Conveying device
By using jaw modules and vehicles on the annular rail assembly line to install and move the container, the problem of complex design and inconvenient operation of the existing annular rail assembly line is solved, and the annular flow operation of the container is realized, with simple design and operation The advantage of simplicity.
Patent Information
- Application Number
- CN202421085390.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-17
- Publication Date
- 2025-02-25
- Estimated Expiration
- 2034-05-17
AI Technical Summary
The existing annular guide rail assembly line has complex design, inconvenient operation, and serious losses, making it difficult to meet the annular flow operation needs of the container.
A conveying device is provided, which installs the container on a vehicle through a jaw module and drives the container to move around an annular track through the vehicle to realize the annular flow operation of the container.
The equipment is simple in design and easy to operate, can effectively meet the circular flow operation needs of containers, and is widely promoted in the field of assembly line operation.
Smart Images
Figure CN222523479U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to a conveying device. Background Art
[0002] Assembly line operation is a common way of working, which means that each operating unit or workstation only focuses on handling a certain task, thereby improving work efficiency. At present, with the continuous development of science and technology, circular rail assembly lines are constantly emerging, which can not only operate in a cycle, but also occupy a small area, which can greatly improve work efficiency. However, existing circular rail assembly lines generally have problems such as complex design, inconvenient operation, and severe loss. Utility Model Content
[0003] The embodiment of the present application provides a conveying device, which can install a container on a carrier through a clamping claw module and drive the container to move around a circular track through the carrier to convey the container, thereby satisfying the circular assembly line operation of the container. It is not only simple in design, but also easy to operate, which is conducive to wide promotion in the field of assembly line operations.
[0004] To this end, the present application provides the following technical solutions:
[0005] A conveying device comprises: a driving module, which is suitable for forming a circular track; a moving module, which is movably mounted on the driving module and is suitable for moving around the circular track; a clamping jaw module, which is suitable for clamping a container and is suitable for mounting the container on a carrier or removing the container from the carrier; the carrier, which is suitable for being mounted on the moving module and is suitable for moving around the circular track with the moving module to convey the container.
[0006] Optionally, the driving module includes a magnetic suspension driving module.
[0007] Optionally, the annular track is arranged around a vertical direction.
[0008] Optionally, the mover module includes a mover connecting member; the mover connecting member has a mover connecting hole, and an inner step of the hole arranged around the inner periphery of the mover connecting hole; the carrier has a carrier flange arranged around its outer periphery; the carrier is suitable for being inserted into the mover connecting hole; the carrier flange is suitable for being supported on the inner step of the hole when the carrier is inserted into the mover connecting hole, so as to install the carrier on the mover module.
[0009] Optionally, the clamping jaw module includes an upstream clamping jaw module and a downstream clamping jaw module; the upstream clamping jaw module is suitable for clamping the container from the bottom and driving the container to rotate and rise to install the container on the carrier, and releasing the clamping and moving downward to disengage from the container; the downstream clamping jaw module is suitable for moving upward and clamping the container from the bottom, and driving the container to rotate and descend to remove the container from the carrier.
[0010] Optionally, the container has a container mouth; the carrier has a carrier hole; the carrier hole is suitable for being threadedly connected to the container mouth so that the container can be installed on the carrier.
[0011] Optionally, the container has a container mouth; the carrier has a carrier hole; the carrier also includes a carrier connector; the carrier connector has an annular structure and is suitable for connecting to the carrier hole through its outer periphery and to the container mouth through its inner periphery, so as to install the container on the carrier.
[0012] Optionally, the conveying device also includes a robot arm module; the robot arm module is suitable for moving the carrier to the movable module or removing the carrier from the movable module, and moving the container to the clamping module or removing the container from the clamping module.
[0013] Optionally, the robot module includes an upstream robot module and a downstream robot module; the upstream robot module is suitable for moving the carrier to the movable module and moving the container to the clamp module; the downstream robot module is suitable for moving the carrier away from the movable module and moving the container away from the clamp module.
[0014] Optionally, the downstream robot arm module is also suitable for moving the container cover to above the container when the container is removed from the carrier; the clamp module includes a downstream clamp module; the downstream clamp module is suitable for installing the container on the container cover and releasing the clamp on the container when the container is installed on the container cover; the downstream robot arm module is also suitable for moving the container away from the downstream clamp module when the clamp is released.
[0015] Optionally, the conveying device also includes a distance sensor and a processor connected to the distance sensor; the movable module is also suitable for driving the carrier and the container installed on the carrier to move above the distance sensor; the distance sensor is suitable for measuring the distance between it and the container when the container moves above it; the processor is suitable for obtaining a distance threshold and determining whether the distance is less than the distance threshold, and determining that the container and the carrier are not installed in place if the distance is less than the distance threshold.
[0016] Optionally, a filling station is arranged on the outside of the driving module; the filling station is suitable for setting a filling unit; the movable module is also suitable for driving the container to move to the filling station through the carrier when the container is installed on the carrier, so as to perform filling operations on the container through the filling unit.
[0017] Optionally, a reaction station is arranged on the outside of the driving module; the reaction station is suitable for setting a reaction unit; the movable module is also suitable for driving the container to move to the reaction station through the carrier when the container is installed on the carrier, so as to perform a reaction operation on the reagent in the container through the reaction unit.
[0018] Compared with the prior art, the technical solution of the present application has beneficial effects.
[0019] For example, the conveying equipment provided in the present application installs the container on the carrier through the clamp module and drives the container to move around the circular track through the carrier to convey the container, thereby meeting the circular assembly line operation of the container. It is not only simple in design, but also easy to operate, which is conducive to wide promotion in the field of assembly line operations.
[0020] For another example, the conveying equipment provided in the present application sets a circular track around the vertical direction, and sets the circular track on the outer side of the driving module, and at the same time, the movable module is movably installed on the circular track on the outer side of the driving module, which can help to release more free space to facilitate the execution of various operations in different free spaces.
[0021] For another example, the conveying equipment provided in the present application adopts a magnetic levitation drive module, which can not only reduce wear, noise and energy consumption, and be beneficial to energy conservation and environmental protection, but also realize high-speed conveying, variable-speed conveying, and single-motor reciprocating conveying, and is very flexible.
[0022] For another example, the conveying equipment provided in the present application uses a distance sensor and a processor to determine whether the container is properly installed on the carrier, which is helpful to ensure the installation stability of the container on the carrier. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 This is a schematic diagram of the structure of the conveying equipment in the embodiment of the present application;
[0024] Figure 2 This is another structural schematic diagram of the conveying device in the embodiment of the present application, in which the mechanical arm module is not shown;
[0025] Figure 3 This is another structural schematic diagram of the conveying device in the embodiment of the present application, in which the mechanical arm module is not shown;
[0026] Figure 4 is a top view of the conveying device in the embodiment of the present application;
[0027] Figure 5 is a schematic diagram of a mover module with a carrier and a container installed in an embodiment of the present application;
[0028] Figure 6 It is a side view of a mover module with a carrier and a container installed in an embodiment of the present application;
[0029] Figure 7 This is a top view of the mover module in the embodiment of the present application;
[0030] Figure 8 is a schematic diagram of a carrier with a container installed in an embodiment of the present application;
[0031] Fig. 9 is another schematic diagram of a carrier with a container installed in an embodiment of the present application;
[0032] Fig.10 This application Fig. 9 a cross-sectional view of the illustrated vehicle;
[0033] Fig.11 It is a schematic diagram of a conveying device in an embodiment of the present application.
[0034] Description of reference numerals:
[0035] 10 conveying equipment, 11 driving module, 111 circular track, 12 mover module, 121 mover connector, 122 mover connecting hole, 123 step in the hole, 124 mover, 13 clamping jaw module, 131 upstream clamping jaw module, 132 downstream clamping jaw module, 14 carrier, 141 carrier flange, 142 carrier hole, 143 carrier connector, 15 robot arm module, 151 upstream robot arm module, 152 downstream robot arm module, 16 distance sensor, 17 processor, 20 container, 21 container mouth, 22 container cover, 30 filling unit, 40 reaction unit, 101 upper carrier station, 102 upper clamping jaw station, 103 sensor station, 104 filling station, 105 reaction station, 106 lower clamping jaw station, 107 lower carrier station. DETAILED DESCRIPTION
[0036] In order to make the purpose, features and beneficial effects of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is understood that the specific implementation methods described below are only used to explain the present application, rather than to limit the present application. In addition, the description of the same or similar parts in different embodiments and the description of the parts, features, effects, etc. belonging to the prior art may be omitted.
[0037] In addition, for the convenience of description, only the parts related to the present application are shown in the drawings instead of all structures. In addition, the same or similar reference numerals may be used in the drawings to refer to the same or similar components in different embodiments.
[0038] Figure 1 This is a schematic diagram of the structure of the conveying equipment in the embodiment of the present application; Figure 2 This is another structural schematic diagram of the conveying equipment in the embodiment of the present application; Figure 3 This is another structural schematic diagram of the conveying equipment in the embodiment of the present application; Figure 4 It is a top view of the conveying equipment in the embodiment of the present application.
[0039] Reference Figures 1 to 4 , an embodiment of the present application provides a conveying device 10.
[0040] Specifically, the conveying device 10 includes a driving module 11, a moving module 12, a clamping module 13 and a carrier 14. In some embodiments, the driving module 11 is suitable for forming a circular track 111; the moving module 12 is movably mounted on the driving module 11 and is suitable for moving around the circular track 111; the clamping module 13 is suitable for clamping the container 20 and mounting the container 20 on the carrier 14 or removing the container 20 from the carrier 14; the carrier 14 is suitable for mounting on the moving module 12 and moving around the circular track 111 with the moving module 12 to convey the container 20.
[0041] In some embodiments, the driving module 11 includes a magnetic suspension driving module. In a specific implementation, the magnetic suspension driving module and the annular track 111 formed by the module are implemented by any known technical means in the art, which are not limited here.
[0042] In some embodiments, the annular track 111 is arranged around the vertical direction. In this case, the annular track 111 is arranged on the outer side of the driving module 11, and the mover module 12 is movably mounted on the annular track 111 on the outer side of the driving module 11. In a specific implementation, the mover module 12 is movably mounted on the annular track 111 using any known technical means in the art, which is not limited here.
[0043] In an embodiment of the present application, the annular track 111 is arranged around the vertical direction, and the annular track 111 is arranged on the outer side of the driving module 11, and the movable module 12 is movably installed on the annular track 111 on the outer side of the driving module 11, which can help to release more free space to facilitate performing various operations in different free spaces.
[0044] Specifically, the space of the mover module 12 except the direction in which it is connected to the annular track 111 is free space. For example, the mover module 12 is connected to the annular track 111 on the outer side of the driving module 11 through its rear end. In this case, the space in the other five directions of the mover module 12 except the space behind it, namely, the upper space, the lower space, the left space, the right space and the front space are all free spaces, which can be used to perform various operations such as installing or removing the carrier 14 on the mover module 11, installing or removing the container 20 on the carrier 14, adding reagents to the installed container 20, and subjecting the container 20 with the added reagents to various reaction measures such as heating or condensation, etc.
[0045] Figure 5 is a schematic diagram of a mover module with a carrier and a container installed in an embodiment of the present application; Figure 6 It is a side view of a mover module with a carrier and a container installed in an embodiment of the present application; Figure 7 It is a top view of the mover module in the embodiment of the present application.
[0046] Reference Figures 5 to 7 In some embodiments, the mover module 12 includes a mover 124 and a mover connector 121. The mover 124 is movably mounted on the annular track 111 of the driving module 11; the mover connector 121 is connected to the mover 124 and is suitable for mounting the carrier 14.
[0047] As mentioned above, in some embodiments, the annular track 111 is arranged around the vertical direction and is located at the outer side of the driving module 11, and the mover module 12 is movably mounted on the annular track 111 at the outer side of the driving module 11. In this case, the mover 124 of the mover module 12 is movably mounted on the annular track 111 at the outer side of the driving module 11, and the mover connector 121 is connected to the outer side of the mover 124. In other words, the mover 124 is movably connected to the annular track 111 at the outer side of the driving module 11 through its rear end, and is fixedly connected to the mover connector 121 through its front end.
[0048] In some embodiments, the mover connector 121 has a mover connection hole 122 and an inner hole step 123 arranged around the inner periphery of the mover connection hole 122. Correspondingly, the carrier 14 has a carrier flange 141 arranged around its outer periphery. In a specific implementation, the carrier 14 is suitable for being inserted into the mover connection hole 122; the carrier flange 141 is suitable for being supported on the inner hole step 123 when the carrier 14 is inserted into the mover connection hole 122, so as to install the carrier 14 on the mover module 12.
[0049] In some embodiments, the carrier 14 has a carrier hole 142. Accordingly, the container 20 has a container opening 21. In a specific implementation, the container 20 is mounted on the carrier 14 by connecting the container opening 21 with the carrier hole 142.
[0050] Figure 8 is a schematic diagram of a carrier with a container installed in an embodiment of the present application; Fig. 9 is another schematic diagram of a carrier with a container installed in an embodiment of the present application; Fig.10 This application Fig. 9 A cross-sectional view of the vehicle shown.
[0051] Reference Figure 8 In some embodiments, the carrier 14 is suitable for mounting a container 20 with a larger volume. In this case, the container 20 has a larger container opening 21, and the container 20 can be directly mounted on the carrier hole 142 of the carrier 14 through the container opening 21. For example, the container 20 can be mounted on the carrier 14 by connecting the container opening 21 and the carrier hole 142 with internal and external threads.
[0052] Reference Fig. 9 and Fig.10 In other embodiments, the carrier 14 is also suitable for installing a container 20 with a smaller volume. In this case, the container 20 has a smaller container mouth 21, and the container 20 cannot be directly installed on the carrier 14. Further, the carrier 14 also includes a carrier connector 143. In a specific implementation, the carrier connector 143 has an annular structure and is suitable for connecting with the carrier hole 142 through its outer periphery and with the container mouth 21 through its inner periphery. For example, the carrier connector 143 is threadedly connected with the carrier hole 142 and the container mouth 21 through its outer periphery and inner periphery, respectively, so as to indirectly install the container 20 on the carrier 14.
[0053] In the embodiment of the present application, since the movable module 12 is suitable for moving around the circular track 111 , the carrier 14 installed on the movable module 11 and the container 20 installed on the carrier 14 are also suitable for moving around the circular track 111 along with the movable module 11 .
[0054] As mentioned above, the gripper module 13 is suitable for gripping the container 20 and installing the container 20 on the carrier 14 or removing the container 20 from the carrier 14 .
[0055] Continue to refer to Figures 1 to 4 In some embodiments, the clamping jaw module 13 is suitable for clamping the container 20 from the bottom and driving the container 20 to rotate upward to install the container 20 on the carrier 14, and driving the container 20 to rotate downward to remove the container 20 from the carrier 14.
[0056] As mentioned above, in some embodiments, the container 20 can be threadedly connected to the carrier hole 142 of the carrier 14 through the container opening 21, so that the container 20 can be rotated up to be installed on the carrier 14 and rotated down to be removed from the carrier 14.
[0057] In some embodiments, the gripper module 13 includes an upstream gripper module 131 and a downstream gripper module 132. The upstream gripper module 131 is suitable for gripping the container 20 from the bottom and driving the container 20 to rotate upward to install the container 20 on the carrier 14, and releasing the grip and moving downward to detach from the container 20; the downstream gripper module 132 is suitable for moving upward and gripping the container 20 from the bottom, and driving the container 20 to rotate downward to remove the container 20 from the carrier 14.
[0058] In a specific implementation, the upstream clamping jaw module 131 and the downstream clamping jaw module 132 may both include a clamping jaw and a clamping jaw driving mechanism connected to the clamping jaw, wherein the clamping jaw driving mechanism is suitable for driving the clamping jaw to move up and down.
[0059] In some embodiments, the conveying device 10 further includes a robot module 15 . The robot module 15 is adapted to move the carrier 14 to the moving module 12 or remove the carrier 14 from the moving module 12 , and to move the container 20 to the gripper module 13 or remove the container 20 from the gripper module 13 .
[0060] In some embodiments, the robot module 15 includes an upstream robot module 151 and a downstream robot module 152. The upstream robot module 151 is suitable for moving the carrier 14 to the moving submodule 12 and moving the container 20 to the gripper module 13; the downstream robot module 152 is suitable for moving the container 20 away from the gripper module 13 and moving the carrier 14 away from the automatic submodule 12.
[0061] In a specific implementation, the upstream robotic arm module 151 and the downstream robotic arm module 152 can be implemented using any technical means known in the art and are not limited here.
[0062] In some embodiments, the downstream robot module 152 is further adapted to move the container cover 22 to the top of the container 20 when the container 20 is removed from the carrier 14. Accordingly, the downstream gripper module 132 is further adapted to install the container 20 on the container cover 22 and release the grip of the container 20 when the container 20 is installed on the container cover 22.
[0063] In a specific implementation, the downstream clamping jaw module 132 is suitable for clamping the container 20 from the bottom and driving the container 20 to rotate and rise so as to install the container 20 on the container cover 22 .
[0064] In some embodiments, the downstream robot module 152 is further adapted to remove the container 20 from the downstream clamping module 132 when the downstream gripping jaw module 132 releases the gripping of the container 20 .
[0065] In some embodiments, the conveying device 10 further includes a distance sensor 16 and a processor 17 connected to the distance sensor 16. Accordingly, the moving submodule 12 is also suitable for driving the carrier 14 and the container 20 mounted on the carrier 14 to move above the distance sensor 16. The distance sensor 16 is suitable for measuring the distance between it and the container 20 when the container 20 moves above it. The processor 17 is suitable for obtaining a distance threshold and determining whether the distance is less than the distance threshold, and determining that the container 20 and the carrier 14 are not installed in place if the distance is less than the distance threshold.
[0066] In a specific implementation, the distance threshold is determined based on the vertical distance between the container 20, especially the bottom of the container 20, and the distance sensor 16 when the container 20 and the carrier 14 are installed in place. When the container 20 moves to above the distance sensor 16 and the vertical distance between the container 20, especially the bottom of the container 20, and the distance sensor 16 is less than the distance threshold, it is obvious that the container 20 is not installed in place on the carrier 14, and the container 20 can still continue to rotate upward until it is installed in place on the carrier 14.
[0067] In a specific implementation, the distance sensor 16 can be implemented by any technical means known in the art, which is not limited here.
[0068] In the embodiment of the present application, the distance sensor 16 and the processor 17 are used to determine whether the container 20 is properly installed on the carrier 14 , which is helpful to ensure the installation stability of the container 20 on the carrier 14 .
[0069] Fig.11 It is a schematic diagram of a conveying device in an embodiment of the present application.
[0070] Reference Fig.11In some embodiments, the outer side of the driving module 11 may be sequentially provided with an upper carrier station 101, an upper clamping station 102, a sensor station 103, a filling station 104, a reaction station 105, a lower clamping station 106 and a lower tool station 107. Among them, the upper carrier station 101 is suitable for performing the operation of installing the carrier 14 on the moving submodule 12; the upper clamping station 102 is suitable for performing the operation of installing the container 20 on the carrier 14; the sensor station 103 is suitable for performing the operation of judging whether the container 20 is installed in place on the carrier 14 through the distance sensor 16 and the processor 17; the filling station 104 is suitable for performing the operation of filling the container 20 with reagents; the reaction station 105 is suitable for performing the operation of reacting the reagents in the container 20; the lower clamping station 106 is suitable for performing the operation of disassembling and removing the container 20 from the carrier 14; and the lower tool station 107 is suitable for performing the operation of disassembling and removing the automatic submodule 12 of the carrier 14.
[0071] In a specific implementation, the filling station 104 is suitable for arranging the filling unit 30 . Accordingly, the moving module 12 is also suitable for driving the container 20 to move to the filling station 104 through the carrier 14 when the container 20 is installed on the carrier 14 , so as to perform a filling operation on the container 20 through the filling unit 30 .
[0072] In some embodiments, the filling unit 30 may include a powder reagent filling device to fill the powder reagent into the container 20 .
[0073] In some embodiments, the filling unit 30 may further include a liquid reagent filling device to fill the liquid reagent into the container 20 .
[0074] In some embodiments, the filling unit 30 may further include a gas reagent filling device to fill the gas reagent into the container 20 .
[0075] In a specific implementation, the reaction station 105 is suitable for setting the reaction unit 40. Accordingly, the moving module 12 is also suitable for driving the container 20 to move to the reaction station 105 through the carrier 14 when the container 20 is installed on the carrier 14, so as to perform a reaction operation on the reagent in the container 20 through the reaction unit 40.
[0076] In some embodiments, the reaction unit 40 may include a heating device to heat the reagents in the container 20 .
[0077] In some embodiments, the reaction unit 40 may further include a cooling device to cool the reagents in the container 20 .
[0078] In some embodiments, the reaction unit 40 may further include a stirring device to stir the reagents in the container 20 .
[0079] In some embodiments, the reaction unit 40 may further include other equipment suitable for performing reaction operations on the reagents in the container 20 in addition to the heating equipment, the cooling equipment, and the stirring equipment.
[0080] In a specific implementation, various workstations arranged outside the driving module 11 can be adjusted according to actual needs to meet the requirements of different application scenarios.
[0081] Although specific embodiments of the present application have been described above, these embodiments are not intended to limit the scope of the present application, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present application are intended to be illustrative rather than limiting, unless otherwise stated. In specific implementations, the technical features of one or more dependent claims may be combined with the technical features of the independent claim, based on actual needs and where technically feasible, and the technical features of the corresponding claims may be combined in any appropriate manner rather than just by the specific combinations listed in the claims.
[0082] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the scope defined by the claims.
Claims
1. A conveying device (10), characterized in that: include: A driving module (11) adapted to form a circular track (111); A mover module (12) which is movably mounted on the driving module (11) and is suitable for moving around the annular track (111); A clamping module (13) is suitable for clamping a container (20) and for mounting the container (20) on a carrier (14) or for removing the container (20) from the carrier (14); the carrier (14) is suitable for being mounted on the movable module (12) and for moving along with the movable module (12) around the annular track (111) to transport the container (20).
2. The conveying device (10) according to claim 1, characterized in that The driving module (11) comprises a magnetic suspension driving module.
3. The conveying device (10) according to claim 1, characterized in that: The annular track (111) is arranged around the vertical direction.
4. The conveying device (10) according to claim 1, characterized in that The mover module (12) comprises a mover connecting member (121); the mover connecting member (121) has a mover connecting hole (122) and an inner hole step (123) arranged around the inner periphery of the mover connecting hole (122); the carrier (14) has a carrier flange (141) arranged around its outer periphery; the carrier (14) is suitable for being inserted into the mover connecting hole (122); the carrier flange (141) is suitable for being supported on the inner hole step (123) when the carrier (14) is inserted into the mover connecting hole (122), so as to install the carrier (14) on the mover module (12).
5. The conveying device (10) according to claim 1, characterized in that The clamping jaw module (13) comprises an upstream clamping jaw module (131) and a downstream clamping jaw module (132); the upstream clamping jaw module (131) is suitable for clamping the container (20) from the bottom and driving the container (20) to rotate and rise so as to install the container (20) on the carrier (14), and releasing the clamping and moving downward to disengage from the container (20); the downstream clamping jaw module (132) is suitable for moving upward and clamping the container (20) from the bottom, and driving the container (20) to rotate and descend so as to remove the container (20) from the carrier (14).
6. The conveying device (10) according to claim 5, characterized in that The container (20) has a container mouth (21); the carrier (14) has a carrier hole (142); the carrier hole (142) is suitable for being threadedly connected to the container mouth (21) so that the container (20) can be installed on the carrier (14).
7. The conveying device (10) according to claim 5, characterized in that The container (20) has a container mouth (21); the carrier (14) has a carrier hole (142); the carrier (14) further includes a carrier connector (143); the carrier connector (143) has an annular structure and is suitable for connecting to the carrier hole (142) through its outer periphery and connecting to the container mouth (21) through its inner periphery, so as to install the container (20) on the carrier (14).
8. The conveying device (10) according to claim 1, characterized in that It also includes a robot arm module (15); the robot arm module (15) is suitable for moving the carrier (14) to the movable module (12) or removing the carrier (14) from the movable module (12), and moving the container (20) to the clamping module (13) or removing the container (20) from the clamping module (13).
9. The conveying device (10) according to claim 8, characterized in that The robot module (15) comprises an upstream robot module (151) and a downstream robot module (152); the upstream robot module (151) is suitable for moving the carrier (14) to the movable module (12) and moving the container (20) to the clamping module (13); the downstream robot module (152) is suitable for moving the carrier (14) away from the movable module (12) and moving the container (20) away from the clamping module (13).
10. The conveying device (10) according to claim 9, characterized in that The downstream robot arm module (152) is also suitable for moving the container cover (22) to the top of the container (20) when the container (20) is removed from the carrier (14); the clamping jaw module (13) includes a downstream clamping jaw module (132); the downstream clamping jaw module (132) is suitable for installing the container (20) on the container cover (22) and releasing the clamping of the container (20) when the container (20) is installed on the container cover (22); the downstream robot arm module (152) is also suitable for removing the container (20) from the downstream clamping jaw module (132) when the clamping is released.
11. The conveying device (10) according to any one of claims 1 to 10, characterized in that The invention also comprises a distance sensor (16) and a processor (17) connected to the distance sensor (16); the movable module (12) is also suitable for driving the carrier (14) and the container (20) installed on the carrier (14) to move to the top of the distance sensor (16); the distance sensor (16) is suitable for measuring the distance between it and the container (20) when the container (20) moves to the top of the distance sensor (16); the processor (17) is suitable for obtaining a distance threshold and judging whether the distance is less than the distance threshold, and judging that the container (20) and the carrier (14) are not installed in place when the distance is less than the distance threshold.
12. The conveying device (10) according to any one of claims 1 to 10, characterized in that A filling station (104) is arranged on the outer side of the driving module (11); the filling station (104) is suitable for arranging a filling unit (30); the movable module (12) is also suitable for driving the container (20) to move to the filling station (104) through the carrier (14) when the container (20) is installed on the carrier (14), so as to perform a filling operation on the container (20) through the filling unit (30).
13. The conveying device (10) according to claim 12, characterized in that A reaction station (105) is arranged on the outer side of the driving module (11); the reaction station (105) is suitable for arranging a reaction unit (40); the moving module (12) is also suitable for driving the container (20) to move to the reaction station (105) through the carrier (14) when the container (20) is installed on the carrier (14), so as to perform a reaction operation on the reagent in the container (20) through the reaction unit (40).