An automatic positioning device and method for a transport box

Abstract

This invention discloses an automatic positioning device and method for a transport box, relating to the field of transport box positioning technology. It includes a conversion box body, with a transfer motor mounted on its side wall. The output end of the transfer motor is connected to a positioning motor base located inside a cavity. A positioning motor is mounted on the positioning motor base, and the output end of the positioning motor is rotatably connected to an electromagnet passing through the positioning motor base. The electromagnet is used to magnetically fix the transport box from the transmission tube. The positioning motor drives the electromagnet and the transport box to rotate relative to the positioning motor base, thereby adjusting the position of the transport box. The transfer motor drives the positioning motor base to rotate relative to the receiving tube, ensuring that the transport box on the positioning motor base is concentric with the receiving tube. This invention uses two sets of driving devices within the conversion box body to achieve position adjustment and direction of movement adjustment of the transport box, ensuring that the transport box is in an ideal position when it arrives at the receiving point.

Description

Technical Field

[0001] This invention belongs to the field of transport box positioning technology, and in particular, an automatic positioning device and method for transport boxes. Background Technology

[0002] Pneumatic conveying is a logistics technology widely used in material handling. Traditional pneumatic conveying generally only requires transporting samples or materials from the starting point to the destination, with no requirements on their movement posture, and often requires personnel to be present during loading and unloading. However, for the transport of toxic, radioactive, or other materials harmful to human health, direct contact with personnel should be avoided, and they should be placed in transport boxes for transport. To control costs, pneumatic conveying pipes generally use standard-diameter circular pipes, so the transport boxes are usually cylindrical as well. This causes the transport boxes to rotate freely during transport. This is particularly disadvantageous when the position of the transport box upon arrival at the receiving point is critical.

[0003] For toxic, radioactive, or other materials that are harmful to the human body, even if they are not in the ideal position when they arrive at the receiving point, manual intervention is not possible. The position can only be adjusted by a robotic arm, which will undoubtedly consume additional adjustment time and robotic arm control costs, which is not conducive to industrial production. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic positioning device and method for a transport box. Within the transfer box, two sets of driving devices are used to adjust the position and direction of movement of the transport box, so that the transport box can be in an ideal position when it arrives at the receiving point. At the same time, the impact force when the transport box finally arrives at the contact point is effectively reduced, the safety of the overall device is improved, and the problems in the prior art are solved.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0006] The first aspect of the present invention provides an automatic positioning device for a transport box.

[0007] An automatic positioning device for a transport box includes a conversion box body, a transmission tube, and a receiving tube. The conversion box body has a chamber, and both the transmission tube and the receiving tube are connected to the chamber. The receiving tube has a support base and a sampling port at its end. A transfer motor is mounted on the side wall of the conversion box body, and the output end of the transfer motor is connected to a positioning motor base located inside the chamber. A positioning motor is mounted on the positioning motor base, and the output end of the positioning motor is rotatably connected to an electromagnet passing through the positioning motor base. Wherein:

[0008] The electromagnet is used to fix the transport box from the transmission tube based on magnetic force;

[0009] The positioning motor is used to drive the electromagnet and the transport box to rotate relative to the positioning motor base, thereby adjusting the position of the transport box.

[0010] The transfer motor is used to drive the positioning motor base to rotate relative to the receiving tube, so as to make the transport box on the positioning motor base and the receiving tube concentric.

[0011] As an alternative technical solution, the transmission tube and the receiving tube are disposed on adjacent side walls of the conversion box, and the chamber is cylindrical in shape.

[0012] As an alternative technical solution, the two ends of the positioning motor base are connected to the side wall of the conversion box through the first bearing and the second bearing, respectively. The output end of the transfer motor is connected to the positioning motor base through the first coupling, and the outer diameter of the first coupling is adapted to the inner ring of the first bearing.

[0013] As an alternative technical solution, a bearing mounting seat is provided inside the positioning motor base, and a third bearing is provided on the bearing mounting seat. The output end of the positioning motor is connected to the electromagnet mounting seat through a second coupling. The outer diameter of the second coupling is adapted to the inner ring of the third bearing. The electromagnet is provided on the electromagnet mounting seat, and the electromagnet is concentrically arranged with the output shaft of the positioning motor.

[0014] As an alternative technical solution, a force-bearing ring is also provided on the outer diameter of the third coupling, and the force-bearing ring is in contact with the end face of the bearing mounting seat.

[0015] As an optional technical solution, the transport box includes an upper surface, a lower surface, and a box body disposed between the upper surface and the lower surface. The box body is provided with a sample storage slot and a guide slot, and the guide slot is disposed opposite to the sample storage slot. A first positioning slot is provided on the upper surface, and a second positioning slot is provided on the lower surface.

[0016] A laser sensor is installed on the positioning motor base. The laser sensor is used to emit a laser beam parallel to the axis of the electromagnet and to detect whether the guide groove has rotated into place through the laser beam.

[0017] As an alternative technical solution, the lower end face of the electromagnet mounting base is provided with a first positioning bead, the position of which is adapted to the position of the first positioning groove; the upper end face of the support base is provided with a second positioning bead, the position of which is adapted to the position of the second positioning groove.

[0018] As an optional technical solution, a guide shaft is provided inside the receiving tube, and the guide shaft is adapted to the guide groove on the transport box; the support base is provided at the end of the receiving tube, and an air supply port is provided in the center of the support base, which is connected to the receiving tube; the sampling port is provided on the side wall of the receiving tube.

[0019] A second aspect of the present invention provides an automatic positioning method for a transport box.

[0020] An automatic positioning method for a transport box includes the following steps:

[0021] After the transport box reaches the end of the transmission tube, the electromagnet attracts and fixes the transport box based on magnetic force;

[0022] The laser sensor emits a laser beam to detect whether the position of the transport box is in place. If not, the positioning motor drives the transport box to rotate until the laser detector detects that the position of the transport box has been adjusted to the correct position.

[0023] After the position of the transport box is adjusted, the transfer motor drives the positioning motor base and the transport box on it to rotate as a whole relative to the receiving tube until the position of the transport box and the receiving tube are concentric.

[0024] At this point, the electromagnet loses its magnetic force, and the transport box falls along the receiving tube to the support at the end due to gravity. The robotic arm then removes the transport box through the sampling port.

[0025] As alternative technical solutions, the following also include:

[0026] When the electromagnet attracts and fixes the transport box based on magnetic force, the transport box is positioned by the first positioning groove on the upper surface of the transport box and the first positioning bead on the lower end face of the electromagnet mounting base.

[0027] As the transport box falls along the receiving tube under the influence of gravity, the guide groove on the transport box body and the guide shaft at the receiving tube work together to position the transport box during the fall.

[0028] When the transport box falls to the support at the end of the receiving tube, it is positioned by the second positioning groove on the lower surface of the transport box and the second positioning bead on the upper surface of the support.

[0029] The present invention has the following beneficial effects:

[0030] 1. This invention provides an automatic positioning device and method for a transport box, which can effectively address situations where there are requirements for the position and orientation of the transport box upon arrival at the receiving point. By setting up a conversion box body, a transmission tube, and a receiving tube, two sets of driving devices within the conversion box body respectively realize the position and orientation adjustment and the direction of movement adjustment of the transport box, so that the transport box can be in an ideal position upon arrival at the receiving point. At the same time, it effectively reduces the impact force when the transport box finally arrives at the contact point, improving the overall safety of the device. Finally, the transport box can be successfully retrieved by the simple control and action execution of the robotic arm, reducing production costs.

[0031] 2. In the two sets of drive devices set in this invention, one motor, in conjunction with the laser sensor, controls the rotation of the transport box, enabling the transport box to adjust its own posture for easy removal by the robotic arm when it reaches the final receiving point; the other motor controls the movement direction of the transport box, making the transport box concentric with the receiving tube, so that the transport box can maintain the adjusted posture and move along the guide shaft to the receiving point. The overall mechanical structure is easy to implement, the movement process is stable, and the degree of automation is improved.

[0032] 3. The laser sensor is used to emit a laser beam parallel to the axis of the electromagnet and to detect whether the guide groove has rotated into place. When the guide groove has not rotated into place, the laser beam hits the transport box body. When the guide groove has rotated into place, the laser beam irradiates the guide groove, thus distinguishing whether the transport box has rotated into place.

[0033] 4. By setting a first positioning bead and a first positioning groove to cooperate with each other, and a second positioning bead and a second positioning groove to cooperate with each other, the positioning accuracy of the transport box can be improved, achieving a high-precision positioning effect.

[0034] 5. Avoiding the risk of material damage due to impact. When transporting toxic or radioactive materials, it is crucial to ensure safe and reliable transport and prevent damage to the materials. However, pneumatic transport often involves high speeds, resulting in significant impact upon arrival at the receiving point, which can easily damage the transported items. This invention installs an automatic positioning device above the receiving point. Upon reaching the positioning device, the transport box is attracted and fixed by the magnetic force of an electromagnet, halting its high-speed movement. After adjusting its posture, it falls to the receiving point under gravity. Without pneumatic pressure, the speed is significantly reduced, minimizing impact and preventing damage to the items inside the transport box.

[0035] 6. The positioning device has a simple structure, is stable and reliable, and is easy to install. The positioning device of this invention has a simple structure, low manufacturing cost, and a motor shaft protection mechanism, enabling the device to operate stably for a long time. The overall device is a box-type design, making installation and maintenance convenient. Furthermore, it is installed above the receiving point, without occupying space in the receiving area, further simplifying the receiving point structure. For areas with strong radiation, the receiving tube can be extended, allowing the positioning device to be installed in a radiation-free area, avoiding the influence of radiation on the sensor, motor, etc.

[0036] 7. This invention reduces personnel risks. By using electromagnets, sensors, and motors, the transport box is automatically positioned, eliminating the need for workers to approach the toxic or radioactive materials being transported.

[0037] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the external structure of the positioning device according to Embodiment 1 of the present invention.

[0040] Figure 2 This is a schematic diagram of the internal front cross-sectional structure of the positioning device according to Embodiment 1 of the present invention.

[0041] Figure 3 for Figure 2 Enlarged schematic diagram of the middle part of the structure.

[0042] Figure 4 This is a top-view cross-sectional view of the internal structure of the positioning device according to Embodiment 1 of the present invention.

[0043] Figure 5 This is a three-dimensional structural diagram of the transport box according to Embodiment 1 of the present invention.

[0044] Figure 6 This is a schematic diagram of the three-dimensional structure of the transport box according to Embodiment 1 of the present invention from another angle.

[0045] Figure 7 This is a schematic diagram of the transport box transfer process according to Embodiment 1 of the present invention.

[0046] The attached diagram lists the components represented by each number as follows:

[0047] 1 First outer shell, 2 Receiving tube, 3 Second outer shell, 4 Transmission tube, 5 Positioning motor, 6 Transport box, 7 Guide shaft, 8 Conversion box, 9 Guide shaft positioning hole, 10 Support base, 11 Laser sensor, 12 Bearing mounting base, 13 Third bearing, 14 Force ring, 15 Electromagnet mounting base, 16 Electromagnet, 17 First positioning bead, 18 Second positioning bead, 19 Air supply port, 20 Sampling port, 21 Second coupling, 22 Positioning motor base, 23 Second bearing, 24 Second snap ring, 25 First snap ring, 26 First bearing, 27 Transfer motor, 28 First coupling, 29 Chamber, 30 Upper surface, 31 Lower surface, 32 Box body, 33 Sample storage slot, 34 Guide slot, 35 First positioning slot, 36 Second positioning slot. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example 1:

[0050] As described in the background section, this embodiment addresses the problem that the cylindrical transport box 6 rotates unpredictably during its movement within the pneumatic transmission tube 4, causing it to fail to reach an ideal position upon arrival at the receiving point. To resolve this, an automatic positioning device for the transport box 6 is provided. This device consists of a conversion box 8, a transmission tube 4, and a receiving tube 2. Within the conversion box 8, two sets of drive devices adjust the position and direction of movement of the transport box 6, ensuring it reaches an ideal position upon arrival at the receiving point. This also effectively reduces the impact force when the transport box 6 finally reaches the contact point, improving the overall safety of the device. Ultimately, the transport box 6 can be successfully retrieved using simple control and action execution by a robotic arm, reducing production costs, avoiding manual intervention, and eliminating concerns about the risk of harm from toxic or hazardous materials. The device achieves automation, reduces accident risks, improves safety, is easy to install, and can withstand the impact of a heavy transport box 6.

[0051] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present invention is an automatic positioning device for a transport box. Figure 1 The diagram shows the external appearance of the automatic positioning device. The device comprises a conversion box 8, a transmission pipe 4, and a receiving pipe 2. The conversion box 8 contains a chamber 29, which is connected to both the transmission pipe 4 and the receiving pipe 2. The receiving pipe 2 has a support base 10 and a sampling port 20 at its end. During the transport of the transport box 6, the transmission pipe 4 is connected to the end of the pneumatic transmission pipe 4. The transport box 6 is then transported from the pneumatic transmission pipe 4 into the transmission pipe 4, and subsequently reaches the cavity of the conversion box 8. There, its position and direction of movement are adjusted, and finally it falls along the receiving pipe 2 to the receiving point, i.e., the sampling port 20, where it is grasped by a robotic arm.

[0052] More specifically, the conversion housing 8 mainly consists of a first outer shell 1 and a second outer shell 3. The first outer shell 1 and the second outer shell 3 of the conversion housing 8 are assembled into one piece by screws. The mating surfaces of the two shells are provided with a stop, which allows for a more precise fit and better sealing between the two shells. Figure 4As shown; in addition, both the transmission pipe 4 and the receiving pipe 2 are installed on the outer shell of the positioning device conversion box 8, and both installation points are provided with stops to ensure concentricity during the assembly process of the pipes and the pre-reserved installation holes on the outer shell, thus ensuring the accuracy of the transport box 6 during the positioning process.

[0053] The receiving tube 2 has a sampling port 20 and an air supply port 19. The robotic arm can directly take out the sample from the transport box 6 through the sampling port 20. Therefore, the sample in the transport box 6 must be facing the sampling port 20. This is why there are requirements for the position of the transport box 6.

[0054] The bottom of the receiving tube 2 is equipped with an air supply port 19, which is a reserved air supply interface for sending the transport box 6 back to the starting end. After the robot arm has taken the sample, it can transfer the transport box 6 back to the starting point, realizing the reuse of the transport box 6 and reducing costs.

[0055] The aforementioned transmission pipe 4 and receiving pipe 2 are disposed on different side walls of the conversion box 8. In this embodiment, the transmission pipe 4 and receiving pipe 2 are located on adjacent side walls of the conversion box 8. Thus, when adjusting the movement direction of the transport box 6, it is only necessary to control the output shaft of the transfer motor 27 to rotate 90°. The chamber 29 is shaped like a column to facilitate the adjustment of the movement direction of the transport box 6 and to avoid interference during the adjustment process.

[0056] Once the transport box 6 arrives at the chamber 29 of the conversion box 8, its position and orientation need to be adjusted first, followed by adjustment of its direction of movement. This is mainly achieved through the control of two motors: one motor controls the deflection of the transport box 6, enabling it to adjust its own posture, and the other motor controls its direction of movement, ensuring that the transport box 6 maintains its adjusted posture and moves along the guide shaft 7 to the receiving point.

[0057] A transfer motor 27 is installed on the side wall of the conversion box 8. The output end of the transfer motor 27 is connected to a positioning motor base 22. The positioning motor base 22 is located inside the chamber 29. A positioning motor 5 is installed on the positioning motor base 22. The output end of the positioning motor 5 passes through the positioning motor base 22 and is rotatably connected to an electromagnet 16.

[0058] The electromagnet 16 is used to fix the transport box 6 from the transmission tube 4 based on magnetic force;

[0059] The positioning motor 5 is used to drive the electromagnet 16 and the transport box 6 to rotate relative to the positioning motor base 22, thereby adjusting the position of the transport box 6.

[0060] The transfer motor 27 is used to drive the positioning motor seat 22 to rotate relative to the receiving tube 2, so as to make the transport box 6 on the positioning motor seat 22 and the receiving tube 2 concentric.

[0061] Therefore, after the transport box 6 is fixed using the electromagnet 16, the positioning motor 5 drives the transport box 6 to rotate, thereby changing the orientation of the transport box 6 when it finally arrives at the receiving point, facilitating the execution of simple grasping actions by the robotic arm. After the transport box 6 rotates to the ideal position, its direction of movement is adjusted so that it is concentric with the receiving tube 2, allowing the transport box 6 to finally fall along the receiving tube 2 under the action of gravity.

[0062] During the posture adjustment phase of the above process, the transport box 6 is attracted and fixed by the electromagnet 16, which stops the high-speed movement caused by pneumatic propulsion. After the posture adjustment is completed, it falls to the receiving point by gravity. Without air pressure, the impact force when the transport box 6 arrives at the receiving point is controllable, the speed will be greatly reduced, the impact force will be reduced, and damage to the items inside the transport box 6 will be avoided.

[0063] The following section will explain in detail, with reference to the accompanying drawings, the two sets of drive devices for adjusting the 6-position orientation and the direction of movement of the transport box in this embodiment.

[0064] Figure 2 , Figure 3 and Figure 4 This is an internal sectional view of the positioning device. Figure 3 The enlarged part is the transfer mechanism of the positioning device. The transfer mechanism is the main component for positioning the transport device. It mainly includes a transfer motor 27, a positioning motor 5, a positioning motor base 22, a laser sensor 11, a bearing mounting base 12, a third bearing 13, a force ring 14, a second coupling 21, an electromagnet mounting base 15, an electromagnet 16, a positioning ball, a first bearing 26, a first snap ring 25, a first coupling 28, a second bearing 23, a second snap ring 24, etc.

[0065] The two ends of the positioning motor base 22 are connected to the side wall of the conversion box 8 through the first bearing 26 and the second bearing 23 respectively, ensuring that the positioning motor base 22 can rotate. The first bearing 26 is installed on the bearing mounting hole reserved in the second outer shell 3 and is blocked by the first retaining spring 25 to prevent the bearing from falling out. Similarly, the second bearing 23 is installed on the bearing mounting hole reserved in the first outer shell 1 and is blocked by the second retaining spring 24. The output end of the transfer motor 27 is connected to the positioning motor base 22 through the first coupling 28, and the outer diameter of the first coupling 28 is adapted to the inner ring of the first bearing 26, so as to realize the drive of the transfer motor 27 to drive the rotation of the positioning motor base 22.

[0066] The positioning motor base 22 is provided with a bearing mounting base 12, and a third bearing 13 is provided on the bearing mounting base 12. The output end of the positioning motor 5 is connected to the electromagnet mounting base 15 through a second coupling 21. The outer diameter of the second coupling 21 is adapted to the inner ring of the third bearing 13. The electromagnet 16 is provided on the electromagnet mounting base 15, and the electromagnet 16 is concentrically arranged with the output shaft of the positioning motor 5, so as to realize the driving of the positioning motor 5 to rotate the electromagnet mounting base 15, thereby realizing the driving of the transport box 6 to rotate.

[0067] Among them, such as Figure 4 As shown, the transfer motor 27 is mounted on the first housing 1. The motor shaft of the transfer motor 27 is connected to the positioning motor seat 22 by the first coupling 28. The motor can drive the positioning motor seat 22 to rotate. The first bearing 26 and the second bearing 23 serve as installation limits for the positioning motor seat 22, allowing the positioning motor seat 22 to rotate with the bearings, while protecting the motor shaft of the transfer motor 27 from radial impact forces and preventing motor damage.

[0068] like Figure 2 and Figure 3 As shown, the positioning motor 5 is mounted on the positioning motor base 22. The positioning motor base 22 and the electromagnet mounting base 15 are connected by the second coupling 21. The outer diameter of the second coupling 21 is matched with the third bearing 13. The third bearing 13 is mounted on the bearing mounting base 12. The bearing mounting base 12 is mounted on the positioning motor base 22. The positioning motor 5 can drive the electromagnet mounting base 15 to rotate.

[0069] Electromagnet 16 is mounted on electromagnet mounting base 15 and is concentric with the motor shaft of positioning motor 5; force ring 14 is mounted on the outer diameter of second coupling 21 and fits against the end face of bearing mounting base 12. When transport box 6 impacts electromagnet 16, force ring 14 transmits force to bearing mounting base 12, then to positioning motor base 22, and finally to the first housing 1 and second housing 3 of positioning device. This protects the motor shaft of positioning motor 5 from axial impact force and avoids motor damage.

[0070] The first positioning bead 17 is installed at the center of the end face of the electromagnet mounting base 15, providing a more precise positioning for the transport box 6.

[0071] The specific structure of transport box 6 is as follows: Figure 5 and Figure 6As shown. The transport box 6 includes an upper surface 30, a lower surface 31, and a box body 32 disposed between the upper surface 30 and the lower surface 31. The box body 32 has a sample storage slot 33 and a guide slot 34, and the guide slot 34 is disposed opposite to the sample storage slot 33. A first positioning slot 35 is provided on the upper surface 30, and a second positioning slot 36 is provided on the lower surface 31. The first positioning bead 17 provided on the lower end face of the aforementioned electromagnet mounting base 15 is adapted to the position of the first positioning slot 35. The second positioning bead 18 provided on the upper end face of the aforementioned support base 10 is adapted to the position of the second positioning slot 36.

[0072] Furthermore:

[0073] The first positioning groove 35 is a central positioning groove located at the center of the upper surface 30 of the box body 32; the second positioning groove 36 consists of three circumferentially distributed positioning grooves, evenly distributed along the lower surface 31 of the box body 32. A sample storage groove 33 is provided in the middle, and a guide groove 34 is provided directly behind the sample storage groove 33. The first positioning bead 17 cooperates with the central positioning groove (first positioning groove 35) of the transport box 6 to complete precise positioning, and the second positioning bead 18 cooperates with the circumferentially distributed positioning grooves (second positioning grooves 36) of the transport box 6 to complete precise positioning.

[0074] Furthermore, the laser sensor 11 mounted on the positioning motor base 22 is a crucial component for feedback on the attitude of the transport box 6, and its feedback signal is used to control the rotation of the positioning motor 5. The laser sensor 11 emits a laser beam parallel to the axis of the electromagnet 16 and detects whether the guide groove 34 has rotated into position. When the guide groove 34 is not in position, the laser beam hits the box body 32 of the transport box 6; when the guide groove 34 is in position, the laser beam illuminates the inside of the guide groove 34, thus distinguishing whether the transport box 6 has rotated into position.

[0075] To achieve positioning of the transport box 6 during its descent within the receiving tube 2, a guide shaft 7, a guide shaft positioning hole 9, a support base 10 for the transport box 6, and three circumferentially distributed second positioning beads 18 are installed inside the receiving tube 2. Figure 2 As shown, one end of the guide shaft 7 has a 90° bend, which fits perfectly with the guide shaft 7 fixing groove reserved on the first housing 1 and the second housing 3, so that the guide shaft 7 remains stable.

[0076] Furthermore, a guide shaft positioning hole 9 is provided at the end of the receiving tube 2 to accommodate the end of the guide shaft 7. When the receiving tube 2 is installed with the housing of the positioning device, the guide shaft positioning hole 9 inside the receiving tube 2 will fit onto the guide shaft 7, restricting the lower end of the guide shaft 7 and thus completely fixing the guide shaft 7. In this way, when the transport box 6 falls from above onto the support base 10 of the transport box 6, the guide groove 34 of the transport box 6 will fall along the guide shaft 7, and the guide shaft 7 will not swing or deviate.

[0077] There is a certain gap between the guide shaft 7 and the guide groove 34 on the transport box 6. Therefore, the support base 10 of the transport box 6 is equipped with three second positioning beads 18. When the second positioning beads 18 contact the lower end face of the transport box 6, they will cooperate with the three second positioning grooves 36 on it for positioning, so that the sample storage groove 33 of the transport box 6 can be aligned with the sampling port 20 on the receiving tube 2, thereby achieving accurate positioning when the transport box 6 arrives at the receiving point.

[0078] The following will be combined with the appendix Figure 7 Explanation of the specific process for automatic positioning of transport box 6:

[0079] like Figure 7 As shown in (a), when the transport box 6 hits the electromagnet 16 from the transmission tube 4, the electromagnet 16 attracts it. At the same time, with the cooperation of the first positioning bead 17 and the center positioning groove (first positioning groove 35) on the end face of the transport box 6, the transport box 6 is concentric with respect to the annular electromagnet 16.

[0080] At this time, the laser beam of the laser sensor 11 will illuminate the transport box 6, and the positioning motor 5 will start to rotate. The length of the laser beam is about 50mm, that is, the detection distance of the laser sensor 11 is 50mm. When no object is detected within 50mm, a signal indicating that the orientation of the transport box 6 has been aligned is issued. If an object is detected, the positioning motor 5 is controlled to continue rotating until the guide groove 34 on the transport box 6 is almost directly aligned with the laser beam. At this time, the laser beam will be within the guide groove 34 and no object can be detected. This indicates that the transport box 6 has been positioned and a signal indicating that the orientation of the transport box 6 has been aligned is issued.

[0081] This signal will control the transfer motor 27 to rotate 90°, such as Figure 7 As shown in (b), the transport box 6 is turned to the receiving tube 2, so that the transport box 6 and the receiving tube 2 are concentric. After the transport box 6 stops in place, the guide groove 34 of the transport box 6 is exactly in contact with the guide shaft 7.

[0082] Then, the electromagnet 16 is de-energized and loses its magnetism. Under the action of gravity, the transport box 6 moves downward along the guide shaft 7. When the transport box 6 stops on the support base 10, it is precisely positioned by the combined action of the second positioning bead 18 and the second positioning groove 36 at the bottom of the transport box 6, so that the sample storage groove 33 on the transport box 6 is aligned with the sampling port 20 on the receiving tube 2. Thus, the positioning of the transport box 6 is completed.

[0083] Example 2:

[0084] This embodiment provides an automatic positioning method for a transport box.

[0085] An automatic positioning method for a transport box includes the following steps:

[0086] After the transport box reaches the end of the transmission tube, the electromagnet attracts and fixes the transport box based on magnetic force;

[0087] The laser sensor emits a laser beam to detect whether the position of the transport box is in place. If not, the positioning motor drives the transport box to rotate until the laser detector detects that the position of the transport box has been adjusted to the correct position.

[0088] After the position of the transport box is adjusted, the transfer motor drives the positioning motor base and the transport box on it to rotate as a whole relative to the receiving tube until the position of the transport box and the receiving tube are concentric.

[0089] At this point, the electromagnet loses its magnetic force, and the transport box falls along the receiving tube to the support at the end due to gravity. The robotic arm then removes the transport box through the sampling port.

[0090] Furthermore, it also includes:

[0091] When the electromagnet attracts and fixes the transport box based on magnetic force, the transport box is positioned by the first positioning groove on the upper surface of the transport box and the first positioning bead on the lower end face of the electromagnet mounting base.

[0092] As the transport box falls along the receiving tube under the influence of gravity, the guide groove on the transport box body and the guide shaft at the receiving tube work together to position the transport box during the fall.

[0093] When the transport box falls to the support at the end of the receiving tube, it is positioned by the second positioning groove on the lower surface of the transport box and the second positioning bead on the upper surface of the support.

[0094] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0095] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic positioning device for a transport box, characterized in that, The system includes a conversion box, a transmission tube, and a receiving tube. The conversion box contains a chamber, and both the transmission tube and the receiving tube are connected to the chamber. The receiving tube has a support base and a sampling port at its end. A transfer motor is mounted on the side wall of the conversion box. The output end of the transfer motor is connected to a positioning motor base located inside the chamber. A positioning motor is mounted on the positioning motor base, and the output end of the positioning motor passes through the positioning motor base and is rotatably connected to an electromagnet. Wherein: The electromagnet is used to fix the transport box from the transmission tube based on magnetic force; The positioning motor is used to drive the electromagnet and the transport box to rotate relative to the positioning motor base, thereby adjusting the position of the transport box. The transfer motor is used to drive the positioning motor base to rotate relative to the receiving tube, so as to make the transport box on the positioning motor base and the receiving tube concentric. When the transport box arrives at the positioning device, it is attracted and fixed by the magnetic force of the electromagnet, and the high-speed movement has stopped. After the posture adjustment is completed, it falls to the receiving point by gravity without air pressure. The transport box includes an upper surface, a lower surface, and a box body disposed between the upper and lower surfaces. The box body has a sample storage slot and a guide slot, with the guide slot being opposite to the sample storage slot. A first positioning slot is provided on the upper surface, and a second positioning slot is provided on the lower surface. A laser sensor is provided on the positioning motor base. The laser sensor is used to emit a laser beam parallel to the axis of the electromagnet and to detect whether the guide slot has rotated into place using the laser beam. The lower end face of the electromagnet mounting base is provided with a first positioning bead, which is adapted to the position of the first positioning groove; the upper end face of the support base is provided with a second positioning bead, which is adapted to the position of the second positioning groove. The receiving tube is provided with a guide shaft, which is adapted to the guide groove on the transport box; the support base is provided at the end of the receiving tube, and the support base is provided with an air supply port in the center, which is connected to the receiving tube; the sampling port is provided on the side wall of the receiving tube.

2. The automatic positioning device for the transport box according to claim 1, characterized in that, The transmission tube and the receiving tube are disposed on adjacent side walls of the conversion box, and the chamber is cylindrical in shape.

3. The automatic positioning device for the transport box according to claim 1, characterized in that, The two ends of the positioning motor base are connected to the side wall of the conversion box through the first bearing and the second bearing, respectively. The output end of the transfer motor is connected to the positioning motor base through the first coupling, and the outer diameter of the first coupling is adapted to the inner ring of the first bearing.

4. The automatic positioning device for the transport box according to claim 1, characterized in that, The positioning motor base is provided with a bearing mounting base, and a third bearing is provided on the bearing mounting base. The output end of the positioning motor is connected to the electromagnet mounting base through a second coupling. The outer diameter of the second coupling is adapted to the inner ring of the third bearing. The electromagnet is provided on the electromagnet mounting base, and the electromagnet is concentrically arranged with the output shaft of the positioning motor.

5. The automatic positioning device for the transport box according to claim 4, characterized in that, A force-bearing ring is also provided on the outer diameter of the third coupling, and the force-bearing ring is in contact with the end face of the bearing mounting seat.

6. The automatic positioning device for a transport box according to claim 1, characterized in that, The lower end face of the electromagnet mounting base is provided with a first positioning bead, which is adapted to the position of the first positioning groove; the upper end face of the support base is provided with a second positioning bead, which is adapted to the position of the second positioning groove.

7. An automatic positioning method for a transport box, characterized in that, The automatic positioning device for the transport box as described in any one of claims 1-6 includes the following steps: After the transport box reaches the end of the transmission tube, the electromagnet attracts and fixes the transport box based on magnetic force; The laser sensor emits a laser beam to detect whether the position of the transport box is in place. If not, the positioning motor drives the transport box to rotate until the laser detector detects that the position of the transport box has been adjusted to the correct position. After the position of the transport box is adjusted, the transfer motor drives the positioning motor base and the transport box on it to rotate as a whole relative to the receiving tube until the position of the transport box and the receiving tube are concentric. At this point, the electromagnet loses its magnetic force, and the transport box falls along the receiving tube to the support at the end due to gravity. The robotic arm then removes the transport box through the sampling port.

8. The automatic positioning method for a transport box according to claim 7, characterized in that, Also includes: When the electromagnet attracts and fixes the transport box based on magnetic force, the transport box is positioned by the first positioning groove on the upper surface of the transport box and the first positioning bead on the lower end face of the electromagnet mounting base. As the transport box falls along the receiving tube under the influence of gravity, the guide groove on the transport box body and the guide shaft at the receiving tube work together to position the transport box during the fall. When the transport box falls to the support at the end of the receiving tube, it is positioned by the second positioning groove on the lower surface of the transport box and the second positioning bead on the upper surface of the support.

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