Intelligent equipment for physical and chemical detection

Abstract

The invention discloses intelligent equipment for physical and chemical detection, relates to the technical field of biological fluid purification and extraction, and solves the problems that manual biological fluid purification and extraction operation is large in workload and prone to errors. The device comprises a workbench; a centrifuge; a reagent rotating module; a test tube rotating module; a layered detection mechanism; a reagent bottle cap screwing mechanism; a code spraying mechanism; a capping mechanism; a test tube cover screwing mechanism; the transplanting module comprises a first transplanting mechanism and a second transplanting mechanism; the second transplanting mechanism comprises a clamping assembly used for clamping a test tube or a test tube cover and a suction assembly used for clamping a suction head and capable of generating positive pressure or negative pressure on the suction head. According to the invention, the purification and extraction operation of the biological fluid can be automatically completed, the workload of detection personnel is greatly reduced, and meanwhile, the whole operation process is completed step by step according to the steps set by the system, so that the situation of misoperation is not easy to occur, and the purification operation can be performed on various different biological fluids at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of purification and extraction of biological fluids, and in particular to an intelligent device for physical and chemical detection. Background Art

[0002] In the field of criminal investigation, biological fluids such as saliva, semen, and blood contain human DNA information, which can be used as evidence for solving cases. After the biological fluids are extracted at the crime scene, they are placed in test tubes for preservation. The biological fluids in the test tubes cannot be directly used for detection and need to be further purified. Generally, a part of the biological fluid is taken out of the test tube manually, dropped into a blank test tube, and special reagents are dropped into the test tube. Then the reagents and the biological fluid are fully mixed evenly. After mixing, it is put into a centrifuge for the first centrifugation treatment. After the treatment, the liquid in the test tube will be stratified. Then the supernatant is manually extracted and put into a new blank test tube. Then the supernatant is subjected to the second centrifugation treatment. After the treatment, the upper layer liquid can be aspirated and dropped into a glass bottle for storage. This is the purified liquid we finally obtain. Since in the prior art, this entire operation process is mostly carried out manually, there will be the following problems: First, due to the relatively cumbersome process, mistakes are likely to occur. Once a mistake occurs, the biological fluid becomes invalid. Second, the manual extraction operation has a large workload and low efficiency, and it is difficult to meet the large-scale extraction operation of biological fluids. Summary of the Invention

[0003] The purpose of the present invention is to solve the above problems, and an intelligent device for physical and chemical detection is designed, which solves the problems of large workload and easy mistakes in the manual purification and extraction operation of biological fluids.

[0004] To achieve the above object, the technical solution of the present invention is as follows: An intelligent device for physical and chemical detection includes: A workbench, on which there are a centrifugation area, a pipette tip preparation area, a test liquid preparation area, and a liquid mixing area. The pipette tip preparation area is used to store unused pipette tips, the test liquid preparation area is used to store unused test tubes, and the liquid mixing area is provided with at least one shaking table for mixing the reagents and the test liquid in the test tube evenly; A centrifuge, at least one centrifuge is provided and installed in the centrifugation area; A reagent rotation module, the reagent rotation module includes a rotatable turntable, and a plurality of placement positions for placing reagent bottles are provided in the circumferential direction of the turntable; A test tube rotation module, the test tube rotation module is located above the reagent rotation module, and the test tube rotation module includes a rotatable rotating table, and a plurality of clamping positions for clamping test tubes of different diameters are provided in the circumferential direction of the rotating table; The layer detection mechanism, reagent bottle cap screwing mechanism, inkjet coding mechanism, capping mechanism, and test tube cap screwing mechanism are sequentially arranged in the circumferential direction of the test tube rotation module. The layer detection mechanism is used to detect whether the liquid in the centrifuged test tube is layered. The reagent bottle cap screwing mechanism is used to open or tighten the reagent bottle cap. The inkjet coding mechanism is used to perform inkjet coding on the container bottle containing the extract after physicochemical treatment. The capping mechanism is used to press the bottle cap onto the container bottle. The test tube cap screwing mechanism is used to open or tighten the test tube cap; The transplanting module, which includes a first transplanting mechanism and a second transplanting mechanism. The first transplanting mechanism is used to switch and transfer the carrier full of test tubes between the centrifuge and the vibrating table. The second transplanting mechanism is used to transfer the test tubes between the liquid to be detected preparation area, the test tube rotation module, the vibrating table, and the layer detection mechanism, and to suck the liquid to be detected or the obtained supernatant or reagent; Among them, the second transplanting mechanism includes a clamping component for clamping the test tube or test tube cap and a sucking component for clamping the pipette tip and capable of generating positive pressure or negative pressure on the pipette tip.

[0005] Furthermore, the test tube rotation module further includes a pushing mechanism, a loosening mechanism, and a plurality of clamping mechanisms respectively used to clamp test tubes with different diameters. The plurality of clamping mechanisms are respectively installed on a plurality of clamping positions. The pushing mechanism corresponds to one of the clamping mechanisms. The clamping mechanism includes a first clamping block and a second clamping block. The second clamping block closely abuts the first clamping block under the action of a pre-tightening force. The opposite sides of the first clamping block and the second clamping block have positioning grooves for positioning the test tube. The loosening mechanism is used to control the second clamping block to disengage from the first clamping block. The pushing mechanism is used to apply a top pressure to the opposite second clamping block, so that the second clamping block and the first clamping block cooperate to clamp the test tube.

[0006] Furthermore, the clamping mechanism further includes a fixed block and a connecting rod. The connecting rod is arranged through the second clamping block, and both ends of the first clamping block are respectively connected to both ends of the fixed block through the connecting rod. A spring is sleeved on each connecting rod. The spring is located between the second clamping block and the fixed block and can apply a pre-tightening force to the second clamping block.

[0007] Furthermore, the loosening mechanism includes a loosening plate and a loosening air cylinder for controlling the movement of the loosening plate. The bottom part of the second clamping block protrudes downward and passes through the rotating table to extend to the movement path of the loosening plate.

[0008] Further, a lifting mechanism is provided on one side of the reagent rotation module. The lifting mechanism includes a lifting linear module and a bracket. A lifting plate is installed on the lifting linear module, and the bracket is installed on the lifting plate. Each placement position on the rotating disk has an avoidance hole for the bracket to pass through up and down.

[0009] Further, the layer detection mechanism includes a light-shielding box, a camera, and a light source board. The light source board and the camera are arranged oppositely and are both installed in the light-shielding box. The light-shielding box has an entrance for facilitating the insertion of a test tube into the light-shielding box.

[0010] Further, two clamping mechanisms for clamping reagent bottles are provided beside the reagent bottle cap screwing mechanism. The two clamping mechanisms are arranged oppositely and are both located above the reagent rotation module. The clamping mechanism includes a clamping cylinder and a clamping block, and the clamping block is connected to the output end of the clamping cylinder.

[0011] Further, the layer detection mechanism is located between the test tube rotation module and the centrifuge. Loading plates for placing bottle caps are provided between the centrifuge and the layer detection mechanism, and between the test tube rotation module and the vibration table. The loading plate has a plurality of grooves for positioning the bottle caps.

[0012] Further, a cartridge positioning mechanism is provided in the area for preparing the liquid to be detected. The cartridge positioning mechanism includes a positioning seat, a positioning cylinder, and a positioning member. The positioning seat has a groove for positioning a cartridge containing test tubes. The positioning cylinder is located on one side of the positioning seat, and the positioning member is connected to the output end of the positioning cylinder. The positioning member has a pressing portion protruding towards the positioning seat, and the positioning seat has an avoidance groove for facilitating the insertion of the pressing portion into the positioning seat to press the cartridge tightly.

[0013] Further, the first transplanting mechanism includes a multi-axis movement module, a finger cylinder installed on the multi-axis movement module, and two clamping plates connected to the output end of the finger cylinder; The second transplanting mechanism further includes a multi-axis movement module. An installation plate is provided on the multi-axis movement module, and the clamping component and the suction component are installed side by side on the installation plate.

[0014] Compared with the prior art, its beneficial effects are as follows: In the present invention, the transplanting module consists of two parts: a first transplanting mechanism and a second transplanting mechanism. The first transplanting mechanism is used to switch and transfer the carrier full of test tubes between the centrifuge and the shaking table. The second transplanting mechanism has a clamping component and a suction component. The clamping component is used to clamp the test tubes and switch and transfer the test tubes between the preparation area of the liquid to be detected, the test tube rotation module, the shaking table, and the layer detection mechanism. The suction component will hold the suction head tightly and generate negative or positive pressure on the suction head to suck or drip biological body fluids, reagents, and the obtained supernatant. When adding reagents, according to the different biological body fluids, the reagent rotation module will control the rotation of the turntable to select the corresponding reagent. After the reagent is added into the test tube, the test tube will be clamped by the second transplanting mechanism and transferred to the carrier on the shaking table. The shaking table will generate vibrations to mix the two liquids in the test tube evenly. Then, the first transplanting mechanism will clamp the carrier and transfer it into the centrifuge for the first centrifugation. After the centrifugation is completed, the carrier is taken out and placed back on the shaking table again. The second transplanting mechanism will take out a test tube and place it into the layer detection mechanism to detect whether the liquid in the test tube is stratified. Then, it will suck the supernatant and drip the supernatant into a blank test tube. Next, the test tube containing the supernatant is put into the centrifuge for the second centrifugation. After the centrifugation is completed, the above operations are repeated. The upper purified liquid is sucked and dropped into the blank glass container on the test tube rotation module. The glass container will be rotated and conveyed in sequence by the test tube rotation module to the positions of the test tube cap screwing mechanism, the capping mechanism, and the coding mechanism to screw on the bottle cap, then press the sealing metal part onto the bottle cap, and spray the QR code or bar code on the bottle body. The entire operation process can be automatically completed by this intelligent physical and chemical detection workstation, greatly reducing the workload of the detection personnel. At the same time, the entire operation process is completed step by step according to the system settings, so it is not easy to make operation mistakes.

[0015] This intelligent physical and chemical detection workstation can simultaneously perform purification operations on a variety of different biological body fluids. According to the different types of biological body fluids, the types of reagents can be automatically selected, and the rotation speed and movement time of the centrifuge are also determined according to the type of biological body fluid. Description of the Drawings

[0016] Figure 1 is the axonometric structure schematic diagram of the intelligent device for physical and chemical detection of the present invention; Figure 2 is the structure schematic diagram of another perspective of the intelligent device for physical and chemical detection of the present invention; Figure 3 is the schematic diagram of the division of the working area on the intelligent device for physical and chemical detection; Figure 4 is the distribution schematic diagram of each mechanism along the circumferential direction of the test tube rotation module; Figure 5It is a structural schematic diagram of a reagent bottle cap screwing mechanism, a coding mechanism, a capping mechanism, and a test tube cap screwing mechanism; Figure 6 It is a schematic diagram of the cooperation between the lifting mechanism and the reagent rotation module; Figure 7 It is a schematic diagram of the cooperation between the lifting mechanism and the clamping mechanism; Figure 8 It is a top view structural schematic diagram of the lifting mechanism and the clamping mechanism; Figure 9 It is a structural schematic diagram of the test tube rotation module; Figure 10 It is a structural schematic diagram of another perspective of the test tube rotation module; Figure 11 It is a structural schematic diagram of the test tube rotation module when removing one of the second clamping blocks and the protective cover; Figure 12 It is a structural schematic diagram of the reagent rotation module; Figure 13 It is a structural schematic diagram of the light shielding box on the layered detection mechanism when removing some plates; Figure 14 It is a structural schematic diagram of the material box positioning mechanism; Figure 15 It is a structural schematic diagram of the transplanting module; Figure 16 It is a partial structural schematic diagram of the first transplanting mechanism in the transplanting module; Figure 17 It is a partial structural schematic diagram of the second transplanting mechanism in the transplanting module.

[0017] In the figure, 1 is a workbench; 101 is a centrifugation area; 102 is a pipette tip preparation area; 103 is a test liquid to be detected preparation area; 104 is a liquid mixing area; 105 is a centrifugation waiting area; 106 is a waste area; 2 is a test tube rotation module; 21 is a rotating table; 22 is a clamping mechanism; 221 is a first clamping block; 222 is a second clamping block; 223 is a fixing block; 224 is a connecting rod; 23 is a base; 24 is a protective cover; 25 is a driving mechanism; 26 is a pressing mechanism; 261 is a cylinder fixing seat; 262 is a pressing cylinder; 263 is a sliding block; 264 is a pushing block; 265 is a guide rod; 27 is a loosening mechanism; 271 is a loosening plate; 2711 is a blocking part; 3 is a centrifuge; 4 is a transplanting module; 41 is a first transplanting mechanism; 411 is a clamping plate; 42 is a second transplanting mechanism; 421 is a clamping component; 422 is a suction component; 5 is a reagent rotation module; 51 is a vertical frame; 52 is a rotating disk; 521 is a placement position; 6 is a layer detection mechanism; 61 is a light-shielding box; 62 is a light source board; 63 is a camera; 7 is a reagent bottle cap screwing mechanism; 8 is a coding mechanism; 9 is a capping mechanism; 10 is a test tube cap screwing mechanism; 11 is a cartridge positioning mechanism; 111 is a positioning seat; 112 is a positioning cylinder; 113 is a positioning part; 12 is a carrier plate; 13 is a support plate; 14 is a pipette tip; 15 is a cartridge; 16 is a lifting mechanism; 161 is a lifting linear module; 162 is a lifting plate; 163 is a bracket; 1631 is a limiting part; 17 is a clamping mechanism; 18 is a clamping and holding mechanism; 19 is a carrier. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0019] Figures 1 - 3 As shown, a preferred embodiment of the present invention provides an intelligent device for physical and chemical detection. This workstation mainly consists of modules such as a workbench 1, a centrifuge 3, a reagent rotation module 5, a test tube rotation module 2, a layer detection mechanism 6, a reagent bottle cap screwing mechanism 7, a coding mechanism 8, a capping mechanism 9, a test tube cap screwing mechanism 10, and a transplanting module 4.

[0020] Multiple areas are provided on the workbench 1, namely a centrifugation area 101, a pipette tip preparation area 102, a test liquid to be detected preparation area 103, a liquid mixing area 104, and a waste area 106, making full use of the working areas on the workbench 1.

[0021] The centrifugation area 101 is located on the left side of the workbench 1. Two centrifuges 3 are installed in the centrifugation area 101. These two centrifuges 3 work independently, and the rotation speed and working time of each centrifuge 3 are independently controlled. Each centrifuge 3 has an inlet for placing the carrier 19 full of test tubes into the centrifuge 3, and the centrifuge 3 can position the carrier 19. One of the centrifuges 3 is mainly used to layer the mixed liquid of the reagent and biological fluid in the test tube by centrifugation to obtain the supernatant, and the other centrifuge 3 is used to perform a second centrifugation on the test tube containing the supernatant.

[0022] There is an area in front of the centrifuge 3 on the workbench 1, which is the centrifugation waiting area 105. A positioning plate is provided in the centrifugation waiting area 105, and there are multiple grooves on the positioning plate for positioning the carrier 19. Since centrifugation takes a certain amount of time, the carrier 19 full of test tubes that needs to wait can be placed in the centrifugation waiting area 105.

[0023] As Figure 1 shown, the reagent rotation module 5, the test tube rotation module 2, the layering detection mechanism 6, the reagent bottle cap screwing mechanism 7, the inkjet coding mechanism 8, the capping mechanism 9, and the test tube cap screwing mechanism 10 are all installed on the right side of the workbench 1.

[0024] Refer to Figure 4 , where the reagent rotation module 5 is located directly below the test tube rotation module 2. The reagent rotation module 5 is used to rotate and switch the types of reagents; the test tube rotation module 2 is used to rotate and switch the positions of the test tubes; the layering detection mechanism 6 is used to detect the liquid in the test tube containing the reagent and biological fluid after the first centrifugation to determine whether centrifugation layering has occurred; the reagent bottle cap screwing mechanism 7 is used to open or tighten the cap of the reagent bottle; the inkjet coding mechanism 8 is used to inkjet code and label the small glass bottle containing the purified biological fluid; the capping mechanism 9 is used to press-fit the sealing cap onto the small glass bottle; and the test tube cap screwing mechanism 10 is used to open or tighten the test tube cap.

[0025] The layering detection mechanism 6, the reagent bottle cap screwing mechanism 7, the inkjet coding mechanism 8, the capping mechanism 9, and the test tube cap screwing mechanism 10 are sequentially arranged circumferentially around the test tube rotation module 2 in a clockwise direction.

[0026] As Figures 9 - 11As shown in the figure, the test tube rotation module 2 is mainly composed of a base 23, a rotating table 21, a clamping mechanism 22, a pressing mechanism 26, a driving mechanism 25 and a loosening mechanism 27. The rotating table 21 is circular and is installed on the base 23 and can rotate relative to the base 23. There are a plurality of mounting grooves in the circumferential direction of the rotating table 21, and each mounting groove corresponds to a clamping position. The number of the clamping mechanisms 22 is the same as the number of the mounting grooves, and the clamping mechanisms 22 are installed in the mounting grooves. The pressing mechanism 26 corresponds to one of the clamping mechanisms 22 and is used to control the clamping mechanism 22 to clamp the test tube so as to screw the test tube cap off the test tube.

[0027] The plurality of mounting grooves are evenly distributed along the circumferential direction of the rotating table 21. The clamping mechanisms 22 have a variety of different specifications and are respectively used to clamp test tubes with different diameters. Each diameter of test tube corresponds to two clamping mechanisms 22, and these two clamping mechanisms 22 are symmetrically distributed, and the rotation angle between them is 180°. In this embodiment, there are three clamping mechanisms 22, which respectively correspond to three diameters of test tubes.

[0028] As Figure 11 shown, Figure 11 The protective cover 24 and a second clamping block 222 are removed in the figure. The clamping mechanism 22 is mainly composed of a first clamping block 221, a second clamping block 222, a fixing block 223 and a connecting rod 224. The first clamping block 221 and the fixing block 223 are both fixedly installed in the mounting groove. The first clamping block 221 is located at the edge of the rotating table 21, and the first clamping block 221 and the fixing block 223 are connected by the connecting rod 224. The second clamping block 222 is located above the fixing block 223, and the connecting rod 224 is inserted through the second clamping block 222. There are two connecting rods 224, which respectively correspond to the two ends of the first clamping block 221 and the fixing block 223. A spring is provided between the second clamping block 222 and the fixing block 223, and the spring is sleeved on the connecting rod 224. The spring applies a pre-tightening force to the second clamping block 222 so that the first clamping block 221 and the second clamping block 222 are closed.

[0029] Semicircular positioning grooves are formed on the opposite sides of the first clamping block 221 and the second clamping block 222 for positioning the test tube. Under the action of the spring, the first clamping block 221 and the second clamping block 222 will clamp the test tube.

[0030] The diameter of the positioning groove is adapted to the diameter of the test tube, and the diameters of the positioning grooves in the clamping mechanisms 22 corresponding to different test tubes are also different.

[0031] As Figure 11As shown, the release mechanism 27 is located below the rotating table 21 and is composed of a release plate 271 and a release cylinder (not shown in the figure). The release cylinder is horizontally fixed at the bottom of the base 23, and the release plate 271 is connected to the output end of the release cylinder. The release plate 271 is controlled to move horizontally by the release cylinder.

[0032] The above-mentioned second clamping block 222 can move horizontally relative to the rotating table 21. A part of the bottom of the second clamping block 222 protrudes downward and passes through the rotating table 21, extending to the moving path of the release plate 271. There are partial notches on the rotating table 21 to facilitate the horizontal movement of the protrusion at the bottom of the second clamping block 222.

[0033] In the initial state, the second clamping block 222 will close with the first clamping block 221 under the action of the spring. When it is necessary to load the test tube, the release cylinder will control the release plate 271 to move towards the center of the rotating table 21. The release plate 271 has two blocking parts 2711 corresponding to the protrusions at the bottom of the second clamping block 222. During the movement of the release plate 271, the blocking parts 2711 will approach the protrusions at the bottom of the second clamping block 222 and pull the second clamping block 222 to move, overcoming the pre-tightening force of the spring, so that the second clamping block 222 and the first clamping block 221 release the test tube, and then the test tube can be taken and placed. On the contrary, the release cylinder controls the release plate 271 to move in the reverse direction, and the blocking parts 2711 gradually move away from the protrusions at the bottom of the second clamping block 222. In this way, the second clamping block 222 returns to its original position under the action of the spring and cooperates with the first clamping block 221 to clamp the test tube.

[0034] Then the rotating table 21 will rotate 180°. During the rotation of the rotating table 21, the clamping mechanism 22 will rotate together with the rotating table 21, and other structures will not rotate.

[0035] In this embodiment, the driving mechanism 25 adopts a motor. The motor is located at the bottom of the base 23 and is drivingly connected to the rotating table 21 to control the rotation of the rotating table 21.

[0036] As Figure 11 shown, the pressing mechanism 26 is located above the rotating table 21 and is fixedly connected to the base 23.

[0037] The pushing mechanism 26 is mainly composed of a cylinder fixing seat 261, a pushing cylinder 262, guide rods 265, a sliding block 263, and a pushing block 264. Among them, the cylinder fixing seat 261 is connected to the base 23 through a connecting piece. The pushing cylinder 262 is horizontally and fixedly installed on the cylinder fixing seat 261. The output end of the pushing cylinder 262 is connected to the sliding block 263. Each end of the sliding block 263 is provided with a guide rod 265. The guide rod 265 is inserted and connected to the sliding block 263. One end of the guide rod 265 is fixedly connected to the pushing block 264, and the other end is inserted and connected to the cylinder fixing seat 261. A spring is provided between the sliding block 263 and the pushing block 264. The spring is sleeved on the guide rod 265. The spring plays a buffering role, and the guide rod 265 can guide the spring.

[0038] In other technical solutions, the spring can also be provided on the guide rod 265 and directly between the sliding block 263 and the pushing block 264.

[0039] When the clamping mechanism 22 clamping the test tube rotates to the position where the pushing mechanism 26 is located, the pushing cylinder 262 will control the sliding block 263 to move relative to the guide rod 265. The thrust of the sliding block 263 will be applied to the spring, and the spring will transmit the thrust to the pushing block 264 to push the pushing block 264 to move. The pushing block 264 will gradually approach the second clamping block 222 and tightly abut against the second clamping block 222, so that the second clamping block 222 cooperates with the first clamping block 221 to clamp the test tube, so as to prevent the test tube from rotating during the process of screwing the test tube cap. During the process of the pushing block 264 abutting against the second clamping block 222, the spring will be compressed by force and play a buffering role to prevent the second clamping block 222 from being damaged due to excessive force.

[0040] In order to protect the pushing mechanism 26, a protective cover 24 is provided above the pushing mechanism 26 to play a protective role. The protective cover 24 has an outlet to facilitate the movement of the pushing block 264 in and out.

[0041] As Figure 12 shown, the reagent rotation module 5 mainly includes a rotating disk 52 and a stand 51. Among them, the rotating disk 52 is rotatably installed on the stand 51. A motor is installed on the stand 51 to drive the rotating disk 52 to rotate. The rotating disk 52 is concentric with the above-mentioned rotating table 21, but the diameter of the rotating disk 52 is larger than the diameter of the rotating table 21, so that the reagent bottle can avoid the rotating table 21 during the upward lifting process.

[0042] A plurality of grooves are formed on the rotating disk 52 to form placement positions 521 for placing reagent bottles. The grooves can limit the reagent bottles to prevent them from tipping over. There are various types of reagents, so a plurality of different reagents can be placed on one rotating disk 52. According to the requirements, the motor will control the corresponding reagent bottle to rotate to the corresponding position and wait for the reagent to be taken.

[0043] AsFigure 6 As shown, a lifting mechanism 16 is provided at the position where the reagent to be taken is located, which is used to lift the reagent bottle upward so as to take the reagent. Two lifting mechanisms 16 can also be provided and adjusted according to requirements.

[0044] The lifting mechanism 16 is composed of a lifting linear module 161 and a bracket 163. Among them, the lifting linear module 161 is vertically arranged and used to control the lifting of the bracket 163. A lifting plate 162 is installed on the slide plate of the lifting linear module 161, and the bracket 163 is fixedly installed on the lifting plate 162. The middle of the bracket 163 is circular and used to support the reagent bottle. A plurality of limiting members 1631 that bend and extend vertically upward are provided in the circumferential direction of the circular part to prevent the reagent bottle from tipping over.

[0045] At the bottom of each groove of the turntable 21, there is an avoidance hole whose shape is adapted to the shape of the bracket 163. When the corresponding reagent bottle on the rotating disk 52 rotates to the position where the lifting mechanism 16 is located, the lifting linear module 161 will control the bracket 163 to move upward. The bracket 163 will move upward through the avoidance hole and lift the reagent bottle to the height of the test tube rotating module 2, waiting to aspirate the reagent.

[0046] In this embodiment, the turntable 21 rotates in the counterclockwise direction. When the test tube is placed on the turntable 21 and clamped, the turntable 21 will rotate the test tube to the position where the test tube cap screwing mechanism 10 is located, and the test tube cap screwing mechanism 10 will unscrew the cap on the test tube.

[0047] As Figure 1 and Figure 5 shown, the test tube cap screwing mechanism 10 is located at the rightmost side of the workbench 1. It is composed of a multi-axis robot and a cap screwing assembly. Among them, the multi-axis robot can control the multi-position movement and rotation of the cap screwing assembly. The cap screwing assembly is composed of a finger cylinder and two U-shaped clamping jaws. The two U-shaped clamping jaws are respectively connected to the output end of the finger cylinder, and the finger cylinder controls the opening or closing of the two U-shaped clamping jaws.

[0048] The multi-axis robot controls the movement of the cap screwing assembly, and then the finger cylinder controls the two U-shaped clamping jaws to open and clamp the test tube cap. The pressing mechanism 26 on the turntable 21 will control the clamping mechanism 22 to clamp the test tube body. Then the multi-axis robot controls the cap screwing assembly to rotate and unscrew the cap from the test tube.

[0049] When adding reagents, the turntable 21 will rotate and transfer the test tube to the position where the reagent bottle cap screwing mechanism 7 is located.

[0050] As Figure 5As shown, the structure of the reagent bottle cap screwing mechanism 7 is similar to that of the test tube cap screwing mechanism 10, except that the structure of the cap screwing assembly is slightly different. The jaws in this cap screwing assembly are a bit larger and are adapted to the size of the cap on the reagent bottle.

[0051] As Figure 4 shown, two clamping mechanisms 17 are provided above the reagent bottle rotating module, and these two clamping mechanisms 17 are arranged oppositely.

[0052] Refer to Figure 7 、 Figure 8 , the clamping mechanism 17 is composed of a clamping cylinder and a clamping block. The clamping block is connected to the output end of the clamping cylinder. V-shaped grooves are provided on the opposite sides of the two clamping blocks so as to clamp reagent bottles with different diameters.

[0053] Before adding the reagent, the corresponding reagent will be selected first, and the rotating disk 52 will rotate the corresponding reagent to the position where the reagent bottle cap screwing mechanism 7 is located. The lifting mechanism 16 is located on one side of the reagent bottle cap screwing mechanism 7, and the lifting mechanism 16 will lift the reagent bottle upward. When the reagent bottle reaches between the two clamping mechanisms 17, then the two clamping mechanisms 17 will clamp the body of the reagent bottle to prevent the body from rotating when the cap is being screwed off. The reagent bottle cap screwing mechanism 7 will control to clamp the reagent bottle cap and then rotate to screw off the cap and wait for the reagent to be taken.

[0054] Spring buffer structures are provided on both the test tube cap screwing mechanism 10 and the reagent bottle cap screwing mechanism 7. When the cap screwing assembly moves down and approaches the cap, the cap screwing assembly has a certain upward movement space, and the spring buffer structure can play a buffering role to prevent the test tube or reagent bottle from being damaged.

[0055] As Figure 5 shown, the inkjet coding mechanism 8 and the capping mechanism 9 are arranged in sequence between the reagent bottle cap screwing mechanism 7 and the test tube cap screwing mechanism 10. The inkjet coding mechanism 8 is used to spray a two-dimensional code or bar code containing the extract information onto the glass bottle. This glass bottle can be a wide-mouth bottle or a narrow-mouth bottle, and the bottle is filled with the extract after physical and chemical treatment. The capping mechanism 9 is used to press the cap onto the glass bottle.

[0056] The layer detection mechanism 6 is located between the centrifuge 3 and the test tube rotating module 2.

[0057] As Figure 13 shown, this layer detection mechanism 6 is mainly composed of a light-shielding box 61, a camera 63 and a light source board 62. Among them, the light source board 62 and the camera 63 are arranged oppositely and are both installed inside the light-shielding box 61. The light-shielding box 61 is used to block external light, and the light source board 62 is used for supplementary lighting, so that the camera 63 can take clearer pictures.

[0058] The camera 63 is placed horizontally, and the light source board 62 is placed vertically. There is a certain gap between the light source board 62 and the camera 63. The upper surface of the light-shielding box 61 has an entrance for placing a test tube into the light-shielding box 61. The test tube contains the liquid after the first centrifugation.

[0059] Reference Figure 13 , a clamping mechanism 18 is provided below the light-shielding box 61. The clamping mechanism 18 is composed of a linear module, a finger cylinder, and two clamping blocks. The finger cylinder controls the opening and closing of the two clamping blocks. The linear module is vertically arranged for controlling the lifting. The lower surface of the light-shielding box 61 also has an opening. After the test tube is placed into the light-shielding box 61, the lower end of the test tube will pass through the opening and be clamped by the two clamping blocks. Then the linear module controls the lifting to adjust the position of the test tube so that the liquid stratification line in the test tube is within the field of view of the camera 63. The camera 63 will automatically judge whether the liquid in the test tube is stratified and judge the position of the stratification line for subsequent suction of the supernatant.

[0060] As Figure 3 shown, the pipette tip preparation area 102 and the liquid to be tested preparation area 103 are located on the front side of the workbench 1. Two material boxes 15 are placed in the pipette tip preparation area 102. A number of pipette tips 14 are placed in these two material boxes 15. The pipette tips 14 are disposable. The pipette tips 14 are inserted into the material boxes 15 for easy picking.

[0061] A material box positioning mechanism 11 is installed in the liquid to be tested preparation area 103.

[0062] As Figure 14 shown, the material box positioning mechanism 11 is mainly composed of a positioning seat 111, a positioning cylinder 112, and a positioning member 113. The positioning seat 111 has a groove for positioning the material box 15. A number of test tubes are placed in the material box 15. The test tubes contain biological body fluids, that is, the liquids to be tested. The test tubes are stuck in the material box 15 and will not rotate. The positioning cylinder 112 is located on one side of the positioning seat 111, and its output end is connected to the positioning member 113. The positioning member 113 has two abutting portions protruding towards the direction of the positioning seat 111. Two avoidance grooves are provided on one side of the material box 15 close to the positioning cylinder 112 and are matched with the abutting portions. After the material box 15 is placed on the positioning seat 111, the positioning cylinder 112 will control the movement of the positioning member 113. The two abutting portions on the positioning member 113 will pass through the avoidance grooves and insert into the positioning seat 111, and abut the material box 15 to prevent the material box 15 from moving when picking up the test tubes.

[0063] As Figure 3As shown in the figure, the pipette tip preparation area 102 is located between the centrifugation waiting area 105 and the test liquid preparation area 103, and the waste area 106 is located between the pipette tip preparation area 102 and the test liquid preparation area 103, so as to make full use of the limited working space on the workbench 1. A container is placed in the waste area 106 for placing waste pipette tips 14, test tubes, etc.

[0064] The liquid mixing area 104 is located between the pipette tip preparation area 102 and the layering detection mechanism 6. Two vibrating tables (not shown in the figure) are installed in the liquid mixing area 104. After the reagent is added to the test tube containing the biological body fluid, it will be placed in the carrier 19 on the vibrating table. When the carrier 19 is full of test tubes, the vibrating table will vibrate to mix the liquid in the test tubes evenly. The two vibrating tables will work alternately to improve efficiency.

[0065] As Figure 2 shown, a carrier plate 12 is installed between the centrifuge 3 and the layering detection mechanism 6, and between the test tube rotation module 2 and the vibrating table. The carrier plate 12 has several circular grooves, and the carrier plate 12 is used to place the bottle caps. The grooves can position the bottle caps so that the subsequent transplanting module 4 can accurately pick them up.

[0066] As Figure 1 and Figure 15 shown, the transplanting module 4 is installed at the rear side of the workbench 1. A support plate 13 is installed on the workbench 1, and the support plate 13 is vertically fixed on the workbench 1. The transplanting module 4 is installed on the support plate 13. The transfer between the carrier 19 or the test tubes, the addition of the reagent, the biological body fluid and the supernatant are all completed by the transplanting module 4.

[0067] Refer to Figure 15 , the transplanting module 4 is jointly composed of a first transplanting mechanism 41 and a second transplanting mechanism 42, and the two transplanting mechanisms operate independently. The first transplanting mechanism 41 and the second transplanting mechanism 42 are arranged parallel to each other up and down. Among them, the first transplanting mechanism 41 will move back and forth in any area between the centrifugation area 101 and the liquid mixing area 104, and the second transplanting mechanism 42 will move back and forth in any area between the liquid mixing area 104 and the test tube cap screwing mechanism 10.

[0068] As Figure 15 , Figure 16As shown in the figure, the first transplanting mechanism 41 is mainly composed of a multi-axis moving module, a finger cylinder, and clamping plates 411. Among them, the moving module uses a common linear module, which has a moving axis and a rotating axis. The finger cylinder is driven up and down, back and forth, and left and right by a motor-screw rod, and the rotation of the finger cylinder is controlled. During the movement, a sensor will detect its moving position in real time. There are two clamping plates 411, which are respectively connected to the output ends of the finger cylinder. The two clamping plates 411 are controlled by the finger cylinder to open or close. The opposite sides of the two clamping plates 411 have positioning protrusions, which can cooperate with the concave holes on both sides of the carrier 19. The finger cylinder controls the two clamping plates 411 to open, and then clamps the carrier 19 with test tubes. The positioning protrusions will be inserted into the concave holes on both sides of the carrier 19 to play a supporting role and prevent the carrier 19 from falling.

[0069] The main function of the first transplanting mechanism 41 is to clamp and transfer the carrier 19 full of test tubes located in the centrifugation waiting area 105 to the centrifuge 3, or directly clamp and transfer the carrier 19 full of test tubes from the vibrating table to the centrifuge 3, and switch and transfer the carrier 19 back and forth between these areas.

[0070] As Figure 15 , Figure 17 shown in the figure, the second transplanting mechanism 42 is mainly composed of a multi-axis moving module, a mounting plate, a clamping component 421, and a suction component 422. Among them, the structure of the multi-axis moving module is the same as the above-mentioned one, which is used to control the up and down, back and forth, and left and right movement of the clamping component 421 and the suction component 422. During the movement, a sensor will detect its moving position in real time. The mounting plate is fixedly installed on the multi-axis moving module, and the clamping component 421 and the suction component 422 are vertically arranged side by side on the mounting plate.

[0071] The clamping component 421 is composed of a rotation control structure, a finger cylinder, and clamping claws. The rotation control structure is used to control the rotation of the finger cylinder. There are two clamping claws, which are respectively connected to the output ends of the finger cylinder. The finger cylinder controls the two clamping claws to open or close to clamp the test tube or the test tube cap. The rotation control structure will control the finger cylinder to rotate to unscrew the test tube cap.

[0072] The suction component 422 can hold the suction head 14 tightly. Then, when sucking reagents, supernatant, or biological fluids, a negative pressure will be generated on the suction head 14, and the suction head 14 will suck the liquid into the suction head 14. When dropping the liquid, the suction component 422 will generate a positive pressure on the suction head 14, and the suction head 14 will discharge the liquid and drop it into the corresponding container. Each time a liquid is sucked, the suction head 14 will be automatically replaced once.

[0073] The clamping component 421 and the suction component 422 work alternately. A sensor is arranged beside each of the clamping component 421 and the suction component 422 to detect the position of the object below.

[0074] During the specific operation, test tubes containing biological body fluids are placed in the cartridge 15 in the test solution preparation area 103. The second transfer mechanism 42 will control the clamping component 421 to move above the cartridge 15. The clamping component 421 will clamp the test tube cap, unscrew and remove it, and then place the test tube cap on the carrier plate 12 located between the vibrating table and the test tube rotation module 2.

[0075] The second transfer mechanism 42 will clamp an empty test tube and place it on the rotating table 21 of the test tube rotation module 2. The test tube rotation module 2 will clamp the test tube, and then the rotating table 21 will rotate to transfer the test tube to the position where the test tube cap screwing mechanism 10 is located. The test tube cap screwing mechanism 10 will unscrew and remove the test tube cap, and then the test tube rotation module 2 will rotate to transfer the test tube back to its original position.

[0076] The second transfer mechanism 42 will control the suction component 422 to move above the pipette tip preparation area 102 to replace with a new pipette tip 14. Then the pipette tip 14 will move to directly above the test tube with the removed test tube cap in the test solution preparation area 103, suck the biological body fluid in the test tube through the pipette tip 14, and drip the sucked biological body fluid into the test tube on the test tube rotation module 2. Then the used pipette tip 14 will be placed into the container in the waste area 106, and the suction component 422 will pick up a new pipette tip 14 again. After the suction is completed, the second transfer mechanism 42 will screw the test tube cap back onto the test tube in the test solution preparation area 103.

[0077] The reagent rotation module 5 will control the rotating disk 52 to rotate to switch and move the corresponding reagent bottle to the position where the lifting mechanism 16 is located (depending on the type of biological body fluid, the reagent rotation module 5 will automatically rotate to select the corresponding reagent). The lifting mechanism 16 will lift the reagent bottle upward, and at the same time, the two clamping mechanisms 17 will clamp the reagent bottle. Then the reagent bottle cap screwing mechanism 7 will unscrew and remove the reagent bottle cap. The second transfer mechanism 42 will control the suction component 422 to move directly above the reagent bottle, suck the reagent through the pipette tip 14, and then drip the reagent into the test tube containing the biological body fluid on the test tube rotation module. After this operation is completed, the suction component 422 will replace the pipette tip 14 with a new one.

[0078] The test tube rotation module 2 will rotate and convey the test tube to the lower part of the test tube cap screwing mechanism 10, and the test tube cap screwing mechanism 10 will screw the test tube cap back on. Then the test tube rotation module 2 will rotate and convey the test tube back to its original position, and the second transfer mechanism 42 will clamp and transfer it to the layer detection mechanism 6 to detect whether biological body fluid has been added to the test tube and whether the amount of the added biological body fluid meets the requirements. After the detection is completed, the second transfer mechanism 42 will clamp and transfer the test tube to the carrier 19 on the vibrating table. The above operations will be repeated continuously until the carrier 19 on the vibrating table is full of test tubes.

[0079] The vibrating table will generate vibrations to evenly mix the biological body fluid and the reagent in the test tubes on the carrier 19. After the mixing is completed, the first transfer mechanism 41 will clamp and transfer the carrier 19 to the first centrifuge 3 on the far right of the workbench 1, and the centrifuge 3 will perform the first centrifugation on the liquid in the test tubes. According to the different types of biological body fluids, the rotation speed and the movement time of the centrifuge 3 are different and are automatically adjusted according to actual needs. Here, if the centrifuge 3 is working, the first transfer mechanism 41 will place the carrier 19 full of test tubes in the centrifugation waiting area 105 to wait.

[0080] After the first centrifugation is completed, the first transfer mechanism 41 will take out the carrier 19 and transfer it to be placed on the vibrating table. Then the second transfer mechanism 42 will pick up a test tube from the carrier 19 and place it on the layer detection mechanism 6. The camera 63 will perform visual recognition on the liquid in the test tube to determine whether the liquid in the test tube has stratified and the position of the stratification line, and upload the position information to the system for accurately aspirating the supernatant later.

[0081] While detecting, the clamping mechanism 18 under the layer detection mechanism 6 will clamp the test tube, and then the second transfer mechanism 42 will control the clamping component 421 to move to directly above the test tube, remove the test tube cap, and place the test tube cap on the carrier plate 12 between the layer detection mechanism 6 and the centrifuge 3 for placement. Then the second transfer mechanism 42 controls the aspiration component 422 to move to directly above the test tube and aspirate the supernatant through the suction head 14.

[0082] Before aspirating the supernatant, a new empty test tube has been repositioned on the test tube rotation module 2. After the suction head 14 aspirates the supernatant, it will drip the supernatant into the test tube on the test tube rotation module 2. Then the test tube will be re-screwed with the test tube cap, and then it will be clamped and transferred to the empty carrier 19 on the vibrating table. The above operations will be repeated until the carrier 19 is full of test tubes containing the supernatant.

[0083] The test tube from which the supernatant has been aspirated on the layer detection mechanism 6 will have the test tube cap re-screwed, and then it will be discarded into the container in the waste area 106.

[0084] After the carrier 19 on the shaker is filled with test tubes containing supernatant, the first transfer mechanism 41 will clamp and transfer the carrier 19 to the second centrifuge 3, and the centrifuge 3 will perform a second centrifugation on the supernatant in the test tubes. After the centrifugation is completed, the first transfer mechanism 41 will take out the carrier 19 and transfer it back to the shaker.

[0085] The second transfer mechanism 42 will control the clamping component 421 to clamp a test tube and place it on the layer detection mechanism 6. Then, the first transfer mechanism 41 will clamp a carrier 19 carrying a glass bottle from the centrifugation waiting area 105 and transfer it to another shaker. The second transfer mechanism 42 will clamp a glass bottle and transfer it to the test tube rotation module 2. The glass bottle is empty. The bottle cap of the glass bottle will be unscrewed and removed by the test tube cap screwing mechanism 10.

[0086] The second transfer mechanism 42 will remove the test tube cap of the test tube located on the layer detection mechanism 6, then suck the purified liquid after the second centrifugation through the suction head 14, and drop the purified liquid into the glass bottle located on the test tube rotation module 2. Then the glass bottle will be rotated and conveyed by the test tube rotation module 2 to the lower part of the test tube cap screwing mechanism 10, and the glass bottle cap will be tightened.

[0087] After the above operations are completed, the test tube rotation module 2 will convey the glass bottle to the lower part of the capping mechanism 9, and the capping mechanism 9 will press the sealing metal part onto the bottle cap. Then the glass bottle will be conveyed to the position of the coding mechanism 8, and the coding mechanism 8 will spray a two-dimensional code or bar code on the bottle body. Finally, the second transfer mechanism 42 will clamp the glass bottle and place it back into the corresponding carrier 19, thus completing all the processes.

[0088] The above technical solution only reflects the preferred technical solution of the technical solution of the present invention. Some changes that those skilled in the art may make to some parts thereof all reflect the principle of the present invention and fall within the protection scope of the present invention.

Claims

1. An intelligent device for physical and chemical detection, characterized in that, Comprising: A workbench (1) having a centrifugation area (101), a pipette tip stockpiling area (102), a test liquid stockpiling area (103), and a liquid mixing area (104) thereon. The pipette tip stockpiling area (102) is for storing unused pipette tips (14), the test liquid stockpiling area (103) is for storing unused test tubes, and at least one shaker for uniformly mixing the reagent and the test liquid in the test tube is provided in the liquid mixing area (104); A centrifuge (3), with at least one centrifuge (3) installed in the centrifugation area (101); A reagent rotation module (5), the reagent rotation module (5) including a rotatable turntable (52), and a plurality of placement positions (521) for placing reagent bottles are provided in the circumferential direction of the turntable (52); A test tube rotation module (2), the test tube rotation module (2) being located above the reagent rotation module (5), the test tube rotation module (2) including a rotatable rotating table (21), and a plurality of clamping positions for clamping test tubes of different diameters are provided in the circumferential direction of the rotating table (21); A layering detection mechanism (6), a reagent bottle cap screwing mechanism (7), a coding mechanism (8), a capping mechanism (9), and a test tube cap screwing mechanism (10) are sequentially provided in the circumferential direction of the test tube rotation module (2). The layering detection mechanism (6) is for detecting whether the liquid in the centrifuged test tube is layered, the reagent bottle cap screwing mechanism (7) is for opening or tightening the reagent bottle cap, the coding mechanism (8) is for coding the container bottle containing the extract after physicochemical treatment, the capping mechanism (9) is for pressing the bottle cap onto the container bottle, and the test tube cap screwing mechanism (10) is for opening or tightening the test tube cap; A transplanting module (4), the transplanting module (4) including a first transplanting mechanism (41) and a second transplanting mechanism (42). The first transplanting mechanism (41) is for switching and transferring the carrier (19) full of test tubes between the centrifuge (3) and the shaker, and the second transplanting mechanism (42) is for switching and transferring the test tubes between the test liquid stockpiling area (103), the test tube rotation module (2), the shaker, and the layering detection mechanism (6), and for sucking the test liquid or the obtained supernatant or reagent; Wherein the second transplanting mechanism (42) includes a clamping assembly (421) for clamping the test tube or the test tube cap and a sucking assembly (422) for clamping the pipette tip (14) and capable of generating positive pressure or negative pressure on the pipette tip (14).

2. The intelligent device for physical and chemical detection according to claim 1, wherein The test tube rotation module (2) further includes a pressing mechanism (26), a loosening mechanism (27), and a plurality of clamping mechanisms (22) respectively used for clamping test tubes of different diameters. The plurality of clamping mechanisms (22) are respectively installed on the plurality of clamping positions. The pressing mechanism (26) corresponds to one of the clamping mechanisms (22). The clamping mechanism (22) includes a first clamping block (221) and a second clamping block (222). The second clamping block (222) abuts against the first clamping block (221) under the action of a pre-tightening force. The opposite sides of the first clamping block (221) and the second clamping block (222) are provided with positioning grooves for positioning the test tube. The loosening mechanism (27) is used to control the second clamping block (222) to disengage from the first clamping block (221). The pressing mechanism (26) is used to apply a pressing force to the opposite second clamping block (222), so that the second clamping block (222) and the first clamping block (221) cooperate to clamp the test tube.

3. The intelligent device for physical and chemical detection according to claim 2, characterized in that, The clamping mechanism (22) further includes a fixing block (223) and a connecting rod (224). The connecting rod (224) is arranged through the second clamping block (222), and both ends of the first clamping block (221) are respectively connected to both ends of the fixing block (223) through the connecting rod (224). A spring is sleeved on each connecting rod (224). The spring is located between the second clamping block (222) and the fixing block (223) and can apply a pre-tightening force to the second clamping block (222).

4. The intelligent device for physical and chemical detection according to claim 2, characterized in that, The loosening mechanism (27) includes a loosening plate (271) and a loosening air cylinder for controlling the movement of the loosening plate (271). The bottom part of the second clamping block (222) protrudes downward and extends through the rotating table (21) to the movement path of the loosening plate (271).

5. The intelligent device for physical and chemical detection according to claim 1, wherein One side of the reagent rotation module (5) is provided with a lifting mechanism (16). The lifting mechanism (16) includes a lifting linear module (161) and a bracket (163). A lifting plate (162) is installed on the lifting linear module (161). The bracket (163) is installed on the lifting plate (162). Each placement position (521) on the rotating disk (52) has an avoidance hole for the bracket (163) to pass through up and down.

6. The intelligent device for physical and chemical detection according to claim 1, characterized in that, The layer detection mechanism (6) includes a light-shielding box (61), a camera (63), and a light source plate (62). The light source plate (62) and the camera (63) are arranged opposite to each other and are both installed in the light-shielding box (61). The light-shielding box (61) has an entrance for facilitating the test tube to be put into the light-shielding box (61).

7. The intelligent device for physical and chemical detection according to claim 1, wherein, Two clamping mechanisms (17) for clamping reagent bottles are arranged beside the reagent bottle cap screwing mechanism (7). The two clamping mechanisms (17) are arranged opposite to each other and are both located above the reagent rotation module (5). The clamping mechanism (17) includes a clamping air cylinder and a clamping block. The clamping block is connected to the output end of the clamping air cylinder.

8. The intelligent device for physical and chemical detection according to claim 1, wherein, The layer detection mechanism (6) is located between the test tube rotation module (2) and the centrifuge (3). A carrier plate (12) for placing the bottle caps is provided between the centrifuge (3) and the layer detection mechanism (6) and between the test tube rotation module (2) and the vibration table. The carrier plate (12) has a plurality of grooves for positioning the bottle caps.

9. The intelligent device for physical and chemical detection according to claim 1, characterized in that, A cartridge positioning mechanism (11) is provided in the to-be-detected liquid preparation area (103). The cartridge positioning mechanism (11) includes a positioning seat (111), a positioning cylinder (112), and a positioning member (113). The positioning seat (111) has a groove for positioning a cartridge (15) containing test tubes. The positioning cylinder (112) is located on one side of the positioning seat (111). The positioning member (113) is connected to the output end of the positioning cylinder (112). The positioning member (113) has a pressing portion protruding toward the positioning seat (111). The positioning seat (111) has an avoidance groove for facilitating the insertion of the pressing portion into the positioning seat (111) to press the cartridge (15).

10. The intelligent device for physical and chemical detection according to claim 1, characterized in that, The first transfer mechanism (41) includes a multi-axis movement module, a finger cylinder mounted on the multi-axis movement module, and two clamping plates (411) connected to the output ends of the finger cylinder. The second transfer mechanism (42) further includes a multi-axis movement module. An installation plate is provided on the multi-axis movement module. The clamping component (421) and the suction component (422) are arranged side by side on the installation plate.

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