Mechanical arm and blood type analyzer equipment

Abstract

The utility model provides a mechanical arm and blood type analyzer equipment. The mechanical arm comprises a first driving mechanism, a transmission gear, a synchronous belt and a supporting arm assembly. Wherein the first driving mechanism is in transmission connection with the transmission gear, and the transmission gear is in transmission connection with the synchronous belt; one end of the synchronous belt is connected with the first end of the supporting arm assembly, the other end of the synchronous belt is connected with the second end of the supporting arm assembly, and the first driving mechanism can drive the synchronous belt to move through the transmission gear so as to drive the supporting arm assembly to move in the first direction. Due to the fact that the transmission part in the embodiment is the synchronous belt, the cost is low, the size is small, the structure is simple, under the condition that the internal space of the instrument is fixed, the mechanical arm can have a larger movement stroke, meanwhile, more consumables can be placed in the instrument, and therefore the working efficiency of the instrument is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of blood type analysis, in particular to a mechanical arm and blood type analyzer equipment. Background Art

[0002] In the medical field, blood typing cards (referred to as blood typing cards) are usually used to test blood samples.

[0003] At present, when testing a blood type card, a robot arm can be used to perform operations such as taking liquid and testing the test sample. Specifically, the blood type analyzer device can control the robot arm to move to the corresponding equipment station to perform operations such as taking liquid or testing.

[0004] However, in the blood typing equipment of the related art, the robotic arm usually adopts a screw nut or a gear rack solution, but these solutions are not only costly, but also usually large in size. Under the condition of limited internal space of the instrument, they occupy a large internal space and also limit the range of motion of the liquid collection robotic arm. Utility Model Content

[0005] In view of the above problems, an embodiment of the utility model provides a robotic arm and a blood type analyzer device, which not only has a lower cost, but also has a smaller motion module. Under the condition that the internal space of the instrument is fixed, it can move to more positions and also can place more consumables, thereby improving the working efficiency of the instrument.

[0006] In order to achieve the above purpose, the embodiment of the utility model provides the following technical solutions:

[0007] A robotic arm, characterized in that it comprises: a first driving mechanism, a transmission gear, a synchronous belt and an arm assembly; wherein the first driving mechanism is transmission-connected to the transmission gear, and the transmission gear is transmission-connected to the synchronous belt; one end of the synchronous belt is connected to the first end of the arm assembly along a first direction, and the other end of the synchronous belt is connected to the second end of the arm assembly along the first direction, and the first driving mechanism can drive the synchronous belt to move through the transmission gear, thereby driving the arm assembly to move along the first direction.

[0008] In some embodiments, the robotic arm also includes a first support seat, the first driving mechanism includes a fixing part and a transmission rod, the fixing part is arranged on the first support seat, and the first support seat is configured to support and fix the first driving mechanism; the transmission gear is connected to the transmission rod and can rotate under the drive of the first driving mechanism.

[0009] In some embodiments, the synchronous belt includes a working surface, on which a continuous tooth profile is provided, and the tooth profile of the synchronous belt meshes with the tooth groove of the transmission gear to achieve a transmission connection.

[0010] In some embodiments, the robotic arm is also provided with a first idler wheel and a second idler wheel fixedly disposed on the first support seat, and located between the first end and the second end of the arm assembly; along the first direction, the first idler wheel, the transmission gear and the second idler wheel are arranged in sequence, and the synchronous belt portion is wound around the first idler wheel and the second idler wheel.

[0011] In some embodiments, the synchronous belt is also provided with a smooth surface arranged opposite to the working surface; the two ends of the synchronous belt at the meshing point with the transmission gear are respectively wound around the first idler wheel and the second idler wheel, arranged in an "Ω" shape; the smooth surface of the synchronous belt is in contact with the first idler wheel and the second idler wheel, and the synchronous belt can be slidably arranged relative to the first idler wheel and the second idler wheel.

[0012] In some embodiments, the arm assembly is further provided with a guide rod, which extends along the first direction; the first support seat is also provided with a guide groove, and the guide rod is partially arranged in the guide groove and can slide relative to the guide groove along the first direction.

[0013] In some embodiments, a liquid collection assembly is further provided at the second end of the arm assembly; the liquid collection assembly includes a liquid collection needle, and the liquid collection needle is configured to collect liquid from the test sample.

[0014] In some embodiments, the liquid collection assembly also includes a fixing plate; one end of the fixing plate is connected to the second end of the arm assembly, and the other end of the fixing plate is provided with a limiting groove; the liquid collection needle can be arranged in the limiting groove.

[0015] In some embodiments, a limiting plate is further provided on the fixing plate, and the limiting plate is provided on one side of the notch of the limiting groove; the limiting plate can abut against the liquid collection needle to fix the liquid collection needle in the limiting groove.

[0016] An embodiment of the utility model also provides a blood type analyzer device, comprising at least one mechanical arm, a second drive unit and a third drive unit as described in any one of the above embodiments; wherein at least one of the mechanical arms is connected to the second drive unit and the third drive unit, respectively; the second drive unit is configured to drive at least one of the mechanical arms to slide along a second direction, and the third drive unit is configured to drive at least one of the mechanical arms to slide along a third direction; the first direction, the second direction and the third direction are all perpendicular to each other.

[0017] The utility model provides a mechanical arm and a blood type analyzer device, wherein the mechanical arm includes a first driving mechanism, a transmission gear, a synchronous belt and an arm assembly; wherein the first driving mechanism is connected to the transmission gear, and the transmission gear is connected to the synchronous belt; one end of the synchronous belt is connected to the first end of the arm assembly, and the other end of the synchronous belt is connected to the second end of the arm assembly, and the first driving mechanism can drive the synchronous belt to move through the transmission gear, thereby driving the arm assembly to move along the first direction. Since the transmission component in this embodiment is a synchronous belt, it is not only low in cost, but also small in size and simple in structure. Under the condition that the internal space of the instrument is fixed, the mechanical arm can have a larger movement stroke, and more consumables can be placed inside the instrument, thereby improving the working efficiency of the instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 A schematic diagram of the structure of a robotic arm in some embodiments of the present application;

[0020] Figure 2 A schematic diagram of the structure of a robotic arm in some embodiments of the present application;

[0021] Figure 3 A schematic diagram of the structure of the robotic arm in some embodiments of the present application from another perspective;

[0022] Figure 4 A schematic diagram of the structure of a liquid collection component of a robotic arm in some embodiments of the present application;

[0023] Figure 5 A partial structural schematic diagram of a blood type analyzer according to some embodiments of the present application;

[0024] Figure 6 A partial structural schematic diagram of a blood type analyzer including two mechanical arms according to some embodiments of the present application;

[0025] Figure 7 A schematic diagram of the structure of a second driving unit and a mechanical arm of a blood type analyzer in some embodiments of the present application at a viewing angle;

[0026] Figure 8 This is a schematic structural diagram of the second drive unit and the robotic arm of the blood type analyzer in some embodiments of the present application from another perspective. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. All other embodiments obtained are within the scope of protection of the utility model. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication of the inner cavities of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] It should be noted that in the description of the present utility model, the terms "first", "second", and "third" are only used to facilitate the description of different chambers, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include at least one of the features.

[0031] In the blood typing equipment of the related art, the liquid collection robot arm usually adopts a screw nut or a gear rack solution, but the motion module of these solutions is usually large in size. For example, a drive mechanism such as a screw nut or a gear rack is used, but the volume of these drive mechanisms is usually large. Under the condition of limited internal space of the instrument, it not only occupies a larger internal space, but also limits the motion range of the liquid collection robot arm.

[0032] In order to overcome the defects in the prior art, the utility model provides a mechanical arm and a blood type analyzer device, wherein the mechanical arm includes a first driving mechanism, a transmission gear, a synchronous belt and an arm assembly; wherein the first driving mechanism is connected to the transmission gear, and the transmission gear is connected to the synchronous belt; one end of the synchronous belt is connected to the first end of the arm assembly, and the other end of the synchronous belt is connected to the second end of the arm assembly, and the first driving mechanism can drive the synchronous belt to move through the transmission gear, thereby driving the arm assembly to move along the first direction. Since the transmission component in this embodiment is a synchronous belt, it is not only low in cost, but also small in size and simple in structure. Under the condition that the internal space of the instrument is fixed, the mechanical arm can have a larger movement stroke, and more consumables can be placed inside the instrument, thereby improving the working efficiency of the instrument.

[0033] The content of the utility model will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the content of the utility model more clearly and in detail.

[0034] See also Figures 1 to 4 The present embodiment provides a robotic arm 10, which includes a first driving mechanism 100, a transmission gear 200, a synchronous belt 300 and an arm assembly 400; wherein the first driving mechanism 100 is transmission-connected to the transmission gear 200, and the transmission gear 200 is transmission-connected to the synchronous belt 300; one end of the synchronous belt 300 is connected to a first end 401 of the arm assembly 400 along the first direction, and the other end of the synchronous belt 300 is connected to a second end 402 of the arm assembly 400 along the first direction; the first driving mechanism 100 can drive the synchronous belt 300 to move through the transmission gear 200, thereby driving the arm assembly 400 to move along the first direction.

[0035] Specifically, the robot arm 10 also includes a first support seat 500, the first drive mechanism 100 includes a fixing portion 110 and a transmission rod 120, the fixing portion 110 is arranged on the first support seat 500, and the first support seat 500 is configured to support and fix the first drive mechanism 100; the transmission gear 200 is connected to the transmission rod 120 in a transmission manner and can rotate under the drive of the first drive mechanism 100. Further, the first drive mechanism 100 can be a reciprocating drive motor, which can drive the transmission gear 200 to rotate in a forward or reverse direction. In addition, the first support seat 500 can be fixedly arranged in the detection device, or it can move with other drive mechanisms of the detection device, which is not limited here.

[0036] The synchronous belt 300 includes a working surface 310, on which a continuous tooth profile is provided, and the tooth profile of the synchronous belt 300 meshes with the tooth groove of the transmission gear 200 to achieve transmission connection. Specifically, the transmission gear 200 shown is a synchronous pulley, so as to achieve meshing transmission with the synchronous belt 300. One end of the synchronous belt 300 is connected to the first end 401 of the arm assembly 400 along the first direction, and the other end of the synchronous belt 300 is connected to the second end 402 of the arm assembly 400 along the first direction. It should be noted that the first end 401 and the second end 402 of the arm assembly 400 are not limited to the two end points of the arm assembly 400 along the extension direction. As long as the first end 401 and the second end 402 are respectively located on both sides of the meshing point of the synchronous belt 300 and the transmission gear 200 along the first direction, the technical solution of the embodiment of the present application can be realized, and no limitation is made here.

[0037] Specifically, Figure 2-Figure 3 As shown, the first direction can be defined as the Z-axis direction, the second direction as the Y-axis direction, and the third direction as the X-axis direction. The arm assembly 400 is extended along the Z-axis direction, the first end 401 of the arm assembly 400 is the top of the arm assembly 400, and the second end 402 of the arm assembly 400 is the bottom of the arm assembly 400. The synchronous belt 300 is arranged between the first end 401 and the second end 402, and is meshed with the transmission gear 200 for transmission. When the first driving mechanism 100 is started, the transmission rod 120 of the first driving mechanism 100 can drive the synchronous belt 300 to move through the transmission gear 200, thereby driving the arm assembly 400 to move along the Z-axis direction, such as vertically upward or vertically downward.

[0038] In some embodiments, the robotic arm 10 is also provided with a first idler wheel 600a and a second idler wheel 600b fixedly disposed on the first support seat 500, and located between the first end 401 and the second end 402 of the support arm assembly 400; along the first direction, the first idler wheel 600a, the transmission gear 200 and the second idler wheel 600b are arranged in sequence, and the synchronous belt 300 is partially wound around the first idler wheel 600a and the second idler wheel 600b.

[0039] Specifically, the synchronous belt 300 is further provided with a smooth surface 320 arranged opposite to the working surface 310; the two ends of the meshing position of the working surface 310 of the synchronous belt 300 and the transmission gear 200 are respectively wound around the first idler wheel 600a and the second idler wheel 600b, and are arranged in an "Ω" shape; the smooth surface 320 of the synchronous belt 300 contacts the first idler wheel 600a and the second idler wheel 600b, and the synchronous belt 300 can be slidably arranged relative to the first idler wheel 600a and the second idler wheel 600b. By adding the first idler wheel 600a and the second idler wheel 600b, and connecting the two ends of the synchronous belt 300 with the first end 401 and the second end 402 of the arm assembly 400, the synchronous belt 300 is arranged in an "Ω" shape. The first driving mechanism 100 and the transmission gear 200 can be arranged perpendicular to the third direction (X-axis direction), and the synchronous belt 300 is tightened. By adjusting the positions of the first driving mechanism 100 and the transmission gear 200 in the third direction, the synchronous belt 300 can be adjusted to reach the set tension, thereby ensuring the transmission accuracy of the motor. In addition, by setting the first idler wheel 600a and the second idler wheel 600b, the first driving mechanism 100 and the transmission gear 200 can also be arranged transversely along the third direction, avoiding the interference problem between the first driving mechanism 100, the transmission gear 200 and the arm assembly 400.

[0040] In some embodiments, the arm assembly 400 is further provided with a guide rod 410, and the guide rod 410 is extended along the first direction; the first support seat 500 is further provided with a guide groove 510, and the guide rod 410 is partially arranged in the guide groove 510, and can slide relative to the guide groove 510 along the first direction. Specifically, the first end 401 and the second end 402 of the arm assembly 400 are respectively arranged at both ends of the guide rod 410, and are spaced apart on the synchronous belt 300. The first support seat 500 extends along the X-axis direction and toward the arm assembly 400 to form the guide groove 510. The shape of the guide groove 510 is adapted to the shape of the guide rod 410, so that the guide rod 410 can be slidably arranged in the guide groove 510. Through the guide rod 410 and the guide groove 510, the arm assembly 400 will not shake laterally when moving along the Z-axis direction, thereby ensuring the stability of movement.

[0041] In some embodiments, Figure 4 As shown, the second end 402 of the arm assembly 400 is also provided with a liquid collection assembly 420, and the liquid collection assembly 420 includes a liquid collection needle 421, and the liquid collection needle 421 is configured to collect liquid from the test sample. Further, the second end 402 of the arm assembly 400 can also be provided with other functional structures such as a gripper and a detection assembly to meet actual use requirements, which are not limited here one by one.

[0042] Furthermore, the liquid collection assembly 420 further includes a fixing plate 422 , one end of which is connected to the second end 402 of the arm assembly 400 , and the other end of which is fixedly provided with the liquid collection needle 421 .

[0043] In some embodiments, a limiting groove 4221 is provided at the other end of the fixed plate 422, and the liquid collection needle 421 is fixedly arranged in the limiting groove 4221. Preferably, a limiting plate 4222 is also provided on the fixed plate 422, and the limiting plate 4222 is arranged on one side of the notch of the limiting groove 4221. The limiting plate 4222 can abut against the liquid collection needle 421, so as to fix the liquid collection needle 421 in the limiting groove 4221. By means of the limiting plate 4222 provided at the notch of the limiting groove 4221 and the groove wall of the limiting groove 4221, the liquid collection needle 421 can be locked in the limiting groove 4221, and it is not easy to be distorted, thereby ensuring the accuracy of the sampling position. Specifically, the limiting plate 4222 can be an L-shaped sheet metal part, or it can be other shapes or other material parts, which are not specifically limited here.

[0044] The embodiment of the present application also provides a blood type analyzer device 1 for performing blood type detection.

[0045] like Figure 5-Figure 8 As shown, the blood type analyzer device 1 includes at least one mechanical arm 10, a second drive unit 20 and a third drive unit 30 as described in the above embodiment. At least one of the mechanical arms 10 is connected to the second drive unit 20 and the third drive unit 30, respectively. The second drive unit 20 is configured to drive at least one of the mechanical arms 10 to slide along the second direction (Y-axis direction), and the third drive unit 30 is configured to drive at least one of the mechanical arms 10 to slide along the third direction (X-axis direction). By setting the second drive unit 20 and the third drive unit 30, the mechanical arm 10 can be moved to a specific position in the corresponding plane, and the movement in the third direction can be realized by the driving mechanism of the mechanical arm 10, so as to realize the corresponding operation (such as sampling or detection, etc.).

[0046] In some embodiments, the number of the robotic arms 10 can be set to at least two, and the at least two robotic arms 10 are set on the same second driving unit 20 or the third driving unit 30, so that the at least two robotic arms 10 can perform liquid collection or detection work at the same time, thereby improving the operating efficiency of the detection device. Figure 6 As shown, the first mechanical arm 10a and the second mechanical arm 10b are arranged in parallel on the second driving unit 20, and the second driving unit 20 includes two driving mechanisms, which are respectively configured to drive the first mechanical arm 10a and the second mechanical arm 10b. Therefore, the blood type analyzer 1 of this embodiment can simultaneously collect and test two test samples, thereby improving the work efficiency of sample testing. In other embodiments, the blood type analyzer 1 can also be provided with more than two mechanical arms 10 to further improve the work efficiency, which is not specifically limited here.

[0047] Specifically, the second drive unit 20 includes a second drive mechanism 21 and a Y-axis drive transmission device 22, the second drive mechanism 21 and the Y-axis drive transmission device 22 are connected in transmission, and the first support seat 500 on the robot 10 supports and fixes the robot 10. The Y-axis drive transmission device 22 is driven to move by the second drive mechanism 21, thereby driving the robot 10 to move in the second direction (Y-axis direction). Optionally, the Y-axis drive transmission device 22 can be set as a synchronous belt to reduce space occupancy and reduce costs. The second drive mechanism 21 can be a reciprocating motor or other driving mechanical equipment, which is not limited here.

[0048] Furthermore, the second driving unit 20 is also provided with a Y-guide rail 23 extending along the second direction, and the first support seat 500 is provided with a Y-guide rail slider 520, and the Y-guide rail slider 520 can be slidably set on the Y-guide rail 23, thereby ensuring the stability of the robot arm 10 when sliding along the second direction.

[0049] In some embodiments, the blood type analyzer device 1 of this embodiment further includes a second support seat 40, and the second drive mechanism 21 is arranged on the second support seat 40. The third drive unit 30 includes a third drive mechanism 31 and an X-axis drive transmission device 32, and the third drive mechanism 31 and the X-axis drive transmission device 32 are in transmission connection. The second support seat 40 supports and fixes the second drive unit 20 and the robotic arm 10. The X-axis drive transmission device is driven to move by the third drive mechanism 31, thereby driving the robotic arm 10 to move in the third direction (X-axis direction). Optionally, the X-axis drive transmission device 32 can be set as a synchronous belt to reduce space occupancy and reduce costs. The third drive mechanism 31 can be a reciprocating motor or other driving mechanical equipment, which is not limited here.

[0050] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0051] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A robotic arm, characterized in that: include: A first driving mechanism, a transmission gear, a synchronous belt and an arm assembly; wherein the first driving mechanism is transmission-connected to the transmission gear, and the transmission gear is transmission-connected to the synchronous belt; one end of the synchronous belt is connected to the first end of the arm assembly along the first direction, and the other end of the synchronous belt is connected to the second end of the arm assembly along the first direction, and the first driving mechanism can drive the synchronous belt to move via the transmission gear, thereby driving the arm assembly to move along the first direction.

2. The robotic arm according to claim 1, characterized in that: The robotic arm also includes a first support seat, the first driving mechanism includes a fixing portion and a transmission rod, the fixing portion is arranged on the first support seat, and the first support seat is configured to support and fix the first driving mechanism; the transmission gear is connected to the transmission rod and can rotate under the drive of the first driving mechanism.

3. The robotic arm according to claim 2, characterized in that: The synchronous belt comprises a working surface, on which a continuous tooth profile is arranged, and the tooth profile of the working surface meshes with the tooth groove of the transmission gear to achieve transmission connection.

4. The robotic arm according to claim 3, characterized in that: The robotic arm is also provided with a first idler wheel and a second idler wheel fixedly arranged on the first support seat, and located between the first end and the second end of the support arm assembly; along the first direction, the first idler wheel, the transmission gear and the second idler wheel are arranged in sequence, and the synchronous belt portion is wound around the first idler wheel and the second idler wheel.

5. The robotic arm according to claim 4, characterized in that: The synchronous belt is also provided with a smooth surface arranged opposite to the working surface; the two ends of the synchronous belt at the meshing point with the transmission gear are respectively wound around the first idler wheel and the second idler wheel, and are arranged in an "Ω" shape; the smooth surface of the synchronous belt is in contact with the first idler wheel and the second idler wheel, and the synchronous belt can be slidably arranged relative to the first idler wheel and the second idler wheel.

6. The robotic arm according to any one of claims 2 to 5, characterized in that: The arm assembly is also provided with a guide rod, which is extended along the first direction; the first support seat is also provided with a guide groove, and the guide rod is partially arranged in the guide groove and can slide relative to the guide groove along the first direction.

7. The robotic arm according to any one of claims 1 to 5, characterized in that: A liquid collection assembly is disposed at the second end of the arm assembly; the liquid collection assembly comprises a liquid collection needle, and the liquid collection needle is configured to collect liquid from the test sample.

8. The robot arm according to claim 7, characterized in that: The liquid collection assembly also includes a fixing plate; one end of the fixing plate is connected to the second end of the arm assembly, and the other end of the fixing plate is provided with a limiting groove; the liquid collection needle is fixedly disposed in the limiting groove.

9. The robot arm according to claim 8, characterized in that: The fixing plate is provided with a limiting plate, and the limiting plate is provided at one side of the notch of the limiting groove; the limiting plate can abut against the liquid collection needle to fix the liquid collection needle in the limiting groove.

10. A blood type analyzer device, characterized in that: It comprises at least one robotic arm, a second drive unit and a third drive unit as described in any one of claims 1 to 9; wherein, at least one of the robotic arms is connected to the second drive unit and the third drive unit, respectively; the second drive unit is configured to drive at least one of the robotic arms to slide along a second direction, and the third drive unit is configured to drive at least one of the robotic arms to slide along a third direction; the first direction, the second direction and the third direction are all perpendicular to each other.

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