Automatic unloading mechanism

Abstract

The automatic unloading mechanism comprises a bottom plate and a sliding assembly arranged on the bottom plate, and further comprises a suction head assembly and an unloading assembly, the suction head assembly comprises a suction head rod and a suction head part arranged on the suction head rod in a sleeving mode, and the suction head rod extends in the first direction; the suction head rod is connected with the sliding assembly and can slide in the first direction relative to the bottom plate through the sliding assembly. The unloading assembly comprises a supporting block, a reset piece and an unloading block, the supporting block is arranged on the bottom plate, the unloading block is rotationally connected with the supporting block, and the reset piece abuts against the supporting block and the unloading block; the reset part can apply force for approaching the suction head assembly to the discharging block, so that the discharging block is clamped on the outer side of the suction head rod, and the discharging block abuts against the stop suction head part, so that the suction head part can be separated from the suction head rod in the process that the suction head rod moves in the first direction. Through the sliding assembly, it is ensured that the suction head assembly stably moves in the first direction, the problem that unloading fails or parts are abraded due to deviation is solved, and the complexity and cost of the system are reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of medical devices, and particularly relates to an automatic unloading mechanism. BACKGROUND

[0002] In an automated pipetting workstation, the tips are usually grabbed and unloaded by a pipetting shaft and a tip rod. The existing automatic unloading methods mainly include two types: the first type is to use an independent driving device (such as an additional driving motor or a pneumatic element) to push an unloading plate to scrape off the tips. This method often increases the complexity, cost and control difficulty of the system, and requires an accurate synchronization mechanism to ensure the coordinated action of the unloading plate and the tip rod; the second type is to use a Z-axis lowering device to make the tip rod collide with a fixed clamping block, thereby forcibly scraping off the tips. However, this unloading method with a large impact is easy to damage the precise tip rod and the tips, and requires a high positioning accuracy of the equipment, which needs to consider shock-absorbing measures to protect the key components in the design. Therefore, the existing unloading device still has the defects of complex structure, high cost, and easy damage to the tip rod and the tips during unloading.

[0003] Therefore, it is urgent to design an automatic unloading mechanism to solve the above-mentioned problems. SUMMARY

[0004] In order to solve the technical problems of the existing unloading device mentioned in the background that the structure is complex, the cost is high, and the tip rod and the tips are easy to be damaged during unloading, an automatic unloading mechanism is provided.

[0005] To achieve the above-mentioned purposes, the specific technical scheme of the automatic unloading mechanism of the present application is as follows: An automatic unloading mechanism, comprising a bottom plate and a sliding assembly arranged on the bottom plate, further comprising: a tip assembly, the tip assembly comprising a tip rod and a tip part sleeved on the tip rod, the tip rod extending along a first direction, and the tip rod being connected with the sliding assembly and being capable of sliding relative to the bottom plate along the first direction through the sliding assembly; an unloading assembly, the unloading assembly comprising a supporting block, a reset member and an unloading block, the supporting block being arranged on the bottom plate, the unloading block being rotatably connected with the supporting block, and the reset member being in abutment with the supporting block and the unloading block respectively; The reset member can apply a force to the unloading block to approach the tip assembly, so that the unloading block is clamped on the outside of the tip rod, and the unloading block abuts against the stopper to make the tip part be separated from the tip rod during the movement of the tip rod along the first direction.

[0006] Further, the unloading block comprises: a connecting portion, the connecting portion being rotatably connected with the supporting block; A stop portion is provided on the connecting portion, and the stop portion and the connecting portion are arranged at an angle. A clearance groove is provided on the stop portion. When the unloading block is driven close to the suction head assembly by the reset member, the unloading block can be locked onto the outside of the suction head rod through the clearance groove on the stop part. The stop part can be grounded in the suction head to stop the suction head and prevent the suction head from moving along the first direction with the suction head rod.

[0007] Furthermore, the support block is concave, with a groove in the middle for the unloading block to rotate, and the connecting part is located in the groove. The unloading assembly also includes a connecting part, which is connected to the support block through the rotating part.

[0008] Furthermore, the suction head assembly also includes a connecting plate and a sealing plate. The connecting plate is connected to the sliding assembly and is used to drive the suction head rod and the suction head to move along the first direction. The suction head rod is provided on the sealing plate. The sealing plate can abut against the stop part during the movement along the first direction and push the stop part open so that the clearance groove on the stop part disengages from the suction head rod.

[0009] Furthermore, the suction head assembly also includes a sensing plate, which is disposed on the connecting plate. A sensing unit is disposed on the base plate, and the sensing unit and the sensing plate are aligned along a first direction. The sensing plate can move along the first direction with the connecting plate and be inserted into the sensing unit so that the suction head assembly stops moving.

[0010] Furthermore, the reset element is configured as a torsion spring.

[0011] Furthermore, the sliding assembly includes a guide rail and a slider. The guide rail is mounted on the base plate, and the slider is connected to the suction head assembly. The slider and the guide rail are slidably connected.

[0012] Furthermore, the automatic unloading mechanism also includes a drive component mounted on the base plate for driving the suction head assembly to move along a first direction.

[0013] Furthermore, the driving components include: The drive unit, mounted on the base plate, is used to provide power for the suction head assembly to move in a first direction; The adjustment unit includes a first rotating wheel and a second rotating wheel, which are spaced apart on the base plate. One of the first rotating wheel and the second rotating wheel is rotatably connected to the output end of the drive unit, and the other is rotatably mounted on the base plate. The first rotating wheel and the second rotating wheel are connected by a timing belt. The timing belt located between the first rotating wheel and the second rotating wheel is connected to the suction head assembly or the sliding part to transmit the power of the drive unit to the suction head assembly.

[0014] Furthermore, a sawtooth structure is provided on the synchronous belt, and a sawtooth part that meshes with the sawtooth structure is provided on the suction head assembly or sliding part. The synchronous belt drives the suction head assembly or sliding part to move along the first direction through the meshing sawtooth part and the sawtooth structure.

[0015] The automatic unloading mechanism of the present invention has the following advantages: the automatic unloading mechanism ensures the stable movement of the suction head assembly along the first direction through the sliding component, and the direct linkage between the suction head assembly and the sliding component avoids the problem of unloading failure or component wear due to deviation, reducing system complexity and cost; the unloading component consists only of a support block, a reset component and an unloading block, which is compact in structure, easy to assemble and maintain, wherein the elastic force of the reset component is used to realize the automatic reset of the unloading block, avoiding rigid collision and reducing mechanical damage to the suction head rod and suction head; the suction head is smoothly separated from the suction head rod by the stopping action of the unloading block, with small impact during the unloading process, which is suitable for precision medical device scenarios. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the automatic unloading mechanism of the present invention; Figure 2 This is a schematic diagram of the unloading component of the present invention; Figure 3 This is a schematic diagram of the support block of the present invention; Figure 4 This is a cross-sectional view of the automatic unloading mechanism of the present invention in the material handling state. Figure 5 This is a front view of the automatic unloading mechanism of the present invention in the material handling state; Figure 6 This is a cross-sectional view of the automatic unloading mechanism of the present invention in the unloading state; Figure 7 This is a cross-sectional view of the automatic unloading mechanism of the present invention in the unloading state.

[0017] Explanation of markings in the diagram: 1. Base plate; 11. Sensing unit; 2. Sliding assembly; 21. Guide rail; 22. Slider; 3. Suction head assembly; 31. Suction head rod; 32. Suction head; 33. Connecting plate; 34. Sealing plate; 35. Sensing plate; 4. Unloading assembly; 41. Support block; 42. Reset component; 43. Unloading block; 431. Connecting part; 432. Stop part; 433. Clearance groove; 44. Rotating part; 5. Drive assembly; 51. Drive part; 52. First rotating wheel; 53. Second rotating wheel; 54. Synchronous belt; 541. Serrated structure; 6. Serrated part. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0019] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0020] The following is a reference to the appendix. Figure 1 To be continued Figure 7 This invention describes an automatic unloading mechanism.

[0021] This embodiment provides an automatic unloading mechanism. Figure 1 This is a schematic diagram of the automatic unloading mechanism in this embodiment; Figure 2 This is a schematic diagram of the unloading component in this embodiment; as shown Figure 1 and Figure 2 As shown, the automatic unloading mechanism includes a base plate 1 and a sliding assembly 2 disposed on the base plate 1. The automatic unloading mechanism also includes a suction head assembly 3 and an unloading assembly 4. The suction head assembly 3 includes a suction head rod 31 and a suction head 32 sleeved on the suction head rod 31. The suction head rod 31 extends along a first direction and is connected to the sliding assembly 2 and can slide relative to the base plate 1 along the first direction through the sliding assembly 2. The unloading assembly 4 includes a support block 41, a reset member 42, and a discharge block 43. The support block 41 is disposed on the base plate 1, and the discharge block 43 is rotatably connected to the support block 41. The reset member 42 abuts against the support block 41 and the discharge block 43 respectively. The reset member 42 can apply a force close to the suction head assembly 3 to the discharge block 43 so that the discharge block 43 is locked on the outside of the suction head rod 31. The discharge block 43 abuts against the stop suction head 32 so that the suction head 32 can disengage from the suction head rod 31 during the movement of the suction head rod 31 along the first direction.

[0022] Understandably, the automatic unloading mechanism ensures the stable movement of the suction head assembly 3 along the first direction through the sliding component 2. The direct linkage between the suction head assembly 3 and the sliding component 2 avoids the problem of unloading failure or component wear due to deviation, reducing system complexity and cost. The unloading component 4 consists only of a support block 41, a reset component 42, and an unloading block 43, which is compact, easy to assemble and maintain. The elastic force of the reset component 42 is used to realize the automatic reset of the unloading block 43, avoiding rigid collisions and reducing mechanical damage to the suction head rod 31 and the suction head. The suction head 32 is smoothly separated from the suction head rod 31 by the stopping action of the unloading block 43. The unloading process has little impact and is suitable for precision medical device scenarios.

[0023] Furthermore, such as Figure 1 and Figure 2 As shown, the unloading block 43 includes a connecting part 431 and a stop part 432. The connecting part 431 is rotatably connected to the support block 41. The stop part 432 is disposed on the connecting part 431 and is disposed at an angle to the connecting part 431. The stop part 432 is provided with a relief groove 433. When the unloading block 43 is driven close to the suction head assembly 3 by the reset member 42, the unloading block 43 can be locked on the outside of the suction head rod 31 through the relief groove 433 on the stop part 432. The stop part 432 can be grounded to the suction head 32 to stop the suction head 32 and prevent the suction head 32 from moving along the first direction with the suction head rod 31.

[0024] Understandably, the design of the relief groove 433 of the stop part 432 allows the unloading block 43 to be precisely engaged with the outside of the suction head rod 31, avoiding interference with the movement path of the suction head rod 31. The stop part 432 with the included angle enhances the blocking effect on the suction head 32, ensuring that the suction head 32 is only subject to unidirectional resistance and can be smoothly dislodged. In addition, the separate structure of the connecting part 431 and the stop part 432 facilitates individual processing and replacement, reducing manufacturing and maintenance costs.

[0025] Specifically, such as Figure 2 As shown, the connecting part 431 and the stop part 432 are arranged vertically to form an L-shaped unloading block 43.

[0026] Furthermore, Figure 3 This is a schematic diagram of the support block in this embodiment, as shown below. Figure 2 and Figure 3 As shown, the support block 41 is concave, with a groove in the middle for the unloading block 43 to rotate. The connecting part 431 is located in the groove. The unloading assembly 4 also includes the connecting part 431, which is connected to the support block 41 through the rotating part 44.

[0027] It is understandable that the "concave" shaped support block 41 integrates a groove to provide rotation space for the unloading block 43, making the overall structure more compact and suitable for miniaturized equipment. In addition, the connecting part 431 utilizes the rotating part 44 embedded in the groove to reduce external exposure and avoid motion interference or contamination.

[0028] Preferably, the rotating part 44 is configured as a bolt. In this embodiment, a flat-head bolt is selected. Since the connection between the flat head and the screw is approximately 90°, the bottom of the flat head can be well pressed against the step of the oblong hole, thereby achieving a good fixing effect. In other embodiments, bolts of other shapes can also be selected. Based on the bolt head, they can be divided into hexagonal heads, round heads, etc. Specifically, hexagonal heads have advantages such as easy fastening and disassembly, and are less prone to slippage. Hexagonal heads also have strong anti-torsional properties, so they can be considered when the suction head has a high load. Round heads have advantages such as insulation, non-magnetic properties, corrosion resistance, aesthetics, and rust-free operation, and are mainly used in the medical device industry. Therefore, in actual operation, the appropriate bolt can be selected according to different situations, and other embodiments will not be elaborated further.

[0029] Furthermore, such as Figure 1 and Figure 2 As shown, the suction head assembly 3 also includes a connecting plate 33 and a sealing plate 34. The connecting plate 33 is connected to the sliding assembly 2 and is used to drive the suction head rod 31 and the suction head 32 to move along the first direction. The suction head rod 31 is provided on the sealing plate 34. The sealing plate 34 can abut against the stop part 432 during the movement along the first direction and push the stop part 432 open so that the relief groove 433 on the stop part 432 disengages from the suction head rod 31.

[0030] Understandably, the sealing plate 34 is used to fix the suction head rod 31 and can also push open the stop part 432 when moving, so that the unloading block 43 can be automatically disengaged, simplifying the operation process. In addition, the connecting plate 33 is directly linked with the sliding component 2, and the power transmission efficiency of the two is high and the response speed is fast.

[0031] Furthermore, the suction head assembly 3 also includes a sensing sheet 35, which is disposed on the connecting plate 33. A sensing unit 11 is disposed on the base plate 1. The sensing unit 11 and the sensing sheet 35 are aligned along the first direction. The sensing sheet 35 can move along the first direction with the connecting plate 33 and be inserted into the sensing unit 11 so that the suction head assembly 3 stops moving.

[0032] Understandably, the sensor 35 works in conjunction with the sensing unit 11 to provide position feedback, ensuring that the suction head assembly 3 stops immediately after unloading, thus avoiding overshoot or malfunction. In addition, non-contact sensing reduces mechanical wear and improves long-term reliability.

[0033] Specifically, the reset element 42 is set as a torsion spring, which provides stable elastic force to ensure that the unloading block 43 returns to its position quickly. The torsion spring has a long service life, is not prone to fatigue, and is suitable for high-frequency operation.

[0034] In this embodiment, the sliding component 2 includes a guide rail 21 and a slider 22. The guide rail 21 is mounted on the base plate 1, and the slider 22 is connected to the suction head component 3. The slider 22 is slidably connected to the guide rail 21. It can be understood that the guide rail 21 and the slider 22 adopt a standardized sliding pair, which has low motion resistance and high positioning accuracy, and is suitable for scenarios that require repeated positioning.

[0035] Furthermore, such as Figure 1 As shown, the automatic unloading mechanism also includes a drive component 5, which is mounted on the base plate 1 and is used to drive the suction head assembly 3 to move along the first direction.

[0036] Figure 4 This is a cross-sectional view of the automatic unloading mechanism in the material handling state in this embodiment; Figure 5 This is a front view of the material handling state of the automatic unloading mechanism in this embodiment.

[0037] Specifically, such as Figure 1 , Figure 4 and Figure 5 As shown, the drive assembly 5 includes a drive unit 51 and an adjustment unit. The drive unit 51 is mounted on the base plate 1 and is used to provide power for the suction head assembly 3 to move in a first direction. The adjustment unit includes a first rotating wheel 52 and a second rotating wheel 53. The first rotating wheel 52 and the second rotating wheel 53 are spaced apart on the base plate 1. One of the first rotating wheel 52 and the second rotating wheel 53 is rotatably connected to the output end of the drive unit 51, and the other is rotatably mounted on the base plate 1. The first rotating wheel 52 and the second rotating wheel 53 are connected by a synchronous belt 54. The synchronous belt 54, located between the first rotating wheel 52 and the second rotating wheel 53, is connected to the suction head assembly 3 or the sliding part to transmit the power of the drive unit 51 to the suction head assembly 3.

[0038] Understandably, the drive component 5 engages with the sawtooth structure 541 via a timing belt 54 to prevent slippage and ensure the synchronous movement of the suction head component 3, thus overcoming the problem of requiring an additional synchronization mechanism in the prior art. In addition, the distance between the first roller 52 and the second roller 53 is adjustable to adapt to different stroke requirements and has strong versatility.

[0039] Specifically, the driving method of the aforementioned drive unit 51 can be hydraulic drive, pneumatic drive, or electric drive. Hydraulic drive typically consists of a hydraulic press, servo valve, oil pump, oil tank, etc., and has advantages such as compact structure, stable operation, and resistance to impact and vibration. However, it also has the disadvantage of oil leakage and environmental pollution. Pneumatic drive typically consists of a cylinder, air valve, air tank, and air compressor. It has the characteristics of convenient air source, fast action, simple structure, low cost, and convenient maintenance. However, its speed control is relatively difficult, and for safety reasons, the air pressure of pneumatic drive should not be too high during use, so the driving force is relatively limited. Electric drive is currently the most commonly used driving method. Its characteristics are convenient power supply, fast response, and large driving force. Signal detection, transmission, and processing are relatively convenient. In addition, electric drive can adopt a variety of flexible control schemes. DC servo motor (AC) is a commonly used electric drive structure. Due to the high speed of the motor, a reduction mechanism (such as harmonic reducer, RV reducer, etc.) is usually required to improve control accuracy. However, it also requires the largest installation space among the three. It should be noted that in actual work, the choice can be made according to different situations, and will not be elaborated further.

[0040] Figure 6 This is a cross-sectional view of the automatic unloading mechanism in the unloading state of this embodiment; Figure 7 This is a cross-sectional view of the unloading state of the automatic unloading mechanism in this embodiment.

[0041] Furthermore, such as Figure 1 , Figure 6 and Figure 7 As shown, a sawtooth structure 541 is provided on the synchronous belt 54, and a sawtooth part 6 that meshes with the sawtooth structure 541 is provided on the suction head assembly 3 or the sliding part. The synchronous belt 54 drives the suction head assembly 3 or the sliding part to move along the first direction through the meshing sawtooth part 6 and the sawtooth structure 541. It can be understood that the sawtooth meshing method transmits a large torque, which is suitable for high-load scenarios, while also having low noise and low wear.

[0042] It should be noted that the aforementioned adjustment unit is not limited to a transmission belt structure; it can also be a worm gear or crank-slider transmission method. Furthermore, in actual operation, different transmission methods can be selected based on the advantages and requirements of different transmission mechanisms. For example, when small-amplitude or slow-speed adjustments are required, a worm gear mechanism can be used, connecting the output shaft of the drive unit 51 to the worm gear and the worm to the suction head assembly 3 to achieve the desired effect. When long-term reciprocating unloading operations are required and the unloading space is large, a crank-slider mechanism capable of remote control can be selected. The crank-slider mechanism also has the characteristic of using connecting rods to achieve more complex motion laws and trajectories. Therefore, in actual operation, the appropriate method can be selected based on different situations; other embodiments will not be elaborated upon further.

[0043] The following describes the operating principle of the automatic unloading mechanism using the suction head awaiting unloading as the initial state. It should be noted that in the above initial state, when the stop part 432 abuts against the edge of the suction head 32, the groove on the stop part 432 is engaged with the suction head rod 31, and the above-mentioned first direction is defined as the vertical direction. When materials need to be retrieved, such as Figure 4 and Figure 5 As shown, the drive unit 51 drives the suction head assembly 3 to descend as a whole until the sealing plate 34 abuts against the stop part 432. At this time, as the suction head assembly 3 continues to descend, the sealing plate 34 will push open the stop part 432, so that the stop part 432 will gradually rotate and gradually disengage from the suction head rod 31 until the suction head rod 31 descends to the limit position and completes the material picking. During this process, the reset member 42 is in an energy storage state. When unloading is required, such as Figure 6 and Figure 7 As shown, the drive unit 51 drives the suction head assembly 3 to rise. At this time, under the action of the reset member 42, the unloading block 43 rotates in the opposite direction and returns to the initial state, that is, when the stop part 432 abuts against the edge of the suction head 32. After that, the suction head assembly 3 continues to rise. Due to the action of the stop part 432, the suction head 32 will be stopped by the stop part 432, thereby causing the suction head 32 to fall off the suction head rod 31 and completing the unloading.

[0044] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic unloading mechanism, comprising a base plate and a sliding assembly disposed on the base plate, characterized in that, Also includes: The suction head assembly includes a suction head rod and a suction head sleeved on the suction head rod. The suction head rod extends along a first direction and is connected to a sliding assembly and can slide relative to the base plate along the first direction through the sliding assembly. The unloading component includes a support block, a reset component, and an unloading block. The support block is mounted on the base plate, the unloading block is rotatably connected to the support block, and the reset component abuts against the support block and the unloading block respectively. The reset component can apply a force close to the suction head assembly to the unloading block, so that the unloading block is locked on the outside of the suction head rod, and the unloading block abuts against the stop suction head, so that the suction head can disengage from the suction head rod as the suction head rod moves in the first direction.

2. The automatic unloading mechanism according to claim 1, characterized in that, The unloading block includes: The connecting part is rotatably connected to the support block; A stop portion is provided on the connecting portion, and the stop portion and the connecting portion are arranged at an angle. A relief groove is provided on the stop portion. When the unloading block is driven close to the suction head assembly by the reset member, the unloading block can be locked onto the outside of the suction head rod through the clearance groove on the stop part. The stop part can be grounded in the suction head to stop the suction head and prevent the suction head from moving along the first direction with the suction head rod.

3. The automatic unloading mechanism according to claim 2, characterized in that, The support block is concave, with a groove in the middle for the unloading block to rotate. The connecting part is located in the groove. The unloading assembly also includes a connecting part, which is connected to the support block through a rotating part.

4. The automatic unloading mechanism according to claim 2, characterized in that, The suction head assembly also includes a connecting plate and a sealing plate. The connecting plate is connected to the sliding assembly and is used to drive the suction head rod and the suction head to move in a first direction. The suction head rod is provided on the sealing plate. The sealing plate can abut against the stop part during the movement in the first direction and push the stop part open so that the clearance groove on the stop part disengages from the suction head rod.

5. The automatic unloading mechanism according to claim 4, characterized in that, The suction head assembly also includes a sensor plate, which is disposed on a connecting plate. A sensing unit is disposed on the base plate. The sensing unit and the sensor plate are aligned along a first direction. The sensor plate can move along the first direction with the connecting plate and be inserted into the sensing unit so that the suction head assembly stops moving.

6. The automatic unloading mechanism according to any one of claims 1-5, characterized in that, The reset element is a torsion spring.

7. The automatic unloading mechanism according to claim 1, characterized in that, The sliding assembly includes a guide rail and a slider. The guide rail is mounted on the base plate, and the slider is connected to the suction head assembly. The slider and the guide rail are slidably connected.

8. The automatic unloading mechanism according to claim 7, characterized in that, The automatic unloading mechanism also includes a drive assembly mounted on the base plate, which is used to drive the suction head assembly to move in a first direction.

9. The automatic unloading mechanism according to claim 8, characterized in that, The driver components include: The drive unit, mounted on the base plate, is used to provide power for the suction head assembly to move in a first direction; The adjustment unit includes a first rotating wheel and a second rotating wheel, which are spaced apart on the base plate. One of the first rotating wheel and the second rotating wheel is rotatably connected to the output end of the drive unit, and the other is rotatably mounted on the base plate. The first rotating wheel and the second rotating wheel are connected by a timing belt. The timing belt located between the first rotating wheel and the second rotating wheel is connected to the suction head assembly or the sliding part to transmit the power of the drive unit to the suction head assembly.

10. The automatic unloading mechanism according to claim 9, characterized in that, A sawtooth structure is provided on the synchronous belt, and a sawtooth part that meshes with the sawtooth structure is provided on the suction head assembly or sliding part. The synchronous belt drives the suction head assembly or sliding part to move along the first direction through the meshing sawtooth part and the sawtooth structure.

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