Sample tube boxing robot

Abstract

The present invention discloses a sample tube boxing robot, which is used to load a plurality of sample tubes into a tube box, wherein the sample tube comprises a tube cap and a tube body connected to each other, and the sample tube boxing robot comprises a separation mechanism for separating a single sample tube from a plurality of sample tubes and transporting the sample tubes; a detection mechanism for receiving the sample tubes passing through the separation mechanism, and the detection mechanism for detecting the posture or orientation of the sample tubes and transporting the sample tubes; a posture adjustment mechanism having a discharge channel, and the posture adjustment mechanism for receiving the sample tubes passing through the detection mechanism, and adjusting the sample tubes according to the detection results of the detection mechanism, so that the side of the sample tube body away from the tube cap first slides out of the discharge channel and is loaded into the tube box. The technical solution of the present invention is intended to realize the automation process of sample tube boxing, greatly improve the efficiency of sample tube boxing, and effectively reduce the intensity of manual operation.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and in particular to a sample tube boxing robot. Background Art

[0002] In the related art, sample storage tubes are usually used to store various biological samples such as biological cells, bacteria, etc. In order to facilitate the storage of sample storage tubes and to effectively use the storage space and facilitate subsequent operations, sample storage tubes are usually placed in a universal SBS specification sample tube box. At present, the packaging of scattered sample storage tubes or the transfer of tubes between SBS boxes of different specifications still rely on manual work. Because the sample storage tubes are adjacent to each other in the box, there is no place for fingers to pick up and place them, so this operation is usually time-consuming and laborious. At the same time, long-term repetitive labor is also prone to cause labor injuries to operators. Summary of the invention

[0003] The main purpose of the present invention is to provide a sample tube boxing robot, which aims to realize the automation process of sample tube boxing, greatly improve the sample tube boxing efficiency, and effectively reduce the intensity of manual operation.

[0004] To achieve the above-mentioned purpose, the sample tube boxing robot proposed in the present invention is used to load a plurality of sample tubes into a tube box, wherein the sample tubes include tube caps and tube bodies connected to each other, and the sample tube boxing robot includes:

[0005] A separation mechanism, the separation mechanism is used to separate a single sample tube from a plurality of sample tubes and transport the sample tube;

[0006] a detection mechanism, the detection mechanism being used to receive the sample tube passing through the separation mechanism, the detection mechanism being used to detect the posture or orientation position of the sample tube and transport it; and

[0007] A posture adjustment mechanism, wherein the posture adjustment mechanism has a discharge channel and is electrically connected to the detection mechanism, wherein the posture adjustment mechanism is used to receive the sample tube passing through the detection mechanism and adjust the sample tube according to the detection result of the detection mechanism so that the side of the sample tube body facing away from the tube cap first flows out from the discharge channel and is loaded into the tube box.

[0008] The sample tube boxing robot of the technical solution of the present invention is used to load a plurality of sample tubes into a tube box, and the sample tube boxing robot of the present application separates a single sample tube from a plurality of sample tubes through a separation mechanism and transports it to a detection mechanism, and then the detection mechanism detects the posture or orientation of the sample tube and then transports it to a posture adjustment mechanism, so that the posture adjustment mechanism adjusts the sample tube according to the detection result of the detection mechanism, so that the side of the sample tube body away from the tube cap first slides out of the discharge channel and is loaded into the tube box. In this way, only one device is needed to complete the separation of a plurality of sample tubes and automatically load them into the tube box with the tube body facing downward, thereby realizing the automation process of sample tube boxing, and can be applied to automatically load sample tubes of different specifications into the tube box, which greatly improves the production rhythm and output, while effectively reducing the manual work intensity, saving production costs, and realizing optimal resource allocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0010] Figure 1 This is a schematic structural diagram of an embodiment of a sample tube box loading robot of the present invention;

[0011] Figure 2 for Figure 1 A schematic diagram of the partial structure of the sample tube boxing robot;

[0012] Figure 3 for Figure 2 A schematic side view of a partial structure of a sample tube box loading robot;

[0013] Figure 4 A schematic side view of a partial structure of another embodiment of the sample tube box loading robot of the present invention;

[0014] Figure 5 This is a structural schematic diagram of another embodiment of the sample tube boxing robot of the present invention;

[0015] Figure 6 for Figure 5 A schematic diagram of the structure of the sample tube boxing robot from another perspective;

[0016] Figure 7 This is a schematic structural diagram of another embodiment of the sample tube box loading robot of the present invention;

[0017] Figure 8 for Figure 5A schematic diagram of the structure of the sample tube boxing robot from another perspective;

[0018] Fig. 9 It is a partial structural schematic diagram of the sample tube boxing robot of the present invention;

[0019] Fig.10 for Fig. 9 A schematic diagram of the local structure of the sample tube box loading robot from another perspective;

[0020] Fig.11 It is a structural schematic diagram of the detection mechanism of the sample tube boxing robot of the present invention;

[0021] Fig.12 It is a structural schematic diagram of the posture adjustment mechanism of the sample tube boxing robot of the present invention;

[0022] Fig.13 for Fig.12 A structural schematic diagram of the posture adjustment mechanism of the sample tube boxing robot from another perspective;

[0023] Fig.14 It is a structural schematic diagram of the mobile platform mechanism of the sample tube boxing robot of the present invention;

[0024] Fig.15 It is a partial structural schematic diagram of the mobile platform mechanism of the sample tube boxing robot of the present invention;

[0025] Fig.16 Schematic diagram of the structure of the sample tube of the present invention.

[0026] Description of Figure Numbers:

[0027]

[0028]

[0029] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] The present invention provides a sample tube boxing robot 100, which is used to load a plurality of sample tubes 200 into a tube box 300, wherein the sample tubes 200 include a tube cap 201 and a tube body 202 connected to each other. Fig.16 It should be noted that, extending along the longitudinal length of the sample tube 200 , the cross-sectional dimension of the tube cap 201 is different from the cross-sectional dimension of the tube body 202 .

[0035] Reference Figure 1In an embodiment of the present invention, the sample tube boxing robot 100 includes a separation mechanism 10, a detection mechanism 20 and a posture adjustment mechanism 30. The separation mechanism 10 is used to separate a plurality of sample tubes 200 into a single sample tube 200 and transport it; the detection mechanism 20 is used to receive the sample tube 200 that has passed through the separation mechanism 10, and the detection mechanism 20 is used to detect the posture or orientation of the sample tube 200 and transport it; the posture adjustment mechanism 30 has a discharge channel 322 and is electrically connected to the detection mechanism 20. The posture adjustment mechanism 30 is used to receive the sample tube 200 that has passed through the detection mechanism 20, and adjust the sample tube 200 according to the detection result of the detection mechanism 20, so that the side of the tube body 202 of the sample tube 200 away from the tube cap 201 first slides out from the discharge channel 322 and is loaded into the tube box 300.

[0036] Among them, the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 can be simultaneously arranged on the same base 40, so that the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 are arranged adjacent to each other, so as to facilitate the transportation of the sample tube 200. Of course, the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 can also be provided with independent support platforms respectively, and then the sample tube 200 is transported by structures such as conveyor belts, so that when maintenance is needed, the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 can be disassembled respectively to improve the maintenance efficiency, and the specific selection can be made by those skilled in the art. In addition, the sample tube boxing robot 100 also includes a control mechanism, which is electrically connected to the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30, so that the operation of the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 can be respectively and simultaneously controlled.

[0037] The sample tube boxing robot 100 of the technical solution of the present invention is used to load a plurality of sample tubes 200 into a tube box 300, and the sample tube boxing robot 100 of the present application separates a plurality of sample tubes 200 into a single sample tube 200 through a separation mechanism 10 and transports the sample tube 200 to a detection mechanism 20, and then the detection mechanism 20 detects the posture or orientation of the sample tube 200 and then transports the sample tube 200 to a posture adjustment mechanism 30, so that the posture adjustment mechanism 30 adjusts the sample tube 200 according to the detection result of the detection mechanism 20, so that the side of the tube body 202 of the sample tube 200 away from the tube cap 201 first slides out from the discharge channel 322 and is loaded into the tube box 300. In this way, only one device is needed to separate a plurality of sample tubes 200 and automatically load them into the tube box 300 with the tube body 202 facing downward, thereby realizing the automated process of packing the sample tubes 200. In addition, the device can be used to automatically load sample tubes 200 of different specifications into the tube box 300, greatly improving the production cycle and output, while effectively reducing the labor intensity of manual work, saving production costs, and realizing optimal resource allocation.

[0038] In one embodiment of the present application, refer to Figure 1 The sample tube boxing robot 100 also includes a base 40, and the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 are all connected to the base 40. Among them, the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 can be fixed to the base 40 in a detachable manner such as screw connection, so as to facilitate later maintenance and disassembly, and the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30 are installed and carried by the base 40, so that the sample tube boxing robot 100 can be assembled into a whole. So that the sample tube boxing robot 100 can be moved as a whole to a suitable station for production. In order to reduce the total weight of the sample tube boxing robot 100, the base 40 can be made of plastic material, such as ABS, POM, PS, PMMA, PC, PET, etc. Of course, in order to increase the service life, the material of the base 40 can also be a metal material, such as stainless steel material, aluminum material, aluminum alloy material, copper material, copper alloy material, iron material, iron alloy material, etc. The present application does not limit the specific material of the base 40 , as long as it can install and carry the separation mechanism 10 , the detection mechanism 20 , the posture adjustment mechanism 30 , etc.

[0039] Furthermore, the base 40 is provided with a separation station 44, and the separation mechanism 10 includes a feeding assembly 11 and a blocking switch assembly 12. The feeding assembly 11 is connected to the base 40 and is used to transport a plurality of sample tubes 200 to the separation station 44 in sequence; the blocking switch assembly 12 is connected to the base 40 and is located at the separation station 44, and is used to abut against the separation sample tube 200, so that a single sample tube 200 is transported from the separation station 44 to the detection mechanism 20. Among them, by setting the separation mechanism 10 as a separate feeding assembly 11 and blocking switch assembly 12, that is, the feeding assembly 11 and the blocking switch assembly 12 can be independently and detachably connected to the base 40 by screws, so that they can be assembled separately during installation or disassembly, and the installation efficiency is high. The feeding assembly 11 is used to feed the sample tube 200, and the blocking switch assembly 12 is used to abut and separate the sample tubes 200, so as to ensure that only one sample tube 200 is transported to the detection mechanism 20 for detection each time, thereby ensuring the accuracy of the detection of the detection mechanism 20. By setting the feeding assembly 11, the feeding position of the sample tubes 200 can be set away from the detection mechanism 20. Of course, the separation mechanism 10 can also be directly set as a funnel limiting structure, and the detection mechanism 20 is located at the lower end of the funnel structure, and the bottom space of the funnel is set to a size that can only pass a single sample tube 200 each time, so that the sample tubes 200 continue to fall into the bottom of the funnel limiting structure through the action of gravity, and then blocked by the limiting block 1122, so that only a single sample tube 200 is transported to the detection mechanism 20 each time. The specific selection can be made by those skilled in the art.

[0040] In one embodiment of the present application, refer to Figures 1 to 4 The feeding assembly 11 includes a first conveying structure 111 and a second conveying structure 112, the first conveying structure 111 and the second conveying structure 112 are connected to the base 40, the second conveying structure 112 is provided with a separation station 44, the first conveying structure 111 conveys a plurality of sample tubes 200 to the second conveying structure 112, and the second conveying structure 112 transports the sample tubes 200 passing through the first conveying structure 111 to the separation station 44. It can be understood that the base 40 can be placed on a support surface, and the second conveying structure 112 is located above the first conveying structure 111, and the first conveying structure 111 and the second conveying structure 112 can transport the sample tubes 200 in the same direction or in different directions. In one embodiment, a small amount of sample tubes 200 can be first transported up along the vertical direction of the base 40 to the second transport structure 112 by the first transport structure 111, and then transported to the separation station 44 by the second transport structure 112 along the horizontal direction of the base 40, so that a number of sample tubes 200 can be initially transported and screened by the first transport structure 111, and directed to the blocking switch assembly 12 by the second transport structure 112, so as to facilitate the subsequent separation step of the blocking switch assembly 12. It should be noted that the first transport structure 111 and the second transport structure 112 can also be set to different structures so that the two can be adapted to each other, so that the feeding assembly 11 is more compact after the overall assembly, so as to avoid the sample tube boxing robot occupying too much space. Of course, the first transport structure 111 and the second transport structure 112 can be set to the same structure to facilitate production and improve the efficiency of production. The specific selection can be made by those skilled in the art.

[0041] Further, the first conveying structure 111 includes a first feeding motor 1111, a carrier 1112 and a transmission member 1113. The first feeding motor 1111 is connected to the base 40; the carrier 1112 is slidably connected to the base 40; and the transmission member 1113 is respectively connected to the driving shaft of the first feeding motor 1111 and the carrier 1112, so that the first feeding motor 1111 drives the transmission member 1113 to drive the carrier 1112 to move in the vertical direction close to or away from the second conveying structure 112. The carrier 1112 can slide relative to the base 40 through the cooperation of the slider and the slide rail, so that the transmission member 1113 is driven by the driving shaft of the first feeding motor 1111 to drive the carrier 1112 to slide, so that after a small amount of sample tubes 200 are transported to the second conveying structure 112 by the carrier 1112, it returns to the initial position to continue to receive a number of sample tubes 200, so as to achieve the effect of continuous feeding.

[0042] In an alternative embodiment, reference Figure 2The transmission member 1113 includes a transmission arm 111c and a connecting rod 111d, the transmission arm 111c is rotatably connected to the connecting rod 111d, the transmission arm 111c is connected to the driving shaft of the first feeding motor 1111, and the side of the connecting rod 111d away from the transmission arm 111c is rotatably connected to the supporting member 1112; through the cooperation of the rotatable connection between the transmission arm 111c and the connecting rod 111d, the first feeding motor 1111 can continuously rotate in the same direction, so as to drive the transmission arm 111c and the connection to rotate synchronously, thereby driving the supporting member 1112 to move relative to the base 40.

[0043] In another optional embodiment, referring to Figure 4 The transmission member 1113 includes a gear 111e and a rack 111f, which are meshed and connected with each other. The gear 111e is connected to the driving shaft of the first feeding motor 1111, and the side of the rack 111f away from the gear 111e is connected to the bearing member 1112. That is, through the meshing cooperation of the gear 111e and the rack 111f, the gear 111e can be directly sleeved on the driving shaft of the first feeding motor 1111, and the rack 111f is directly fixedly connected to the bearing member 1112, so that through the reciprocating rotation of the driving shaft of the first feeding motor 1111, the bearing member 1112 can be driven to rise and fall along the vertical direction of the base 40.

[0044] Optionally, refer to Figure 2 and Figure 3 The base 40 includes a storage bin 41 and a transfer platform 42. The transfer platform 42 is disposed in the storage bin 41. The storage bin 41 is used to accommodate a plurality of sample tubes 200. The carrier 1112 can transport the sample tubes 200 to the transfer platform 42, and transport the sample tubes 200 located on the transfer platform 42 to the second conveying structure 112.

[0045] The base 40 may be a support frame formed by a plate body, and the support frame is used to carry and fix the separation mechanism 10, the detection mechanism 20 and the posture adjustment mechanism 30. The storage bin 41 is installed on the support frame, so that the operator can place all the scattered sample tubes 200 in the storage bin 41 at one time, reducing the process of multiple discharges and reducing the difficulty of operation. The transfer platform 42 can be an integrated structure with the storage bin 41 to ensure the support strength of the transfer platform 42. The carrier 1112 may include a first carrier block 111a and a second carrier block 111b connected to each other, wherein the distance between the second carrier block 111b and the bottom of the storage bin 41 is greater than the distance between the first carrier block 111a and the bottom of the storage bin 41, so that the sample tube 200 is moved and transported to the transfer platform 42 by the first carrier block 111a, and after the first carrier block 111a is moved to the bottom of the storage bin 41 again, the surface of the second carrier block 111b facing away from the bottom of the storage bin 41 is connected to the surface of the transfer platform 42 facing away from the bottom of the storage bin 41, so that the sample tube on the transfer platform 42 slides to the second carrier block 111b. After that, the first carrier block 111a moves again in the storage bin to transport the sample tube 200 located at the bottom of the bin to the transfer platform 42, and at this time, the sample tube located on the second carrier block 111b is transported to the second conveying structure 112 by the second carrier block 111b. In this way, the entire process of cyclically feeding from the storage bin 41 to the second conveying structure 112 is completed. The feeding method is relatively uniform and regular, which can ensure that the sample tubes 200 at the bottom of the storage bin 41 are transported to the second conveying structure 112, while avoiding the occurrence of collisions caused by excessive movement of the carrier 1112.

[0046] It should be noted that the surface of the first supporting block 111a away from the bottom of the storage bin 41, the surface of the transfer platform 42 away from the bottom of the storage bin 41, and the surface of the second supporting block 111b away from the bottom of the storage bin 41 are all inclined toward the second conveying structure 112, so that when the sample tube 200 is transported to the second conveying structure 112, the first supporting block 111a is driven by the driving member 24 to lift a small amount of sample tube 200 from the bottom of the storage bin 41 to the transfer platform 42. At this time, since the surface of the second supporting block 111b away from the bottom of the storage bin 41 is connected to the second conveying structure 112, the sample tube 200 is rolled along the surface of the first supporting block 111a away from the bottom of the storage bin 41 through the action of gravity and stays on the surface of the transfer platform 42 away from the bottom of the storage bin 41. When the first carrier block 111a moves back to the bottom of the storage bin 41, the surface of the second carrier block 111b facing away from the bottom of the storage bin 41 is connected to the surface of the transfer platform 42 facing away from the bottom of the storage bin 41, so that the sample tube 200 is rolled and moved to the surface of the second carrier block 111b facing away from the bottom of the storage bin 41 by gravity. In addition, the carrier 1112 can also be additionally provided with a third carrier block, a fourth carrier block, and other transfer platforms 42, so as to further increase the feeding speed and reduce the range of movement of the carrier 1112.

[0047] In an alternative embodiment, reference Figure 5 and Figure 6The first conveying structure 111 includes a second feeding motor 1114, an active roller 1115, a driven roller 1116 and a roller 1117. The second feeding motor 1114 is connected to the base 40; the active roller 1115 is connected to the driving shaft of the second feeding motor 1114; the driven roller 1116 is rotatably connected to the base 40; the outer wall of the roller 1117 is in rolling contact with the active roller 1115 and the driven roller 1116, and a storage space is formed in the roller 1117. A plurality of sample tubes 200 are placed in the storage space, and the second transmission assembly is located in the roller 1117; wherein the second feeding motor 1114 drives the active roller 1115 to rotate to drive the roller 1117 and the driven roller 1116 to rotate synchronously, so as to transport the sample tubes 200 located in the storage space to the second conveying structure 112. The first conveying structure 111 may also be fed by a roller 1117, wherein a loading baffle is provided inside the roller 1117, and the outer wall of the roller 1117 is in rolling contact with the active roller 1115 and the driven roller 1116, and the active roller 1115 is driven by the second feeding motor 1114 to rotate to drive the roller 1117 to roll synchronously, so that the loading baffle can roll and lift the sample tube 200 in the storage space to transport it to the second conveying mechanism. In order to improve the rolling efficiency of the roller 1117, the number of driven rollers 1116 can be set to multiple, which can be set by those skilled in the art according to specific circumstances.

[0048] In an alternative embodiment, reference Figure 7 and Figure 8 The first conveying structure 111 includes a third feeding motor 1118 and a first transmission belt 1119. The third feeding motor 1118 is connected to the base 40. The first transmission belt 1119 is connected to the driving shaft of the third feeding motor 1118. The third feeding motor 1118 drives the first transmission belt 1119 to transport a plurality of sample tubes 200 to the second conveying structure 112. The first conveying structure 111 can also use the first transmission belt 1119 to transport the sample tubes 200, which are driven by the third feeding motor 1118, so that the process of transporting the sample tubes 200 to the second conveying structure 112 is relatively smooth, so as to achieve the effect of uniform feeding.

[0049] Furthermore, the first conveying structure 111 also includes a plurality of limiting protrusions 111g, which are arranged at intervals on the surface of the first transmission belt 1119 and are clamped to form a plurality of limiting spaces. It can be understood that in order to further improve the stability of the sample tube 200 on the first transmission belt 1119 and prevent it from falling, a plurality of limiting protrusions 111g are provided to abut and limit the sample tube 200. It should be noted that the plurality of limiting protrusions 111g are arranged at intervals, and a clearance gap is formed between the plurality of limiting protrusions 111g, and the clearance gap is smaller than the diameter of the sample tube 200, so as to prevent the sample tube 200 from slipping out of the gap during transportation and ensure stability during transportation.

[0050] In one embodiment of the present application, refer to Figure 1 , Fig. 9 as well as Fig.10 The second conveying structure 112 includes a driving module 1121 and a limiting block 1122. The driving module 1121 is connected to the base 40. The driving module 1121 is used to receive the sample tube 200 of the first conveying structure 111 and transport it to the separation station 44. The limiting block 1122 is connected to the base 40. The limiting block 1122 and the driving module 1121 are combined to form a feeding channel for a single sample tube 200 to pass through. The limiting block 1122 abuts against and blocks the sample tube 200 located outside the feeding channel from flowing back to the first conveying structure 111.

[0051] The driving module 1121 receives the sample tube 200 of the first conveying structure 111 and transports it to the separation station 44 for separation, so as to achieve the effect of continuous feeding. The limit block 1122 and the driving module 1121 are enclosed to form a feeding channel for a single sample tube 200 to pass through, so that the overlapping sample tubes 200 or the sample tubes 200 that are not transported along the horizontal conveying direction of the driving module 1121 will be blocked by the limit block 1122 and fall back to the first conveying structure 111 to wait for the first conveying structure 111 to transport the material again. The shape of the limit block 1122 is not limited, and it can play a blocking role for the sample tube 200. The setting of the limit block 1122 ensures that the sample tube 200 is transported out of the separation station 44 in an orderly manner along the same straight line, so as to facilitate subsequent separation.

[0052] Optionally, the driving module 1121 includes a fourth feeding motor 112a and a second transmission belt 112b, the fourth feeding motor 112a is connected to the base 40, the second transmission belt 112b is connected to the driving shaft of the fourth feeding motor 112a, and the fourth feeding motor 112a drives the second transmission belt 112b to transport a plurality of sample tubes 200 toward the separation station 44; wherein, the driving module 1121 can use the second transmission belt 112b to transport the sample tubes 200, and drive them through the fourth feeding motor 112a, so that the process of transporting the sample tubes 200 to the separation station 44 is relatively smooth, thereby achieving the effect of uniform feeding.

[0053] Optionally, the driving module 1121 includes a direct vibration generator (not shown), which is connected to the base 40, and the direct vibration generator transports a plurality of sample tubes toward the separation station 44 by vibration. It can be understood that the direct vibration generator can be a linear vibration track or a linear vibration plate, so as to smoothly transport the sample tube 200 to the separation station 44 by vibration feeding. It should be noted that the driving module 1121 can also have both the second transmission belt 112b and the direct vibration generator, so as to further improve the transportation stroke, which can be specifically set by those skilled in the art according to specific circumstances.

[0054] In one embodiment of the present application, refer to Figures 9 to 11 The base 40 is provided with a slide 43, and the openings at both ends of the slide 43 are respectively arranged toward the detection station 44 and the detection mechanism 20; the blocking switch assembly 12 includes a separation motor 121, a cam mechanism 123 and a movable block 124, the separation motor 121 is connected to the base 40; the cam mechanism 123 is connected to the driving shaft of the separation motor 121; the movable block 124 is slidably arranged on the base 40 and is connected to the cam mechanism 123, and the separation motor 121 drives the cam mechanism 123 to rotate to push the movable block 124 to slide to open or block the slide 43.

[0055] It is understandable that the movable stopper 124 can slide relative to the base 40 by means of the installation of pulleys and slide rails, and the cam mechanism 123 can be driven to rotate by the separation motor 121 to drive the movable stopper 124 to move, thereby opening or blocking the slideway 43. In this way, only a single sample tube 200 is transported to the detection mechanism 20 for detection each time.

[0056] Furthermore, the blocking switch assembly 12 also includes a reset member, which is respectively connected to the base 40 and the movable block 124, and the reset member is used to push the movable block 124 to move toward the blocking slide 43; the cam mechanism 123 and the movable block 124 are detachably abutted, and the cam mechanism 123 is connected to the driving shaft of the separation motor 121, and the separation motor 121 drives the cam mechanism 123 to move to abut the movable block 124 to open or block the slide 43; when the sample tube box loading robot 100 has a fault state in which the slide 43 cannot be blocked, the separation motor 121 drives the cam mechanism 123 to move to drive the movable block 124 to move toward the blocking slide 43, and the cam mechanism 123 and the movable block 124 are detachable.

[0057] The reset member may be a spring, a torsion spring, a magnet, etc., and the driving force provided by the reset member enables the mobile block 124 to block the slideway 43 more quickly, and at the same time, makes the mobile block 124 more stable when moving. The cam mechanism 123 and the pulley on the mobile block 124 can be detachably abutted, so when the mobile block 124 blocks the slideway 43, the sample tube 200 located at the separation station 44 can directly fall into the mobile block 124, and then the separation motor 121 is started to rotate the cam mechanism 123 to push the mobile block 124 to slide relative to the base 40, thereby opening the slideway 43, so that the sample tube 200 located on the mobile block 124 falls along the slideway 43 to the detection mechanism 20. At the same time, a first sensor can be arranged on the slide 43 and electrically connected to the separation motor 121 to detect the sample tube 200 in the slide 43; when the first sensor detects that the sample tube 200 falls into the slide 43, the separation motor 121 will drive the cam mechanism 123 to rotate in the opposite direction, so that the moving block 124 slides to the original position under the passive driving force provided by the separation motor and the reset member to re-block the slide 43, so as to achieve the process of repeatedly opening and blocking the slide 43 by the moving block 124.

[0058] It is understandable that when the mobile block 124 clamps the sample tube 200 and fails to close the blocking slide 43, when the separation motor 121 drives the cam mechanism 123 to rotate to push the driving arm to drive the mobile block 124 to move toward the blocking slide 43, the outer wall of the cam mechanism 123 and the outer wall of the pulley on the mobile block will be separated to avoid damage caused by forced closing, thereby improving the safety of use. In addition, a second sensor can be set to detect that the mobile block 124 is not completely closed to report an error or automatically handle the fault.

[0059] Reference Fig.11The detection mechanism 20 of the present application includes a mounting member 21, a stopper assembly 22 and a sensor 23. The mounting member 21 is provided with a conveying channel 211, which is connected to the slideway 43; the stopper assembly 22 is arranged at the entrance end of the conveying channel 211, and is provided with a stopper opening 223 connected to the conveying channel 211, and the stopper opening 223 is used to clamp the connection position of the tube body 202 and the tube cap 201; the sensor 23 is arranged on the mounting member 21, and when the sample tube 200 is limited to the stopper assembly 22, the sensor 23 detects that the tube body 202 or the tube cap 201 enters the stopper opening 223 to determine the orientation of the sample tube 200. Of course, the detection mechanism 20 can also determine the posture of the sample tube 200 by detecting other identification features such as the color of the tube body 202 or the tube cap 201 of the sample tube 200, which can be specifically set by those skilled in the art according to specific circumstances.

[0060] The mounting member 21 is fixedly connected to the base 40, and the width of the slide 43 gradually shrinks along the conveying direction to ensure that the sample tube 200 moves along the extension direction of the slide 43 along the length direction of the sample tube 200, thereby avoiding the situation where the sample tube 200 cannot enter the conveying channel 211 due to misalignment with the stop port 223.

[0061] In this way, a conveying channel 211 is formed on the mounting member 21, and a stopper assembly 22 is provided at the entrance end of the conveying channel 211. The stopper assembly 22 is provided with a stopper opening 223 connected to the conveying channel 211. The stopper opening 223 can only allow a section of the tube body 202 and the tube cap 201 of the sample tube with a smaller cross-sectional dimension to pass through, so that a section of the tube body 202 and the tube cap 201 of the sample tube with a larger cross-sectional dimension abuts against the side of the stopper assembly 22 away from the conveying channel 211. When the tube body 202 of the sample tube 200 is in front along the conveying direction and the cross-sectional dimension of the tube body 202 is smaller than the tube cap 201, the tube cap 201 abuts against the position of the stopper assembly 22, and the tube body 202 cannot enter the stopper opening 223. At this time, the sensor 23 can directly determine the orientation of the sample tube 200 by detecting whether the tube body 202 enters the conveying channel 211. When the tube body 202 of the sample tube 200 is in the front along the conveying direction and the cross-sectional size of the tube body 202 is larger than the tube cap 201, the tube body 202 abuts against the position of the stop assembly 22, and the tube cap 201 cannot enter the stop opening 223. When the tube body 202 of the sample tube 200 is in the back along the conveying direction and the cross-sectional size of the tube body 202 is larger than the tube cap 201, the tube cap 201 is inserted into the stop opening 223; at this time, the sensor 23 can directly determine the orientation of the sample tube 200 by detecting whether the tube cap 201 enters the stop opening 223. That is, the technical solution of the present application can more conveniently detect the posture of the sample tube 200 and improve the accuracy of subsequent boxing.

[0062] The stop assembly 22 includes a fixed stop block 221 and a stop slider 222. The fixed stop block 221 is arranged on the mounting member 21 and is located on one side of the conveying channel 211; the stop slider 222 is arranged on the other side of the conveying channel 211 and is arranged opposite to the fixed stop block 221 to enclose a stop opening 223. The stop slider 222 can be slidably arranged to slide toward or away from the fixed stop block 221. The fixed stopper 221 and the stopper slider 222 are respectively arranged on both sides of the conveying channel 211 to enclose and form a stopper opening 223, and the stopper slider 222 can be slidably arranged to slide toward or away from the fixed stopper 221; on the one hand, when a sample tube 200 completes the posture detection, the stopper slider 222 slides away from the fixed stopper 221 so that the tube cap 201 can pass through the stopper assembly 22 and enter the conveying channel 211 to enter the next process, and then the stopper slider 222 is reset to prepare for the posture detection of the next sample tube 200; on the other hand, the distance between the stopper slider 222 and the fixed stopper 221 can be adjusted to adjust the size of the stopper opening 223 to meet the use requirements of sample tubes 200 of different sizes and improve the applicability of the detection mechanism 20. The detection mechanism 20 also includes a driving member 24, which is arranged on the mounting member 21 and is transmission-connected to the stopper slider 222 to drive the stopper slider 222 to move toward or away from the fixed stopper 221.

[0063] In one embodiment of the present application, refer to Fig.12 and Fig.13 The posture adjustment mechanism 30 includes an adjustment motor 31, a fixed disk 32 and a turntable 33. The adjustment motor 31 is connected to the base 40; the fixed disk 32 is connected to the base 40, and the fixed disk 32 is provided with a feed channel 321 and a discharge channel 322; the turntable 33 is rotatably arranged on the fixed disk 32 and is connected to the driving shaft of the adjustment motor 31. The turntable 33 is provided with an adjustment channel 331. The sample tube 200 passing through the detection mechanism 20 enters the adjustment channel 331 along the feed channel 321. The adjustment motor 31 rotates the turntable 33 according to the detection result of the detection mechanism 20, so that the turntable 33 rotates to a specific direction and is transported to the discharge channel 322.

[0064] Among them, the feed channel 321 is connected with the discharge port of the detection mechanism 20, so that the sample tube 200 detected by the detection mechanism 20 can slide into the feed channel 321 under the action of gravity, and slide from the feed channel 321 into the adjustment channel 331. At this time, the adjustment motor 31 rotates and adjusts the detection channel according to the result of the detection mechanism 20 to adjust the posture of the sample tube 200, so that the side of the tube body 202 of the sample tube 200 away from the tube cap 201 slides out from the discharge channel 322 under the action of gravity. In this way, the posture adjustment is more convenient and the accuracy of subsequent boxing can be improved.

[0065] In addition, the feed channel 321 and the discharge channel 322 on the fixed disk 32 are arranged at an angle to prevent the sample tube 200 from sliding directly to the discharge channel 322 after entering the adjustment channel 331 from the feed channel 321. Optionally, the disk surface of the fixed disk 32 is convexly provided with a boss 323, and the surface of the boss 323 facing away from the disk surface is concavely provided with a rotation groove 3231, and the feed channel 321 and the discharge channel 322 are both connected to the rotation groove 3231, and the rotating disk 33 is rotatably arranged in the rotation groove 3231; the disk surface of the fixed disk 32 is also convexly provided with a first convex rib 324 and a second convex rib 325, and the first convex rib 324 and the second convex rib 325 are both connected to the boss 323, and the surface of the first convex rib 324 facing away from the disk surface is concavely provided with the feed channel 321, and the surface of the second convex rib 325 facing away from the disk surface is concavely provided with the discharge channel 322, and the feed channel 321 and the discharge channel 322 are both connected to the rotation groove 3231. At this time, after the sample tube 200 enters the adjustment channel 331 from the feed channel 321, since the feed channel 321 and the discharge channel 322 are set at an angle, the end of the adjustment channel 331 that is away from the feed channel 321 is set toward the groove wall of the rotating groove 3231, thereby preventing the sample tube 200 from directly sliding out of the adjustment channel 331, ensuring that the sample tube 200 completes the posture detection in the adjustment channel 331, and then chooses to rotate the turntable 33 clockwise or counterclockwise according to the detection result to complete the posture adjustment of the sample tube 200. After the posture adjustment is completed, the adjustment channel 331 is connected with the discharge channel 322, and the sample tube 200 that has completed the posture adjustment is output to the discharge channel 322. At the same time, during the rotation process, both ends of the adjustment channel 331 are blocked by the groove wall of the rotating groove 3231, preventing the sample tube 200 from being thrown out of the adjustment channel 331, thereby improving the stability of the sample tube 200 during the posture adjustment process.

[0066] In one embodiment of the present application, in combination with reference Figure 1 , Fig.14 as well as Fig.15 , the tube box 300 has a plurality of discharge ports 301, and the sample tube box loading robot 100 further includes a mobile platform mechanism 50. The tube box 300 can be placed on the side of the mobile platform mechanism 50 facing the posture adjustment mechanism 30, and the mobile platform mechanism 50 drives the tube box 300 to move so that a discharge port 301 is arranged opposite to the discharge channel 322. Among them, the tube box 300 has a plurality of discharge ports 301, so that by setting the mobile platform mechanism 50 to drive the tube box 300 to move, a discharge port 301 of the tube box 300 that needs to be loaded is aligned directly below the discharge channel 322 of the posture adjustment mechanism 30. When the sample tube 200 flowing out of the discharge channel 322 of the posture adjustment mechanism 30 is placed at a discharge port 301, the mobile platform mechanism 50 will drive the next empty discharge port 301 of the tube box 300 to be arranged opposite to the discharge channel 322, thereby repeating the cycle until the tube box 300 is full.

[0067] Furthermore, the mobile platform mechanism 50 includes a support base 51, a first sliding frame 52, a second sliding frame 53, two translation motors 54 and a synchronous belt 55. The first sliding frame 52 is slidably connected to the support base 51, and the first sliding frame 52 is provided with a plurality of rotatable driven wheels 521; the second sliding frame 53 is slidably connected to the first sliding frame 52, and the tube box 300 is connected to the side of the second sliding frame 53 away from the first sliding frame 52; the two translation motors 54 are connected to the support base 51, and the driving shafts of the two translation motors 54 are connected with a driving synchronous wheel 541; the synchronous belt 55 is wound around the two driving synchronous wheels 541 and a plurality of driven wheels 521, and the two ends of the synchronous belt 55 are respectively fixed to the second sliding frame 53.

[0068] Among them, the support seat 51 mainly plays a bearing role, the two translation motors 54 can be fixedly arranged on the support seat 51, the first sliding frame 52 can be slidably connected to the support seat 51 by means of sliders and rails, and the second sliding frame 53 is slidably connected to the first sliding frame 52, and the tube box 300 can be fixed to the surface of the second sliding frame 53 away from the first sliding frame 52 by means of screws or clamping. It should be noted that the moving directions of the first sliding frame 52 and the second sliding frame 53 can be set at an angle. In one embodiment of the present application, the sliding direction of the first sliding frame 52 slides along the width direction of the support seat 51, and the sliding direction of the second sliding frame 53 slides along the length direction of the support seat 51. The moving directions of the first sliding frame and the second sliding frame can be set by those skilled in the art according to specific circumstances.

[0069] The first sliding frame 52 is provided with a plurality of rotatable driven wheels 521, and the driving shafts of the two translation motors 54 are connected with driving synchronous wheels 541. By winding the synchronous belt 55 around the two driving synchronous wheels 541 and the plurality of driven wheels 521, and fixing the two ends of the synchronous belt 55 to the second sliding frame 53, when the two translation motors 54 rotate in different directions, the second sliding frame 53 will reciprocate on the first sliding frame 52, and when the two translation motors 54 rotate in the same direction, the first sliding frame 52 will reciprocate on the support seat 51, so as to achieve the effect of the mobile platform mechanism 50 driving the tube box 300 to move. The advantages of the setting mode of the mobile platform mechanism 50 are as follows: the moving weight is reduced, there is no need to carry the two translation motors 54 to move synchronously, there is no moving wire, the wire does not need to be connected to the drag chain, and does not need to be folded repeatedly. When moving forward, backward, left and right, it is driven by the two translation motors 54 at the same time, which can reduce the size of the machine and increase the moving speed of the tube box 300.

[0070] The workflow of one embodiment of the present application is as follows: an operator places all the sample tubes 200 in the storage bin 41, and lifts a small number of sample tubes 200 in the storage bin 41 in sequence along the vertical direction of the base 40 to the second conveying structure 112 through the first conveying structure 111 of the separation mechanism 10, and then transports them in sequence along the horizontal direction of the base 40 to the separation station 44 by the second conveying mechanism, and then separates a single sample tube 200 through the blocking switch assembly 12 and transports it from the separation station 44 to the detection mechanism 20, and then the detection mechanism 20 detects the posture or orientation of the sample tube 200, and transports the detected sample tube 200 to the posture adjustment mechanism 30, and at the same time separates the next sample tube 200 by the blocking switch assembly 12 to the detection mechanism 20 for continued detection. The posture adjustment mechanism 30 adjusts the sample tube 200 according to the detection result of the detection mechanism 20. At this time, the mobile platform mechanism 50 carries and moves the tube box 300 to position one of the empty discharge ports 301 of the tube box 300 below the discharge channel 322 of the posture adjustment mechanism 30, so that the tube body 202 of the sample tube 200 can slide out of the discharge channel 322 of the posture adjustment mechanism 30 away from the side of the tube cap 201 and can be loaded into the discharge port 301 of the tube box 300. After loading, the mobile platform mechanism 50 continues to move the tube box 300 to position the other empty discharge port 301 of the tube box 300 below the discharge channel 322 of the posture adjustment mechanism 30 to wait for filling, and the cycle is repeated until the tube box 300 is full.

[0071] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A sample tube boxing robot, used for loading a plurality of sample tubes into a tube box, wherein the sample tubes include a tube cap and a tube body connected to each other, characterized in that: The sample tube boxing robot comprises: A separation mechanism, the separation mechanism is used to separate a single sample tube from a plurality of sample tubes and transport the sample tube; a detection mechanism, the detection mechanism being used to receive the sample tube passing through the separation mechanism, the detection mechanism being used to detect the posture or orientation of the sample tube and transport it; and A posture adjustment mechanism, the posture adjustment mechanism having a discharge channel, the posture adjustment mechanism being used to receive the sample tube passing through the detection mechanism, and adjusting the sample tube according to the detection result of the detection mechanism, so that the side of the tube body of the sample tube away from the tube cap first slides out of the discharge channel and is loaded into the tube box; A base, the separation mechanism, the detection mechanism and the posture adjustment mechanism are all connected to the base; The posture adjustment mechanism comprises: An adjustment motor connected to the base; A fixed plate, the fixed plate is connected to the base, and the fixed plate is provided with a feed channel and the discharge channel; and A turntable, the turntable is rotatably arranged on the fixed plate and connected to the driving shaft of the adjustment motor, the turntable is provided with an adjustment channel, the sample tube passing through the detection mechanism enters the adjustment channel along the feed channel, and the adjustment motor rotates the turntable according to the detection result of the detection mechanism, so that the turntable rotates to a specific direction and is transported to the discharge channel; The mobile platform mechanism, the tube box has a plurality of discharge ports, the tube box is placed on the side of the mobile platform mechanism facing the posture adjustment mechanism, and the mobile platform mechanism drives the tube box to move so that one of the discharge ports is arranged opposite to the discharge channel.

2. The sample tube boxing robot according to claim 1, characterized in that: The base is provided with a separation station, and the separation mechanism comprises: A feeding assembly, the feeding assembly is connected to the base, and the feeding assembly is used to transport a plurality of the sample tubes to the separation station in sequence; and A blocking switch assembly is connected to the base and is located at the separation station for abutting and separating the sample tubes so that a single sample tube is transported from the separation station to the detection mechanism.

3. The sample tube boxing robot according to claim 2, characterized in that: The feeding assembly comprises a first conveying structure and a second conveying structure, wherein the first conveying structure and the second conveying structure are connected to the base; The first conveying structure transports the plurality of sample tubes to the second conveying structure, and the second conveying structure transports the sample tubes that have passed through the first conveying structure to the separation station.

4. The sample tube boxing robot according to claim 3, characterized in that: The first transmission structure comprises: A first feeding motor, wherein the first feeding motor is connected to the base; a bearing member, the bearing member being slidably connected to the base; and A transmission member is respectively connected to the driving shaft of the first feeding motor and the supporting member, so that the first feeding motor drives the transmission member to drive the supporting member to approach or move away from the second conveying structure.

5. The sample tube boxing robot according to claim 4, characterized in that: The transmission member comprises a transmission arm and a connecting rod, wherein the transmission arm is rotatably connected to the connecting rod, the transmission arm is connected to the driving shaft of the first feeding motor, and the side of the connecting rod facing away from the transmission arm is rotatably connected to the bearing member; Alternatively, the transmission member includes a gear and a rack, the gear and the rack are meshingly connected, the gear is connected to the driving shaft of the first feeding motor, and the side of the rack facing away from the gear is connected to the supporting member.

6. The sample tube boxing robot according to claim 5, characterized in that: The base includes a storage bin and a transfer platform, wherein the transfer platform is disposed in the storage bin, and the storage bin is used to accommodate a plurality of the sample tubes. The carrier can transport the sample tubes to the transfer platform, and transport the sample tubes located on the transfer platform to the second conveying structure.

7. The sample tube boxing robot according to claim 6, characterized in that: The first transmission structure comprises: A second feeding motor, wherein the second feeding motor is connected to the base; A driving roller, wherein the driving roller is connected to a driving shaft of the second feeding motor; A driven roller, the driven roller being rotatably connected to the base; and A roller, wherein the outer wall of the roller is in rolling contact with the active roller and the driven roller, a material storage space is formed in the roller, a plurality of sample tubes are placed in the material storage space, and the second conveying structure is located in the roller; The second feeding motor drives the active roller to rotate so as to drive the roller and the driven roller to rotate synchronously, so as to transport the sample tube in the storage space to the second conveying structure.

8. The sample tube boxing robot according to claim 7, characterized in that: The first conveying structure includes a third feeding motor and a first transmission belt. The third feeding motor is connected to the base. The first transmission belt is connected to the driving shaft of the third feeding motor. The third feeding motor drives the first transmission belt to transport the plurality of sample tubes to the second conveying structure.

9. The sample tube boxing robot according to claim 8, characterized in that: The first transmission structure further includes a plurality of limiting protrusions, which are arranged at intervals on the surface of the first transmission belt and are clamped to form a plurality of limiting spaces.

10. The sample tube boxing robot according to any one of claims 3 to 9, characterized in that: The second transmission structure comprises: a driving module, the driving module being connected to the base and being used to receive the sample tube of the first conveying structure and transport it to the separation station; and A limit block is connected to the base, the limit block and the driving module are combined to form a feeding channel for a single sample tube to pass through, and the limit block abuts against and blocks the sample tube outside the feeding channel from flowing back to the first conveying structure.

11. The sample tube boxing robot according to claim 10, characterized in that: The driving module comprises a fourth feeding motor and a second transmission belt, wherein the fourth feeding motor is connected to the base, the second transmission belt is connected to the driving shaft of the fourth feeding motor, and the fourth feeding motor drives the second transmission belt to transport the plurality of sample tubes toward the separation station; And / or, the driving module includes a direct vibration generator, which is connected to the base, and the direct vibration generator transports the plurality of sample tubes toward the separation station through vibration.

12. The sample tube boxing robot according to claim 11, characterized in that: The base is provided with a slideway, and the openings at both ends of the slideway are respectively arranged toward the separation station and the detection mechanism, and the blocking switch assembly includes: A separation motor connected to the base; a cam mechanism connected to a drive shaft of the separation motor; and A movable block is slidably disposed on the base and connected to the cam mechanism. The separation motor drives the cam mechanism to rotate to push the movable block to slide to open or block the slideway.

13. The sample tube boxing robot according to claim 12, characterized in that: The blocking switch assembly further includes a reset member, which is respectively connected to the base and the movable block, and is used to push the movable block to move toward a direction of blocking the slideway; The cam mechanism and the movable block can be detachably abutted, the cam mechanism is connected to the driving shaft of the separation motor, and the separation motor drives the cam mechanism to move to abut against the movable block to open or block the slideway; When the sample tube box loading robot encounters a fault state in which the slideway cannot be blocked, the separation motor drives the cam mechanism to move to drive the movable block to move in a direction to block the slideway, and the cam mechanism and the movable block are separable.

14. The sample tube boxing robot according to any one of claims 1 to 9, characterized in that: The mobile platform mechanism comprises: Support seat; A first sliding frame, wherein the first sliding frame is slidably connected to the support seat, and the first sliding frame is provided with a plurality of rotatable driven wheels; a second sliding frame, the second sliding frame being slidably connected to the first sliding frame, the tube box being connected to a side of the second sliding frame facing away from the first sliding frame; Two translation motors, the two translation motors are connected to the support seat, and the driving shafts of the two translation motors are connected to driving synchronous wheels; and A synchronous belt is wound around the two driving synchronous wheels and the plurality of driven wheels, and both ends of the synchronous belt are respectively fixed to the second sliding frame.

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