Cross beam arm module for dyeing machine

Abstract

The utility model discloses a cross beam arm module for a dyeing machine, which comprises a sample adding arm module and a manipulator module which are respectively positioned on two Y-axis driving components, the sample adding arm module comprises a lifting needle Z and a channel pump assembly, a sleeve is arranged at the bottom end of the channel pump assembly, and a notch is formed in the bottom end of the sleeve; the top end of the sleeve is connected with a spring, and one side of the top end is provided with a mounting seat which is provided with a contact steel needle. According to the device, the suction head can be automatically mounted and dismounted, whether the suction head is mounted in place or not can be automatically detected, the dyeing table cover can be automatically grabbed, the dyeing efficiency is improved, the labor intensity is reduced, and the operation safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to immunohistochemical staining experiment equipment technical field, concretely relates to a crossbeam arm module for dyeing machine. BACKGROUND

[0002] The sample adding arm is one of main components in the analyzer, is used for driving the sample adding needle to complete the process of reagent adding, the sample adding needle at the outer edge of the sample adding arm is responsible for going deep into the vessel to perform the sample adding action. At present, the installation and removal of the sample adding needle are mainly operated by the operator, and the workload is large, time-consuming and labor-consuming, and the work efficiency is affected. In the dyeing process, high-temperature and low-temperature incubation is an indispensable step, which usually needs the operator to frequently move the dyeing table cover. The existing operation mode of the dyeing table cover also has defects. The dyeing table cover after high-temperature heating can cause scalding accidents. Such manual operation is not only inconvenient, but also has safety hazards, and seriously affects the work efficiency and the work experience of the operator. SUMMARY

[0003] The utility model aims at providing a crossbeam arm module for dyeing machine, through setting sample adding arm module and mechanical hand module, solve above -mentioned problem, realize the installation and removal of the suction head automation, also can realize the automation movement of dyeing table cover, improve work efficiency.

[0004] In order to achieve the above object, the utility model adopts the following technical scheme: a crossbeam arm module for dyeing machine, the crossbeam arm module includes sample adding arm module and mechanical hand module, and is located on two Y-axis drive assemblies respectively;The sample adding arm module includes needle Z and channel pump assembly, the bottom end of channel pump assembly is equipped with sleeve, and the bottom end of sleeve is equipped with notch;The top end of sleeve is connected with spring, one side of top end is equipped with mounting seat, and the mounting seat is equipped with contact steel needle. When the suction head is loaded, the sleeve moves up, the contact steel needle extends into the channel pump circuit board, and the zero position switch senses the signal, judges that the suction head is installed successfully, and can continue to act normally. If the suction head is not installed in place, and the zero position switch has no signal, the system alarm prompts no suction head, or the suction head is reinstalled. The automatic detection of whether the suction head is installed in place is realized. The notch on the sleeve cooperates with the suction head dismounting position plate, and the automation of the suction head removal can be realized.

[0005] Preferably, the contact steel needle is connected with the channel pump circuit board, and the channel pump circuit board is connected with the zero position switch. The use of the zero position switch and the channel pump circuit board can automatically detect and adjust whether the suction head is installed in place, and reduce the artificial workload.

[0006] Preferably, one end of the spring is connected with the top end of the sleeve, and the other end is connected with the bottom end of the needle fixing seat. The setting of the spring can make the sleeve reset automatically, improve the convenience and efficiency of operation.

[0007] Preferably, the suction head steel needle is sleeved in the sleeve, the inner hole of the suction head steel needle is communicated with the piston cylinder, the piston cylinder is provided with a piston rod, and the piston rod is connected with a channel pump motor screw rod.

[0008] Preferably, the inner hole of the suction head steel needle is provided with a pressure sensor above the channel of the piston cylinder.

[0009] Preferably, the mechanical arm module comprises a mechanical arm assembly and a needle lifting Z, and a mechanical claw is arranged below the mechanical arm module.

[0010] Preferably, the channel pump assembly and the mechanical arm assembly are connected with a Z moving plate of the needle lifting Z, the Z moving plate is connected with a Z transmission belt through a Z direction transmission connecting plate, the Z moving plate is provided with a Z direction sliding block, and the Z direction sliding block is slidingly installed on a Z direction guide rail.

[0011] Preferably, the needle lifting Z is provided with a Y direction sliding block and a Y direction transmission connecting piece, the Y direction transmission connecting piece is connected with a Y direction transmission belt, and the Y direction sliding block is slidingly installed on a Y direction guide rail.

[0012] Preferably, the Y axis driving assembly is provided with X direction fixed plates at two ends respectively, the X direction fixed plate at one end is provided with an X direction sliding block and an X direction transmission connecting piece, the X direction transmission connecting piece is connected with an X direction transmission belt, and the X direction sliding block is slidingly installed on an X direction guide rail.

[0013] The utility model has the advantages that: the utility model sets up the sample adding arm module and the mechanical arm module, realizes the installation and removal automation of the suction head, realizes the automatic detection of whether the suction head is installed in place and the automatic grabbing of the dyeing table cover, improves the dyeing efficiency, reduces the labor intensity, and improves the operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the overall structural drawing of the utility model.

[0015] Figure 2 It is the structure schematic view of Y axis drive assembly of the utility model.

[0016] Figure 3 It is the structure view of needle Z of the utility model.

[0017] Figure 4 It is the internal structure view of needle Z of the utility model.

[0018] Figure 5 It is the internal structure view of channel pump assembly of the utility model.

[0019] Figure 6 It is the front view of channel pump assembly of the utility model.

[0020] Figure 7 It is Figure 5 The enlarged view of A.

[0021] Figure 8 It is the section view of channel pump assembly of the utility model.

[0022] Figure 9 It is the structure schematic view of mechanical hand assembly of the utility model.

[0023] Reference signs: 1: sample adding arm module;1.1: channel pump assembly;1.1.1: channel pump circuit board;1.1.2: sleeve;1.1.2.1: mounting seat;1.1.2.2: notch;1.1.3: contact steel needle;1.1.4: suction head steel needle;1.1.5: zero position switch;1.1.6: connecting block;1.1.7: spring;1.1.8: needle fixing seat;1.1.9: piston rod;1.1.10: piston;1.1.11: piston cylinder;1.1.12: pressure sensor;1.2: needle Z;1.2.1: Z moving plate;1.2.2: connecting point;1.2.3: Z guide rail;1.2.4: Z transmission connecting piece;1.2.5: Z conveying belt;1.2.6: needle Z mainboard;1.2.7: transmission wheel;2: mechanical hand module;2.1: mechanical hand assembly;2.1.1: mechanical claw;3: Y axis drive assembly;3.1: Y guide rail;3.2: Y conveying belt;3.3: Y motor;3.4: Y driven wheel;3.5: Y transmission connecting piece;3.6: Y slider;3.7: Y axis mainboard. 4: X axis drive mechanism;4.1: X fixed plate;4.2: X slider;4.3: X transmission connecting piece;4.4: X transmission belt;4.5: X guide rail. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will be further described in detail in combination with the drawings and examples.

[0025] As Figure 1 shown, a crossbeam arm module for a dyeing machine includes a sample adding arm module 1 and a mechanical hand module 2, the sample adding arm module 1 and the mechanical hand module 2 are respectively located on two parallel Y-axis driving assemblies 3, the Y-axis driving assemblies 3 drive the sample adding arm module 1 and the mechanical hand module 2 to independently move in the Y-axis direction and do not interfere with each other, so as to realize accurate sample adding and grabbing operation. The sample adding arm module 1 includes a needle lifting Z 1.2 and a channel pump assembly 1.1, the channel pump assembly 1.1 is provided with a connecting block 1.1.6 at both ends of one side, the needle lifting Z 1.2 is provided with a Z moving plate 1.2.1, the Z moving plate 1.2.1 is provided with a connecting point 1.2.2 at both ends, the connecting block 1.1.6 is connected with the connecting point 1.2.2 respectively, the channel pump assembly 1.1 is fixed on the Z moving plate 1.2.1 of the needle lifting Z, and the channel pump assembly 1.1 realizes movement in the Z-axis direction by means of the needle lifting Z 1.2. The mechanical hand module 2 includes a needle lifting Z 1.2 and a mechanical hand assembly 2.1, the mechanical hand assembly 2.1 is provided with a connecting block 1.1.6 at both ends of one side, the needle lifting Z 1.2 is provided with a Z moving plate 1.2.1, the Z moving plate 1.2.1 is provided with a connecting point 1.2.2 at both ends, the connecting block 1.1.6 is connected with the connecting point 1.2.2 respectively, the mechanical hand assembly 2.1 is fixed on the Z moving plate 1.2.1 of the needle lifting Z 1.2, and the mechanical hand assembly 2.1 realizes movement in the Z-axis direction by means of the needle lifting Z 1.2.

[0026] As Figure 2As shown, the Y-axis driving assembly 3 is the key structure for realizing the accurate movement of the beam arm module in the Y-axis direction. The Y-axis driving assembly 3 comprises a Y-axis main plate 3.7, the Y-axis main plate 3.7 is a rectangular frame, two Y-direction guide rails 2.1 are arranged on two long edges of the Y-axis main plate 3.7 respectively, the guide rails extend along the length direction of the main plate, and provide a stable sliding path for the Y-direction slider 3.6. The Y-direction slider 3.6 is slidably installed on the Y-direction guide rail 2.1, and allows the needle lifting Z1.2 to move smoothly and accurately in the Y-axis direction. Y-direction driven wheels 3.4 and Y-direction driving wheels are arranged on two short edges of the Y-axis main plate 3.7 respectively. The Y-direction driving wheel is located at one end of the main plate and is directly connected with the Y-direction motor 3.3. The Y-direction motor 3.3 is the core of the driving system and drives the Y-direction driving wheel to rotate. The Y-direction transmission belt 3.2 is connected between the Y-direction driving wheel and the Y-direction driven wheel 3.4, drives the Y-direction slider 3.6 to move along the Y-direction guide rail 2.1, and the Y-direction transmission connection belt is fixedly connected with the Y-direction transmission connection piece 3.5. The Y-direction tow chain is arranged on the top surface of the Y-axis main plate 3.7 and is fixed on the tow chain fixing plate of the needle lifting Z1.2. The Y-axis main plate 3.7 is provided with X-direction fixing plates 4.1 at two ends respectively, the X-direction fixing plate 4.1 at one end is provided with a Y-direction circuit board, the X-direction fixing plate 4.1 is provided with an X-direction slider 4.2 and an X-direction transmission connection piece 4.3, the X-direction transmission connection piece 4.3 is connected with an X-direction transmission belt 4.4, and the X-direction slider 4.2 is slidably installed on an X-direction guide rail 4.5. The Y-axis driving assembly 3, the sample adding arm module 1 and the manipulator module 2 realize the accurate movement in the X-axis direction.

[0027] As Figure 3 and Figure 4As shown, the needle lifting Z1.2 is the key to realize the accurate sample and mechanical hand operation. The needle lifting Z1.2 includes a needle lifting Z main plate 1.2.6, which is the basis of the structure of the whole needle lifting Z1.2 and bears the role of supporting and connecting various components. The middle part of the needle lifting Z main plate 1.2.6 is provided with two Y-direction sliding blocks 3.6, which are symmetrically arranged in parallel to ensure balance and stability in the Y-axis direction. The two Y-direction sliding blocks 3.6 are respectively slidably installed on two parallel Y-direction guide rails 2.1 of the Y-axis driving assembly 3. The Y-direction transmission connecting piece 3.5 is arranged in the middle of the two Y-direction sliding blocks 3.6 and is fixedly installed on the Y-direction transmission belt. Under the driving of the Y-direction transmission belt 3.2 and the guidance of the Y-direction guide rail 2.1, the Y-axis driving assembly 3 drives the needle lifting Z1.2, the channel pump assembly 1.1 and the mechanical hand assembly 2.1 to realize accurate movement in the Y-axis direction. The needle lifting Z main plate 1.2.6 is provided with a drag chain fixing plate above the Y-direction sliding block 3.6 for fixing the Y-direction drag chain. The Y-direction sliding block 3.6 is provided with a zero position sheet, which provides a reference position for the needle lifting Z1.2 and ensures accurate return to the initial position each time. The needle lifting Z main plate 1.2.6 is provided with a Z-direction guide rail 1.2.3. The Z motor drives the transmission wheel 1.2.7 to rotate, which includes a driving wheel and a driven wheel connected by a ring belt to drive the Z-direction transmission belt 1.2.5 to rotate. The Z moving plate 1.2.1 is provided with a Z-direction transmission connecting piece 1.2.4 and two Z-direction sliding blocks, which are symmetrically arranged in parallel and slidably installed on the Z-direction guide rail 1.2.3. The Z-direction transmission connecting piece 1.2.4 is fixedly installed on the Z-direction transmission belt. Under the action of the Z motor and the ring belt, the Z moving plate 1.2.1 moves up and down, thereby moving the sample arm assembly and the mechanical hand assembly 2.1 to the specified height in the Z direction. The needle lifting Z main plate 1.2.6 is provided with an upper limit position and a lower limit position to realize the limiting of the Z moving plate 1.2.1 in the Z direction.

[0028] As Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the bottom end of the sample adding arm assembly is provided with a sleeve 1.1.2, the suction head steel needle 1.1.4 is sleeved in the sleeve 1.1.2, the bottom end of the sleeve 1.1.2 is provided with a notch 1.1.2.2, the notch 1.1.2.2 is symmetrically cut on both sides of the sleeve 1.1.2, forming a notch 1.1.2.2, so that the bottom end of the sleeve 1.1.2 has two symmetrical flat areas, which can be clamped in the open slot on the suction head dismounting position plate, and the sample adding arm assembly is moved upward to realize the dismounting of the suction head, which is not only simple in operation, but also high in reliability and reduces the labor intensity. The top end of the sleeve 1.1.2 is connected with a spring 1.1.7, one side of the top end is provided with a mounting seat 1.1.2.1, the mounting seat 1.1.2.1 is provided with a contact steel needle 1.1.3, the top of the contact steel needle 1.1.3 is connected with a channel pump circuit board 1.1.1, the top of the channel pump circuit board 1.1.1 is connected with a channel pump motor and a zero position switch 1.1.5. One end of the spring 1.1.7 is connected with the top end of the sleeve 1.1.2, and the other end is connected with the bottom end of the needle fixing seat 1.1.8. The spring 1.1.7 can automatically reset the sleeve 1.1.2, improve the convenience and efficiency of operation. This design can automatically move up when the sleeve 1.1.2 is loaded into the suction head, the contact steel needle 1.1.3 extends into the channel pump circuit board 1.1.1, triggers the zero position switch 1.1.5 to sense the signal, so as to judge whether the suction head is successfully installed. If the suction head is installed in place, the action can continue, if the suction head is not installed in place, the zero position switch 1.1.5 will not sense the signal, the system will alarm that there is no suction head and the suction head will be reinstalled, realizing the automatic detection of the installation state of the suction head.

[0029] The gas replacement of liquid absorption is completed, and the main component is a piston channel. The inner hole top end of the steel needle 1.1.4 is connected to the inner hole of the connecting block 1.1.6, the inner hole top end of the connecting block 1.1.6 is connected to the piston cylinder 1.1.11 through a joint, forming a piston channel in the vertical direction. The piston cylinder 1.1.11 is provided with a piston 1.1.10, and the piston 1.1.10 is provided with a piston rod 1.1.9. The central axes of the inner hole of the steel needle 1.1.4, the inner hole of the connecting block 1.1.6, the joint, the piston cylinder 1.1.11 and the piston rod 1.1.9 coincide. The top end of the piston rod 1.1.9 is connected to the channel pump motor screw rod through a screw rod transmission member, and is used to generate a pulling action on the piston rod 1.1.9. The inner hole channel of the connecting block 1.1.6 is provided with a pressure sensor 1.1.12, which is used to detect the pressure change in the piston channel and transmit a signal to the channel pump circuit board 1.1.1. The realization of liquid absorption: under the action of the channel pump motor screw rod, when rotating in a certain direction, the piston rod 1.1.9 generates a pulling action (the piston rod 1.1.9 moves upward), and a negative pressure is generated in the piston channel, and a signal is generated in the circuit board through the pressure sensor 1.1.12. At the same time of pulling the piston 1.1.10, the needle lifting Z1.2 moves, driving the channel pump assembly 1.1 to move downward. When the suction head detects the liquid level, the channel pump circuit board 1.1.1 senses the pressure change, i.e. stops the needle lifting Z motor, at the same time, the channel pump motor resets, and the piston rod 1.1.9 retracts. Then, according to the parameters such as the size of the liquid absorption amount and the shape of the liquid bottle, the relationship between the capacity and the downward movement depth is obtained, then the needle lifting Z1.2 moves downward by a certain height, and then the liquid is absorbed. After the liquid absorption is completed, the needle lifting Z1.2 resets. The realization of liquid separation: similar to the liquid absorption action, only the direction of the piston rod 1.1.9 action is changed. Before the liquid separation, the X and Y directions are moved to the specified position, then the needle lifting Z1.2 moves downward to drive the channel pump assembly 1.1 to move downward, and the suction head moves downward to the upper side close to the liquid separation position. Then the channel pump motor acts, and the piston rod 1.1.9 retracts by a certain distance to separate the required capacity of liquid. Then the X and Y directions move to the next liquid separation point, and then the same action is performed (sometimes, in order to avoid interference, before moving to the next liquid separation position, the needle lifting Z1.2 motor needs to be reversely slightly actuated to lift the suction head, and then the needle lifting Z1.2 moves the channel pump assembly 1.1 downward to the specified height at the next liquid separation position).

[0030] As Figure 9As shown, the mechanical hand module 2 includes a needle lifting Z1.2 and a mechanical hand assembly 2.1, the needle lifting Z1.2 and the above-mentioned are the same, responsible for the accurate movement in the Z-axis direction, while the mechanical hand assembly 2.1 is responsible for realizing the grabbing and releasing of objects such as dyeing table covers. The mechanical hand assembly 2.1 is connected through the connecting block 1.1.6 and the connecting point 1.2.2 on the Z moving plate 1.2.1 of the needle lifting Z1.2, and the mechanical hand assembly 2.1 is provided below with a mechanical claw 2.1.1, which is a key part to realize the grabbing of objects. The mechanical claw 2.1.1 is composed of two blocks with isosceles trapezoidal cross section, and the opposite surface of the mechanical claw 2.1.1 is provided with a limiting groove, which is rectangular, for limiting and grabbing the dyeing table cover. The mechanical claw 2.1.1 is provided above with a mechanical hand, which is integrated, that is, by inputting the position parameters of the mechanical claw 2.1.1, the grabbing and releasing of the mechanical hand can be realized through relevant control.

[0031] Working process.

[0032] The sample adding arm module 1 realizes the liquid treatment at different positions through XYZ direction movement. Its movement process at different positions is as follows.

[0033] (1) Installation and sensing of the suction head: the X-axis driving mechanism 4 and the Y-axis driving mechanism cooperate to move, and the channel pump module is moved to the top of a suction head on the suction head tray. Then the needle lifting Z1.2 acts, and the channel pump assembly 1.1 is moved downward until the set suction head height position. At this time, the suction head will be installed into the end of the suction head steel needle 1.1.4. Then the needle lifting Z1.2 resets. At the same time of installing the suction head, the sleeve 1.1.2 moves up, the contact steel needle 1.1.3 extends into the channel pump circuit board 1.1.1, and the zero position switch 1.1.5 senses the signal to judge whether the suction head is installed successfully. If the suction head is not installed in place and the zero position switch 1.1.5 has no signal, the system will alarm to prompt that there is no suction head, and the suction head will be reinstalled.

[0034] (2) Liquid suction: the sample adding arm module 1 moves to the position above the reagent rack through the cooperation of the X-axis driving mechanism 4 and the Y-axis driving mechanism, and then under the action of the channel pump motor lead screw, when it rotates in a certain direction, the piston rod 1.1.9 generates a pulling action (the piston rod 1.1.9 moves upward), a negative pressure is generated in the piston channel, and a signal is generated in the channel pump circuit board 1.1.1 through the pressure sensor 1.1.12. At the same time of pulling the piston 1.1.10, the channel pump assembly 1.1 is moved downward through the action of the needle lifting Z1.2, when the suction head detects the liquid level, the channel pump circuit board 1.1.1 senses the pressure change, that is, the needle lifting Z1.2 stops, and the channel pump motor resets and the piston rod 1.1.9 retracts. Then, according to the parameters such as the size of the suction liquid amount and the shape of the liquid bottle, the relationship between the capacity and the downward movement depth is obtained, then the needle lifting Z1.2 moves downward by a certain height, and then the liquid suction is performed. After the liquid suction is completed, the needle lifting Z1.2 motor resets.

[0035] (3) Dispensing: The X-axis drive mechanism 4 and the Y-axis drive mechanism cooperate to move the sample arm module 1 to a designated position, and then the needle lifting Z1.2 is actuated to move the suction head downward to above the dispensing position. Then the channel pump motor is actuated to retract the piston rod 1.1.9 by a certain distance to dispense a required volume of liquid. Then X and Y are moved to the next dispensing point, and the same operation is performed again (sometimes, in order to avoid interference, the needle lifting Z1.2 motor needs to be reversed slightly before moving to the next dispensing position to lift the suction head to the next dispensing position, and then the needle lifting Z1.2 moves the channel pump assembly 1.1 downward to a designated height), and after dispensing is completed, Z is reset.

[0036] (4) Needle removal: When the dispensing process is completed, the suction head needs to be discarded. At this time, the sample arm module 1 is first moved to the front of the opening slot of the suction head removal plate according to the X, Y, and Z directions, and then Y is further moved to approach the slot of the opening slot of the suction head removal plate. When the suction head steel needle 1.1.4 runs to the center position of the opening slot, the needle lifting Z1.2 is actuated to move the channel pump assembly 1.1 upward. At this time, under the limiting action of the opening slot of the suction head removal plate on the end of the suction head, the suction head is removed.

[0037] The robot module 2 moves to different positions of the dyeing table cover by XYZ direction movement. Its movement at different positions is as follows.

[0038] (1) Generally, the robot module 2 is in the initial position in the front right side.

[0039] (2) The robot module 2 is moved to the dyeing table cover storage place by XY direction movement, and after moving a certain distance in the Z direction, the clamping jaw of the mechanical gripper 2.1.1 clamps and holds the cover, and then the Z direction is reset.

[0040] (3) The robot module 2 is moved to the dyeing table position by XY direction movement, and after moving a certain distance in the Z direction, the dyeing table cover is placed on the dyeing table. The clamping jaw of the mechanical gripper 2.1.1 releases the cover. Then the Z direction is reset.

[0041] (4) The robot module 2 is reset in the XY direction. In this way, the operation of transferring the dyeing table cover from the dyeing table cover storage place to the dyeing table position is completed.

[0042] (5) In the same way, the dyeing table cover can also be transferred from the dyeing table position to the dyeing table cover storage place.

[0043] Obviously, the above embodiments are merely exemplary and not limiting. Based on the above description, one of ordinary skill in the art can make other different forms of changes or modifications. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or modifications derived therefrom are still within the protection scope of the present application.

Claims

1. A beam arm module for a dyeing machine, characterized in that: the beam arm module comprises a sample adding arm module and a mechanical hand module, which are respectively located on two Y-axis driving assemblies; the sample adding arm module comprises a needle lifting Z and a channel pump assembly, and the bottom end of the channel pump assembly is provided with a sleeve, and the bottom end of the sleeve is provided with a notch; the top end of the sleeve is connected with a spring, one side of the top end is provided with a mounting seat, and the mounting seat is provided with a contact steel needle.

2. A beam arm module for a dyeing machine according to claim 1, characterized in that, The contact steel needle is connected with a channel pump circuit board above, and the channel pump circuit board is connected with a zero switch.

3. A beam arm module for a dyeing machine according to claim 1, characterized in that, One end of the spring is connected with the top end of the sleeve, and the other end is connected with the bottom end of the needle fixing seat.

4. A beam arm module for a dyeing machine according to claim 1 or 3, characterized in that, A suction head steel needle is sleeved in the sleeve, the inner hole of the suction head steel needle is communicated with a piston cylinder, a piston rod is arranged in the piston cylinder, and the piston rod is connected with a channel pump motor lead screw.

5. A beam arm module for a dyeing machine according to claim 4, characterized in that, A pressure sensor is arranged on the channel of the inner hole of the suction head steel needle and the piston cylinder.

6. A beam arm module for a dyeing machine according to claim 1, characterized in that, The mechanical hand module comprises a mechanical hand assembly and a needle lifting Z, and a mechanical claw is arranged below the mechanical hand module.

7. A beam arm module for a dyeing machine according to claim 1, characterized in that, The channel pump assembly and the mechanical hand assembly are connected with a Z moving plate of the needle lifting Z, the Z moving plate is connected with a Z transmission belt through a Z transmission connecting plate, a Z sliding block is arranged on the Z moving plate, and the Z sliding block is slidingly installed on a Z guide rail.

8. A beam arm module for a dyeing machine according to claim 1 or 6 or 7, characterized in that, A Y sliding block and a Y transmission connecting piece are arranged on the needle lifting Z, the Y transmission connecting piece is connected with a Y transmission belt, and the Y sliding block is slidingly installed on a Y guide rail.

9. A beam arm module for a dyeing machine according to claim 1, characterized in that, X fixed plates are arranged at two ends of the Y-axis driving assembly, an X sliding block and an X transmission connecting piece are arranged on the X fixed plate at one end, the X transmission connecting piece is connected with an X transmission belt, and the X sliding block is slidingly installed on an X guide rail.

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