Multi-station test tube rack loading platform

Abstract

The utility model discloses a multi-station test tube rack loading platform which comprises a platform plate, a first rotating platform, a first fixed platform, a second rotating platform and a swing mechanism, and the first rotating platform, the first fixed platform and the second rotating platform are sequentially arranged at the top of the platform plate in the third direction at intervals and used for storing a plurality of test tube racks. And the manipulator grabs the test tubes in the test tube rack into the sample tube storage refrigerator. The rotating mechanism is used for driving the sides, facing the mechanical arm, of the first rotating platform and the second rotating platform to rotate in the direction close to the first fixed platform, and a fan-shaped rotating area allowing the mechanical arm to rotate is formed. Three test tube rack transfer platforms are arranged, cache positions of the test tube racks are added, and parallel processing of the multiple test tube racks is achieved. The mechanical arms in the sample tube storage refrigerator can rotate inwards in the circumferential direction, so that multi-position test tube rack in-out warehouse operation can be achieved, and test tubes are transferred between the sample tube storage refrigerator and the multi-station test tube rack loading platform.

Description

Technical Field

[0001] The utility model relates to the technical field of feeding equipment, in particular to a multi-station test tube rack loading platform. Background Art

[0002] A platform for test tube racks to enter and exit the refrigerator needs to be set up outside the sample tube storage refrigerator for sample tube entry and exit operations. When the test tube is put into storage, the robot grabs the test tube to the test tube rack, and the robot inside the refrigerator drags the test tube rack into the refrigerator for storage; when the test tube needs to be taken out of the refrigerator, the robot inside the refrigerator pushes the tube rack storing the test tube out of the refrigerator, and the robot outside the refrigerator can take the corresponding test tube away. In the prior art, some loading platforms adopt a single-station structure, which has no cache position and cannot realize parallel processing of multiple test tube racks. Utility Model Content

[0003] In order to overcome the above shortcomings, the purpose of the utility model is to provide a multi-station test tube rack loading platform to solve the problem that some loading platforms proposed in the above background technology adopt a single-station structure, which has no cache position and cannot realize parallel processing of multiple test tube racks.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is a multi-station test tube rack loading platform, which is applied to a sample tube storage refrigerator, and the sample tube storage refrigerator includes a manipulator, and the manipulator is arranged on one side of the multi-station test tube rack loading platform along the first direction, and can rotate circumferentially. The multi-station test tube rack loading platform includes: a platform plate, a first rotating platform, a first fixed platform, a second rotating platform and a rotating mechanism, and the platform plate extends along the second direction. The first rotating platform, the first fixed platform and the second rotating platform all extend along the first direction, and are sequentially arranged at intervals along the second direction at the top of the platform plate along the third direction, for storing multiple test tube racks, so that the manipulator can grab the test tubes in the test tube racks and put them into the sample tube storage refrigerator, and the first direction, the second direction and the third direction are perpendicular to each other, and the circumferential direction surrounds the third direction.

[0005] The swivel mechanism is used to respectively drive the first swivel platform and the second swivel platform to rotate along the first direction toward the side of the manipulator, and toward the first fixed platform, so as to form a fan-shaped swivel area for the manipulator to rotate.

[0006] The multi-station test tube rack loading platform provided by the utility model realizes adding test tube rack cache positions and parallel processing of multiple test tube racks by setting three test tube rack transfer platforms, namely, a first rotating platform, a first fixed platform and a second rotating platform. The manipulator in the sample tube storage refrigerator adopts a rotary platform mechanism that can rotate inward along the circumference, so that the multi-position test tube rack storage and retrieval operations can be realized, and the test tubes can be transferred between the sample tube storage refrigerator and the multi-station test tube rack loading platform. When the manipulator is ready to grab the test tubes on the three platforms, the gripper of the manipulator needs to grab at a fixed 45° angle to the third direction to obtain the maximum grabbing space, so the first rotating platform and the second rotating platform need to be set parallel to the first fixed platform; when the manipulator has completed the grabbing and is ready to transfer it to the sample tube storage refrigerator, due to the circumferential rotation of the manipulator, the three test tube rack transfer platforms also need to adapt to the rotation radius of the manipulator in the refrigerator and perform rotational motion. At this time, the first rotating platform and the second rotating platform are driven to rotate in the direction close to the first fixed platform through the rotating mechanism, forming a fan-shaped rotation area for the manipulator to rotate.

[0007] In some embodiments, a plurality of fixing rods are provided at the bottom of the first fixed platform for connecting with the platform plate. A rotating bearing is provided at the bottom of the first rotating platform and the second rotating platform for rotatingly connecting with the platform plate.

[0008] In some embodiments, the slewing mechanism may be driven to rotate by means of slewing bearings provided on the first slewing platform and the second slewing platform.

[0009] In some embodiments, the slewing mechanism includes a first slewing motor and a second slewing motor. The first slewing motor and the second slewing motor are both arranged at the bottom of the platform plate, and are both provided with a coupling at the top for connecting with the rotating bearing. The first slewing motor is arranged corresponding to the position of the first rotating platform, and is used to drive the first rotating platform to rotate, and the second slewing motor is arranged corresponding to the position of the second rotating platform, and is used to drive the second rotating platform to rotate.

[0010] In some embodiments, a first rotary motor and a second rotary motor are correspondingly disposed below the rotary bearings of the first rotary platform and the second rotary platform, and the motors are connected and fixed to the rotary bearings via couplings.

[0011] In some embodiments, the slewing mechanism further includes a limit assembly. The limit assembly includes a first turntable stopper and a second turntable stopper. The first turntable stopper and the second turntable stopper are both arranged on a side of the first rotating platform away from the manipulator along the first direction, the first turntable stopper is arranged close to the first fixed platform, and the second turntable stopper is arranged away from the first fixed platform. The first turntable stopper and the second turntable stopper are both bent sheet metal parts, and both include a bent section extending along the third direction.

[0012] In some embodiments, the limit assembly further includes a first photoelectric sensor and a second photoelectric sensor. The first photoelectric sensor and the second photoelectric sensor are away from the manipulator along the first direction and are disposed on the top of the platform plate. The first photoelectric sensor is disposed close to the first fixed platform and is used to detect the bent section of the first turntable baffle when the first rotating platform is parallel to the first fixed platform, thereby limiting the first rotating platform from continuing to rotate. The second photoelectric sensor is disposed away from the first fixed platform and is used to detect the second turntable baffle when the first rotating platform rotates a set angle, thereby limiting the first rotating platform from continuing to rotate.

[0013] In some embodiments, the first photoelectric sensor and the first turntable baffle are a set of sensing detection components, and the second photoelectric sensor and the second turntable baffle are another set of sensing detection components, which are used to limit the rotation of the first rotating platform.

[0014] In some embodiments, the limit assembly further includes a third turntable stopper, a fourth turntable stopper, a third photoelectric sensor, and a fourth photoelectric sensor. The third turntable stopper and the fourth turntable stopper are mirror images of the first turntable stopper and the second turntable stopper relative to the first rotating platform along the second direction and are disposed on the second rotating platform. The third photoelectric sensor and the fourth photoelectric sensor are mirror images of the first photoelectric sensor and the second photoelectric sensor relative to the first rotating platform along the second direction and are disposed on the top of the platform plate.

[0015] In some embodiments, the limiting assembly is used to limit the rotation of the first rotating platform and the second rotating platform. The second rotating platform is provided with a third turntable baffle, a fourth turntable baffle, a third photoelectric sensor and a fourth photoelectric sensor which are mirror images of the first turntable baffle and the second turntable baffle, and the structures are the same to limit the rotation of the second rotating platform.

[0016] In some embodiments, the limit assembly further includes a first abutment device and a second abutment device. The first abutment device is disposed between the first rotating platform and the first fixed platform, and the second abutment device is disposed between the first fixed platform and the second rotating platform. A sliding abutment rod is provided on a side of the first abutment device facing the first rotating platform and a side of the second abutment device facing the second rotating platform.

[0017] In some embodiments, the sliding abutment rod is used to abut against the test tube racks in the first rotating platform and the first fixed platform to assist in limiting when the first rotating platform, the first fixed platform and the second rotating platform are parallel. A roller is provided on the top of the sliding abutment rod. During the abutment process, the roller contacts and slides before the test tube rack, and then the test tube rack continues to rotate and presses down the sliding abutment rod to achieve the effect of limiting buffering.

[0018] In some embodiments, a side of the first rotating platform away from the first fixed platform and a side of the second rotating platform away from the first fixed platform are both provided with positioning pins for assisting in limiting the rotation of the first rotating platform and the second rotating platform.

[0019] In some embodiments, by providing positioning pins at the extreme positions of both of the two away from the first fixed platform, the rotation positioning accuracy of the first rotating platform and the second rotating platform is ensured.

[0020] In some embodiments, a baffle is provided on the top of the first rotating platform, the first fixed platform and the second rotating platform for fixing the test tube rack. An opening is provided on one side of the baffle facing the manipulator along the first direction.

[0021] In some embodiments, a baffle plate is provided on the top of the three test tube rack transfer platforms and is fixed to the test tube racks by snapping. An opening is provided on the side of the baffle plate facing the manipulator along the first direction for placing or removing the test tube racks. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional multi-station test tube rack loading platform according to an embodiment of the utility model Figure 1 ;

[0023] Figure 2 A three-dimensional multi-station test tube rack loading platform according to an embodiment of the utility model Figure 2 ;

[0024] Figure 3 This is a structural schematic diagram of an embodiment of a multi-station test tube rack loading platform of the utility model, wherein: Figure 3(a) shows the state of the multi-station test tube rack loading platform when the robot performs the pick-and-place operation in the sample tube storage refrigerator. Figure 3 (b) in the figure is the state of the multi-station test tube rack loading platform when the manipulator performs a pick-and-place action in the multi-station test tube rack loading platform;

[0025] In the figure:

[0026] 1-Multi-station test tube rack loading platform;

[0027] 2- Platform plate;

[0028] 30-first rotating platform; 31-first fixed platform; 32-second rotating platform; 33-fixed rod; 34-rotating bearing; 35-enclosing plate; 36-opening;

[0029] 40 - rotation area; 41 - first rotation motor; 42 - second rotation motor;

[0030] 5-limiting assembly; 50-first turntable baffle; 51-second turntable baffle; 52-third turntable baffle; 53-fourth turntable baffle; 54-bending section; 55-first photoelectric sensor; 56-second photoelectric sensor; 57-third photoelectric sensor; 58-fourth photoelectric sensor;

[0031] 60-first abutment device; 61-second abutment device; 62-sliding abutment rod; 63-positioning pin;

[0032] 70-test tube rack; 71-test tube; 72-grip. DETAILED DESCRIPTION

[0033] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0034] refer to Figure 1~Figure 3 , Figure 1 The three-dimensional diagram of a multi-station test tube rack loading platform 1 provided by the embodiment of the utility model is shown. Figure 1 ; Figure 2 The three-dimensional diagram of a multi-station test tube rack loading platform 1 provided by the embodiment of the utility model is shown. Figure 2 ; Figure 3 The structure diagram of a multi-station test tube rack loading platform 1 provided by the utility model is shown, wherein: Figure 3 (a) is the state of the multi-station test tube rack loading platform 1 when the robot performs a pick-and-place operation in the sample tube storage refrigerator. Figure 3(b) in the figure shows the state of the multi-station test tube rack loading platform 1 when the manipulator performs a pick-and-place operation in the multi-station test tube rack loading platform 1 .

[0035] like Figure 1~Figure 3 As shown, the figure shows the technical solution provided by the utility model: a multi-station test tube rack loading platform 1, which is applied to a sample tube storage refrigerator, the sample tube storage refrigerator includes a manipulator, the manipulator is arranged on the multi-station test tube rack loading platform 1 along the first direction ( Figure 1 Y direction) and can be circumferentially ( Figure 3 The multi-station test tube rack loading platform 1 includes: a platform plate 2, a first rotating platform 30, a first fixed platform 31, a second rotating platform 32 and a rotating mechanism. The platform plate 2 rotates along the second direction ( Figure 1 The first rotating platform 30, the first fixed platform 31 and the second rotating platform 32 all extend along the first direction and are sequentially arranged along the second direction at intervals on the platform plate 2 along the third direction ( Figure 1 The top of the refrigerator (as shown in the Z direction) is used to store multiple test tube racks 70 so that the robot can grab the test tubes 71 in the test tube racks 70 and put them into the sample tube storage refrigerator. The first direction, the second direction and the third direction are perpendicular to each other and circumferentially surround the third direction.

[0036] The swivel mechanism is used to respectively drive the first swivel platform 30 and the second swivel platform 32 to rotate along the first direction toward the side of the manipulator, toward the first fixed platform 31, to form a fan-shaped swivel area 40 for the manipulator to rotate.

[0037] The multi-station test tube rack loading platform 1 provided by the present application is provided with three test tube rack 70 transfer platforms, namely, the first rotating platform 30, the first fixed platform 31 and the second rotating platform 32, so as to realize the addition of cache positions of the test tube rack 70 and the parallel processing of multiple test tube racks 70. The manipulator in the sample tube storage refrigerator adopts a rotary platform mechanism that can rotate inward along the circumferential direction, so that the multi-position test tube rack 70 can be put in and out of the warehouse, and the test tube 71 can be transferred between the sample tube storage refrigerator and the multi-station test tube rack loading platform 1. When the manipulator is ready to grab the test tube 71 on the three platforms, the gripper of the manipulator needs to be fixed at a 45° angle to the third direction to obtain the maximum grabbing space, so the first rotating platform 30 and the second rotating platform 32 need to be set parallel to the first fixed platform 31; when the manipulator has completed the grabbing and is ready to transfer it to the sample tube storage refrigerator, due to the circumferential rotation of the manipulator, the three test tube racks 70 transfer platforms also need to adapt to the rotation radius of the manipulator in the refrigerator and perform rotational motion. At this time, the first rotating platform 30 and the second rotating platform 32 are driven to rotate in the direction close to the first fixed platform 31 through the provided rotation mechanism, forming a fan-shaped rotation area 40 for the manipulator to rotate.

[0038] Further, Figure 1 The multi-station test tube rack loading platform 1 is a three-station structure, and can also be arranged into a 5-station or 7-station structure according to the rotation radius of the manipulator in the sample tube storage refrigerator, that is, continue to add a rotating platform extending along the first direction, and drive the newly added rotating platform to rotate synchronously with the first rotating platform 30 and the second rotating platform 32 through the rotating mechanism, forming a fan-shaped rotating area 40 for the manipulator to rotate.

[0039] In some embodiments, reference Figure 1 and Figure 2 A plurality of fixing rods 33 are provided at the bottom of the first fixed platform 31 for connecting with the platform plate 2. A rotating bearing 35 is provided at the bottom of the first rotating platform 30 and the second rotating platform 32 for rotatingly connecting with the platform plate 2.

[0040] For example, the plurality of fixing rods 33 can be connected to the first fixed platform 31 and the platform plate 2 by means of fixed connection such as welding, threaded connection, bolt connection, etc., to ensure the stability of the first fixed platform 31. The slewing mechanism can be driven to rotate by means of the rotating bearings 35 provided on the first rotating platform 30 and the second rotating platform 32.

[0041] Specifically, the rotation bearing 35 is disposed at the center of the bottom of the first rotating platform 30 and the second rotating platform 32 to stably support the first rotating platform 30 and the second rotating platform 32 .

[0042] In some embodiments, reference Figure 1 and Figure 2 The slewing mechanism includes a first slewing motor 41 and a second slewing motor 42. The first slewing motor 41 and the second slewing motor 42 are both arranged at the bottom of the platform plate 2, and a coupling is arranged at the top for connecting with the rotating bearing 35. The first slewing motor 41 is arranged corresponding to the position of the first rotating platform 30, and is used to drive the first rotating platform 30 to rotate. The second slewing motor 42 is arranged corresponding to the position of the second rotating platform 32, and is used to drive the second rotating platform 32 to rotate.

[0043] Exemplarily, a first rotary motor 41 and a second rotary motor 42 are correspondingly disposed below the rotary bearings 35 of the first rotary platform 30 and the second rotary platform 32 , and the motors are fixedly connected to the rotary bearings 35 via couplings.

[0044] In some embodiments, reference Figure 1 and Figure 2The slewing mechanism further includes a limit assembly 5. The limit assembly 5 includes a first turntable stopper 50 and a second turntable stopper 51. The first turntable stopper 50 and the second turntable stopper 51 are both arranged on a side of the first rotating platform 30 away from the manipulator along the first direction, the first turntable stopper 50 is arranged close to the first fixed platform 31, and the second turntable stopper 51 is arranged away from the first fixed platform 31. The first turntable stopper 50 and the second turntable stopper 51 are both bent sheet metal parts, and both include a bent section 54 extending along the third direction.

[0045] In some embodiments, reference Figure 1~Figure 3 The limit assembly 5 also includes a first photoelectric sensor 55 and a second photoelectric sensor 56. The first photoelectric sensor 55 and the second photoelectric sensor 56 are away from the manipulator in the first direction and are arranged on the top of the platform plate 2. The first photoelectric sensor 55 is arranged close to the first fixed platform 31, and is used to detect the bending section 54 of the first turntable baffle 50 when the first rotating platform 30 is parallel to the first fixed platform 31, so as to limit the first rotating platform 30 from continuing to rotate. The second photoelectric sensor 56 is arranged away from the first fixed platform 31, and is used to detect the second turntable baffle 51 when the first rotating platform 30 rotates a set angle, so as to limit the first rotating platform 30 from continuing to rotate.

[0046] Exemplarily, the first photoelectric sensor 55 and the first turntable baffle 50 are a group of sensing detection components, both of which are arranged close to the first fixed platform 31. When the first rotating platform 30 rotates from being inclined to being parallel to the first fixed platform 31, the first turntable baffle 50 rotates synchronously with the first rotating platform 30. When the first photoelectric sensor 55 senses the bending section 54 of the first turntable baffle 50, the drive of the first rotary motor 41 is stopped, so that the first rotating platform 30 is parallel to the first fixed platform 31.

[0047] The second photoelectric sensor 56 and the second turntable baffle 51 are another set of sensing detection components, both of which are arranged away from the first fixed platform 31. When the first rotating platform 30 rotates from being parallel to the first fixed platform 31 to being inclined, the second turntable baffle 51 rotates synchronously with the first rotating platform 30. When the second photoelectric sensor 56 senses the bending section 54 of the second turntable baffle 51, the drive of the first rotary motor 41 is stopped, so that the first rotating platform 30 and the first fixed platform 31 are inclined at a set angle, forming a fan-shaped rotating area 40 for the robot to rotate.

[0048] In some embodiments, reference Figure 1 and Figure 2The limiting assembly 5 further includes a third turntable stopper 52, a fourth turntable stopper 53, a third photoelectric sensor 57, and a fourth photoelectric sensor 58. The third turntable stopper 52 and the fourth turntable stopper 53 are arranged on the second rotating platform 32 along the second direction, in a mirror image with the first turntable stopper 50 and the second turntable stopper 51 relative to the first rotating platform 30. The third photoelectric sensor 57 and the fourth photoelectric sensor 58 are arranged on the top of the platform plate 2 along the second direction, in a mirror image with the first photoelectric sensor 55 and the second photoelectric sensor 56 relative to the first rotating platform 30.

[0049] Exemplarily, the limiting assembly 5 is used to limit the rotation of the first rotating platform 30 and the second rotating platform 32. The second rotating platform 32 is provided with a third turntable stopper 52, a fourth turntable stopper 53, a third photoelectric sensor 57 and a fourth photoelectric sensor 58 which are mirror-set with the first turntable stopper 50 and the second turntable stopper 51, the first photoelectric sensor 55 and the second photoelectric sensor 56, and the structures are all the same to limit the rotation of the second rotating platform 32.

[0050] In some embodiments, reference Figure 1 and Figure 2 The limiting assembly 5 further includes a first abutment device 60 and a second abutment device 61. The first abutment device 60 is disposed between the first rotating platform 30 and the first fixed platform 31, and the second abutment device 61 is disposed between the first fixed platform 31 and the second rotating platform 32. A sliding abutment rod 62 is disposed on the side of the first abutment device 60 facing the first rotating platform 30 and on the side of the second abutment device 61 facing the second rotating platform 32.

[0051] Exemplarily, the sliding abutment rod 62 is used to abut against the test tube rack 70 in the first rotating platform 30 and the first fixed platform 31 to assist in limiting when the first rotating platform 30, the first fixed platform 31 and the second rotating platform 32 are parallel. A roller is provided on the top of the sliding abutment rod 62. During the abutment process, the roller contacts and slides before the test tube rack 70, and then the test tube rack 70 continues to rotate and presses down the sliding abutment rod 62 to achieve the effect of limiting buffering.

[0052] In some embodiments, reference Figure 1 and Figure 2 A positioning pin 63 is provided on the side of the first rotating platform 30 away from the first fixed platform 31 and on the side of the second rotating platform 32 away from the first fixed platform 31 for assisting in limiting the rotation of the first rotating platform 30 and the second rotating platform 32 .

[0053] Exemplarily, in order to ensure the rotational positioning accuracy of the first rotating platform 30 and the second rotating platform 32 , a plurality of positioning pins 63 are provided at the extreme positions of the two platforms away from the first fixed platform 31 as mechanical limits.

[0054] In some embodiments, reference Figure 1 and Figure 2 The tops of the first rotating platform 30, the first fixed platform 31 and the second rotating platform 32 are provided with a baffle plate for fixing the test tube rack 70. An opening 36 is provided on one side of the baffle plate facing the manipulator along the first direction.

[0055] Exemplarily, a baffle plate is provided on the top of the transfer platform of the three test tube racks 70 and is fixed to the test tube racks 70 by snapping. An opening 36 is provided on the side of the baffle plate facing the manipulator along the first direction for placing or removing the test tube racks 70 .

[0056] The above implementation modes are only for illustrating the technical concept and features of the utility model, and their purpose is to allow people familiar with this technology to understand the content of the utility model and implement it. It cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A multi-station test tube rack loading platform, applied to a sample tube storage refrigerator, the sample tube storage refrigerator comprising a manipulator, the manipulator is arranged on one side of the multi-station test tube rack loading platform along a first direction and can rotate along a circumferential direction, characterized in that: The multi-station test tube rack loading platform comprises: A platform plate extending along a second direction; A first rotating platform, a first fixed platform, and a second rotating platform, wherein the first rotating platform, the first fixed platform, and the second rotating platform all extend along the first direction and are sequentially spaced along the second direction at the top of the platform plate along the third direction, and are used to store a plurality of test tube racks so that the manipulator can grab the test tubes in the test tube racks and put them into the sample tube storage refrigerator, wherein the first direction, the second direction, and the third direction are perpendicular to each other, and the circumferential direction surrounds the third direction; The swivel mechanism is used to drive the first swivel platform and the second swivel platform to rotate along the first direction toward the side of the manipulator, thereby forming a fan-shaped swivel area for the manipulator to rotate.

2. The multi-station test tube rack loading platform according to claim 1, characterized in that: A plurality of fixing rods are provided at the bottom of the first fixed platform for connecting with the platform plate; a rotating bearing is provided at the bottom of the first rotating platform and the second rotating platform for rotatingly connecting with the platform plate.

3. The multi-station test tube rack loading platform according to claim 2, characterized in that: The rotating mechanism includes a first rotating motor and a second rotating motor; the first rotating motor and the second rotating motor are both arranged at the bottom of the platform plate, and are both provided with a coupling on the top for connecting to the rotating bearing; the first rotating motor is arranged corresponding to the position of the first rotating platform, and is used to drive the first rotating platform to rotate, and the second rotating motor is arranged corresponding to the position of the second rotating platform, and is used to drive the second rotating platform to rotate.

4. The multi-station test tube rack loading platform according to claim 3, characterized in that: The rotating mechanism also includes a limit assembly; the limit assembly includes a first turntable baffle and a second turntable baffle; the first turntable baffle and the second turntable baffle are both arranged on the side of the first rotating platform away from the manipulator along the first direction, the first turntable baffle is arranged close to the first fixed platform, and the second turntable baffle is arranged away from the first fixed platform; the first turntable baffle and the second turntable baffle are both bent sheet metal parts, and both include a bent section extending along the third direction.

5. The multi-station test tube rack loading platform according to claim 4, characterized in that: The limit assembly also includes a first photoelectric sensor and a second photoelectric sensor; the first photoelectric sensor and the second photoelectric sensor are away from the manipulator along the first direction and are arranged on the top of the platform plate; the first photoelectric sensor is arranged close to the first fixed platform, and is used to detect the bending section of the first turntable baffle when the first rotating platform is parallel to the first fixed platform, so as to limit the first rotating platform from continuing to rotate; the second photoelectric sensor is arranged away from the first fixed platform, and is used to detect the second turntable baffle when the first rotating platform rotates a set angle, so as to limit the first rotating platform from continuing to rotate.

6. The multi-station test tube rack loading platform according to claim 5, characterized in that: The limiting assembly also includes a third turntable baffle, a fourth turntable baffle, a third photoelectric sensor and a fourth photoelectric sensor; the third turntable baffle and the fourth turntable baffle are arranged on the second rotating platform along the second direction, in a mirror image with respect to the first rotating platform and the first turntable baffle and the second turntable baffle; the third photoelectric sensor and the fourth photoelectric sensor are arranged on the top of the platform plate along the second direction, in a mirror image with respect to the first rotating platform and the first photoelectric sensor and the second photoelectric sensor.

7. The multi-station test tube rack loading platform according to claim 4, characterized in that: The limiting assembly also includes a first abutment device and a second abutment device; the first abutment device is arranged between the first rotating platform and the first fixed platform, and the second abutment device is arranged between the first fixed platform and the second rotating platform; a sliding abutment rod is provided on the side of the first abutment device facing the first rotating platform and on the side of the second abutment device facing the second rotating platform.

8. The multi-station test tube rack loading platform according to claim 1, characterized in that: A side of the first rotating platform away from the first fixed platform and a side of the second rotating platform away from the first fixed platform are both provided with positioning pins for assisting in limiting the rotation of the first rotating platform and the second rotating platform.

9. The multi-station test tube rack loading platform according to claim 1, characterized in that: A baffle plate is provided on the top of the first rotating platform, the first fixed platform and the second rotating platform for fixing the test tube rack; an opening is provided on the side of the baffle plate facing the manipulator along the first direction.

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