A combined manipulator with equidistant movement

Abstract

The present invention discloses a combined manipulator with equal-spacing movement, which includes a driving mechanism and four manipulators arranged at equal intervals and mounted on the driving mechanism. The four manipulators all have degrees of freedom of movement in the X direction and the Y direction. The manipulators make equal-spacing movement under the action of the driving mechanism. The four manipulators can simultaneously pick up and place blood products, with a fast picking and placing speed, which can fully release the warehousing and outbound requirements of a large number of blood products. In the X direction, through a specific installation / connection method of two driving motors in cooperation with idler wheels, synchronous wheels, and synchronous belts, equal-spacing movement linkage of the four manipulators can be achieved. At the same time, equal-spacing linkage of some of the four manipulators can also be achieved, such as equal-spacing opening towards both ends and equal-spacing approaching towards the middle. The control logic requirement is low, the flexibility is strong, and the cost is relatively low.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a combined manipulator that moves at equal intervals. Background Art

[0002] Currently, for the storage of blood collection test tube samples in institutions such as blood stations, hospitals, and plasma collection stations, medical refrigerators are generally used for preservation. Their storage capacity is limited and not suitable for storing a large number of test tubes. At the same time, manual placement and recording of relevant sample storage data result in low storage efficiency. In recent years, automation control technology has made great progress and development and has been applied in many fields. Therefore, the cold storage of blood products has gradually developed towards an automated system, replacing manual work in ultra-low temperature environments and dangerous areas through the automated operation of the automated cold storage system. In this process, the picking and placing of blood products is the basic and key link. The existing picking and placing methods usually use a 3-axis robot for picking and placing, with slow picking and placing speeds and unable to fully meet the requirements for the incoming and outgoing of a large number of blood products. Or, multiple independently controlled 3-axis robots are used for simultaneous picking and placing, and the picking and placing speed can be improved to a certain extent, but it is extremely easy to cause relative interference between the robots, and the energy consumption and cost are both high. Summary of the Invention

[0003] In order to overcome the deficiencies existing in the prior art, the present invention provides a combined manipulator that moves at equal intervals.

[0004] The present invention is realized through the following technical solutions:

[0005] A combined manipulator that moves at equal intervals includes a driving mechanism and N manipulators (N is a natural number not less than 2) arranged at equal intervals and mounted on the driving mechanism. The N manipulators all have degrees of freedom of movement in the X and Y directions, and the manipulators move at equal intervals under the action of the driving mechanism.

[0006] Further, it also includes a left bottom plate and a right bottom plate. The driving mechanism includes a first driving motor and a second driving motor. The number of manipulators is 4, including a first manipulator, a second manipulator, a third manipulator, and a fourth manipulator arranged at equal intervals. The first manipulator includes a first fixed seat and a first robotic arm mounted on the first fixed seat. The second manipulator includes a second fixed seat and a second robotic arm mounted on the second fixed seat. The third manipulator includes a third fixed seat and a third robotic arm mounted on the third fixed seat. The fourth manipulator includes a fourth fixed seat and a fourth robotic arm mounted on the fourth fixed seat.

[0007] The first driving motor is installed on one side of the right base plate. The output shaft of the first driving motor passes through the right base plate and is connected to the first idler pulley. A second idler pulley corresponding to the first idler pulley is installed on the left base plate. A third idler pulley, a fourth idler pulley, a first synchronous pulley and a second synchronous pulley are installed at the bottom of the second fixing seat. The tooth ratio of the first synchronous pulley to the second synchronous pulley is 1:2. A fifth idler pulley, a sixth idler pulley, a third synchronous pulley and a fourth synchronous pulley are installed at the bottom of the third fixing seat. The tooth ratio of the third synchronous pulley to the fourth synchronous pulley is 1:2. The first idler pulley, the second idler pulley, the third idler pulley, the first synchronous pulley, the fifth idler pulley and the fourth synchronous pulley are connected by a first synchronous belt.

[0008] The head end of the first synchronous belt is fixed to the bottom of the first fixing seat. The first synchronous belt sequentially connects the second idler pulley, the first idler pulley, the fifth idler pulley, the fourth synchronous pulley, the first synchronous pulley and the third idler pulley. The tail end of the first synchronous belt is fixed to the bottom of the first fixing seat. The fixing positions of the head end and the tail end of the first synchronous belt on the bottom of the first fixing seat do not coincide.

[0009] The second driving motor is installed on the other side of the right base plate. The output shaft of the second driving motor passes through the right base plate and is connected to the seventh idler pulley. An eighth idler pulley corresponding to the seventh idler pulley is installed on the left base plate. The seventh idler pulley, the eighth idler pulley, the fourth idler pulley, the second synchronous pulley, the sixth idler pulley and the third synchronous pulley are connected by a second synchronous belt.

[0010] The head end of the second synchronous belt is fixed to the bottom of the fourth fixing seat. The second synchronous belt sequentially connects the seventh idler pulley, the eighth idler pulley, the fourth idler pulley, the second synchronous pulley, the third synchronous pulley and the sixth idler pulley. The tail end of the second synchronous belt is fixed to the bottom of the fourth fixing seat. The fixing positions of the head end and the tail end of the second synchronous belt on the bottom of the fourth fixing seat do not coincide.

[0011] Further, a first synchronous belt fastening platform is provided at the bottom of the first fixing seat. The head end and the tail end of the first synchronous belt are respectively fixed on both sides of the first synchronous belt fastening platform.

[0012] Further, a second synchronous belt fastening platform is provided at the bottom of the fourth fixing seat. The head end and the tail end of the second synchronous belt are respectively fixed on both sides of the second synchronous belt fastening platform.

[0013] Further, the driving mechanism includes four Y-direction driving components. One Y-direction driving component is installed on each of the first manipulator, the second manipulator, the third manipulator and the fourth manipulator. Under the action of the Y-direction driving components, the first robotic arm, the second robotic arm, the third robotic arm and the fourth robotic arm can move back and forth on the first fixing seat, the second fixing seat, the third fixing seat and the fourth fixing seat respectively.

[0014] Further, it further includes a guiding component, and the left base plate, the right base plate, the first fixing seat, the second fixing seat, the third fixing seat, and the fourth fixing seat are all installed on the guiding component.

[0015] Further, the guiding component includes two parallel guiding rods. The left base plate, the first fixing seat, the second fixing seat, the third fixing seat, and the fourth fixing seat are connected to the guiding rods, and the left base plate, the first fixing seat, the second fixing seat, the third fixing seat, and the fourth fixing seat can slide left and right along the guiding rods.

[0016] Further, the first fixing seat, the second fixing seat, the third fixing seat, and the fourth fixing seat are all in an "I" - shaped structure. The first fixing seat, the second fixing seat, the third fixing seat, and the fourth fixing seat all include a transmission base, a support seat, and a base plate. The first robotic arm, the second robotic arm, the third robotic arm, and the fourth robotic arm are respectively installed on the corresponding transmission bases, and the guiding rods pass through the support seats and are connected to the left base plate and the right base plate.

[0017] Further, the robotic arm also has a Z - axis movement degree of freedom.

[0018] Further, the joint robotic arm with equal - spacing movement is applied to a full - automatic blood refrigeration system.

[0019] Through the above - mentioned technical solution, compared with the prior art, the joint robotic arm with equal - spacing movement disclosed by the present invention has the following technical effects: It has four robotic arms, which can simultaneously pick up and place blood products, with a fast picking - up and placing speed, and can fully meet the needs of the inbound and outbound of a large number of blood products. In the X - direction, through the specific installation / connection method of two driving motors cooperating with idler wheels, synchronous wheels, and synchronous belts, the equal - spacing movement linkage of the four robotic arms can be realized. At the same time, the equal - spacing linkage of some of the four robotic arms can also be realized, such as spreading apart equally - spaced towards both ends and closing in equally - spaced towards the middle. The control logic requirement is low, the flexibility is strong, and the cost is relatively low. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic structural diagram of the joint robotic arm with equal - spacing movement described in the present invention.

[0022] Figure 2 It is a bottom view of the joint robotic arm with equal - spacing movement described in the present invention.

[0023] Figure 3This is the front view of the combined manipulator that moves at equal intervals according to the present invention.

[0024] Figure 4 This is the schematic diagram of the combined manipulator that moves at equal intervals according to the present invention.

[0025] Among them, 1 - left bottom plate, 2 - right bottom plate, 3 - first driving motor, 4 - second driving motor, 5 - first manipulator, 501 - first fixing seat, 502 - first robotic arm, 6 - second manipulator, 601 - second fixing seat, 602 - second robotic arm, 7 - third manipulator, 701 - third fixing seat, 702 - third robotic arm, 8 - fourth manipulator, 801 - fourth fixing seat, 8011 - transmission base, 8012 - support seat, 8013 - bottom plate, 802 - fourth robotic arm, 9 - first idler pulley, 10 - second idler pulley, 11 - third idler pulley, 12 - fourth idler pulley, 13 - first synchronous pulley, 14 - second synchronous pulley, 15 - fifth idler pulley, 16 - sixth idler pulley, 17 - third synchronous pulley, 18 - fourth synchronous pulley, 19 - first synchronous belt, 20 - seventh idler pulley, 21 - eighth idler pulley, 22 - second synchronous belt, 23 - first synchronous belt fastening platform, 24 - second synchronous belt fastening platform, 25 - guide rod. Specific embodiments

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0027] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If this specific posture changes, the directional indications will also change accordingly.

[0028] As Figures 1 to 4 shown, a combined manipulator that moves at equal intervals includes a driving mechanism and N manipulators (N is a natural number not less than 2) arranged at equal intervals on the driving mechanism. In this embodiment, N is 4. The 4 manipulators all have degrees of freedom of movement in the X and Y directions, and the manipulators move at equal intervals under the action of the driving mechanism.

[0029] As Figures 1 to 4As shown in the figure, it further includes a left bottom plate 1 and a right bottom plate 2. The driving mechanism includes a first driving motor 3 and a second driving motor 4. The number of the manipulators is 4 (it should be noted that in this embodiment, the corresponding driving mechanism and belt pulley transmission layout are described with the number of manipulators being 4. When the number of manipulators increases, the corresponding adjustments and improvements made by those skilled in the art based on the embodiments of the present invention also fall within the protection scope of the invention). It includes a first manipulator 5, a second manipulator 6, a third manipulator 7, and a fourth manipulator 8 arranged at equal intervals. The first manipulator 5 includes a first fixed seat 501 and a first robotic arm 502 installed on the first fixed seat 501. The second manipulator 6 includes a second fixed seat 601 and a second robotic arm 602 installed on the second fixed seat 601. The third manipulator 7 includes a third fixed seat 701 and a third robotic arm 702 installed on the third fixed seat 701. The fourth manipulator 8 includes a fourth fixed seat 801 and a fourth robotic arm 802 installed on the fourth fixed seat 801.

[0030] The first driving motor 3 is installed on one side of the right bottom plate 2. The output shaft of the first driving motor 3 passes through the right bottom plate 2 and is connected to a first idler pulley 9. A second idler pulley 10 corresponding to the first idler pulley 9 is installed on the left bottom plate 1. The bottom of the second fixed seat 601 is installed with a third idler pulley 11, a fourth idler pulley 12, a first synchronous pulley 13, and a second synchronous pulley 14. The tooth ratio of the first synchronous pulley 13 to the second synchronous pulley 14 is 1:2. The bottom of the third fixed seat 701 is installed with a fifth idler pulley 15, a sixth idler pulley 16, a third synchronous pulley 17, and a fourth synchronous pulley 18. The tooth ratio of the third synchronous pulley 17 to the fourth synchronous pulley 18 is 1:2. The first idler pulley 9, the second idler pulley 10, the third idler pulley 11, the first synchronous pulley 13, the fifth idler pulley 15, and the fourth synchronous pulley 18 are connected by a first synchronous belt 19.

[0031] The head end of the first synchronous belt 19 is fixed to the bottom of the first fixed seat 501. The first synchronous belt 19 sequentially connects the second idler pulley 10, the first idler pulley 9, the fifth idler pulley 15, the fourth synchronous pulley 18, the first synchronous pulley 13, and the third idler pulley 11. The tail end of the first synchronous belt 19 is fixed to the bottom of the first fixed seat 501. The fixing positions of the head end and the tail end of the first synchronous belt 19 on the bottom of the first fixed seat do not coincide.

[0032] The second driving motor 4 is installed on the other side of the right bottom plate 2. The output shaft of the second driving motor 4 passes through the right bottom plate 2 and is connected to a seventh idler pulley 20. An eighth idler pulley 21 corresponding to the seventh idler pulley 20 is installed on the left bottom plate 1. The seventh idler pulley 20, the eighth idler pulley 21, the fourth idler pulley 12, the second synchronous pulley 14, the sixth idler pulley 16, and the third synchronous pulley 17 are connected by a second synchronous belt 22.

[0033] The head end of the second synchronous belt 22 is fixed to the bottom of the fourth fixed seat 801. The second synchronous belt 22 is sequentially connected to the seventh idler pulley 20, the eighth idler pulley 21, the fourth idler pulley 12, the second synchronous pulley 14, the third synchronous pulley 17, and the sixth idler pulley 16. The tail end of the second synchronous belt 22 is fixed to the bottom of the fourth fixed seat 801. The fixing positions of the head end and the tail end of the second synchronous belt 22 on the bottom of the fourth fixed seat 801 do not coincide.

[0034] As Figures 1 to 4 shown, a first synchronous belt fastening platform 23 is provided at the bottom of the first fixed seat 501. The head end and the tail end of the first synchronous belt 19 are respectively fixed to both sides of the first synchronous belt fastening platform 23.

[0035] As Figures 1 to 4 shown, a second synchronous belt fastening platform 24 is provided at the bottom of the fourth fixed seat 801. The head end and the tail end of the second synchronous belt 22 are respectively fixed to both sides of the second synchronous belt fastening platform 24.

[0036] As Figures 1 to 4 shown, the driving mechanism includes four Y-direction driving components (not shown in the figure). One Y-direction driving component is respectively installed on the first manipulator 5, the second manipulator 6, the third manipulator 7, and the fourth manipulator 8. Under the action of the Y-direction driving components, the first robotic arm 502, the second robotic arm 602, the third robotic arm 702, and the fourth robotic arm 802 can respectively move back and forth on the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801.

[0037] As Figures 1 to 4 shown, it further includes a guiding component. The left bottom plate 1, the right bottom plate 2, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 are all installed on the guiding component.

[0038] As Figures 1 to 4 shown, the guiding component includes two mutually parallel guiding rods 25. The left bottom plate 1, the right bottom plate 2, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 are connected to the guiding rods 25. The left bottom plate 1, the right bottom plate 2, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 can slide left and right along the guiding rods 25.

[0039] As Figures 1 to 4As shown, the first fixing base 501, the upper second fixing base 601, the third fixing base 701, and the fourth fixing base 801 are all in an "I" shape. The first fixing base 501, the upper second fixing base 601, the third fixing base 701, and the fourth fixing base 801 all include a transmission base 8011, a support base 8012, and a bottom plate 8013. The first robotic arm 502, the second robotic arm 602, the third robotic arm 702, and the fourth robotic arm 802 are respectively installed on the corresponding transmission bases 8011. The guide rod 25 passes through each support base and is connected to the left bottom plate 1 and the right bottom plate 2.

[0040] As Figures 1 to 4 shown, it includes a Z-direction driving component (not shown in the figure), enabling the robotic arm to also have a Z-direction degree of freedom of movement.

[0041] As Figures 1 to 4 shown, the combined robotic arm with equal-spacing movement is applied to a full-automatic blood refrigeration system.

[0042] As Figures 1 to 4 shown, when the first driving motor 3 rotates clockwise and the second driving motor 4 does not work, the first fixing base 501, the upper second fixing base 601, and the third fixing base 701 all move to the left, and the fourth fixing base 801 remains stationary. Let the distance that the first fixing base 501 moves to the left be L1, the distance that the second fixing base 601 moves to the left be L2, and the distance that the third fixing base 701 moves to the left be L3.

[0043] The distance that the first synchronous wheel 13 rotates is: L1 - L2;

[0044] The distance that the second synchronous wheel 14 rotates is: 2(L1 - L2);

[0045] According to the movement trajectory of the second synchronous belt 22, 2(L1 - L2) = L2, that is, L1:L2 = 3:2;

[0046] The distance that the fourth synchronous wheel 18 rotates is: L1 - L3;

[0047] The distance that the third synchronous wheel 17 rotates is: (L1 - L3) / 2;

[0048] According to the movement trajectory of the second synchronous belt 22, (L1 - L3) / 2 = L3, that is, L1:L3 = 3:1

[0049] That is, L1:L2:L3 = 3:2:1;

[0050] Therefore, it can be known that when the first driving motor 3 rotates clockwise and the second driving motor 4 does not rotate, the first fixing base 501, the upper second fixing base 601, the third fixing base 701, and the fourth fixing base 801 are equally spaced apart to the left.

[0051] And so on, there are the following motion types:

[0052] When the first drive motor 3 rotates counterclockwise and the second drive motor 4 does not rotate, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 are equally spaced and retracted to the right.

[0053] When the second drive motor 4 rotates counterclockwise and the first drive motor 3 does not rotate, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 are equally spaced and retracted to the left.

[0054] When the second drive motor 4 rotates clockwise and the first drive motor 3 does not rotate, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 are equally spaced and separated to the right.

[0055] When the first drive motor 3 rotates clockwise, the second drive motor 4 rotates counterclockwise, and their speeds are equal, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 move uniformly to the left at equal intervals.

[0056] When the second drive motor 4 rotates clockwise, the first drive motor 3 rotates counterclockwise, and their speeds are equal, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 move uniformly to the right at equal intervals.

[0057] When the first drive motor 3 rotates clockwise and the second drive motor 4 rotates clockwise, and their speeds are equal, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 separate with the middle between the second fixed seat 601 and the third fixed seat 701 as the reference.

[0058] When the first drive motor 3 rotates counterclockwise and the second drive motor 4 rotates counterclockwise, and their speeds are equal, the first fixed seat 501, the second fixed seat 601, the third fixed seat 701, and the fourth fixed seat 801 retract with the middle of the bottom plates of the second fixed seat 601 and the third fixed seat 701 as the reference.

[0059] The combined manipulator with equal-spacing movement described in the present invention is applied to a full-automatic blood refrigeration system, and the specific usage method is as follows:

[0060] The combined manipulator that moves at equal intervals is located between the storage shelves of the fully automatic blood refrigeration system. According to the above description, by controlling the movements of the first driving motor 3 and the second driving motor 4, the X-direction movement of each fixed seat and the movement type of each fixed seat are controlled. In cooperation with the Y-direction driving component, the Y-direction forward and backward movement of each fixed seat (i.e., with bidirectional telescoping) and the Z-direction driving component control the Z-direction up and down movement of each fixed seat, so that the corresponding robotic arm can smoothly move to the corresponding position of the target blood product on the storage shelf. It should be noted that for how to transfer the blood product from the shelf to the robotic arm, it can be achieved by setting the self-transfer function of the robotic arm and other methods (the method of achieving the transfer is prior art and will not be elaborated here).

[0061] The applicant declares that the above-described embodiments only represent the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. For those of ordinary skill in the art in this industry, without departing from the concept and scope of the present invention, various changes and improvements can still be made, and these changes and improvements all fall within the scope of the present invention claimed.

[0062] The present invention is not limited to the above embodiments. All embodiments that adopt a structure and method similar to that of the present invention to achieve the purpose of the present invention are within the protection scope of the present invention.

Claims

1. A combined manipulator with equal-spacing movement, characterized in that: it includes a driving mechanism and a first manipulator, a second manipulator, a third manipulator and a fourth manipulator which are arranged at equal intervals and installed on the driving mechanism. All 4 manipulators have degrees of freedom of movement in the X and Y directions, and the 4 manipulators move at equal intervals under the action of the driving mechanism; it also includes a left bottom plate and a right bottom plate. The driving mechanism includes a first driving motor and a second driving motor. The first manipulator includes a first fixed seat and a first robotic arm installed on the first fixed seat. The second manipulator includes a second fixed seat and a second robotic arm installed on the second fixed seat. The third manipulator includes a third fixed seat and a third robotic arm installed on the third fixed seat. The fourth manipulator includes a fourth fixed seat and a fourth robotic arm installed on the fourth fixed seat; the first driving motor is installed on one side of the right bottom plate. The output shaft of the first driving motor passes through the right bottom plate and is connected to a first idler pulley. A second idler pulley corresponding to the first idler pulley is installed on the left bottom plate. The bottom of the second fixed seat is installed with a third idler pulley, a fourth idler pulley, a first synchronous pulley and a second synchronous pulley. The tooth ratio of the first synchronous pulley to the second synchronous pulley is 1:

2. The bottom of the third fixed seat is installed with a fifth idler pulley, a sixth idler pulley, a third synchronous pulley and a fourth synchronous pulley. The tooth ratio of the third synchronous pulley to the fourth synchronous pulley is 1:

2. The first idler pulley, the second idler pulley, the third idler pulley, the first synchronous pulley, the fifth idler pulley and the fourth synchronous pulley are connected by a first synchronous belt; the head end of the first synchronous belt is fixed to the bottom of the first fixed seat. The first synchronous belt sequentially connects the second idler pulley, the first idler pulley, the fifth idler pulley, the fourth synchronous pulley, the first synchronous pulley and the third idler pulley. The tail end of the first synchronous belt is fixed to the bottom of the first fixed seat. The fixed positions of the head end and the tail end of the first synchronous belt on the bottom of the first fixed seat do not coincide; the second driving motor is installed on the other side of the right bottom plate. The output shaft of the second driving motor passes through the right bottom plate and is connected to a seventh idler pulley. An eighth idler pulley corresponding to the seventh idler pulley is installed on the left bottom plate. The seventh idler pulley, the eighth idler pulley, the fourth idler pulley, the second synchronous pulley, the sixth idler pulley and the third synchronous pulley are connected by a second synchronous belt; the head end of the second synchronous belt is fixed to the bottom of the fourth fixed seat. The second synchronous belt sequentially connects the seventh idler pulley, the eighth idler pulley, the fourth idler pulley, the second synchronous pulley, the third synchronous pulley and the sixth idler pulley. The tail end of the second synchronous belt is fixed to the bottom of the fourth fixed seat. The fixed positions of the head end and the tail end of the second synchronous belt on the bottom of the fourth fixed seat do not coincide.

2. The combined manipulator with equal-spacing movement according to claim 1, characterized in that: a first synchronous belt fastening platform is arranged at the bottom of the first fixed seat, and the head end and the tail end of the first synchronous belt are respectively fixed on both sides of the first synchronous belt fastening platform.

3. The combined manipulator with equal-spacing movement according to claim 1, characterized in that: a second synchronous belt fastening platform is arranged at the bottom of the fourth fixed seat, and the head end and the tail end of the second synchronous belt are respectively fixed on both sides of the second synchronous belt fastening platform.

4. A combined manipulator with equal-spacing movement according to claim 1, characterized in that: the driving mechanism includes four Y-direction driving components, and one Y-direction driving component is respectively installed on the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator. Under the action of the Y-direction driving components, the first robotic arm, the second robotic arm, the third robotic arm, and the fourth robotic arm can move back and forth on the first fixed seat, the second fixed seat, the third fixed seat, and the fourth fixed seat respectively.

5. A combined manipulator with equal-spacing movement according to claim 1, characterized in that: it further includes a guiding component, and the left bottom plate, the right bottom plate, the first fixed seat, the second fixed seat, the third fixed seat, and the fourth fixed seat are all installed on the guiding component.

6. A combined manipulator with equal-spacing movement according to claim 5, characterized in that: the guiding component includes two mutually parallel guiding rods, and the left bottom plate, the first fixed seat, the second fixed seat, the third fixed seat, and the fourth fixed seat are connected to the guiding rods. The left bottom plate, the first fixed seat, the second fixed seat, the third fixed seat, and the fourth fixed seat can slide left and right along the guiding rods.

7. A combined manipulator with equal-spacing movement according to claim 6, characterized in that: the first fixed seat, the second fixed seat, the third fixed seat, and the fourth fixed seat are all in an "I" - shaped structure. The first fixed seat, the second fixed seat, the third fixed seat, and the fourth fixed seat all include a transmission base, a support seat, and a bottom plate. The first robotic arm, the second robotic arm, the third robotic arm, and the fourth robotic arm are respectively installed on the corresponding transmission bases. The guiding rods pass through the support seats and are connected to the left bottom plate and the right bottom plate.

8. A combined manipulator with equal-spacing movement according to claim 1, characterized in that: the manipulator also has a Z - direction degree of freedom of movement.

9. A combined manipulator with equal-spacing movement according to any one of claims 1 to 8 is applied to a full-automatic blood refrigeration system.

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