Multi-test-tube transfer device

Abstract

The utility model discloses a multi-test tube transfer device, which is applied to a test tube rack, a plurality of test tubes are inserted and fixed at the top of the test tube rack along a first direction and a second direction, the multi-test tube transfer device comprises a clamping device, a driving device and a transfer device, each clamping jaw assembly comprises a fixing plate and a plurality of connecting rods, the fixing plates extend in the first direction, and the connecting rods are arranged at intervals in the first direction. And a clamping convex part is arranged at the bottom of each connecting rod. An annular groove extending in the circumferential direction is formed in the outer surface of the clamping protruding part, and the rubber ring is arranged in the annular groove in a sleeved mode. The driving device is connected with the two clamping jaw assemblies and used for driving the two clamping jaw assemblies to move in the second opposite direction, and the multiple test tubes arranged in the first direction are clamped through the clamping protruding parts and the rubber rings. The transfer device is used for driving the clamping device to move to the multiple test tubes to be clamped correspondingly in the third direction and transferring the clamped clamping device.

Description

Technical Field

[0001] This utility model relates to the field of medical testing technology, specifically to a multi-tube transfer device. Background Technology

[0002] Test tubes are commonly used items in the field of medical testing, serving as containers for storing test reagents or substances being tested, such as blood and bodily fluids. Common sizes include 5ml, 10ml, and 15ml plastic tubes, and 10ml and 15ml glass blood collection tubes. Various tube racks are available to match these, primarily categorized by material and size, such as 50-well stainless steel racks, 50-well plastic racks, and 50-well sponge racks. In sample storage systems, multiple test tubes are stored on test tube racks, which are then stored in refrigerators to preserve the sample tubes until a specific timeframe. Expired test tubes must be discarded after this period. Current test tube grabbing systems mostly use single-tube grabbing mechanisms, grabbing only one tube at a time, which is relatively inefficient, and discarding large batches of samples is time-consuming. Utility Model Content

[0003] To overcome the above-mentioned shortcomings, the purpose of this utility model is to provide a multi-test tube transfer device to solve the problem of low efficiency in grabbing a single test tube at a time, as mentioned in the background art.

[0004] To achieve the above objectives, the present invention employs a multi-test tube transfer device applied to a test tube rack. Multiple test tubes are inserted and fixed into the top of the test tube rack along a first direction and a second direction, including:

[0005] The clamping device includes a rubber ring and two sets of gripper assemblies arranged parallel to the first direction. Each set of gripper assemblies includes a fixing plate and multiple connecting rods. The fixing plate extends along the first direction, and the multiple connecting rods are spaced apart along the first direction. Each connecting rod has a clamping protrusion at its bottom. The outer surface of the clamping protrusion has an annular groove extending circumferentially, and the rubber ring is fitted inside the annular groove.

[0006] A driving device is connected to the two sets of gripper assemblies respectively, and is used to drive the two sets of gripper assemblies to move along the second opposite direction, and to clamp the multiple test tubes arranged along the first direction by the clamping protrusion and the rubber ring.

[0007] A transfer device is used to drive the clamping device to move to clamp the plurality of test tubes in a corresponding third direction, and to transfer the clamped clamping device, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the circumferential direction surrounds the third direction.

[0008] This utility model provides a multi-tube transfer device. By incorporating clamping protrusions and rubber rings, it creates multiple points of resistance against the outer wall of the test tubes during transfer, effectively increasing the clamping force and preventing accidental drops. This device enables rapid separation of the test tube rack and test tubes, allowing for the transfer of multiple tubes at once, facilitating continuous, large-scale sample processing. Compared to single-tube separation in existing technologies, the separation efficiency is significantly improved.

[0009] In some embodiments, the transfer device includes a first transfer assembly, which includes a conveyor belt mechanism and a first drive motor. The conveyor belt mechanism transports along a first direction, and the first drive motor is located on one side of the conveyor belt mechanism along a second direction, for driving the conveyor belt mechanism to transfer the test tube rack to a transfer station. The transfer station is where the test tube rack is transferred to a position near the end of the conveyor belt mechanism, and the edge of the test tube rack along the first direction corresponds to the edge of the fixing plate along the first direction in a third direction.

[0010] By adopting the above technical solution and using the first drive motor to control the movement of the conveyor belt mechanism, precise control of the transfer position of the test tube rack can be achieved, reducing human error and improving the accuracy of operation. At the same time, the design of the conveyor belt mechanism can adapt to test tube racks of different specifications and sizes, increasing the versatility and adaptability of the device.

[0011] In some embodiments, the multi-tube transfer device further includes a support frame comprising a frame base, a support plate, and support rods. The frame base is located at the bottom of the conveyor belt mechanism and extends along the second direction. The support rods extend along the third direction and are respectively located on both sides of the conveyor belt mechanism extending in the second direction, with their bottoms connected to the frame base and their tops connected to the support plate. The support plate is located above the clamping device.

[0012] By adopting the above technical solution, the stability of the test tube rack during the transfer process is improved by setting up a support frame, thereby reducing test tube damage caused by vibration or accidental collision.

[0013] In some embodiments, the transfer device further includes a second transfer assembly, which includes a synchronous pulley mechanism, a second drive motor, and a connecting plate. The synchronous pulley mechanism is disposed on the top of the support plate and extends along the first direction. The second drive motor is disposed on one side of the support plate along the first direction, and the connecting plate is disposed on the other side of the support plate and connected to the synchronous pulley mechanism, for driving the connecting plate to move along the first direction via the second drive motor.

[0014] By adopting the above technical solution, the synchronous pulley belt mechanism has accurate transmission, no slippage during operation, and a constant transmission ratio, which ensures the accuracy of the clamping device's movement in the second direction.

[0015] In some embodiments, the transfer device further includes a third transfer assembly comprising a sliding plate and a linear motor. The sliding plate is disposed on the side of the connecting plate away from the synchronous pulley mechanism along the first direction and is slidably connected to the connecting plate along the third direction. The linear motor is disposed on the top of the connecting plate, and its drive end is connected to the sliding plate for driving the sliding plate to move along the third direction.

[0016] By adopting the above technical solution, the linear motor directly generates linear motion, avoiding the backlash error and wear problems of traditional conversion mechanical devices, and can achieve higher positioning accuracy and repeatability, so as to accurately adjust the position of the gripping device in the third direction.

[0017] In some embodiments, the driving device includes a driving cylinder disposed on the side of the slide plate away from the connecting plate along the first direction and near the bottom of the slide plate. The bottom of the driving cylinder has two pneumatic sliders spaced apart along the second direction. These two pneumatic sliders are respectively connected to connecting blocks on the top of the two fixed plates, and are used to drive the two sets of gripper assemblies to move towards or away from each other along the second direction via the driving cylinder.

[0018] By adopting the above technical solution, the design of the drive cylinder allows the stroke and clamping force of the gripper assembly to be adjusted, thereby adapting to test tubes of different sizes and increasing the flexibility and adjustability of the gripper assembly.

[0019] In some embodiments, the transfer device further includes a guide assembly comprising a first slide rail assembly and a second slide rail assembly. The first slide rail assembly extends along the second direction and is correspondingly disposed between the support plate and the connecting plate to assist the connecting plate in moving along the second direction. The second slide rail assembly extends along the third direction and is correspondingly disposed between the connecting plate and the sliding plate to assist the sliding plate in moving along the third direction.

[0020] By adopting the above technical solution, the friction and wear of the connecting plate and the sliding plate during the movement can be reduced by setting the first slide rail assembly and the second slide rail assembly, thus extending the service life of the equipment. At the same time, it can ensure that the clamping device moves quickly and accurately to the designated position, thereby improving the efficiency of test tube transfer.

[0021] In some embodiments, the multi-tube transfer device further includes a positioning detection component, which comprises a first detection grating and a second detection grating. The first detection grating is located at the center of the bottom of the support plate and serves as a reference point for the movement of the gripping device. The second detection grating is located on the same side as the connecting plate and at a position on the support plate corresponding to the conveyor belt mechanism along the third direction, for detecting when the gripping device moves to the position corresponding to the conveyor belt mechanism.

[0022] Using the above technical solution, the first detection grating serves as the reference point for the movement of the gripping device, and the second detection grating is used to detect whether the gripping device has moved to the corresponding position of the conveyor belt mechanism. This dual detection mechanism can effectively reduce the rate of misoperation and false detection, and can more accurately determine the position of the gripping device, thereby improving the accuracy and reliability of the entire transfer process.

[0023] In some embodiments, the positioning detection component further includes a contact sensor located at the transfer station for contact detection with the test tube rack.

[0024] By adopting the above technical solution, the contact sensor, because it directly contacts the object being measured, has the characteristics of good stability and high reliability, which can improve the accuracy of test tube rack positioning detection. Attached Figure Description

[0025] Figure 1 This is a three-dimensional embodiment of a multi-test tube transfer device according to the present invention. Figure 1 ;

[0026] Figure 2 This is a three-dimensional embodiment of a multi-test tube transfer device according to the present invention. Figure 2 ;

[0027] Figure 3 for Figure 1 Enlarged view of point A in the middle;

[0028] In the picture:

[0029] 1. Multi-tube transfer device; 10. Frame base; 11. Support plate; 12. Support rod; 2. Clamping device; 20. Rubber ring; 21. Fixing plate; 210. Connecting block; 22. Connecting rod; 23. Clamping protrusion; 230. Annular groove; 30. Conveyor belt mechanism; 31. First drive motor; 32. Synchronous pulley belt mechanism; 33. Second drive motor; 34. Connecting plate; 35. Slide plate; 36. Linear motor; 40. Drive cylinder; 41. Pneumatic slider; 50. First slide rail assembly; 51. Second slide rail assembly; 60. First detection grating; 61. Second detection grating; 62. Contact sensor; 70. Test tube rack; 71. Test tube. Detailed Implementation

[0030] The preferred embodiments of the present invention will now be described in detail with reference to 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 scope of protection of the present invention.

[0031] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0032] It should be noted that in the description of this utility model, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. These terms are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. The terms "horizontal," "vertical," and "suspended," etc., do not indicate that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0035] refer to Figure 1 and Figure 2 , Figure 1 This invention provides a three-dimensional representation of a multi-tube transfer device 1 according to an embodiment of the present invention. Figure 1 ; Figure 2 This invention provides a three-dimensional representation of a multi-tube transfer device 1 according to an embodiment of the present invention. Figure 2 ; Figure 3 for Figure 1 Enlarged view of point A in the middle.

[0036] like Figures 1 to 3 As shown, the technical solution provided in this application is a multi-test tube transfer device 1, applied to a test tube rack 70, with the top of the test tube rack 70 along a first direction ( Figure 1 (as shown in the X direction) and the second direction ( Figure 1 (As shown in the Y direction) Multiple test tubes 71 are inserted and fixed, including a clamping device 2, a driving device, and a transfer device. The clamping device 2 includes a rubber ring 20 (not shown in the figure, but may be omitted). Figure 3 (Diagram with dashed box) and two sets of gripper assemblies arranged parallel to the first direction. Each set of gripper assemblies includes a fixing plate 21 and multiple connecting rods 22. The fixing plate 21 extends along the first direction, and the multiple connecting rods 22 are spaced apart along the first direction. Each connecting rod 22 has a clamping protrusion 23 at its bottom. The outer surface of the clamping protrusion 23 has an annular groove 230 extending circumferentially, and a rubber ring 20 is fitted inside the annular groove 230.

[0037] The driving device is connected to two sets of gripper assemblies respectively, and is used to drive the two sets of gripper assemblies to move in the second opposite direction, clamping multiple test tubes 71 arranged in the first direction by clamping protrusion 23 and rubber ring 20. The transfer device is used to drive the gripping device 2 to move the multiple test tubes 71 in the third direction ( Figure 1 The gripping devices 2 (shown in the Z direction) are mutually corresponding and are transferred. The first direction, the second direction, and the third direction are perpendicular to each other and surround the third direction in the circumferential direction.

[0038] This application provides a multi-tube transfer device 1. By setting a clamping protrusion 23 and a rubber ring 20, multiple points of resistance can be formed against the outer wall of the test tube 71 during transfer, thereby effectively improving the clamping force on the test tube 71 and ensuring that the test tube 71 is not prone to accidental drop during the transfer process. This device enables rapid separation of the test tube rack 70 and the test tube 71, allowing for the transfer of multiple test tubes 71 at once, and enabling continuous large-scale sample processing. Compared with the single separation in the prior art, the separation efficiency of the test tube 71 is significantly improved. Furthermore, in this embodiment, the number of annular grooves 230 is two, but the specific number of annular grooves 230 is not limited, as long as it meets the frictional force required for the rubber ring 20 to clamp the test tube 71, such as one or three annular grooves 230.

[0039] In some embodiments, reference Figures 1 to 3 The transfer device includes a first transfer assembly, which comprises a conveyor belt mechanism 30 and a first drive motor 31. The conveyor belt mechanism 30 transports along a first direction, and the first drive motor 31 is located on one side of the conveyor belt mechanism 30 along a second direction, used to drive the conveyor belt mechanism 30 to transfer the test tube rack 70 to the transfer station. The transfer station is where the test tube rack 70 is transferred to a position near the end of the conveyor belt mechanism 30, with the edge of the test tube rack 70 along the first direction corresponding to the edge of the fixing plate 21 along the first direction in a third direction. Figure 1 and Figure 2 The pilot tube rack 70 is located at a station awaiting transfer.

[0040] For example, by using the first drive motor 31 to control the movement of the conveyor belt mechanism 30, precise control of the transfer position of the test tube rack 70 can be achieved, reducing human error and improving the accuracy of operation. At the same time, the design of the conveyor belt mechanism 30 can adapt to test tube racks 70 of different specifications and sizes, increasing the versatility and adaptability of the device.

[0041] In some embodiments, reference Figures 1 to 3 The multi-tube transfer device 1 also includes a support frame, which comprises a frame base 10, a support plate 11, and support rods 12. The frame base 10 is located at the bottom of the conveyor belt mechanism 30 and extends along a second direction. The support rods 12 extend along a third direction and are respectively located on both sides of the conveyor belt mechanism 30 extending in the second direction, with their bottoms connected to the frame base 10 and their tops connected to the support plate 11. The support plate 11 is located above the clamping device 2.

[0042] For example, by setting up a support frame, the stability of the test tube rack 70 during the transfer process is improved, and the damage to the test tubes 71 caused by vibration or accidental collision is reduced.

[0043] In some embodiments, reference Figures 1 to 3 The transfer device also includes a second transfer assembly, which comprises a synchronous pulley mechanism 32, a second drive motor 33, and a connecting plate 34. The synchronous pulley mechanism 32 is located on the top of the support plate 11 and extends along a first direction. The second drive motor 33 is located on one side of the support plate 11 along the first direction, and the connecting plate 34 is located on the other side of the support plate 11 and connected to the synchronous pulley mechanism 32, for driving the connecting plate 34 to move along the first direction via the second drive motor 33.

[0044] For example, the synchronous belt mechanism 32 has accurate transmission, no slippage during operation, and a constant transmission ratio, which ensures the accuracy of the movement of the gripping device 2 in the second direction.

[0045] In some embodiments, reference Figures 1 to 3 The transfer device also includes a third transfer assembly, which includes a slide plate 35 and a linear motor 36. The slide plate 35 is located on the side of the connecting plate 34 away from the synchronous pulley mechanism 32 in the first direction, and is slidably connected to the connecting plate 34 in the third direction. The linear motor 36 is located on the top of the connecting plate 34, and its drive end is connected to the slide plate 35 for driving the slide plate 35 to move in the third direction.

[0046] For example, the linear motor 36 directly generates linear motion, avoiding the backlash error and wear problems of traditional conversion mechanical devices, and can achieve higher positioning accuracy and repeatability, so as to accurately adjust the position of the gripping device 2 in the third direction.

[0047] In some embodiments, reference Figures 1 to 3 The driving device includes a driving cylinder 40, which is located on the side of the slide plate 35 away from the connecting plate 34 along a first direction and near the bottom of the slide plate 35. The bottom of the driving cylinder 40 has two pneumatic sliders 41 spaced apart along a second direction. The two pneumatic sliders 41 are respectively connected to connecting blocks 210 on the top of the two fixed plates 21, and are used to drive the two sets of gripper assemblies to move towards or away from each other along the second direction via the driving cylinder 40.

[0048] For example, the design of the drive cylinder 40 allows the stroke and clamping force of the gripper assembly to be adjusted, thereby adapting to test tubes 71 of different sizes and increasing the flexibility and adjustability of the gripper assembly.

[0049] In some embodiments, reference Figures 1 to 3 The transfer device also includes a guide assembly, which includes a first slide rail assembly 50 and a second slide rail assembly 51. The first slide rail assembly extends along a second direction and is correspondingly disposed between the support plate 11 and the connecting plate 34 to assist the connecting plate 34 in moving along the second direction. The second slide rail assembly 51 extends along a third direction and is correspondingly disposed between the connecting plate 34 and the sliding plate 35 to assist the sliding plate 35 in moving along the third direction.

[0050] For example, by setting the first slide rail assembly 50 and the second slide rail assembly 51, the friction and wear of the connecting plate 34 and the slide plate 35 during the movement can be reduced, the service life of the equipment can be extended, and the clamping device 2 can be moved to the designated position quickly and accurately, thereby improving the working efficiency of the test tube 71 transfer.

[0051] In some embodiments, reference Figures 1 to 3The multi-tube transfer device 1 also includes a positioning detection component, which includes a first detection grating 60 and a second detection grating 61. The first detection grating 60 is located at the middle of the bottom of the support plate 11 and serves as a reference point for the movement of the gripping device 2. The second detection grating 61 is located on the same side as the connecting plate 34 and is positioned on the support plate 11 at a position corresponding to the conveyor belt mechanism 30 along a third direction, and is used to detect when the gripping device 2 moves to a position corresponding to the conveyor belt mechanism 30.

[0052] For example, the first detection grating 60 serves as the reference point for the movement of the gripping device 2, and the second detection grating 61 is used to detect whether the gripping device 2 has moved to the corresponding position of the conveyor belt mechanism 30. This dual detection mechanism can effectively reduce the rate of misoperation and false detection, and can more accurately determine the position of the gripping device 2, thereby improving the accuracy and reliability of the entire transfer process.

[0053] In some embodiments, reference Figures 1 to 3 The positioning detection component also includes a contact sensor 62, which is located at the transfer station and is used for contact detection with the test tube rack 70.

[0054] For example, the contact sensor 62, because it directly contacts the object being measured, has the characteristics of good stability and high reliability, which can improve the accuracy of the test tube rack 70 positioning detection.

[0055] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A multi-test-tube transfer device, applied to a test tube rack, wherein multiple test tubes are inserted and fixed into the top of the test tube rack along a first direction and a second direction, characterized in that, include: The clamping device includes a rubber ring and two sets of clamping jaw assemblies arranged parallel to the first direction. Each set of clamping jaw assemblies includes a fixing plate and multiple connecting rods. The fixing plate extends along the first direction, and the multiple connecting rods are spaced apart along the first direction. Each connecting rod has a clamping protrusion at its bottom. The outer surface of the clamping protrusion has an annular groove extending circumferentially, and the rubber ring is fitted inside the annular groove. A driving device is connected to the two sets of gripper assemblies respectively, and is used to drive the two sets of gripper assemblies to move along the second direction, and clamp multiple test tubes arranged along the first direction through the clamping protrusion and the rubber ring; A transfer device is used to drive the clamping device to move to clamp the plurality of test tubes in a corresponding third direction, and to transfer the clamped clamping device, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the circumferential direction surrounds the third direction.

2. The multi-tube transfer device according to claim 1, characterized in that, The transfer device includes a first transfer component, which includes a conveyor belt mechanism and a first drive motor. The conveyor belt mechanism transmits along the first direction, and the first drive motor is located on one side of the conveyor belt mechanism along the second direction, for driving the conveyor belt mechanism to transfer the test tube rack to the transfer station. The transfer station is where the test tube rack is transferred to a position near the end of the conveyor belt mechanism. The edge of the test tube rack along the first direction corresponds to the edge of the fixing plate along the first direction in the third direction.

3. The multi-tube transfer device according to claim 2, characterized in that, It also includes a support frame, which includes a frame base, a support plate, and support rods; the frame base is located at the bottom of the conveyor belt mechanism and extends along the second direction; the support rods extend along the third direction and are respectively located on both sides of the conveyor belt mechanism extending in the second direction, with their bottoms connected to the frame base and their tops connected to the support plate; the support plate is located above the clamping device.

4. The multi-tube transfer device according to claim 3, characterized in that, The transfer device further includes a second transfer assembly, which includes a synchronous pulley mechanism, a second drive motor, and a connecting plate. The synchronous pulley mechanism is located on the top of the support plate and extends along the first direction. The second drive motor is located on one side of the support plate along the first direction, and the connecting plate is located on the other side of the support plate and connected to the synchronous pulley mechanism, for driving the connecting plate to move along the first direction via the second drive motor.

5. The multi-tube transfer device according to claim 4, characterized in that, The transfer device further includes a third transfer component, which includes a sliding plate and a linear motor. The sliding plate is located on the side of the connecting plate away from the synchronous pulley mechanism along the first direction and is slidably connected to the connecting plate along the third direction. The linear motor is located on the top of the connecting plate, and its driving end is connected to the sliding plate to drive the sliding plate to move along the third direction.

6. The multi-tube transfer device according to claim 5, characterized in that, The driving device includes a driving cylinder, which is located on the side of the slide plate away from the connecting plate along the first direction and near the bottom of the slide plate. The bottom of the driving cylinder is provided with two pneumatic sliders spaced apart along the second direction. The two pneumatic sliders are respectively connected to the connecting blocks on the top of the two fixed plates and are used to drive the two sets of gripper assemblies to move towards or away from each other along the second direction through the driving cylinder.

7. The multi-tube transfer device according to claim 6, characterized in that, The transfer device further includes a guide assembly, which includes a first slide rail assembly and a second slide rail assembly. The first slide rail assembly extends along the second direction and is correspondingly disposed between the support plate and the connecting plate to assist the connecting plate in moving along the second direction. The second slide rail assembly extends along the third direction and is correspondingly disposed between the connecting plate and the sliding plate to assist the sliding plate in moving along the third direction.

8. The multi-tube transfer device according to claim 7, characterized in that, It also includes a positioning detection component, which includes a first detection grating and a second detection grating. The first detection grating is located at the middle of the bottom of the support plate and is used as a reference point for the movement of the gripping device. The second detection grating is located on the same side as the connecting plate and is located on the support plate at the position corresponding to the conveyor belt mechanism along the third direction, and is used to detect when the gripping device moves to the position corresponding to the conveyor belt mechanism.

9. The multi-tube transfer device according to claim 8, characterized in that, The positioning detection component also includes a contact sensor, which is located at the transfer station and is used for contact detection with the test tube rack.

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