assembly again, and identifying the material information of each material;

the information input step comprises the following steps:

storing the material rack information, the tray information and the material information to an information management system;

the storing step includes:

and the material tray with information input completed is moved to a first placing position appointed by the material rack on the rotating rack by utilizing the carrying mechanism.

In one embodiment, the detecting step includes:

the control mechanical arm drives the carrying clamping jaw to move, a first detection part on the carrying clamping jaw is used for detecting whether a new material pallet exists on the rotating frame, and if yes, a first identification part on the carrying clamping jaw is used for identifying pallet information of the material pallet;

Controlling the mechanical arm to drive the carrying clamping jaw to move the material tray to a detection table, and detecting the quantity of materials in the material tray by using a second detection piece;

the mechanical arm is controlled to replace the code scanning clamping jaw, and the code scanning clamping jaw is driven to take out materials in the material tray one by one and move the materials to the second identification piece, so that the second identification piece identifies material information of each material.

In one embodiment, the method for storing materials further comprises:

and (3) a step of warehouse-out: acquiring target material information or target tray information to be delivered; controlling a rotating frame storing the target material information or the target tray corresponding to the target tray information to rotate so as to rotate a placing position of the rotating frame storing the target tray to an output position; and controlling the carrying mechanism to carry the target tray from the rotating frame and move to an interaction station, so that an external mobile robot takes the target tray from the interaction station.

In a third aspect, the present utility model also provides an automated test system comprising at least one material storage device according to any of the various embodiments of the first aspect.

In one embodiment, the device further comprises a mobile robot for picking and placing material to the material storage device.

According to the material storage device, the rotating frame and the carrying mechanism are arranged, the rotating frame can be used for placing the material tray containing materials, the requirement of warehousing is met, the carrying mechanism can be used for moving the material tray, material circulation can be achieved, and the automation level of experimental equipment is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a material storage device of an embodiment;

FIG. 2 is a perspective view of another embodiment of a material storage device;

FIG. 3 is a side view of a material storage device of an embodiment;

FIG. 4 is a schematic illustration of an embodiment a top view of the material storage device;

FIG. 5 is a perspective view of a spin stand of an embodiment;

FIG. 6 is a perspective view of a material rack of an embodiment;

FIG. 7 is a perspective view of a tray jaw of an embodiment;

FIG. 8 is a cross-sectional view of a pallet clamp jaw of an embodiment;

FIG. 9 is a perspective view of a first quick-change frame of an embodiment;

FIG. 10 is a perspective view of an interactive frame of an embodiment;

FIG. 11 is a schematic view of a control portion of a material storage device of an embodiment;

FIG. 12 is a flow chart of a method of material storage of an embodiment.

Reference numerals illustrate:

10-box body, 11-base, 12-frame, 13-accommodation space, 14-shell, 141-interactive window, 142-maintenance window, 15-warehouse entry door, 16-emergency stop piece, 161-emergency stop bracket, 162-emergency stop control part, 17-positioning mechanism, 171-X direction connecting plate, 172-Y direction connecting plate, 173-Z direction connecting plate, 174-positioning code calibration plate, 18-ventilation piece, 191-roller and 192-telescopic supporting leg;

20-rotating frames, 21-rotating bottom plates, 22-rotating top plates, 23-connecting shafts, 24-first matching parts, 25-second matching parts, 26-supporting vertical bars, 27-fixed frames, 271-vertical beams and 272-cross beams;

30-a mechanical arm;

40-material rack, 41-matched bottom plate, 42-matched top plate, 43-vertical supporting plate, 44-supporting blocks, 45-third matching parts, 46-fourth matching parts and 47-handles;

50-carrying clamping jaw, 51-base, 511-slide rail, 52-power piece, 521-drive shaft, 53-clamping piece, 531-block, 535-clamping space, 54-first slider, 541-first adapter block, 55-second slider, 551-mounting hole, 552-second adapter block, 56-connecting piece, 57-elastic piece, 58-connecting seat, 581-connecting terminal, 582-connecting groove; 59-code sweeping clamping jaw;

61-a first quick-change rack, 611-a vertical rod, 612-a connecting top plate, 613-a supporting arm, 614-a containing opening; 62-a second quick change rack;

70-information management system, 71-first detecting member, 72-first identifying member, 73-second detecting member, 74-second identifying member; 80-interaction frame, 81-vertical plate, 82-transverse plate and 83-support part.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present utility model are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1 and 2, an embodiment of the present utility model provides a material storage device. The material storage device of the embodiment of the utility model can also be called a satellite bin, a transfer bin, a temporary storage bin and the like, and can be used for temporarily storing and transferring materials. Wherein, the materials can be biological reagents, chemical reagents, consumables and the like, without limitation. The material is typically contained in a tube which is placed on a material tray, so temporary storage and transfer of material may include temporary storage and transfer of the tube or material tray. Of course, some materials may not be contained in the test tube, but have independent packages or no packages, and the independent packages such as plastic packages, aluminum foil packages and the like are not limited. The embodiment of the utility model does not limit the structures of the test tube and the material tray.

Referring to fig. 3 and 4, the material storage apparatus according to the embodiment of the present utility model includes a case 10, at least one rotating frame 20, a carrying mechanism (refer to a robot arm 30), and the like.

The box 10 includes base 11, is provided with interactive station on the base 11, and interactive station is used for carrying out the material interaction with the external world. Optionally, the case 10 further includes a frame 12, where the frame 12 is disposed on the base 11. The frame 12 has an accommodating space 13, the frame 13 is provided with an interactive window 141, and the interactive window 141 communicates the accommodating space 13 with an external space. The case 10 is a frame of unitary structure, and the base 11 may be used to support components such as a rotating frame 20, a carrying mechanism, etc., and the frame 12 may be used to mount some other components, which will not be described in detail herein. The base 11 and the frame 12 may be detachable connection structures, or may be integrated structures, and are not limited. In some embodiments, only the base 11 may be provided without the frame 12. The material of the case 10 may be steel, aluminum alloy, or the like, without limitation. The overall shape of the case 10 may be a rectangular parallelepiped or any other feasible shape, without limitation. The box 10 may include a plurality of support risers, support beams, etc. to form a frame structure.

The case 10 may be assembled from a plurality of sub-frames, for example, the case 10 shown in fig. 1 and 2 includes a base 11 and a frame 12. Of course, the plurality of sub-frames of the case 10 may have other forms, which are not limited. Alternatively, each of the plurality of sub-frames may be used to mount one of the types of components, for example, the base 11 may mount a drive type component, the frame 12 may mount an execute motion type component, and the like, without limitation.

The accommodation space 13 is defined by the upper surface of the base 11 and the frame structure of the frame 12, i.e., the upper surface of the base 11 and the frame of the frame 12 enclose the accommodation space 13. Optionally, the base 11 also has a receiving space inside. In the case where the case 10 has a plurality of sub-frames, each sub-frame may have its own sub-space, and among the plurality of sub-spaces, some sub-spaces may be mutually connected, and some sub-spaces may be relatively independent and not connected to other sub-spaces, which are not limited.

The interaction station is used for carrying out material interaction, material detection and other operations. In embodiments without the frame 12, the material of the interactive stations may interact with other locations in any manner. In embodiments where the housing 12 is provided, the material of the interactive stations interacts with the outside through the interactive window 141.

The interactive window 141 is a window on the frame 12 communicating the inside and the outside, and can exchange materials in the accommodating space 13 with the outside and realize operations such as material detection through the interactive window 141, which are not limited. The shape of the interactive window 141 may be rectangular, circular, etc., without limitation. The material can be output to the outside from the receiving space 13 through the interactive window 141, and the external material can be input into the receiving space 13 through the interactive window 141, and in addition, the material tray can be moved to the interactive window 141 and the material in the material tray can be detected.

Optionally, referring to fig. 1 and 2, the material storage device further includes a housing 14, the housing 14 surrounds the housing 12, and the interaction window 141 is disposed on the housing 14. The housing 14 may be a plate-like structure and may have a plurality of plates that are coupled to the frame structure of the frame 12 to enclose the frame structure of the frame 12 to form a closed structure. Alternatively, the housing 14 may be enclosed on the outside of the housing 12 as a whole, i.e., edges of a plurality of plates of the housing 14 are connected to each other, and inner side surfaces of the plurality of plates are fixedly connected to the housing 12, so that the housing 12 is not exposed. Optionally, a plurality of plates of the housing 14 are embedded in a frame structure of the frame 12, the frame 12 is exposed, and the frame 12 and the housing 14 together enclose the accommodating space 13. The material of the housing 14 may be iron, aluminum alloy, plastic, glass, etc., without limitation. The shell 14 is arranged to surround the frame 12, the frame 12 is a framework, a stable supporting effect can be achieved, the shell 14 enables the material storage device to have a relatively closed integral shape, and the shell 14 plays a role in protection.

Alternatively, the housing 14 and the frame 12 are integrally formed, for example, the housing 14 is made of a material having higher strength, and the frame 12 is omitted, so that the supporting effect is achieved through the housing 14.

The housing 14 may also enclose the base 11. In other words, the base 11 may be a frame structure, and a plurality of plates are connected to the frame structure of the base 11 to close the frame structure of the base 11. Thus, the whole box body 10 can have a relatively closed whole appearance.

It will be appreciated that some of the plurality of plates surrounding the frame 12 and the plurality of plates surrounding the base 11 may be one plate, with some plates being separate plates. In other words, some of the plurality of plates of the housing 14 may surround both the base 11 and the frame 12, and some of the plates surround only the base 11 or the frame 12.

Optionally, referring to fig. 1 and 2, the housing 14 is further provided with a maintenance window 142, and the maintenance window 142 is used for performing maintenance on the device in the accommodating space 13. The maintenance window 142 may be disposed adjacent to the interaction window 141, or may be disposed at a suitable position according to needs, for example, the interaction window 141 may be disposed on a board of the housing 14 at the rack 12, the maintenance window 142 may be disposed on a board of the housing 14 at the rack 12, and the interaction window 141 and the maintenance window 142 may be disposed on the same board or different boards, which are not limited. The maintenance window 142 may also be rectangular, circular, etc., without limitation. Maintenance personnel or equipment can perform maintenance on the devices of the material storage device through the maintenance window 142.

Optionally, referring to fig. 1 and 2, the housing 14 is further provided with a warehouse entry door 15, and the warehouse entry door 15 is opened to place materials in batches into the accommodating space 13, so as to realize warehouse entry of the materials. The storage door 15 may be any feasible door capable of being opened and closed, such as a single door, a double door, etc., and the storage door 15 may form a complete and unified shape with other parts of the housing 14 after being closed.

Alternatively, referring to fig. 1 and 2, at least a portion of the housing 14 is made of a transparent material, for example, a portion or all of one or more plates of the housing 14 is made of a transparent material, which may be glass, plastic, or the like. The operation state of the device in the accommodating space 13 can be observed through the transparent material part, so that whether the operation of the material storage device is normal or not can be conveniently monitored.

Alternatively, referring to fig. 1 and 2, a transparent viewing window is provided on the housing 14, and the transparent viewing window may be made of glass, plastic, or the like, and is mounted and fixed to the housing. The operation state of the device in the accommodating space 13 can be observed through the transparent observation window, so that whether the operation of the material storage device is normal or not can be conveniently monitored.

Optionally, referring to fig. 2, the housing 14 is provided with a scram 16, which can be operated to emergency stop operation of the material storage device. The emergency stop member 16 may include an emergency stop support 161 and an emergency stop control part 162, the emergency stop support 161 being fixedly connected to the housing, the emergency stop control part 162 being provided on the emergency stop support 161. The emergency stop control part 162 may include a button, a knob, etc., and may control the material storage device to stop operating by operating the button, the knob, etc. When the material storage device is abnormal in operation, such as when the material falls, water leakage, electric leakage, fire and other accidents occur, the operation of the material storage device can be stopped in an emergency by operating the emergency stop control part 162, so that further accidents are avoided, and the loss is reduced. Alternatively, a plurality of scrubs 16 may be provided at different locations on the housing 14, as shown in fig. 2 and 4, with one scram 16 provided on each of the opposite sides of the housing 14.

Optionally, referring to fig. 1 and 2, the material storage device further includes a positioning mechanism 17, and a mobile robot (not shown) outside the material storage device positions the material storage device according to the positioning mechanism 17.

Alternatively, the positioning mechanism 17 includes a tri-axial calibration support and three positioning code calibration plates 174.

The triaxial calibration support is mounted on the outer wall of the housing 12 (housing 14) and is adjacent to the interactive window 141. The triaxial calibration support comprises an X-direction connecting plate 171, a Y-direction connecting plate 172 and a Z-direction connecting plate 173 which are arranged in a mutually perpendicular mode, one end of the Y-direction connecting plate 172 is connected with one end of the X-direction connecting plate 171, and the other end of the Y-direction connecting plate 172 is connected with one end of the Z-direction connecting plate 173.

Two positioning code calibration plates 174 of the three positioning code calibration plates 174 are respectively arranged at two ends of the X-direction connecting plate 171, and the other positioning code calibration plate 174 is arranged at the other end of the Z-direction connecting plate 173.

Each positioning code calibration plate 174 is internally provided with a positioning code for positioning the external mobile robot on the interaction window 141.

The positioning code is arranged outside the frame 11, namely, the exposed positioning code is arranged, and the mobile robot moving outside the material storage device positions the position of the material storage device according to the positioning code. The positioning code may be a bar code, a two-dimensional code, or the like. The mobile robot is used to supplement the material storage device with material through the interactive window 141, or to transport maintenance tools, parts, etc. The position of the positioning mechanism 17 and the position of the interactive window 141 are relatively fixed, and the mobile robot reaches the position of the positioning mechanism 17, i.e. the position of the interactive window 141.

The mobile robot can scan external information during movement, and when the mobile robot collects the positioning codes of the three positioning code calibration plates 174 and obtains coordinates of the three positioning codes, the mobile robot is indicated to be in place, and positioning of the mobile robot is achieved. The mobile robot reaches the interactive window 141, and can perform the warehouse entry of the materials or the maintenance work of the material storage device. Alternatively, the mobile robot is an intelligent mobile robot, and can automatically run and scan. For example, the mobile robot automatically travels along a preset route, and when traveling until the mobile robot scans three positioning codes, the mobile robot automatically stops. Alternatively, the calibration support may not be limited to three shafts, but may be more shafts or less shafts, and the positioning code calibration plate may be other than three, which is not limited.

Optionally, the casing 14 is further provided with a ventilation member 18, and the ventilation member 18 is used for accelerating the air circulation speed between the accommodating space 13 and the outside, so as to ensure that the accommodating space 13 is in a dry and ventilated environment. Specifically, the ventilation members 18 may be disposed on one or more plates at the top of the housing 14, 1 ventilation member 18 in the embodiment shown in fig. 1, 2 ventilation members 18 in the embodiment shown in fig. 2, and 2 ventilation members 18 each disposed on one plate at the top. The ventilation member 18 may include a fan, a tuyere, and the like, and the fan rotates to exhaust air from the accommodating space 13 through the tuyere, however, the fan may blow air from outside into the accommodating space 13 through the tuyere without limitation.

Optionally, a plurality of rollers 191 are disposed at the bottom of the base 11, the rollers 191 may be unidirectional or universal rollers 191, the plurality of rollers 191 support the base 11, the frame 12, the housing 14, and the devices mounted on the base 11 and the frame 12, and the rollers 191 may roll on the ground, so that the material storage device is convenient to move.

Optionally, the bottom of the base 11 may further be provided with a telescopic leg 192, where the telescopic leg 192 may perform telescopic motion relative to the base 11, and contact with the ground when extending, so as to play a role in supporting and fixing, and prevent the roller 191 from being damaged due to too much stress, and also avoid that the base 11 cannot be fixed and move at will. The telescopic legs 192 are retracted to be spaced apart from the ground surface, so that the rollers 191 can roll to drive the material storage device to move. Optionally, the telescopic support leg 192 may be provided with a suction cup, and the telescopic support leg 192 extends out and makes the suction cup fixed to the ground, so as to improve the fixing effect between the material storage device and the ground.

Optionally, the case 10 has a modular structure with a plurality of modules, and the modules are detachably connected. For example, the plurality of subframes of the case 10 are detachably connected, and different devices are mounted on each of the plurality of subframes. The arrangement is such that each subframe and the device arranged on the subframe form a module, and the modules are detachably connected, so that the module can be conveniently disassembled and transported, and can be quickly assembled to form a whole when being assembled. It will be appreciated that the housing 14 may also be of a removable construction, for example, each sub-rack may be independent of each other with respect to the associated housing 14, and each sub-rack may be removed with respect to the associated housing 14.

Referring to fig. 3 and 4, at least one rotating frame 20 is disposed on the base 11 and is rotatably connected to the base 11, and the rotating frame 20 is used for placing a material tray.

In the embodiment provided with the housing 12, all the rotating frames 20 are accommodated in the accommodation space 13. The specific structure of the rotating frame 20 is not limited, and the rotating frame 20 is used as a device for temporarily storing material trays, so that the material trays can be stored at different positions of the rotating frame 20 through rotation, and the material trays at specific positions on the rotating frame 20 can be removed through rotation. In embodiments where a loading door 15 is provided, the loading door 15 is opened to load the material trays and/or the material racks 40 with material trays into the rotating rack 20. The material tray is placed on the swivel mount 20, and the swivel mount 20 can play good support and limiting displacement to the material tray, at the rotatory in-process of swivel mount 20, guarantees that the material tray is stable on swivel mount 20 and can not drop. When the material tray needs to be taken down from the rotating frame 20, the material tray can be taken down conveniently and quickly. In addition, compared with a tiling mode for storing material trays, the multi-layer storage space can be arranged through the rotating frame 20, and more material trays can be placed by utilizing the three-dimensional space. When placing the material tray of same quantity, compare in tiling mode, the mode that adopts swivel mount 20 can save space.

Alternatively, the number of spin frames 20 is 1 or more. When the number of the rotating frames 20 is 1, one warehouse entry door 15 may be provided. When there are a plurality of rotating racks 20, one or more warehouse entry doors 15 may be provided as needed. For example, in the embodiment shown in fig. 3 and 4, there are 4 swivel racks 20 and 2 garage doors 15. When the number of the rotating frames 20 is plural, a larger number of material trays can be placed, and the storage capacity is improved. The embodiment of the present utility model does not limit the specific number of the rotating frames 20, and the number of the rotating frames 20 may be 1, 2, 3, 4, … …, etc. When the number of the rotating frames 20 is plural, the arrangement positions of the rotating frames 20 should be reasonably set, so that the accommodating space 13 can be fully utilized, and the operation of the materials can be conveniently performed without interference. The plurality of rotating frames 20 may be arranged at equal intervals, rectangular arrangement, annular arrangement, etc., and are not limited, and in the embodiment shown in fig. 4, 4 rotating frames 20 are distributed at four corners of the accommodating space 13 to form rectangular arrangement.

In a specific embodiment, referring to fig. 3, the number of the rotating frames 20 is two, two rotating frames 20 are located on a first side of the base 11, the handling mechanism is located on a second side of the base 11, and the interaction station (referring to the position of the interaction frame 80) is located on a third side of the base 11, where the first side is opposite to the second side, and the third side is adjacent to the first side and the second side.

In a specific embodiment, referring to fig. 4, the number of the rotating frames 20 is four, and four rotating frames 20 are disposed around the carrying mechanism; alternatively, the number of the rotating frames 20 is four, wherein two rotating frames 20 are located on a first side of the base 11, the other two rotating frames 20 are located on a second side of the base 11, the interaction station is located on a third side of the base 11, and the carrying mechanism is located in an intermediate position of the base 11, wherein the first side is opposite to the second side, and the third side is adjacent to the first side and the second side.

It should be understood that in the foregoing embodiment, the case 10 may be of a modular structure, and in embodiments in which the rotating frame 20 is plural, one of the sub-frames of the case 10 may be provided with one or more rotating frames 20, so that one of the rotating frames 20 is not connected to both sub-frames at the same time as much as possible, to avoid affecting the modular structure.

Referring to fig. 3 and 4, a handling mechanism is provided on the base 11 for transferring material trays from the turret 20 to the interaction station and/or transferring material trays from the interaction station to the turret 20.

In the embodiment provided with the frame 12, the carrying mechanism is accommodated in the accommodation space 13. The carrying mechanism can be a mechanical arm or a moving mechanism with at least one degree of freedom in the direction, and specifically, the carrying mechanism can be a mechanical arm with multiple degrees of freedom (such as a four-axis mechanical arm, a six-axis mechanical arm and the like), and also can be an XYZ three-axis linear moving mechanism.

Referring to fig. 3, 4 and 10, in the embodiment provided with the rack 12, the material storage device further includes a detecting component, where the detecting component is accommodated in the accommodating space 13 and is used for detecting whether the rotating rack 20 has a material tray, and detecting the material contained in the material tray. The detecting assembly can include various detecting pieces, identifying pieces and the like, and is not limited, and the detecting assembly can detect and identify the material tray, the material and the like through any feasible detecting principle, identifying principle and the like so as to conveniently manage the material stored in the accommodating space 13.

Optionally, referring to fig. 10, the material storage device further includes an information management system 70, where the information management system 70 is electrically connected to the detection component, and the information management system 70 is configured to receive and manage the information detected by the detection component. The information management system 70 is a background of the material storage device and can manage the material operation of the material storage device. The information management system 70 may be formed by hardware such as a computer, suitable software, etc., which is not particularly limited in this embodiment of the present utility model. The electrical connection of the information management system 70 to the detection component may be a wired or wireless connection, without limitation. The information detected by the detecting component is input to the information management system 70, and the information management system 70 may process the information and obtain information such as a status, a position, etc. of the material operation.

Optionally, the material tray is provided with a first information code, and the material in the material tray is provided with a second information code, and the first information code is used for detecting and identifying the material tray, and the second information code is used for detecting and identifying the material in the material tray. The first information code and the second information code may be bar codes, two-dimensional codes, etc., without limitation. When the detection component detects the material tray and the material, the information of the material tray can be obtained by scanning the first information code, and the information of the material can be obtained by scanning the second information code. Through setting up first information code and second information code, can conveniently detect and discernment material tray and material, convenient operation.

The using method of the material storage device of one embodiment of the utility model comprises the following steps: 1. and (5) batch warehouse entry: the warehouse-in door 15 is opened, the rotating frame 20 rotates to a proper position, various materials are put into the material trays on the rotating frame 20 in batches, or the material trays and the materials contained in the material trays are put into the rotating frame 20 in batches together; optionally, each material corresponds to a specific material tray one by one, that is to say, as long as the specific material tray is found, the required material can be found; the detection assembly detects the material trays on the rotating rack 20 to determine information of the material to be put in storage and inputs the information into the information management system 70 to realize the storage of the material. 2. And (5) delivering out of a warehouse: determining information of the materials to be discharged from the warehouse through the information management system 70, if the materials are required, rotating the rotating frame 20 to a proper position again, and operating the carrying mechanism and taking down a material tray corresponding to the materials to be discharged from the warehouse and moving the material tray to the interaction station; the detecting component detects and identifies the material in the material tray at the interaction station, detects and identifies the information of the material again, and after confirming the material is required, the material is discharged out of the warehouse through the interaction window 141. 3. Interaction: the external material trays containing the materials are placed at the interactive stations through the interactive window 141, the detection assembly detects and identifies the materials, the handling mechanism operates to place the material trays in the proper position on the rotating frame 20, and the detection assembly inputs information of the materials into the information management system 70.

It is understood that the method of using the material storage device according to the embodiment of the present utility model is not limited to the above-mentioned method of using, and some steps may be added or reduced as needed, which is not limited. For example, the material trays are commonly used and the material may be placed in empty material trays on the rotating rack 20 without material during storage. During the delivery, the handling mechanism can move the material trays one by one to the interaction station to detect and identify the materials until the required materials are found and then delivered from the interaction window 141.

It will be appreciated that during batch warehousing, the mobile robot moves until it recognizes the locating code outside the box 10 and then stops, after which the mobile robot can automatically place the materials on the mobile robot into the material trays on the rotating rack 20 through the warehouse door 15. Alternatively, the mobile robot automatically places the material tray on the mobile robot, which contains the material, into the rotating rack 20 through the warehouse entry door 15. Alternatively, the mobile robot automatically places the material or material pallet into the interactive station through the interactive window 141, and then places the material or material pallet into the rotating rack 20 through the handling mechanism. Alternatively, the operation of placing the material on the mobile robot or the material tray containing the material into the rotating frame 20 may be performed by other automatic devices or manual operations other than the mobile robot, without limitation.

According to the material storage device provided by the embodiment of the utility model, the rotating frame 20 and the carrying mechanism are arranged, the rotating frame 20 can be used for placing the material tray containing materials, the requirement of warehousing is met, the carrying mechanism can be used for moving the material tray, the circulation of the materials can be realized, and the automation level of experimental equipment is improved.

In one embodiment, referring to fig. 3 and 5, the rotating frame 20 includes a driving mechanism (not shown) and a frame body, the driving mechanism is connected to the base 10, the frame body is connected to the driving mechanism, and the driving mechanism drives the frame body to rotate; the frame body is provided with a matching position for placing the material tray.

Optionally, the driving mechanism is disposed inside the base 11, and the frame body is disposed outside the base 11, for example, the driving mechanism is disposed on a top wall inside the base 11, and the frame body is disposed on a top surface outside the base 11, where the top wall inside the base 11 and the top surface outside the base can be a surface on one plate or two independent plates. Optionally, the driving mechanism and the frame body may be detachably connected, so as to facilitate installation and transportation. The driving mechanism and the frame body are of any feasible structure, and the embodiment of the utility model is not limited. The matching position on the frame body is also any feasible structure, the material tray can be directly placed on the matching position, and the material tray can also be indirectly placed on the matching position, for example, in some subsequent embodiments, the material tray is placed on the material frame 40, and the material frame 40 is placed on the matching position, so that the purpose that the material tray is placed on the matching position is realized. Alternatively, the number of the mating sites may be plural and uniformly distributed on the frame. Through setting up actuating mechanism and support body, through actuating mechanism drive support body rotation, through the support body rotation in order to make the material tray conveniently can place suitable position on the support body to and take off the material tray of specific position on the support body, set up the cooperation position, can place the material tray.

Optionally, the driving mechanism includes a driving member (not shown) and a transmission member (not shown), where the driving member is fixedly connected to the base 11, and the transmission member is connected to the driving member and the frame. The driving part is a motor, the transmission part is a gear transmission mechanism, a belt transmission mechanism and other structures, power is generated after the driving part is electrified, and the power is transmitted to the frame body through the transmission part, so that the frame body is driven to rotate. The driving piece can be a speed reducing mechanism, and the high-speed small-torque power of the driving piece can be converted into low-speed large-torque power, so that the frame body can rotate at a slower speed, can be stable, can bear a heavier weight, and is convenient for placing more material trays and materials.

Alternatively, referring to fig. 5, the frame body includes a rotation bottom plate 21, a rotation top plate 22, and a connection shaft 23. The rotary bottom plate 21 and the rotary top plate 22 are arranged oppositely, and two opposite ends of the connecting shaft 23 are respectively connected and fixed with the rotary bottom plate 21 and the rotary top plate 22. The rotating bottom plate 21 is connected with a driving mechanism, a plurality of matching positions are arranged on the rotating bottom plate 21 and/or the rotating top plate 22, and the plurality of matching positions are annularly distributed by taking the connecting shaft 23 as an axis.

Specifically, the rotating bottom plate 21 and the rotating top plate 22 may be circular plates, and the plurality of matching positions are arranged in an annular array with the center of the circular plate as the center, and the connecting shaft 23 is connected to the center of the rotating bottom plate 21 and the rotating top plate 22. The rotating base plate 21 or the connecting shaft 23 is connected with a transmission member of the driving mechanism, and the rotating base plate 21 may be directly connected with the transmission member, or the connecting shaft 23 penetrates through the rotating base plate 21 and is connected with the transmission member, that is, the rotating base plate 21 is connected with the transmission member through the connecting shaft 23. The connecting shaft 23 extends in a substantially vertical direction so that the frame body rotates in a horizontal plane when rotated, and the axis of rotation is in a vertical direction, thereby ensuring the stability of rotation. Each structure of the frame body can be made of materials such as steel, aluminum alloy, high-strength plastic and the like, so that the stable structure and stable support of the material tray are ensured.

For the mating position, the mating position may be provided on the rotating bottom plate 21 or the rotating top plate 22 alone, that is, the rotating bottom plate 21 is provided with the mating position, so that the material tray is placed on the rotating bottom plate 21, or the rotating top plate 22 is provided with the mating position, and the material tray is placed on the rotating top plate 22. The fitting positions may be provided on the rotating bottom plate 21 and the rotating top plate 22 at the same time, and in 2 cases, one is that the fitting positions on the rotating bottom plate 21 and the rotating top plate 22 are independent from each other, that is, the rotating bottom plate 21 and the rotating top plate 22 can be placed with the material trays independently from each other, and the other is that the fitting positions on the rotating bottom plate 21 and the rotating top plate 22 are fitted with each other, and the material trays are placed with the fitting positions of the rotating bottom plate 21 and the rotating top plate 22 fitted with each other, for example, in the manner of placing the material trays with the material rack 40 in the subsequent embodiment.

Through the structure of setting up the support body and including rotatory bottom plate 21, rotatory roof 22 and connecting axle 23, can be stable be connected with actuating mechanism to the support material tray that can be stable, simple structure is reliable, and the rotation can keep stable.

Optionally, a plurality of first engaging portions 24 are disposed on the rotating bottom plate 21 at intervals in an annular shape, and a plurality of second engaging portions 25 are disposed on the rotating top plate 22 at intervals in an annular shape. The first mating parts 24 and the second mating parts 25 are in one-to-one correspondence, and each mating position comprises one first mating part 24 and one second mating part 25 corresponding to the first mating part. Alternatively, the first engaging portions 24 may be arranged at equal intervals, and the second engaging portions 25 may be arranged at equal intervals. Of course, the plurality of first engaging portions 24 may be arranged at unequal intervals, and the plurality of second engaging portions 25 may be arranged at unequal intervals. The number of first engaging portions 24 and the number of second engaging portions 25 are equal. Each mating position is formed by one first mating portion 24 and a corresponding one second mating portion 25. The embodiment of the present utility model is not particularly limited with respect to the specific structure of the first fitting portion 24 and the second fitting portion 25. The material tray is placed in the mating position formed by the first mating portion 24 and the second mating portion 25, for example, in some embodiments described below, the material rack 40 is connected to the first mating portion 24 and the second mating portion 25, and the material tray is placed on the material rack 40. Of course, the material trays may also be arranged directly on the first mating portion 24 and the second mating portion 25. Through setting up such structure, can conveniently place the material tray for the material tray is stable follows swivel mount 20 rotation. It will be appreciated that one second mating portion 25 may correspond to two first mating portions 24, and each mating position may include one second mating portion 25 and two first mating portions 24 corresponding thereto. Alternatively, two adjacent second mating portions 25 may share at least one first mating portion 24.

Optionally, referring to fig. 3 and 5, the frame body further includes a supporting vertical bar 26, where the supporting vertical bar 26 is in a strip shape, and two ends of the supporting vertical bar 26 are respectively connected to the rotating bottom plate 21 and the rotating top plate 22, so as to improve structural strength of the frame body. The support uprights 26 may be steel, aluminum alloy, high strength plastic, or the like. The number of the supporting bars 26 may be plural and uniformly arranged around the connecting shaft 23.

Optionally, the rotating frame 20 further includes a fixing frame 27, the fixing frame 27 is connected with the base 11, the frame body is rotationally connected with the fixing frame 27, and the fixing frame 27 is used for improving the stability of the rotation of the frame body. Specifically, the fixing frame 27 may include a vertical beam 271 and a beam 272, one end of the vertical beam 271 is connected to the base 11, the other end is connected to the beam 272, the beam 272 is located on a side of the rotating top plate 22 opposite to the rotating bottom plate 21, and the rotating top plate 22 is rotatably connected to the beam 272. The number of the vertical beams 271 may be plural, as shown in fig. 5, the number of the vertical beams 271 is 2, and the vertical beams 271 are disposed on both sides of the frame body which are opposite to each other in the radial direction, and the vertical beams 271 are parallel to the connection shaft 23, and both ends of the cross member 272 are connected to one vertical beam 271, respectively. The rotating top plate 22 is rotatably connected to the middle portion of the cross member 272, specifically, the rotating top plate 22 is rotatably connected to the cross member 272 through a shaft, or the connecting shaft 23 penetrates the rotating top plate 22 to be rotatably connected to the cross member 272.

In one embodiment, referring to fig. 3, 5 and 6, the material storage device further includes a material rack 40, and the mating position on the rotating rack 20 is used for placing the material rack 40; the material rack 40 is provided with a first placement position for placing material trays. The material rack 40 is arranged on the matching position, the material trays are placed on the material rack 40, and when in warehouse entry, the material trays can be placed on the material rack 40 first, and then the material rack 40 and the material trays on the material rack 40 are placed on the matching position on the rotating frame 20 together, so that batch warehouse entry operation can be facilitated. The specific structure of the first placement position is not limited as long as the material tray can be stably supported.

Optionally, one end of the material rack 40 in the height direction is connected with one of the first matching parts 24, the other end of the material rack 40 opposite to the other end in the height direction is connected with the corresponding second matching part 25, and the material rack 40 is provided with a plurality of placement positions along the height direction. The height direction of the material rack 40 is the extending direction of the connecting shaft 23 of the rotating rack 20, and the material rack 40 is connected with the first matching portion 24 and the second matching portion 25, so that the material rack 40 and the rotating rack 20 are connected and fixed, and the material rack 40 can rotate together with the rack body. The connection between the material rack 40 and the first and second matching parts 24 and 25 is detachable, including clamping, magnetic connection, adhesion, etc., without limitation. When the material trays are put in the warehouse in batches, the material trays are placed in the placing positions on the material racks 40, and then the material racks 40 are integrally placed on the rack body, and the material racks 40 are connected with the first matching parts 24 and the second matching parts 25.

The number of the material racks 40 may be plural, and each material rack 40 is connected with one mating position on the rack body. In the specific experiment, the number of the racks 40 on the rack body may be set as needed. For example, when more materials are required for the experiment, the material storage device is required to store more materials, and each matching position or a plurality of matching positions on the frame body can be placed on the material frame 40; when the required materials are less, the materials stored in the material storage device can be less, the rack 40 may be placed in one mating position or a small portion of the mating positions. Only one rack 40 is provided on one of the rack bodies in the embodiment shown in fig. 3 and 5.

The plurality of placement bits provided on each of the material racks 40 may be arranged at intervals along the height direction of the material rack 40. Likewise, the material trays may be placed at each of the placement sites, or only at a portion of the placement sites, as desired.

Optionally, referring to fig. 6, the rack 40 includes a mating bottom plate 41, a mating top plate 42, two vertical support plates 43, and a plurality of support blocks 44. The two vertical support plates 43 are oppositely arranged, the matching bottom plate 41 and the matching top plate 42 are oppositely arranged, the matching bottom plate 41 is connected to one ends of the two vertical support plates 43, and the matching top plate 42 is connected to the other ends of the two vertical support plates 43. The plurality of supporting blocks 44 are respectively arranged on the opposite surfaces of the two vertical supporting plates 43, one supporting block 44 is respectively arranged on the two vertical supporting plates 43 at the same height to form a placement position, the matching bottom plate 41 is used for being connected with the first matching part 24, and the matching top plate 42 is used for being connected with the second matching part 25.

One end of one of the vertical support plates 43 is connected to one side of the fitting bottom plate 41, and the other end is connected to one side of the fitting top plate 42; one end of the other vertical support plate 43 is connected to the other side of the fitting bottom plate 41, and the other end is connected to the other side of the fitting top plate 42. The mating bottom plate 41 and the mating top plate 42 are parallel and the two vertical support plates 43 are parallel. The support blocks 44 are generally linear blocks in configuration, with the support blocks 44 being generally parallel to the support floor so that each placement is generally horizontal. The support blocks 44 may be provided with a limiting structure, such as a protrusion, a groove, etc., so that when a material tray is placed on the two support blocks 44, the material tray is limited to move by the limiting structure to achieve stable placement.

Alternatively, referring to fig. 5 and 6, the bottom mating plate 41 is provided with a third mating portion 45, the top mating plate is provided with a fourth mating portion 46, the third mating portion 45 is detachably connected to the first mating portion 24, and the fourth mating portion 46 is detachably connected to the second mating portion 25. The specific structures of the third mating portion 45 and the fourth mating portion 46 are not limited, and the detachable connection manner may be any feasible manner such as clamping connection, magnetic connection, and the like, and is not limited.

Through setting up the structure of foretell work or material rest 40 for work or material rest 40 can be stable place the material tray, and simple structure.

Optionally, referring to fig. 6, a handle 47 is provided on the rack 40. A handle 47 may be provided on the surface of the mating top plate 42 facing away from the mating bottom plate 41 to facilitate carrying operations. Of course, the handle 47 may be disposed at other positions of other structures, so long as the whole of the rack 40 can be moved by carrying the handle 47. The specific structure of the handle 47 is not limited, and any feasible structure is possible. The lifting handle 47 is arranged to facilitate the movement of the material rack 40 and the operation.

In one embodiment, referring to fig. 2, 4, 7 and 8, the material storage device further includes a carrying jaw 50, where the carrying jaw 50 and the mechanical arm 30 form a carrying mechanism as described above. One end of the mechanical arm 30 is connected with the base 11, the other end is connected with the carrying clamping jaw 50, the mechanical arm 30 is used for driving one end of the carrying clamping jaw 50, and the carrying clamping jaw 50 is used for clamping a material tray.

In the foregoing operations of warehousing, ex-warehouse, and interaction, the mechanical arm operates to drive the carrying clamping jaw 50 to take down the material tray placed on the rotating frame 20 and move the material tray to the interaction station, or move the carrying clamping jaw 50 at the interaction station to the rotating frame 20, and other carrying operations may also be implemented. The carrying clamping jaw 50 has the structure that can centre gripping material tray, through carrying clamping jaw 50 centre gripping material tray, rethread arm 30 removes carrying clamping jaw 50 and drives the material tray and remove for the operation that transport mechanism removed the material tray is reliable and stable, avoids the material tray to drop. The specific structure of the carrying jaw 50 is not limited. The carrying jaw 50 can be accommodated in any feasible position of the accommodating space 13, and the carrying mechanism can be conveniently connected with the carrying jaw.

Optionally, referring to fig. 4, 7 and 8, the carrying jaw 50 includes a base 51, a power member 52, a sliding mechanism and a clamping member 53. The base 51 is connected with the mechanical arm 30, the power piece 52 is installed on the base 51, the sliding mechanism is connected with the base 51 in a sliding mode, one end of the sliding mechanism is connected with the power piece 52, and the clamping piece 53 is connected with one end, back to the power piece 52, of the sliding mechanism. The clamping member 53 extends out of the base 51 in a direction away from the power member 52, and the clamping member 53 and the base 51 together define a clamping space 535, and the clamping space 535 is used for accommodating a material tray.

The base 51 serves as a supporting foundation for other structures and for connection with the robotic arm 30. Optionally, the base 51 includes a connection base 58, and the connection base 58 includes a connection terminal 581, and the connection terminal 581 is used for being fixedly connected with the mechanical arm 30. The connection terminals 581 may be one or more, the connection between the mechanical arm 30 and the connection terminals 581 may be detachable connection, and the detachable connection may be any feasible manner such as clamping connection, magnetic connection, etc., and the detachable connection may facilitate quick installation and detachment of the mechanical arm 30 and the carrying clamping jaw 50. The connecting seat 58 may further be provided with a connecting slot 582, where the connecting slot 582 is used for being matched and connected with a supporting arm 613 of the first quick-change frame 61.

The power member 52 may be a motor, an oil cylinder, an air cylinder, etc., without limitation. The power element 52 has a drive shaft 521, and the drive shaft 521 moves linearly when the power element 52 is in operation. For example, when the power member 52 is a motor, the motor is a linear motor or a screw motor, and the drive shaft 21 thereof can be linearly moved; for example, when the power element 52 is an oil cylinder or an air cylinder, the drive shaft 21 is a piston rod, and can perform linear expansion and contraction movement.

Alternatively, referring to fig. 7 and 8, the base 51 is provided with a sliding rail 511, and the sliding mechanism slides on the sliding rail 511. The sliding rail can play a guiding role, so that the accurate and reliable telescopic direction of the clamping piece 53 relative to the base 51 is ensured.

When the material tray is clamped, the clamping piece 53 is moved to one side of the material tray facing the ground, the tray clamping jaw is moved to enable the material tray to be contained in the clamping space 535, the clamping piece 53 plays a supporting role on the material tray to overcome the gravity of the material tray and the material contained in the material tray, the power piece 52 drives the sliding mechanism to slide to drive the clamping piece 53 to retract into the base 51, and the clamping space 535 is reduced until the size of the clamping piece is equal to the corresponding size of the tray, so that the clamping piece 53 and the base 10 clamp the tray together.

Alternatively, the sliding mechanism includes a first slider 54, a second slider 55, a connecting member 56, and an elastic member 57. The first slider 54 and the second slider 55 are slidably connected with the base 51, the first slider 54 is connected with the power piece 52, the second slider 55 is located on one side, opposite to the power piece 52, of the first slider 54, the connecting piece 56 is fixedly connected with the first slider 54, and the elastic piece 57 is elastically abutted against the second slider 55 and the connecting piece 56. As the first slider 54 and the second slider 55 gradually move away from each other, the compression amount of the elastic member 57 increases.

Alternatively, referring to fig. 7 and 8, the second slider 55 is provided with a mounting hole 551, the mounting hole 551 is a blind hole, and the opening direction of the mounting hole 551 faces away from the first slider 54. The through hole that runs through has been seted up to the diapire of mounting hole 551, and connecting piece 56 includes main part and bellying, and main part stretches into mounting hole 551 and pass the through-hole and be connected fixedly with first slider 54, and the bellying is connected in the periphery of the one end of main part keeping away from first slider 54, bellying holding in mounting hole 551. The elastic member 57 is sleeved on the outer periphery of the main body, one end of the elastic member 57 is abutted against the bottom wall of the mounting hole 551, and the other end is abutted against the protruding portion. As the first slider 54 and the second slider 55 gradually move away from each other, the elastic member 57 is compressed and the compression amount increases. The second slider 55 is provided with the mounting hole 551 and the through hole, the connecting piece 56 passes through the through hole and is connected with the first slider 30, the structure is simple, and the connecting piece 56 and the elastic piece 57 do not occupy extra external space, so that the structure is compact, and the miniaturization structural design is facilitated. Alternatively, the mounting hole 551 may be a stepped hole, and one end of the elastic member 57 abuts against a stepped surface of the stepped hole, and the other end abuts against the boss.

Optionally, the first slider 54 is slidably connected with the base 51 through the first adapter block 541, the second slider 55 is slidably connected with the base 51 through the second adapter block 552, and the first adapter block 541 and the second adapter block 552 are provided, so that the structural complexity of the first slider 54 and the second slider 55 can be reduced, and the processing difficulty is reduced.

Optionally, the clamping member 53 includes a support plate and a stop 531, one end of the support plate is connected to the second slider 55, the stop 531 is disposed at one end of the support plate away from the second slider 55 and protrudes from a surface of the support plate, and the support plate, the stop 531 and the base 51 together define a clamping space 535.

Taking the length L of the clamping space 535 and the corresponding length or width W of the material pallet as an example, a method of clamping the material pallet by the carrying jaw 50 according to an embodiment of the present utility model is described.

In the initial state, the power element 52 is not started, and L is greater than W; the mechanical arm 30 is connected with the base 51, and the mechanical arm 30 drives the carrying clamping jaw 50 to move to one side of the material tray facing the ground, and enables the material tray to be accommodated in the clamping space 535; the power piece 52 is started to drive the first sliding block 54 to move towards one side of the power piece 52, the first sliding block 54 drives the second sliding block 55 to move through the elastic piece 57, the second sliding block 55 drives the clamping piece 53 to move, L starts to shrink until the L is equal to W, and in the process, the first sliding block 54 and the second sliding block 55 can be in a contact state or always have the same distance; the power piece 52 continues to pull the first sliding block 54, and as L cannot be reduced any more, the second sliding block 55 and the clamping piece 53 remain motionless, the first sliding block 54 and the second sliding block 55 are separated from each other by a contact state, or the previous interval is changed into a larger interval, the elastic piece 57 elastically deforms to apply a larger pulling force to the second sliding block 55 and the clamping piece 53, so that the clamping piece 53 and the base 51 jointly apply a larger clamping force to the material tray, and then the power piece 52 is stopped to keep the clamping state; after the mechanical arm 30 drives the carrying clamping jaw 50 to move to the target position, the power piece 52 is started again and pushes the first sliding block 54 forwards, so that the first sliding block 54 moves away from the power piece 52, the distance between the first sliding block 54 and the second sliding block 55 is gradually reduced until the first sliding block and the second sliding block are contacted, after the first sliding block 54 pushes the second sliding block 55 to move forwards after the first sliding block contacts, the clamping piece 53 is driven to extend out of the base 51, L is increased, L is larger than W, the material tray is loosened, and the material tray is placed to the target position; the mechanical arm 30 is separated from the carrying jaw 50, and the carrying jaw 50 returns to the original state. Wherein, L is the same size when the operation of moving the material tray returns to the initial state each time by calibrating the size of L in the initial state and controlling the power piece 52; of course, it is not necessary to set L to the same size each time the state is returned to the initial state, and L is larger than W.

Optionally, referring to fig. 4, 7 and 9, the material storage device further includes a first quick-change rack 61. The first quick-change frame 61 is disposed on the base 11, the carrying jaw 50 is detachably connected to the first quick-change frame 61, the mechanical arm 30 is fixedly connected to the carrying jaw 50 at the first quick-change frame 61, and the carrying jaw 50 is moved to be separated from the first quick-change frame 61.

The specific structure of the first quick-change rack 61 is not limited, and the manner of detachably connecting the carrying jaw 50 to the first quick-change rack 61 is not limited. The first quick-change rack 61 may be disposed at any feasible location of the receiving space 13, such as shown in fig. 1, and the first quick-change rack 61 may be disposed at the maintenance window 142 to facilitate maintenance of the carrying jaw 50 from the maintenance window 142.

Through setting up first quick change frame 61 to support transport clamping jaw 50, simultaneously transport clamping jaw 50 can dismantle with first quick change frame 61 and be connected, installation and dismantlement that can be quick, the handling mechanism convenient and fast with transport clamping jaw 50 installation and carry out the operation of removing the material tray, also be convenient for accomplish behind the operation of removing the material tray transport mechanism put transport clamping jaw 50 back to the original place, transport clamping jaw 50 is quick promptly and first quick change frame 61 is connected fixedly.

Optionally, referring to fig. 9, the first quick-change stand 61 includes a base frame and a support arm 613. The base frame is fixed with the base 11, the supporting arm 613 is connected with the base frame and extends out of the base frame, the supporting arm 613 surrounds to form a containing opening 614, the opening direction of the containing opening 614 faces the outside of the base frame, and the containing opening 614 is used for containing the carrying clamping jaw 50.

The specific structure of the base frame is not limited, and the base frame functions to support the fixed supporting arm 613. Optionally, the base frame includes a vertical rod 611 and a connecting top plate 612, one end of the vertical rod 611 is fixedly connected with the box 10, and the connecting top plate 612 is connected to the other end of the vertical rod 611. The support arm 613 is attached to the connecting top plate 612, and the support arm 613 extends out of the connecting top plate 612 to form a cantilever structure. Alternatively, the support arm 613 may be 2 individual arms or 2 arms fabricated on a single plate. The 2 support arms 613 are enclosed to form a receiving opening 614, and the opening of the receiving opening 614 faces away from the side connected with the top plate 612. Referring to fig. 7 and 9, the carrying jaw 50 is connected to the 2 support arms 613. Optionally, the connecting seat 58 of the carrying jaw 50 is provided with 2 opposite connecting grooves 582,2, and the connecting grooves 582 are adapted to the 2 supporting arms 613, and when the carrying jaw 50 is connected to the first quick-change frame 61, the 2 supporting arms 613 are inserted into the 2 connecting grooves 582.

In one embodiment, referring to fig. 3, 7 and 11, the inspection assembly includes a first inspection piece 71, and the first inspection piece 71 is disposed on the carrying jaw 50. The first detecting member 71 is used for detecting whether a material tray exists on the rotating frame 20; alternatively, the first detecting member 71 is used to detect whether the rotating frame 20 has the material frame 40 thereon, and whether there is a material tray on the material rack 40.

Specifically, the first detecting member 71 may be various types of sensors, scanners, cameras, etc., without limitation. The connection of the first detecting member 71 to the carrying jaw 50 may be any feasible manner, and is not limited thereto. The first detecting member 71 can achieve the detection purpose by various principles at the time of detection, and the present utility model is not limited thereto. The carrying mechanism drives the carrying clamping jaw 50 to move, so that the first detecting piece 71 arranged on the carrying clamping jaw 50 can detect the material tray. When the material tray is directly disposed on the rotating frame 20, the first detecting member 71 directly detects whether the material tray is present on the rotating frame 20. When the material rack 40 is disposed on the rotating rack 20 and the material tray is disposed on the material rack 40, the first detecting member 71 detects whether the material rack 40 is disposed on the rotating rack 20, and then detects whether the material tray is disposed on the material rack 40. By detecting whether there is a material tray and a material rack 40 by the first detecting member 71, subsequent automatic control can be performed conveniently.

Optionally, referring to fig. 3, 7 and 11, the detection assembly further includes a first identifier 72. The first identifying member 72 is provided on the carrying jaw 50, and the first identifying member 72 is used for identifying the material tray on the rotating frame 20 detected according to the first detecting member 71, or the first identifying member 72 is used for identifying the material tray on the rotating frame 20 detected according to the first detecting member 71 and for identifying the material tray on the material tray 40 detected according to the first detecting member 71.

The first recognition element 72 may be various types of sensors, scanners, etc., without limitation. The first identification member 72 may be connected to the carrying jaw 50 in any feasible manner, without limitation. The first identifying member 72 may be identified by various principles for identification purposes, and the present utility model is not limited thereto. For example, the first identification code is set on the material rack 40, the second identification code is set on the material tray, the first identification piece 72 can obtain the information of the material rack 40 by scanning the first identification code to determine whether the material rack is the required material rack 40, the first identification piece 72 can also obtain the information of the material tray by scanning the second identification code to determine whether the material rack is the required material tray, the position of the required specific material tray can be obtained according to the result of the identification of the first identification piece 72, and then the carrying mechanism can drive the carrying clamping jaw 50 to the position to take down the material tray.

Optionally, referring to fig. 3, 4 and 11, the detecting assembly further includes a second detecting member 73, where the second detecting member 73 is configured to detect the amount of the material in the material tray.

Specifically, the second detecting member 73 may be various types of sensors, scanners, cameras, etc., without limitation. The second detecting member 73 may be fixed to the case 10, for example, the second detecting member 73 is fixed to a top wall of the case 10 (the frame 12) at the interaction window 141, facing the interaction station, for detecting the amount of the material in the material tray at the interaction station. Of course, the second detecting member 73 may be provided at other positions and detect the amount of the material in the material tray at other positions, not limited to the interaction station. The second detecting member 73 can be used for detection by various principles, and the present utility model is not limited thereto. The second detecting member 73 detects the amount of the material in the material tray, judges whether the required total amount of the material has been discharged, and if not, can perform an operation of moving the material tray to the interaction window 141 again. By providing the second detecting member 73, the amount of material in the material tray can be detected, facilitating the realization of automatic control.

In one embodiment, referring to fig. 4, the material storage device further includes a code scanning jaw 59, the code scanning jaw 59 is connected to the mechanical arm 30, and the code scanning jaw 59 is used for taking out the material in the material tray.

The specific structure of the code scanning clamping jaw 59 is not limited, and reference may be made to the foregoing carrying clamping jaw 50, however, unlike the carrying clamping jaw 50, the code scanning clamping jaw 59 is not required to clamp a material tray, but is only used for taking out the material in the material tray, so the clamping member 53, the clamping block 54, and the like of the carrying clamping jaw 50 may not be provided. The code scanning jaw 59 can be arranged in any feasible position within the receiving space 13. After the carrying clamping jaw 50 connected with the mechanical arm 30 moves the material tray to the interaction station, the mechanical arm 30 places the carrying clamping jaw 50 back to the original position, namely, after the carrying clamping jaw 50 is placed back to the first quick-change frame 61, the mechanical arm 30 is connected with the code scanning clamping jaw 59, and then the mechanical arm 30 drives the code scanning clamping jaw 59 to move and takes out the material in the material tray placed at the interaction station through the code scanning clamping jaw 59. Of course, the code scanning jaw 59 may also remove material from other material trays, not limited to material from material trays at the interactive stations. After the materials in the material tray are taken out, the materials can be identified and confirmed by information, and when the number of the materials taken out is the same as the number to be taken out, the materials can be taken out, if the number of the materials is not enough, the materials in the material tray can be taken out for many times through the code scanning clamping jaw 59 until the number of the materials taken out is the same as the number to be taken out. Of course, if the material trays are in one-to-one correspondence with the materials in the material trays, and the number of the materials taken out by the code scanning clamping jaw 59 at one time is the number of the materials to be delivered, the materials can be delivered directly without information identification and confirmation.

Optionally, referring to fig. 4 and 11, the detecting assembly further includes a second identifying member 74, where the second identifying member 74 is used to identify the material moved by the code scanning jaw 59.

The second recognition element 74 may be various types of sensors, scanners, etc., without limitation. The second identifying member 74 may be identified by various principles for identification purposes, and the present utility model is not limited thereto. The second identification member 74 may be disposed at any feasible location of the receiving space 13 without limitation. Alternatively, the second identifying member 74 may be integrated with the second detecting member 73, or may be provided separately. The mechanical arm 30 drives the code scanning clamping jaw 59 to take out the material and then move the material to the second identifying piece 74 for identification, if the material is the material to be delivered, the material can be delivered, and the operation can be performed for a plurality of times to reach the required delivery quantity.

Optionally, referring to fig. 4, the material storage device further includes a second quick-change frame 62, the second quick-change frame 62 is disposed on the base 11, the code scanning clamping jaw 59 is detachably connected to the second quick-change frame 62, and the mechanical arm 30 is fixedly connected to the code scanning clamping jaw 59 at the second quick-change frame 62, and moves the code scanning clamping jaw 59 to be separated from the second quick-change frame 62.

The structure of the second quick-change rack 62 can refer to the structure of the first quick-change rack 61, which is not limited herein and will not be described in detail. Through setting up second quick change frame 62 to support and sweep a yard clamping jaw 59, sweep a yard clamping jaw 59 simultaneously and the second quick change frame 62 can dismantle the connection, installation and dismantlement that can be quick, be convenient for arm 30 convenient and fast with sweep a yard clamping jaw 59 installation and take out and remove the operation of material, also be convenient for accomplish take out and remove the operation back arm 30 of material will sweep a yard clamping jaw 59 and put back the original place, sweep a yard clamping jaw 59 quick and second quick change frame 62 to be connected fixedly promptly.

Optionally, referring to fig. 1, 4 and 10, the material storage device further includes an interaction frame 80, where the interaction frame 80 is accommodated in the accommodating space 13 and is located at the interaction window 141, and the interaction frame 80 is provided with a second placement position, where the second placement position is used for placing the material tray.

An interactive shelf 80 is positioned at the interactive station for temporarily storing the material trays. When the robotic arm 30 moves the handling jaw 50 to move the material pallet to the interchange station, the handling jaw 50 places the material pallet on the interchange shelf 80, the mechanical arm 30 is connected with the carrying clamping jaw 50 and is connected with the code sweeping clamping jaw 59, and the mechanical arm 30 drives the code sweeping clamping jaw 59 to take out materials in a material tray placed on the interaction frame 80. The interaction frame 80 may be placed on the case 10 and may be connected and fixed with the case 10. The specific structure of the interaction frame 80 is not limited, and a plurality of second placement positions may be disposed on the interaction frame 80, and a plurality of material trays may be temporarily placed on the plurality of second placement positions. The second placement location on the interaction frame 80 may be similar in structure to the first placement location on the material rack 40, for example, the second placement location on the interaction frame 80 includes two supporting portions 83, and the two supporting portions 83 may be provided with a protrusion, a groove, or the like to limit the material tray. The structure of the supporting portion 83 may be similar to that of the supporting block 44 described above, and reference is made to the foregoing description.

When the warehouse-out operation is completed, the empty material trays are placed on the interaction frame 80, and then the mechanical arm 30 can be switched to be connected with the carrying clamping jaw 50 again, and the empty material trays on the interaction frame 80 are placed back to the rotating frame 20 or the material frame 40 through the carrying clamping jaw 50.

When the external material is put in storage through the interactive window 141, the external material may be placed in an empty material tray on the interactive shelf 80, and then the material tray is moved to the rotating shelf 20 or the material shelf 40.

Optionally, the interaction frame 80 includes two risers 81 and a plurality of crossbars 82, the risers 81 are arranged along a vertical direction, the crossbars 82 are connected to the two risers 81, and are sequentially arranged along a height direction of the risers 81, the crossbars 82 are spaced to form a plurality of layers, and each layer of crossbars 82 is provided with at least one second placement position. So set up for interaction frame 80's simple structure, reliable stability has a plurality of second to put the position on the interaction frame 80, can deposit a plurality of material trays temporarily, promotes efficiency.

Optionally, a second placement location on top of the interaction frame 80 is directly opposite the second detection member 73. Specifically, the second placement position on the highest one of the transverse plates 82 is opposite to the second detection member 73, and when a plurality of second placement positions are provided on the transverse plate 82, the second detection member 73 may be opposite to any one of the second placement positions, and optionally, the second detection member 73 is opposite to one of the second placement positions in the middle. Thus, when the material tray is placed on the second placement position opposite to the second detection member 73 on the layer of transverse plate 82, the second detection member 73 can directly detect the quantity of the materials in the material tray, so that the accuracy of detection is improved.

Referring to fig. 12, an embodiment of the present utility model further provides a material storage method, which is applied to the material storage device in any of the foregoing embodiments, and the specific structure of the material storage device is referred to fig. 1 to 11, and the foregoing description is omitted herein. The material storage method comprises the steps of S10, S20, 30 and S40.

Step S10, a warehouse entry step: a material tray containing materials is placed into the rotating frame 20.

Step S20, detection: detecting whether a new warehouse-in material tray exists on the rotating frame by utilizing a detection assembly, if so, identifying tray information of the material tray; and detecting the quantity of the materials in the material tray by using the detection assembly again, and identifying the material information of each material.

Step S30, an information input step: the tray information and the material information are stored to the information management system 70.

Step S40, a storage step: and the material tray with information input completed is moved to the appointed position of the rotating frame by using the carrying mechanism.

Optionally, the warehousing step includes: the material trays are put into the rotating frame 20 through the warehouse-in door 15, or put into the interaction station, and put into the rotating frame 20 through the conveying mechanism.

Optionally, the detecting step includes:

detecting whether a newly-put material rack 40 exists on the rotary rack 20 and whether a material tray exists on the material rack 40 by utilizing a detection assembly, if the newly-put material rack 40 and the material tray exist, identifying material rack information of the material rack 40 and tray information of the material tray; and detecting the quantity of the materials in the material tray by using the detection assembly again, and identifying the material information of each material.

Optionally, the information input step includes:

the rack information, tray information, and material information are stored to the information management system 70.

Optionally, the storing step includes:

the material pallet, on which information entry is completed, is moved by the handling mechanism to a first storage position designated by the work rack 40 on the rotating rack 20.

Optionally, the detecting step includes: the control mechanical arm 30 drives the carrying clamping jaw 50 to move, and the first detection piece 71 on the carrying clamping jaw 50 is used for detecting whether a new material pallet exists on the rotating frame 20, and if yes, the first identification piece 72 on the carrying clamping jaw 50 is used for identifying pallet information of the material pallet.

The control mechanical arm 30 drives the carrying clamping jaw 50 to move the material tray to the detection table, and the second detection piece 73 is used for detecting the quantity of materials in the material tray. The detection stage may be at the interaction station, may be the aforementioned interaction frame 80, may be other structures, or may be placed at other positions not at the interaction station, and is not limited.

The mechanical arm 30 is controlled to replace the code scanning clamping jaw 59, and the code scanning clamping jaw 59 is driven to take out materials in the material tray one by one and move the materials to the position of the second identification piece 74, so that the second identification piece 74 identifies the material information of each material.

Optionally, the material storing method further includes step S50.

Step S50, a step of warehouse-out: acquiring target material information or target tray information to be delivered; controlling the rotating frame 20 storing the target material information or the target tray corresponding to the target tray information to rotate so as to rotate the placing position of the rotating frame 20 storing the target tray to an output position; the handling mechanism is controlled to handle the target pallet from the rotating rack 20 and move to the interaction station so that the external mobile robot takes the target pallet from the interaction station. Wherein the target tray is one of a plurality of material trays placed on the rotating frame 20.

The details of the above steps of the above material storage method may be combined with the details of the structure and the usage of the material storage device described above, and will not be described herein.

Referring to fig. 1 to 11, an embodiment of the present utility model further provides an automated testing system, including at least one material storage device according to any one of the foregoing embodiments. The automatic experimental system can be used for biological experiments, chemical experiments and the like, and can be applied to industries such as biological pharmacy, chemical reagent preparation and the like. By adopting the material storage device in the embodiment of the utility model, the material management efficiency can be improved, the warehousing, ex-warehouse, transfer and the like of the materials can be realized, and the automation level can be improved.

Optionally, the automated experiment system further comprises a mobile robot for picking and placing materials to the material storage device. The content of the mobile robot may be referred to the foregoing description, and will not be described herein.

In the description of the embodiments of the present utility model, it should be noted that, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like refer to the orientation or positional relationship described based on the drawings, which are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

The above disclosure is only a preferred embodiment of the present utility model, and it should be understood that the scope of the utility model is not limited thereto, but all or part of the procedures for implementing the above embodiments can be modified by one skilled in the art according to the scope of the appended claims.

Claims (31)

1. A material storage device, comprising:

The base is provided with an interaction station which is used for carrying out material interaction with the outside;

the rotating frame is arranged on the base, is rotationally connected with the base and is used for placing a material tray;

the conveying mechanism is arranged on the base and used for transferring the material tray from the rotating frame to the interaction station and/or transferring the material tray from the interaction station to the rotating frame.

2. The material storage device according to claim 1, wherein the rotating frame comprises a driving piece, a transmission piece and a frame body, the driving piece is fixedly connected with the base, the transmission piece is connected with the driving piece and the frame body, and the driving piece drives the transmission piece to drive the frame body to rotate; the frame body is provided with a matching position, and the matching position is used for placing a material tray.

3. The material storage device according to claim 2, wherein the frame body comprises a rotating bottom plate, a rotating top plate and a connecting shaft, the rotating bottom plate and the rotating top plate are oppositely arranged, two opposite ends of the connecting shaft are respectively connected and fixed with the rotating bottom plate and the rotating top plate, the rotating bottom plate or the connecting shaft is connected with the transmission piece, a plurality of matching positions are arranged on the rotating bottom plate and/or the rotating top plate, and the matching positions are annularly distributed by taking the connecting shaft as an axis.

4. The material storage device according to claim 3, wherein a plurality of first matching parts are arranged on the rotary bottom plate at intervals in an annular mode, a plurality of second matching parts are arranged on the rotary top plate at intervals in an annular mode, the first matching parts and the second matching parts are in one-to-one correspondence, and each matching position comprises one first matching part and one second matching part corresponding to the first matching part.

5. The material storage device of claim 4, further comprising a rack, the mating location for placement of the rack; the work or material rest is provided with first position of placing, first position of placing is used for placing the material tray.

6. The material storage device according to claim 5, wherein one end in the height direction of the material rack is connected to one of the first fitting portions, the other end in the height direction of the material rack opposite to the other end in the height direction is connected to the corresponding second fitting portion, and the material rack is provided with a plurality of the first placement positions in the height direction thereof.

7. The material storage device according to claim 6, wherein the material rack comprises a matching bottom plate, a matching top plate, two vertical supporting plates and a plurality of supporting blocks, the two vertical supporting plates are oppositely arranged, the matching bottom plate and the matching top plate are oppositely arranged, the matching bottom plate is connected to one ends of the two vertical supporting plates, the matching top plate is connected to the other ends of the two vertical supporting plates, the plurality of supporting blocks are respectively arranged on the opposite surfaces of the two vertical supporting plates, one supporting block is respectively arranged on the two vertical supporting plates at the same height to form a first placement position, the matching bottom plate is used for being connected with the first matching portion, and the matching top plate is used for being connected with the second matching portion.

8. The material storage device of claim 5, wherein the material rack is provided with a handle.

9. The material storage device of claim 1, wherein the number of swivel racks is two, two swivel racks are located on a first side of the base, the handling mechanism is located on a second side of the base, and the interactive station is located on a third side of the base, wherein the first side is opposite the second side, and the third side is adjacent the first side and the second side.

10. The material storage device of claim 1, wherein the number of swivel racks is four, four swivel racks being disposed about the handling mechanism; or, the number of the rotating frames is four, two rotating frames are located on a first side of the base, the other two rotating frames are located on a second side of the base, the interaction station is located on a third side of the base, the carrying mechanism is located in the middle of the base, the first side is opposite to the second side, and the third side is adjacent to the first side and the second side.

11. The material storage device of any one of claims 1-10, wherein the handling mechanism comprises a mechanical arm and a handling jaw, one end of the mechanical arm is connected to the base, the other end of the mechanical arm is connected to the handling jaw, the mechanical arm is configured to move the handling jaw, and the handling jaw is configured to clamp a material tray.

12. The material storage device of claim 11, wherein the carrying jaw comprises a base, a power member, a sliding mechanism and a clamping member, the base is connected with the mechanical arm, the power member is mounted on the base, the sliding mechanism is in sliding connection with the base, one end of the sliding mechanism is connected with the power member, the clamping member is connected with one end of the sliding mechanism, which is opposite to the power member, the clamping member extends out of the base in a direction opposite to the power member, and the clamping member and the base together define a clamping space for accommodating a material tray.

13. The material storage device of claim 12, wherein the sliding mechanism comprises a first slider, a second slider, a connecting piece and an elastic piece, the first slider and the second slider are in sliding connection with the base, the first slider is connected with the power piece, the second slider is located at one side of the first slider, which is opposite to the power piece, the connecting piece is fixedly connected with the first slider, the elastic piece is elastically abutted against the second slider and the connecting piece, and when the first slider and the second slider are gradually far away from each other, the compression amount of the elastic piece is increased.

14. The material storage device of claim 13, wherein the clamping member comprises a support plate and a stop, wherein one end of the support plate is connected to the second slider, the stop is disposed at one end of the support plate away from the second slider and protrudes from a surface of the support plate, and the support plate, the stop, and the base together define the clamping space.

15. The material storage device of claim 11, wherein the handling jaw is detachably connected to the robotic arm; the material storage device further comprises a first quick change frame, the first quick change frame is arranged on the base, the carrying clamping jaw is arranged on the first quick change frame, the mechanical arm is connected and fixed with the carrying clamping jaw at the first quick change frame, and the carrying clamping jaw is moved to be separated from the first quick change frame.

16. The material storage device of claim 15, wherein the first quick-change rack comprises a base frame and a support arm, the base frame is fixed with the base, the support arm is connected with the base frame and extends out of the base frame, the support arm encloses a receiving opening, an opening direction of the receiving opening faces the outer portion of the base frame, and the receiving opening is used for accommodating the carrying clamping jaw.

17. The material storage device of claim 11, further comprising a frame disposed on the base, the frame and the base enclosing together into a receiving space, at least one of the rotating frame and the handling mechanism being received in the receiving space, the frame defining an interactive window, the interactive window corresponding to the interactive station.

18. The material storage device of claim 17, further comprising a detection assembly received in the receiving space for detecting whether a material tray is present on the rotating rack and detecting material contained in the material tray.

19. The material storage device of claim 18, wherein the detection assembly comprises a first detection member disposed on the handling jaw, the first detection member configured to detect whether a material tray is present on the rotating rack; or, the first detecting piece is used for detecting whether a material rack exists on the rotating rack and whether a material tray exists on the material rack.

20. The material storage device of claim 19, wherein the detection assembly further comprises a first identification member disposed on the handling jaw, the first identification member for identifying a material tray on the rotating rack detected from the first detection member, or the first identification member for identifying the material tray on the rotating rack detected from the first detection member, and for identifying a material tray on the material rack detected from the first detection member.

21. The material storage device of claim 18, wherein the detection assembly further comprises a second detection member for detecting the amount of material in the material tray.

22. The material storage device of claim 18, further comprising a code scanning jaw, wherein the detection assembly further comprises a second identification member, wherein the code scanning jaw is detachably connected to the mechanical arm, the code scanning jaw is configured to remove material from the material tray, and the second identification member is configured to identify material from which the code scanning jaw has moved.

23. The material storage device of claim 22, further comprising a second quick change rack disposed on the base, the code scanning jaw disposed on the second quick change rack, the robotic arm being fixedly coupled to the code scanning jaw at the second quick change rack and moving the code scanning jaw to disengage from the second quick change rack.

24. The material storage device of claim 21, wherein the interactive station is provided with an interactive frame, the interactive frame being provided with a second placement location for placement of a material tray.

25. The material storage device of claim 24, wherein the interactive frame comprises a plurality of layers of transverse plates arranged in sequence along the height direction, and each layer of transverse plate is provided with at least one second placement position; the second placement position at the top of the interaction frame is opposite to the second detection piece.

26. The material storage device of claim 18, further comprising an information management system electrically coupled to the detection assembly, the information management system configured to receive and manage information detected by the detection assembly.

27. The material storage device of claim 17, further comprising a housing enclosing the rack, the housing being provided with the interaction window, the housing being further provided with a storage door that opens to place material trays and/or material trays with respect to the rotating rack, and a maintenance window for maintaining the device in the receiving space.

28. The material storage device of claim 27, wherein at least a portion of the housing is a transparent material or a transparent viewing window is provided on the housing.

29. The material storage device of claim 17, further comprising a positioning mechanism according to which a mobile robot external to the material storage device positions a position with the material storage device;

the positioning mechanism comprises:

the three-axis calibration support is arranged on the outer wall of the frame and is close to the interaction window, the three-axis calibration support comprises an X-direction connecting plate, a Y-direction connecting plate and a Z-direction connecting plate which are arranged in a mutually perpendicular mode, one end of the Y-direction connecting plate is connected with one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected with one end of the Z-direction connecting plate;

the three positioning code calibration plates are respectively arranged at two ends of the X-direction connecting plate, and the other positioning code calibration plate is arranged at the other end of the Z-direction connecting plate;

each positioning code calibration plate is internally provided with a positioning code, and the positioning codes are used for enabling an external mobile robot to position the interaction window.

30. An automated assay system comprising at least one material storage device according to any one of claims 1 to 29.

31. The automated experimentation system of claim 30, further comprising a mobile robot for retrieving material to the material storage device.

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