TIP head boxing device

Abstract

The utility model provides a TIP head boxing device which comprises a storage mechanism, and a storage cavity is formed in the storage mechanism. The queuing mechanism is provided with a TIP head movable track, and a feeding area and a queuing area are arranged on the two sides of the TIP head movable track in the length direction respectively; and the posture adjusting mechanism is provided with a capturing hook, the capturing hook is arranged to be suitable for moving between the storage cavity and the feeding area, the capturing hook is provided with a TIP head and tail bearing groove, and when the capturing hook is located in the storage cavity, an opening of the TIP head and tail bearing groove faces upwards. According to the TIP head boxing device, the capturing hook on the posture adjusting mechanism only grabs the tails of the TIP heads in the using process, it is ensured that when the TIP heads fall to the feeding area, all the TIP heads can fall in the same posture, and then the situation that the postures of the TIP heads falling to the feeding area are different, and grabbing of the TIP heads by the subsequent boxing mechanism is affected is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of medical auxiliary equipment, in particular to a TIP head box mounting device. Background Art

[0002] The TIP head refers to a cutting-edge component used in experiments or medical fields. The traditional semi-automatic TIP head boxing device is still cumbersome to operate, and the efficiency improvement compared to manual loading of the TIP head is not obvious. The Chinese invention patent publication number CN111762371A discloses a desktop pipette tip boxing machine, in which the tips enter the feeding component from the material bin, enter the feeding component under the action of the tip conveying component, and finally enter the tip box moving platform component to complete the boxing. The entire process does not require manual operation.

[0003] However, when technicians in this field apply the above-mentioned prior art, due to the need to pack multiple TIP heads at the same time, their loading wheel cannot adjust the posture of each TIP head when transferring the TIP heads, resulting in some TIP heads with large posture differences falling onto the subsequent mechanism and then bouncing up or failing to enter accurately, thereby affecting the operation of the subsequent mechanism on the TIP head.

[0004] Therefore, in order to solve the above problems, the utility model proposes a TIP head box loading device which can adjust the posture of the TIP head during the transfer process to ensure that the TIP head can be accurately grasped later. Utility Model Content

[0005] In order to solve the above problems, the utility model provides a TIP head box loading device.

[0006] According to one purpose of the utility model, the utility model provides a TIP head box loading device, comprising:

[0007] A storage mechanism, wherein the storage mechanism is provided with a storage cavity;

[0008] A queuing mechanism, wherein a TIP head movable track is provided on the queuing mechanism, and two sides of the TIP head movable track in the length direction are respectively a loading area and a queuing area;

[0009] A posture adjustment mechanism, wherein a capture hook is provided on the posture adjustment mechanism, and the capture hook is configured to be movable between the storage cavity and the loading area, and a TIP head and tail supporting groove is provided on the capture hook, and when the capture hook is located in the storage cavity, the opening of the TIP head and tail supporting groove faces upward, and when the capture hook is located directly above the loading area, the opening of the TIP head and tail supporting groove faces downward;

[0010] The box loading mechanism comprises a mechanical arm and a box loading conveying mechanism, wherein the mechanical arm is movably arranged between the box loading conveying mechanism and the queuing area.

[0011] Preferably, the posture adjustment mechanism includes a posture adjustment roller, which is arranged to rotate around its own axis, and a rotation direction is set on the posture adjustment roller. There are multiple capture hooks, and the capture hooks are arranged at intervals along the circumference of the posture adjustment roller, wherein the TIP head and tail supporting grooves on each of the capture hooks are arranged in the rotation direction.

[0012] Preferably, the storage mechanism includes a tray, on which the storage cavity and an opening connecting the inside and outside of the storage cavity are provided, the opening being configured to be suitable for the passage of the capture hook, and the storage cavity is a semicircular storage cavity, wherein the moving trajectory of the capture hook passes through the low point of the storage cavity.

[0013] Preferably, the storage mechanism further comprises a TIP head loading hopper, which is funnel-shaped, has an inlet opened above the TIP head loading hopper, and has an outlet arranged on a side of the TIP head loading hopper close to the tray, the outlet facing the opening on the tray.

[0014] Preferably, the queuing mechanism comprises:

[0015] A guide plate is provided with a TIP head conveying chute, the inner wall of the TIP head conveying chute forms a TIP head movable track, wherein the width of the TIP head conveying chute is smaller than the tail of the TIP head, the TIP head conveying chute is inclined, the loading area is located at a high position of the TIP head conveying chute, and the queuing area is located at a low position of the TIP head conveying chute.

[0016] Preferably, the queuing mechanism further comprises:

[0017] A collecting plate is located above the loading area. There are two collecting plates. One collecting plate is provided on each side of the TIP head conveying chute in the width direction. The distance between the two collecting plates gradually increases as they move away from the loading area.

[0018] Preferably, a queuing port connecting the inside and outside of the queuing area is opened at the lower position of the TIP head movable track, and the queuing mechanism also includes a queue device, which is rotatably arranged outside the queuing port, and at least one waiting slot is opened on the side wall of the queue device, and the outer wall of the queue device is configured to cover the queuing port.

[0019] Preferably, the queuing mechanism further comprises:

[0020] Laser probes and counters, wherein the laser probes are arranged on both sides of the length direction of the TIP head movable track, and the counter is arranged on one side of the TIP head movable track close to the queuing area;

[0021] The queue device is driven by a motor, the capture hook is driven by the drive motor, and the laser probe, the counter and the drive motor are all controlled and connected by an external controller.

[0022] Preferably, the robotic arm includes: a horizontal conveying mechanism and a vertical conveying mechanism installed on the horizontal conveying mechanism, a sleeve is provided at the end of the vertical conveying mechanism, a metal head suitable for sliding in and out of the sleeve is provided on the sleeve, the cylinder drive connects the metal head, and the metal head matches the TIP head.

[0023] Preferably, the robotic arm, the loading box conveying mechanism and the cylinder are all connected to an external controller.

[0024] Compared with the prior art, the beneficial effects of the utility model are:

[0025] The TIP head boxing device stores the TIP head to be boxed through a storage mechanism, and the capture hook on the posture adjustment mechanism grabs the tail of the TIP head in the storage cavity and further transfers it to the loading area. The capture hook changes its opening direction while moving, and the capture hook transfers the TIP head in the storage cavity to the loading area. The TIP head is transferred to the queuing area through the loading area on the movable track. The mechanical arm grabs the TIP head entering the queuing area and transfers it to the loading box on the loading box conveying mechanism to complete the boxing of the TIP head, which can realize full-automatic loading of the TIP head and save the time of manual boxing.

[0026] In the TIP head box loading device, the capture hook on the posture adjustment mechanism only grabs the tail of the TIP head during use, ensuring that when the TIP head falls to the loading area, each TIP head can fall in the same posture, thereby avoiding the TIP heads falling to the loading area with different postures, which affects the subsequent box loading mechanism from grabbing the TIP head.

[0027] The present invention is further described below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an overall schematic diagram of a TIP head box loading device described in the utility model;

[0029] Figure 2 It is a schematic diagram of a storage mechanism and a posture adjustment mechanism of a TIP head box loading device described in the utility model;

[0030] Figure 3It is a schematic diagram of the back side of the posture adjustment mechanism of the TIP head box loading device described in the utility model;

[0031] Figure 4 It is a schematic diagram of a queuing mechanism and a posture adjustment mechanism of a TIP head box loading device described in the utility model;

[0032] Figure 5 It is a schematic diagram of a capture hook of a TIP head box loading device according to the utility model grabbing the tail of the TIP head;

[0033] Figure 6 It is a schematic diagram of a TIP head falling off when a capture hook of a TIP head box loading device described in the utility model catches the TIP head;

[0034] Figure 7 It is a schematic diagram of one viewing angle of a queuing mechanism of a TIP head box loading device described in the utility model;

[0035] Figure 8 It is a schematic diagram of a mechanical arm of a TIP head box loading device of the utility model grabbing a TIP head on a queue device;

[0036] Fig. 9 This is a schematic diagram of assembling a TIP head of a mechanical arm of a TIP head box loading device described in the present invention.

[0037] In the figure: 100, storage mechanism; 101, storage chamber; 102, tray; 103, TIP head loading hopper; 1031, import; 1032, export; 200, queuing mechanism; 201, loading area; 202, queuing area; 203, guide plate; 2031, TIP head conveying chute; 2032, TIP head movable track; 20321, queuing port; 204, collecting plate; 205, queuer; 2051, waiting slot; 300, posture adjustment mechanism; 301, capture hook; 3011, TIP head tail supporting groove; 302, posture adjustment roller; 400, box loading mechanism; 401, robot arm; 4011, horizontal conveying mechanism; 4012, vertical conveying mechanism; 4013, sleeve; 4014, metal head; 402, loading box conveying mechanism; 500, laser probe; 600, counter. DETAILED DESCRIPTION

[0038] The following description is used to fully explain the utility model so that those skilled in the art can implement the utility model. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the utility model defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0039] See also Figure 1-9 The utility model provides a technical solution: a TIP head box loading device, comprising:

[0040] A storage mechanism 100, wherein the storage mechanism 100 is provided with a storage cavity 101;

[0041] A queuing mechanism 200, wherein a TIP head movable track 2032 is provided on the queuing mechanism 200, and two sides of the TIP head movable track 2032 in the length direction are a loading area 201 and a queuing area 202 respectively;

[0042] A posture adjustment mechanism 300, wherein a capture hook 301 is disposed on the posture adjustment mechanism 300, wherein the capture hook 301 is configured to be movable between the storage cavity 101 and the loading area 201, and wherein a TIP head and tail supporting groove 3011 is disposed on the capture hook 301, wherein when the capture hook 301 is located in the storage cavity 101, the opening of the TIP head and tail supporting groove 3011 faces upward, and when the capture hook 301 is located directly above the loading area 201, the opening of the TIP head and tail supporting groove 3011 faces downward;

[0043] The box loading mechanism 400 includes a robot arm 401 and a box loading conveying mechanism 402 . The robot arm 401 is movably disposed between the box loading conveying mechanism 402 and the queuing area 202 .

[0044] When in use, the TIP head to be packed is stored through the storage mechanism 100, the capture hook 301 on the posture adjustment mechanism 300 grabs the tail of the TIP head in the storage cavity 101, and further transfers it to the loading area 201. The capture hook 301 changes its opening direction while moving, and the capture hook 301 transfers the TIP head in the storage cavity 101 to the loading area 201. The TIP head is transferred to the queuing area 202 via the loading area 201 on the movable track. The robot arm 401 grabs the TIP head entering the queuing area 202 and transfers it to the loading box on the loading box conveying mechanism 402, completing the boxing of the TIP head.

[0045] The capture hook 301 on the posture adjustment mechanism 300 only grabs the tail of the TIP head during use, ensuring that when the TIP head falls to the loading area 201, each TIP head can fall in the same posture, thereby avoiding the TIP heads falling to the loading area 201 having different postures, which affects the subsequent box loading mechanism 400 to grab the TIP head.

[0046] Regarding the specific structures of the posture adjustment mechanism 300 and the storage mechanism 100, the posture adjustment mechanism 300 includes:

[0047] A posture adjustment roller 302, wherein the posture adjustment roller 302 is arranged to rotate around its own axis, and a rotation direction is set on the posture adjustment roller 302. There are multiple capture hooks 301, and the capture hooks 301 are arranged at intervals along the circumference of the posture adjustment roller 302, wherein the TIP head and tail supporting grooves 3011 on each of the capture hooks 301 are arranged toward the rotation direction;

[0048] The storage mechanism 100 includes a tray 102, on which the storage cavity 101 and an opening communicating with the inside and outside of the storage cavity 101 are provided, and the opening is configured to allow the capture hook 301 to pass through, and the storage cavity 101 is a semicircular storage cavity 101, wherein the moving track of the capture hook 301 passes through the lowest point of the storage cavity 101. By defining the moving track of the capture hook 301 and the shape of the storage cavity 101, the TIP head stays at the lowest point of the storage cavity 101, and when the posture adjustment roller 302 drives the capture hook 301 to move in the storage cavity 101, the capture hook 301 can effectively contact the TIP head at the lowest point of the storage cavity 101, so as to ensure that the TIP head can stay in the corresponding supporting groove 3011 at the tail of the TIP head, thereby realizing the transfer of the TIP head.

[0049] In one embodiment of the present utility model, the tray 102 includes a bottom plate and a side plate, the bottom plate is an arc-shaped bottom plate, the bottom plate is arranged on one side of the posture adjustment roller 302 in the axial direction, the bottom plate and the posture adjustment roller 302 are clearance-matched, the side plate is arranged on the side of the bottom plate away from the posture adjustment roller 302, the top surface of the side plate is flush with the top surface of the bottom plate, and the inner wall of the side plate and the inner wall of the bottom plate enclose a semicircular storage cavity 101;

[0050] See also Figure 3 The back of the posture adjustment roller 302 is equipped with a driving motor, and the number of the capture hooks 301 is 12, wherein the adjacent capture hooks 301 are equally spaced in the circumferential direction of the posture adjustment roller 302, see Figure 4 The capture hook 301 can grab the TIP head in the tray 102 into the TIP head and tail supporting groove 3011 on the hook when rotating. The capture hook 301 is 3.5 cm long. When the TIP head and tail are facing inward, they will not fall and can be hooked as the capture hook 301 rotates clockwise. When the TIP head and tail are facing outward, they will automatically slide down because the center of gravity is outside the capture hook 301. Therefore, the direction adjustment function is achieved in principle.

[0051] In addition, the storage mechanism 100 also includes a TIP head loading hopper 103, which is arranged on one side of the posture adjustment roller 302 in the horizontal radial direction, and the TIP head loading hopper 103 is funnel-shaped, and an inlet 1031 is opened above the TIP head loading hopper 103. The TIP head loading hopper 103 is provided with an outlet 1032 on the side close to the tray 102, and the outlet 1032 faces the opening on the tray 102.

[0052] For the specific structure of the queuing mechanism 200, see Figure 4-6 , the queuing mechanism 200 comprises:

[0053] A guide plate 203, on which a TIP head conveying chute 2031 is provided, and the inner wall of the TIP head conveying chute 2031 forms a TIP head movable track 2032, wherein the width of the TIP head conveying chute 2031 is smaller than the tail of the TIP head, so as to ensure that when the TIP head falls onto the TIP head conveying chute 2031, the tail of the TIP head can be located above the TIP head conveying chute 2031, thereby unifying the posture of each TIP head for subsequent convenience, the TIP head conveying chute 2031 is inclined, the loading area 201 is located at a high position of the TIP head conveying chute 2031, and the queuing area 202 is located at a low position of the TIP head conveying chute 2031;

[0054] The collecting plate 204 is located above the loading area 201. There are two collecting plates 204. One collecting plate 204 is disposed on each side of the TIP head conveying chute 2031 in the width direction. The distance between the two collecting plates 204 increases gradually as they move away from the loading area 201. Figure 4 As shown, when the capture hook 301 on the posture adjustment roller 302 rotates to 12 o'clock, the TIP head on the capture hook 301 slides into the V-shaped collecting port surrounded by the collecting plate 204 by gravity, and the TIP head further adjusts its posture after passing through the collecting port. The TIP head can be discharged into the inclined TIP head conveying chute 2031 by gravity.

[0055] For further information, see Figure 7 , the queuing mechanism 200 further includes:

[0056] The laser probe 500 and the counter 600 are arranged on both sides of the TIP head movable track 2032 in the length direction, and the counter 600 is arranged on the side of the TIP head movable track 2032 close to the queuing area 202. In one embodiment of the utility model, two laser probes 500 are arranged on each side of the movable track in the length direction. When in use, when the laser probe 500 located at the bottom cannot detect the TIP head, it indicates that the TIP head transmission chute 2031 is empty, and the motor at the back of the linkage posture adjustment roller 302 starts to work; and when the laser counter 600 at the top detects the TIP head, it indicates that the chute is full, and the motor at the back of the linkage posture adjustment roller 302 stops working. It should be noted that the laser probe 500, the counter 600 and the motor at the back of the posture adjustment roller 302 in the device are all controlled and connected by an external controller.

[0057] Furthermore, a queue port 20321 is provided at the lower position of the TIP head movable track 2032, which is connected to the inside and outside of the queue area 202. The queue mechanism 200 also includes a queue device 205, which is rotatably arranged outside the queue port 20321. At least one waiting slot 2051 is provided on the side wall of the queue device 205, and the outer wall of the queue device 205 is configured to cover the queue port 20321. In one embodiment of the utility model, the queue device 205 is a columnar queue device 205, and a pillar capable of supporting the ground is provided below the queue device 205. The pillar and the queue device 205 are connected by a rotating shaft. The queue device 205 is driven by a motor, wherein the motor is connected to an external controller. There are two waiting slots 2051, and a waiting slot 2051 is provided on both sides of the queue device 205 in the radial direction. When in use, the TIP head on the TIP head movable track 2032 slides to the lower position of the TIP head movable track 2032. The motor drives the queuer 205 to rotate, the waiting slot 2051 on the queuer 205 is aligned with the queue port 20321, the TIP head enters the waiting slot 2051 through the queue port 20321, the motor further drives the queuer 205 to rotate, the waiting slot 2051 on the queuer 205 moves to the side away from the guide plate 203, the robot 401 grabs the TIP head in the waiting slot 2051, and the queuer 205 transfers the TIP heads one by one to the grabbing position specified by the robot 401 to avoid the accumulation of multiple TIP heads affecting the grabbing accuracy of the robot 401. As one of the preferred embodiments, the size of the waiting slot 2051 is smaller than the size of the tail of the TIP head, so that the tail of the TIP head can stay above the queuer 205.

[0058] For details on the structure of the robot arm 401 and the loading box conveying mechanism 402, see Figure 8 and 9The loading box conveying mechanism 402 is a slide rail, and the TIP head loading box can be placed on the slide rail. The TIP head loading box on the slide rail is pushed longitudinally, and the loading is completed in conjunction with the gripper on the mechanical arm 401. Specifically, the mechanical arm 401 includes a horizontal conveying mechanism 4011 and a vertical conveying mechanism 4012 installed on the horizontal conveying mechanism 4011. A sleeve 4013 is provided at the end of the vertical conveying mechanism 4012. A metal head 4014 suitable for sliding inside and outside the sleeve 4013 is provided on the sleeve 4013. The sleeve 4013 is built with a cylinder. The cylinder drives and connects the metal head 4014 so that the metal head 4014 can enter and exit the sleeve 4013. The metal head 4014 matches the TIP head. When in use, the sleeve 4013 and the metal head 4014 are driven to move under the action of the horizontal conveying mechanism 4011 and the vertical conveying mechanism 4012. When the metal head 4014 moves to above the waiting slot 2051, the vertical conveying mechanism 4012 drives the metal head 4014 to descend, and the metal head 4014 and the TIP head are clamped. The TIP head is further moved into the TIP head loading box under the action of the horizontal conveying mechanism 4011 and the vertical conveying mechanism 4012, and the cylinder in the sleeve 4013 is started, and the cylinder drives the metal head 4014 to move toward the inside of the sleeve, and the outer wall of the sleeve pushes the TIP head to fall, thereby completing the loading of the TIP head.

[0059] Among them, the mechanical arm 401, the loading box conveying mechanism 402 and the cylinder are all connected to the external controller. When in use, when the TIP head passes through the counter 600 on one side of the TIP head movable track 2032, the counter 600 is linked with the mechanical arm 401, and the mechanical arm 401 moves downward to make the metal head 4014 at the front end take the TIP head, and at the same time, the mechanical arm 401 drives the TIP head to move horizontally to align with the hole on the TIP head loading box. When the mechanical arm 401 places the TIP head in the loading box hole, the outer sleeve 4013 of the metal head 4014 pushes the TIP head away from the metal head 4014. The above process is a loading action. When the counter 600 counts and completes 7 loading actions, the TIP head loading box slide rail pushes the loading box forward longitudinally by one unit, and the gripper mechanical arm 401 is reset to load a new row.

[0060] In summary, the TIP head box loading device can realize fully automated loading of the TIP head through the cooperation of the TIP head loading device and the gripper of the robot arm 401, saving the time of manual box loading for the laboratory staff and reducing the workload of the laboratory staff, so that they can have more time to complete the inspection work.

[0061] The embodiments described above are only used to illustrate the technical ideas and features of the utility model, and their purpose is to enable technicians in this field to understand the content of the utility model and implement it accordingly. The patent application scope of the utility model cannot be limited only by this embodiment, that is, any equivalent changes or modifications made according to the spirit disclosed by the utility model still fall within the patent scope of the utility model.

Claims

1. A TIP head box loading device, It is characterized in that include: A storage mechanism (100), wherein the storage mechanism (100) is provided with a storage cavity (101); A queuing mechanism (200), wherein a TIP head movable track (2032) is provided on the queuing mechanism (200), and two sides of the TIP head movable track (2032) in the length direction are respectively a loading area (201) and a queuing area (202); A posture adjustment mechanism (300), wherein a capture hook (301) is provided on the posture adjustment mechanism (300), and the capture hook (301) is configured to be movable between the storage cavity (101) and the loading area (201), and a TIP head and tail supporting groove (3011) is provided on the capture hook (301), and when the capture hook (301) is located in the storage cavity (101), the opening of the TIP head and tail supporting groove (3011) faces upward, and when the capture hook (301) is located directly above the loading area (201), the opening of the TIP head and tail supporting groove (3011) faces downward; A box loading mechanism (400), the box loading mechanism (400) comprises a mechanical arm (401) and a box loading conveying mechanism (402), the mechanical arm (401) being movably arranged between the box loading conveying mechanism (402) and the queuing area (202).

2. A TIP head box loading device according to claim 1, It is characterized in that The posture adjustment mechanism (300) comprises a posture adjustment roller (302), the posture adjustment roller (302) is arranged to rotate around its own axis, and a rotation direction is arranged on the posture adjustment roller (302). There are a plurality of capture hooks (301), and the capture hooks (301) are arranged at intervals along the circumference of the posture adjustment roller (302), wherein the TIP head and tail supporting grooves (3011) on each of the capture hooks (301) are arranged toward the rotation direction.

3. A TIP head box loading device according to claim 2, It is characterized in that The storage mechanism (100) comprises a tray (102), the tray (102) being provided with the storage cavity (101) and an opening communicating with the inside and outside of the storage cavity (101), the opening being configured to allow the capture hook (301) to pass through, the storage cavity (101) being a semicircular storage cavity (101), wherein the moving track of the capture hook (301) passes through the lowest point of the storage cavity (101).

4. A TIP head box loading device according to claim 3, It is characterized in that The storage mechanism (100) further comprises a TIP head loading hopper (103), wherein the TIP head loading hopper (103) is funnel-shaped, an inlet (1031) is provided on the top of the TIP head loading hopper (103), and an outlet (1032) is provided on a side of the TIP head loading hopper (103) close to the tray (102), and the outlet (1032) faces an opening on the tray (102).

5. A TIP head box loading device according to claim 1, It is characterized in that The queuing mechanism (200) comprises: A guide plate (203) is provided on the guide plate (203), and the inner wall of the TIP head conveying chute (2031) forms a TIP head movable track (2032), wherein the width of the TIP head conveying chute (2031) is smaller than the tail of the TIP head, and the TIP head conveying chute (2031) is inclined, the loading area (201) is located at a high position of the TIP head conveying chute (2031), and the queuing area (202) is located at a low position of the TIP head conveying chute (2031).

6. A TIP head box loading device according to claim 5, It is characterized in that The queuing mechanism (200) further comprises: A collecting plate (204), the collecting plate (204) being located above the loading area (201), the number of the collecting plates (204) being two, one collecting plate (204) being provided on each side of the TIP head conveying chute (2031) in the width direction, and the spacing between the two collecting plates (204) gradually increasing in a manner of moving away from the loading area (201).

7. A TIP head box loading device according to claim 1, It is characterized in that A queuing port (20321) is provided at a lower position of the TIP head movable track (2032) and is connected to the inside and outside of the queuing area (202). The queuing mechanism (200) further comprises a queuing device (205), the queuing device (205) is rotatably arranged outside the queuing port (20321), at least one waiting slot (2051) is provided on the side wall of the queuing device (205), and the outer wall of the queuing device (205) is arranged to cover the queuing port (20321).

8. A TIP head box loading device according to claim 7, It is characterized in that The queuing mechanism (200) further comprises: A laser probe (500) and a counter (600), wherein the laser probe (500) is arranged on both sides of the TIP head movable track (2032) in the length direction, and the counter (600) is arranged on one side of the TIP head movable track (2032) close to the queuing area (202); The queuer (205) is driven by a motor, the capture hook (301) is driven by a drive motor, and the laser probe (500), the counter (600) and the drive motor are all controlled and connected by an external controller.

9. A TIP head box loading device according to claim 1, It is characterized in that The robot arm (401) comprises: a horizontal transmission mechanism (4011) and a vertical transmission mechanism (4012) installed on the horizontal transmission mechanism (4011); a sleeve (4013) is arranged at the end of the vertical transmission mechanism (4012); a metal head (4014) suitable for sliding inside and outside the sleeve (4013) is arranged on the sleeve (4013); a cylinder is built in the sleeve (4013); the cylinder drives and connects the metal head (4014); the metal head (4014) matches the TIP head.

10. A TIP head box loading device according to claim 9, It is characterized in that The mechanical arm (401), the loading box conveying mechanism (402) and the cylinder are all connected to an external controller.

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