Unmanned vehicle for assembling medical kit accessories

Abstract

The utility model discloses an unmanned vehicle for assembling medical kit accessories. The unmanned vehicle is used for solving the problems that the occupied space is large, and the assembling process time is long. A frame is divided into a front frame body and a rear frame body which can be split and stretched, and the front frame body and the rear frame body are connected through a first telescopic rod; the wheel module is connected with the frame through a second telescopic rod; the control headstock is mounted on the frame; the lifting cylinder is arranged on the wheel module; the storage box is fixed in the frame and is divided into a front storage box and a rear storage box which can be split; the front storage box and the rear storage box are respectively positioned on the front frame and the rear frame; the grabbing fixing module is located on the lifting air cylinder. A grabbing structure is arranged in the center of the grabbing fixing module; the grabbing structure comprises a lifting mechanism and at least two grabbing devices; the lifting mechanism is fixed to the center of the grabbing and fixing module. The at least two grabbing devices are arranged on the lifting mechanism; the grabbing device comprises at least two displacement joints and at least two adsorption rods; the displacement joint is connected with the adsorption rod.

Description

Technical Field

[0001] This application relates to the field of assembly, and more particularly to an unmanned vehicle for assembling medical reagent kit components. Background Technology

[0002] In the existing technology, medical accessories are classified according to their type after use, and are divided into recyclable medical accessories and non-recyclable medical waste.

[0003] This application primarily targets recyclable medical reagent kits, which include a chassis, reagent mounting plate, reagent tubes, reagent caps, and reagent caps. In the recycling process, the used chassis, reagent mounting plate, reagent tubes, reagent caps, and reagent caps are first conveyed via a conveyor belt to a dedicated device for unified cleaning, disinfection, and drying. Then, the dried device is transported via conveyor belt to an assembly area for manual assembly. The assembled reagent kits are then manually placed into storage boxes for storage. Finally, an automated guided vehicle (AGV) transports the storage boxes to a designated area for future use.

[0004] In the existing process, assembly is too time-consuming. Currently, automated equipment is typically used to uniformly assemble the sterilized and dried chassis, reagent mounting plates, reagent tubes, reagent caps, and reagent kit caps. However, existing integrated cleaning, sterilization, and drying equipment usually requires the assistance of conveyor belts and automated guided vehicles (AGVs). First, the medical reagent kit components to be assembled are placed on a tray and transported to the sterilization equipment via a conveyor belt. After sterilization, the tray is placed on the conveyor belt and then transported to the assembly equipment via the next set of conveyor belts. The assembly equipment assembles the components on the tray, resulting in neatly arranged reagent kits in the tray. The AGV then uses a robotic arm to place the reagent kits from the tray into a storage box on the vehicle (or the assembly equipment places the reagent kits from the tray into the storage box, and the AGV then transfers the box to the vehicle). Finally, the AGV transports the storage box to the storage area. In the existing assembly process, there are too many assembly devices and the AGVs have limited functionality, resulting in large space requirements and long assembly times. Utility Model Content

[0005] This application discloses an unmanned vehicle for assembling medical reagent kit components, which solves the problems of large space occupation and long assembly process time.

[0006] This application provides an unmanned vehicle for assembling medical reagent kit components, including:

[0007] Control of the vehicle head, frame, at least four wheel modules, first telescopic rod, second telescopic rod, gripping structure, storage box, at least four lifting cylinders, and gripping fixing module;

[0008] The frame is divided into a split and stretchable front frame and a rear frame, which are connected by a first telescopic rod.

[0009] The wheel module is connected to the frame via a second telescopic rod;

[0010] The control unit is mounted on the chassis.

[0011] The bottom of the lifting cylinder is mounted on the wheel module;

[0012] The storage box is fixed in the vehicle frame. The storage box is divided into a split front storage box and a rear storage box, which are located on the front and rear vehicle frames, respectively.

[0013] The gripping and fixing module is located on the lifting cylinder;

[0014] A gripping structure is located in the center of the gripping fixed module;

[0015] The gripping structure includes a lifting mechanism and at least two gripping devices; the lifting mechanism is fixed to the center of the gripping and fixing module; at least two gripping devices are mounted on the lifting mechanism;

[0016] The gripping device includes at least two displacement joints and at least two adsorption rods; the displacement joints are connected to the adsorption rods, and the displacement joints are used to adjust the position of the adsorption rods, which are used to adsorb different reagent kit accessories.

[0017] Optionally, the gripping and fixing module consists of two X-axis telescopic rods, four Y-axis telescopic rods, two storage blocks, and a central motor;

[0018] Two Y-axis telescopic rods connect two adjacent lifting cylinders on the front and rear frames; two X-axis telescopic rods pass through two storage blocks respectively, and the two ends of the X-axis telescopic rods are connected to the two adjacent lifting cylinders; the two storage blocks are connected to the central motor through the two Y-axis telescopic rods respectively.

[0019] The lifting mechanism includes a fixed plate, a lifting rod, and a displacement plate;

[0020] The center of the fixed plate is connected to the central motor; the fixed plate is equipped with at least 4 lifting rods; the fixed plate is fixed to the displacement plate by at least 4 lifting rods;

[0021] The displacement plate is provided with a displacement track; at least two gripping devices are provided on the displacement track of the displacement plate;

[0022] The displacement joint includes at least two lever arms;

[0023] The lever arm plates are fixed to the displacement track of the displacement plate by displacement blocks; the lever arm plates are connected to each other by rotary joints; the suction rod is fixed to the outermost lever arm plate;

[0024] The adsorption rod includes an adsorption connection body, an air tube head, and an adsorption head;

[0025] The adsorption connection body is fixed on the outermost lever arm; the first end of the trachet head is connected to the adsorption connection body, and the second end of the trachet head is connected to the air valve; the adsorption head is connected to the lower end of the adsorption connection body, and the adsorption head is used to adsorb objects; the trachet head is connected to the adsorption head through the hollow channel inside the adsorption connection body.

[0026] The adsorption head is a plastic adsorption ball; the plastic adsorption ball is connected to the lower end of the adsorption connection body; the plastic adsorption ball has a hollow structure and is provided with an air inlet / outlet hole that connects to the hollow channel inside the adsorption connection body; the surface of the plastic adsorption ball is provided with an adsorption area, and the adsorption area is provided with at least one unidirectional adsorption hole.

[0027] Optionally, the wheel module includes a wheel fixing body, a rotating body, and a displacement wheel;

[0028] The wheel fixing body is a liftable structure; the wheel fixing body is equipped with obstacle avoidance radar.

[0029] The side of the wheel fixing body is connected to the frame via a second telescopic rod; the top of the wheel fixing body is connected to a lifting cylinder; the rotating body is located on the bottom surface of the wheel fixing body; and the displacement wheel is located below the rotating body.

[0030] Optionally, the cross-section of the control head is an inverted right trapezoid; a barcode scanner is installed on the inclined surface of the control head.

[0031] Optionally, the chassis is provided with at least four transverse conveyor belts; the at least four transverse conveyor belts are located below the storage box and are used to move the storage box laterally.

[0032] Optionally, the storage box is provided with at least two layers of partitions; at least two rows of auxiliary rollers are evenly arranged on the partitions.

[0033] Optionally, the unmanned vehicle also includes a limit block, and the grasping and fixing module is a control top plate;

[0034] Control the front of the vehicle to be fixed to the front frame;

[0035] The wheel module includes a wheel fixing body and a displacement wheel, with the wheel fixing body connected to the frame;

[0036] The second telescopic rod passes through the wheel fixing body and connects to the displacement wheel;

[0037] The control top plate is connected to the upper part of the control head, and a controller is installed inside the control head. The controller is used to control the operation of the control head, the front frame, the rear frame and the devices on the control top plate.

[0038] The bottom of the lifting cylinder is fixed to the wheel fixing block, and the top of the lifting cylinder is located in the slide groove of the control top plate. The controller is used to control the retraction of the first telescopic rod so that the front frame and the rear frame are combined.

[0039] The top of the lifting cylinder is equipped with a sliding wheel;

[0040] The limiting block is installed on the rear frame and is used to fix the front and rear positions of the rear storage box;

[0041] A gripping structure is located in the center of the control top plate.

[0042] Optionally, the fixed plate is connected to the control top plate via the first telescopic cylinder, and the fixed plate is located above the storage box; the displacement joint includes a fixed lever arm, a rotating lever arm, and a loading lever arm; one end of the fixed lever arm is connected to the displacement block, and at least two fixed lever arms are connected to the displacement block; the rotating lever arm is connected to the fixed lever arm via a wing nut rotating joint; the loading lever arm is connected to the rotating lever arm via a wing nut rotating joint; the loading lever arm is connected to the adsorption rod.

[0043] Optionally, the adsorption connection body is fixed to the outermost loading arm plate; the tracheal tube head is connected to the adsorption head through the hollow channel inside the adsorption connection body.

[0044] The plastic adsorption ball includes an accessory adsorption ball and a reagent tube adsorption ball; the accessory adsorption ball has an accessory adsorption area on its surface, which is planar and has at least two unidirectional adsorption holes; the reagent tube adsorption ball has a reagent tube adsorption area on its surface, which has a unidirectional adsorption hole with a diameter smaller than that of the reagent tube opening.

[0045] Optionally, both the front and rear storage boxes are equipped with enclosed doors on their front sides;

[0046] The closed doors are equipped with handles and locks; the mating surface of the front storage box has several grooves; the mating surface of the rear storage box has several protrusions, the grooves and protrusions are matched, and the grooves and protrusions are used to fix the front and rear storage boxes after they are joined together; at least two layers of partitions are provided in the front and rear storage boxes; the partitions are provided with mounting holes and dividers, and the mounting holes are used to fix excess reagent tubes;

[0047] A first conveyor belt rod is provided on the front frame, and the first conveyor belt rod is connected to the rotating device inside the front frame; a second conveyor belt rod is provided on the rear frame; a conveyor belt is provided on the first conveyor belt rod and the second conveyor belt rod; a matching interlocking structure is provided on the first conveyor belt rod and the second conveyor belt rod, and the interlocking structure is used to combine the first conveyor belt rod and the second conveyor belt rod when the front frame and the rear frame are combined.

[0048] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0049] In this application, the unmanned vehicle used for express delivery grabbing mainly includes a control head, a frame, at least four wheel modules, a first telescopic rod, a second telescopic rod, a grabbing structure, a storage box, at least four lifting cylinders, and a grabbing and fixing module. The specific connection method is as follows: The frame is divided into a splittable, extendable front frame and a rear frame, which are connected by the first telescopic rod. The wheel modules are connected to the frame via the second telescopic rod. The control head is mounted on the frame. The lifting cylinders are located on the wheel modules. The storage box is fixed within the frame. The storage box is divided into a splittable front storage box and a rear storage box, located on the front frame and rear frame respectively. The grabbing and fixing module is located on the lifting cylinders. A grabbing structure is located in the center of the grabbing and fixing module. The grabbing structure includes a lifting mechanism and at least two grabbing devices; the lifting mechanism is fixed to the center of the grabbing and fixing module; the at least two grabbing devices are located on the lifting mechanism. The gripping device includes at least two displacement joints and at least two adsorption rods; the displacement joints are connected to the adsorption rods, and the displacement joints are used to adjust the position of the adsorption rods, which are used to adsorb different reagent kit accessories.

[0050] The chassis consists of a splittable, extendable front frame and a rear frame, and the storage box can also split. These two designs allow the chassis to split open in the middle via the first telescopic rod, creating a large space. The gripping structure is located at the center of the gripping and fixing module, allowing it to vertically lift and lower to grip the chassis, reagent mounting plate, reagent tubes, reagent caps, and reagent kit caps placed on the tray on the ground. Furthermore, because the storage box is divided into a splittable front and rear storage box, this design allows the storage box to open as the chassis splits. The gripping device on the gripping structure moves up and down via a lifting mechanism. After gripping the target item via the suction rod, it can move laterally horizontally through the displacement joint and the first telescopic rod, transferring the reagent kit components into the storage box. Following a preset sequence of suction rod adsorption, gripping, and release, and the displacement of the lifting structure, the chassis, reagent mounting plate, reagent tubes, reagent caps, and reagent kit caps are placed inside the box in the assembly order, thus completing the assembly. Once all the reagent kits are assembled in the container, the front and rear frames can be combined to allow the storage box to close. The kits are then transported to the storage point by an automated guided vehicle (AGV), integrating the primary transportation, assembly, and secondary transportation steps. This design moves traditional cleaning, disinfection, and drying equipment underground and reduces the need for conveyor belts. By integrating the assembly structure with the AGV, it solves the problem of space occupation while improving the functionality of the AGV during assembly. This significantly reduces the time required for the integration and assembly process, addressing the issues of large space requirements and long assembly times. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a structural schematic diagram of the unmanned vehicle used for assembling medical reagent kit accessories according to this application;

[0053] Figure 2 This is a schematic diagram of the grabbing structure in this application;

[0054] Figure 3 This is a schematic diagram of the gripping device in this application;

[0055] Figure 4 This is a schematic diagram of the adsorption rod in this application;

[0056] Figure 5 This is a schematic diagram of a planar structure of the adsorption rod in this application;

[0057] Figure 6 This is a schematic diagram of the structure of the storage box in this application;

[0058] Figure 7 This is a schematic diagram of the structure of the plastic adsorption ball in this application;

[0059] Figure 8 This is another structural schematic diagram of the unmanned vehicle used for assembling medical reagent kit accessories in this application;

[0060] Figure 9 This is another structural schematic diagram of the unmanned vehicle used for assembling medical reagent kit accessories in this application;

[0061] Figure 10 This is another structural schematic diagram of the unmanned vehicle used for assembling medical reagent kit accessories in this application;

[0062] Figure 11 This is another structural schematic diagram of the unmanned vehicle used for assembling medical reagent kit accessories in this application;

[0063] Figure 12 This is another structural schematic diagram of the unmanned vehicle used for assembling medical reagent kit accessories in this application;

[0064] Figure 13 This is a structural schematic diagram of the lifting cylinder of this application;

[0065] Figure 14 This is a structural diagram of the front and rear storage boxes and the interior of the front and rear vehicle frames in this application;

[0066] Figure 15 This is a schematic diagram of the internal structure of the storage box in this application;

[0067] Figure 16 This is a side view of the internal partition of the storage box in this application;

[0068] Figure 17 This is a top view of the internal partition of the storage box in this application;

[0069] Figure 18 This is a schematic diagram of the interlocking structure between the first and second conveyor belt rods in this application.

[0070] Figure 19 This is another structural schematic diagram of the gripping device in this application;

[0071] Figure 20 This is a schematic diagram illustrating the operational scenario of the unmanned vehicle and the reagent cleaning, disinfection, and drying equipment in this application. Detailed Implementation

[0072] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0073] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0074] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0075] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0076] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0077] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0078] In existing technologies, the assembly process is too time-consuming. Currently, automated equipment is typically used to uniformly assemble the sterilized and dried chassis, reagent mounting plates, reagent tubes, reagent caps, and reagent kit caps. However, existing integrated cleaning, sterilization, and drying equipment usually requires a conveyor belt for auxiliary transportation, occupying a significant amount of space. To address the space issue, current solutions place the integrated cleaning, sterilization, and drying equipment underground. The sterilized and dried chassis, reagent mounting plates, reagent tubes, reagent caps, and reagent kit caps are lifted to the ground via pallets. A robotic arm then places the pallets onto an automated guided vehicle (AGV) for transfer to a dispensing area. The chassis, reagent mounting plates, reagent tubes, reagent caps, and reagent kit caps are then uniformly assembled. After assembly, they are placed in storage boxes for storage. Finally, the AGV transports the storage boxes to a pre-designated area for future use. This method reduces the space occupied by the integrated cleaning, sterilization, and drying equipment and conveyor belts, but the entire assembly process still requires a significant amount of transfer time, increasing the overall assembly time and reducing efficiency.

[0079] Based on this, this application discloses an unmanned vehicle for assembling medical reagent kit components, which improves assembly efficiency.

[0080] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0081] Please see Figures 1 to 20This application provides an embodiment of an unmanned vehicle for express delivery picking, comprising:

[0082] Control vehicle head 1, vehicle frame 2, at least four wheel modules 3, first telescopic rod 4, second telescopic rod 5, gripping structure 6, storage box 7, at least four lifting cylinders 8, gripping and fixing module;

[0083] The frame 2 is divided into a split and stretchable front frame 54 and a rear frame 55, which are connected by a first telescopic rod 4.

[0084] Wheel module 3 is connected to frame 2 via second telescopic rod 5;

[0085] The control unit 1 is mounted on the chassis 2;

[0086] The bottom of the lifting cylinder 8 is mounted on the wheel module 3;

[0087] Storage box 7 is fixed in the frame 2;

[0088] The storage box 7 is divided into a split front storage box 56 and a rear storage box 57, which are located on the front frame 54 and the rear frame 55, respectively.

[0089] The gripping and fixing module is located on the lifting cylinder 8;

[0090] A gripping structure 6 is set in the center of the gripping fixed module;

[0091] The gripping structure 6 includes a lifting mechanism and at least two gripping devices 20; the lifting mechanism is fixed to the center of the gripping fixing module; and the at least two gripping devices 20 are disposed on the lifting mechanism.

[0092] The gripping device 20 includes at least two displacement joints 21 and at least two adsorption rods 22; the displacement joints 21 are connected to the adsorption rods 22, and the displacement joints 21 are used to adjust the position of the adsorption rods 22, which are used to adsorb different reagent kit accessories.

[0093] In this embodiment, the frame 2 has a front and rear splitting function, specifically connected and extended by two sets of first telescopic rods 4. The main controller in the control head 1 controls its extension and splitting. The control head 1 is mounted on the frame 2 and is mainly used to control the overall vehicle displacement, the splitting of the frame 2 and storage box 7, and the lifting and gripping functions of the gripping structure 6. (See reference...) Figure 1 , Figures 8 to 12 These diagrams show the detailed chassis structure.

[0094] In this embodiment, lighting lamps 9 and cameras 10 are provided around the vehicle frame 2 to provide lighting and road condition extraction for the unmanned vehicle during driving, so as to control the front of the vehicle 1 to plan its road.

[0095] The wheel module 3 is connected to the frame 2 via the second telescopic rod 5. The second telescopic rod 5 controls the wheel module 3 to extend to one side. Its purpose is to drive the lifting cylinder 8 and the gripping and fixing module to extend to both sides, so that the gripping structure 6 on the gripping and fixing module will not touch the storage box 7 during the lifting and lowering process.

[0096] At least four lifting cylinders 8 are respectively installed on at least four wheel modules 3. The lifting cylinders 8 are used to control the lifting and lowering of the gripping and fixing modules, thereby controlling the lifting and lowering of the gripping structure 6.

[0097] The storage box 7 is fixed in the frame 2, and the storage box 7 is divided into a split front storage box 56 and a rear storage box 57. The front storage box 56 and the rear storage box 57 are located on the front frame 54 and the rear frame 55, respectively. That is, the control head 1 can control the splitting of the storage box 7 by controlling the splitting of the front frame 54 and the rear frame 55.

[0098] In this embodiment, the frame 2 is divided into a splittable and stretchable front frame 54 and a rear frame 55 storage box 7. These two designs allow the frame 2 to be split in the middle by the first telescopic rod 4 to create a large space for the gripping device, so that the gripping device can move vertically up and down to grab items placed on the ground.

[0099] The storage box 7 is divided into a splittable front storage box 56 and a rear storage box 57. This design allows the storage box 7 to open as the frame 2 splits. After the gripping device grabs the items, it can move laterally to transfer the reagent kit components into the storage box 7. The vertical displacement of the gripping device is achieved by the lifting cylinder 8. Then, through the lateral transport of the gripping device, the components can be grabbed in a preset order, allowing the chassis, reagent mounting plate, reagent tubes, reagent caps, and reagent caps to be assembled inside the box. Once all the reagent kits are assembled in the box, the front frame 54 and the rear frame 55 can be merged to close the storage box. Then, it can be transported to the storage point by an unmanned vehicle for storage. This integrates the steps of primary transportation, assembly, and secondary transportation, solving the problem of space occupation while greatly reducing the time required for the integration and assembly process, and improving assembly efficiency.

[0100] The frame 2 is divided into a splittable and extendable front frame 54 and a rear frame 55, and the storage box 7 can also be split. These two designs allow the frame 2 to be split open in the middle by the first telescopic rod 4, creating a large space. The gripping structure 6 is located at the center of the gripping and fixing module, allowing the gripping structure 6 to move vertically up and down through this space to grip the chassis, reagent mounting plate, reagent tube, reagent cap, and reagent kit cap placed on the tray on the ground. Furthermore, since the storage box 7 is divided into a splittable front storage box 56 and a rear storage box 57, this design allows the storage box 7 to open as the frame 2 splits. The gripping device 20 on the gripping structure 6 moves up and down through the lifting mechanism. After the suction rod 20 grips the target item, it can move horizontally through the displacement joint 21 and the first telescopic rod 4, thereby transferring the reagent kit components into the storage box. The suction rod 22 is used to grip and release the kit in a preset order, and the displacement of the lifting structure allows the chassis, reagent mounting plate, reagent tube, reagent cap, and reagent kit cap to be placed in the box in the assembly order, thus completing the assembly. Once all the reagent kits are assembled in housing 7, the front frame 54 and rear frame 55 can be combined to allow storage housing 7 to close. The kits are then transported to a storage point by an unmanned vehicle, integrating the primary transportation, assembly, and secondary transportation steps. This design moves traditional cleaning, disinfection, and drying equipment underground and reduces the need for conveyor belts. By integrating the assembly structure and the unmanned vehicle, it solves the problem of space occupation while improving the functionality of the unmanned vehicle during assembly. This significantly reduces the time required for the integrated assembly process, addressing the issues of large space requirements and long assembly times.

[0101] In this embodiment, the first telescopic rod 4 is connected to the rotating device on the front frame 54. The rotating device is controlled by the controller. The first telescopic rod 4 is provided with a spiral pattern, and the rear frame 55 is provided with a threaded tube at the corresponding position. When the controller controls the rotating device to rotate, the first telescopic rod 4 will be displaced according to the rotation direction and the threaded tube, thereby causing the front frame 54 and the rear frame 55 to be displaced relative to each other, resulting in the effect of splitting and merging.

[0102] Optionally, the gripping and fixing module includes two X-axis telescopic rods 13, four Y-axis telescopic rods 14, two storage blocks 15, and a central motor 16;

[0103] Two Y-axis telescopic rods 14 connect two adjacent lifting cylinders 8 on the front frame 54 and the rear frame 55;

[0104] Two X-axis telescopic rods 13 pass through two storage blocks 15 respectively, and the two ends of the X-axis telescopic rods 13 are connected to two adjacent lifting cylinders 8;

[0105] The two storage blocks 15 are connected to the central motor 16 via two Y-axis telescopic rods 14.

[0106] In this embodiment, the gripping and fixing module includes two X-axis telescopic rods 13, four Y-axis telescopic rods 14, two storage blocks 15, and a central motor 16. The two X-axis telescopic rods 13, the two Y-axis telescopic rods 14, and the two storage blocks 15 form a U-shaped structure. The remaining two Y-axis telescopic rods 14 are connected to the central motor 16 and then connected to the two storage blocks 15 to form a structure that can be retracted as a whole.

[0107] In this embodiment, a dedicated retraction space is provided at the top of the lifting cylinder 8. This space is independent of the cylinder and not affected by it, allowing the X-axis telescopic rod 13 and the Y-axis telescopic rod 14 to retract into this space at the top of the lifting cylinder 8. It should be noted that the X-axis telescopic rod 13 and the Y-axis telescopic rod 14 are at different horizontal heights to prevent collisions during retraction. Furthermore, this dedicated retraction space can be designed as a through-hole, allowing the X-axis telescopic rod 13 and the Y-axis telescopic rod 14 to pass through this dedicated retraction space through the retraction of the first telescopic rod 4 and the second telescopic rod 5.

[0108] Secondly, the storage block 15 can also be used to store the X-axis telescopic rod 13. Specifically, the X-axis telescopic rod 13 can be divided into two parts, and during the retraction of the first telescopic rod 4, the X-axis telescopic rod 13 can retract into the storage block 15. Furthermore, the two Y-axis telescopic rods 14 connected to the central motor can also retract into the storage block 15, or even penetrate through it.

[0109] The main function of the center motor 16 is to adjust the angle of the gripping structure 6 so that it will not collide with the box and frame 2 during descent.

[0110] Optionally, the lifting mechanism includes a fixed plate 17, a lifting rod 18, and a displacement plate 19[1];

[0111] The center of the fixed plate 17 is connected to the center motor 16;

[0112] At least four lifting rods 18 are provided on the fixed plate 17;

[0113] The fixed plate 17 is fixed to the displacement plate 19 by at least four lifting rods 18;

[0114] The displacement plate 19 is equipped with a displacement track;

[0115] At least two gripping devices 20 are disposed on the displacement track of the displacement plate 19.

[0116] In this embodiment, the gripping structure 6 is divided into two layers. One layer is a fixed plate 17 fixed by a central motor 16. The fixed plate 17 and the displacement plate 19 are connected and extended by four lifting rods 18.

[0117] In this embodiment, the lifting rod 18 is primarily a controllable telescopic rod, mainly controlled by an internal controller. For example, it can be a cylinder structure, with air holes, an air pump, and other structures provided on the fixed plate 17 to enable the extension and retraction of the lifting rod 18. The core of this application is still to use the lifting cylinder 8 to perform vertical movement of the gripping structure 6. The lifting cylinder 8 is uniformly controlled by the controller of the unmanned vehicle. The controller can be set in the wheel module 3, or it can be controlled by the controller controlling the front of the vehicle 1; no limitation is made here.

[0118] The displacement plate 19 is equipped with multiple displacement tracks. In addition to controlling the lifting rod 18 to move up and down, the central motor 16 can also control the gripping device 20 to move on the displacement tracks.

[0119] Optionally, the displacement joint 21 includes at least two lever arms 23;

[0120] The lever arm 23 is fixed to the displacement track of the displacement plate 19 by the displacement block 24;

[0121] The lever arm plates 23 are interconnected via rotary joints 25;

[0122] The adsorption rod 22 is fixed to the outermost lever arm 23.

[0123] In this embodiment, the gripping device 20 includes a horizontally movable displacement joint 21 and an adsorption rod 22 at the end of the displacement joint 21.

[0124] The displacement joint 21 is mainly connected end-to-end by multiple lever arms 23. The connection between the lever arms 23 and the displacement plate 19 is mainly through the displacement block 24. The displacement block 24 clamps the lever arms 23 in the displacement track of the displacement plate 19. The displacement block 24 can be manually fixed to the displacement track, or a controllable roller or other device can be set inside the displacement plate 19 to control the movement of the displacement block 24 in the displacement track. This is not limited here. Secondly, the two lever arms 23 are pressed together by a rotary joint 25, so that the rotation of the rotary joint 25 can control the angle between the two lever arms 23. The suction rod 22 is fixed to the outermost lever arm 23, and the displacement of the suction rod 22 can be controlled.

[0125] In this embodiment, the rotary joint 25 is a wing nut. The wing nut can rotate the lever arm by external force. The wing nut can be controlled and adjusted by an external small rotating device.

[0126] Optionally, the adsorption rod 22 includes an adsorption connection body 26, an air tube head 27, and an adsorption head 28;

[0127] The adsorption connection body 26 is fixed to the outermost lever arm plate 23;

[0128] The first end of the endotracheal tube 27 is connected to the adsorption connection body 26, and the second end of the endotracheal tube 27 is connected to the air valve.

[0129] The adsorption head 28 is connected to the lower end of the adsorption connection body 26, and the adsorption head 28 is used to adsorb objects.

[0130] The endotracheal tube 27 is connected to the adsorption head 28 through the hollow channel inside the adsorption connection body 26.

[0131] In this embodiment, the adsorption rod 22 includes an adsorption connecting body 26, an air tube head 27, and an adsorption head 28. The adsorption connecting body 26 is fixed on the lever arm plate 23. The middle part of the adsorption connecting body 26 is connected to the air tube head 27, and the air tube head 27 is connected to the air valve. The end of the adsorption connecting body 26 is a hollow structure and is connected to the adsorption head 28, so that the air valve can control the adsorption head 28 to perform air extraction and air inflation during the inflation and deflation process.

[0132] Optionally, the adsorption head 28 is a plastic adsorption ball;

[0133] The plastic adsorption ball is connected to the lower end of the adsorption connection body 26;

[0134] The plastic adsorption ball has a hollow structure and is provided with air inlet and outlet holes that are connected to the hollow channel inside the adsorption connection body 26.

[0135] The surface of the plastic adsorption ball is provided with an adsorption area, and the adsorption area is provided with at least one unidirectional adsorption hole.

[0136] In this embodiment, the adsorption head 28 is a plastic adsorption ball. The plastic adsorption ball in this embodiment has a hollow structure, and a small hole is provided at the end of the adsorption connection body 26 to facilitate the extraction and filling of gas into the plastic adsorption ball. The surface of the plastic adsorption ball is provided with an adsorption area, and at least one unidirectional adsorption hole is provided on the adsorption area. Only external gas can enter the unidirectional adsorption hole in one direction.

[0137] This design allows the adsorption ball to be squeezed when it touches the reagent kit accessory during the downward pressing process of the adsorption connection body 26. Through the airtight area formed by the barcode on the reagent kit accessory, the one-way adsorption hole is located and connected to this area by the camera 10 under the frame 2. While the plastic adsorption ball can be adsorbed through the one-way adsorption hole, the plastic adsorption ball with the air extracted will firmly stick to the periphery of the reagent kit accessory. The plastic adsorption ball can be firmly stuck to the surface of the reagent kit accessory through the rough and non-slip outer skin. The gripping force can be controlled by controlling the air valve to prevent the reagent kit accessory from falling.

[0138] Optionally, the wheel module 3 includes a wheel fixing body 29, a rotating body 30, and a displacement wheel 31;

[0139] The wheel fixing body 29 has a liftable structure;

[0140] An obstacle avoidance radar 32 is installed on the wheel fixing body 29;

[0141] The side of the wheel fixing body 29 is connected to the frame 2 via the second telescopic rod 5;

[0142] The upper part of the wheel fixing body 29 is connected to the lifting cylinder 8;

[0143] The rotating body 30 is disposed on the bottom surface of the wheel fixing body 29;

[0144] The displacement wheel 31 is located below the rotating body 30.

[0145] In this embodiment, since the unmanned vehicle needs to be moved above the cargo tray, the chassis of the unmanned vehicle needs to have a certain height. Therefore, the wheel fixing body 29 of the wheel module 3 is set as a liftable structure, and the rotating body 30 is set on the bottom surface of the wheel fixing body 29 to control the displacement wheel 31 to steer. In addition, an obstacle avoidance radar 32 is set on the wheel fixing body 29 to reduce the occurrence of crushing the cargo tray.

[0146] In this embodiment, the rotation of the rotating body 30 and the operation of the displacement wheel 31 can be controlled by the wheel fixing body 29.

[0147] Optionally, the cross-section of the control head 1 is an inverted right trapezoid;

[0148] A barcode scanner 33 is installed on the inclined surface of the control head 1.

[0149] In this embodiment, the cross-section of the control vehicle head 1 is an inverted right trapezoid, and a barcode scanner 33 is installed on the inclined surface of the control vehicle head 1. The inclined barcode scanner 33 can better scan the information of the cargo tray in front of the unmanned vehicle, and determine the specific position of the reagent kit accessories on the ground to improve the accuracy of grasping.

[0150] Optionally, the frame 2 is provided with at least four transverse conveyor belts 34;

[0151] At least four transverse conveyor belts 34 are located below the storage box 7, and the transverse conveyor belts 34 are used to move the storage box 7 laterally.

[0152] In this embodiment, a transverse conveyor belt 34 is designed on the vehicle frame 2 to move the storage box 7 laterally out of the unmanned vehicle and transfer it to another location.

[0153] Optionally, at least two partitions are provided in storage box 7;

[0154] At least two rows of auxiliary rollers 35 are evenly arranged on the partition.

[0155] In this embodiment, at least two rows of auxiliary rollers 35 are added to facilitate the placement of reagent kit accessories in each layer of the storage box 7. When the reagent kit accessories are placed on a certain layer, the reagent kit accessories can be placed by the auxiliary rollers 35 and the lever arm plate 23, which reduces the force of the lever arm plate 23 and increases the service life of the lever arm plate 23.

[0156] In this embodiment, the gripping and fixing module can also be in another form. Optionally, the unmanned vehicle also includes a limiting block 36, and the gripping and fixing module is a control top plate 37;

[0157] The control unit 1 is fixed to the front frame 54;

[0158] Wheel module 3 includes wheel fixing body 29 and displacement wheel 31, and wheel fixing body 29 is connected to frame 2;

[0159] The second telescopic rod passes through the wheel fixing body 29 and connects to the displacement wheel 31;

[0160] The control top plate 37 is connected to the upper part of the control head 1. The control head 1 is equipped with a controller, which is used to control the operation of the control head 1, the front frame 54, the rear frame 55 and the devices on the control top plate 37.

[0161] The bottom of the lifting cylinder 8 is fixed to the wheel fixing block, and the top of the lifting cylinder 8 is located in the slide groove 38 of the control top plate 37. The controller is used to control the retraction of the first telescopic rod 4 so that the front frame 54 and the rear frame 55 are combined.

[0162] The top of the lifting cylinder 8 is equipped with a sliding wheel 39;

[0163] The limiting block 36 is set on the rear frame 55 and is used to fix the front and rear positions of the rear storage box.

[0164] A gripping structure 6 is provided in the center of the control top plate 37.

[0165] In this embodiment, the limiting block 36 is disposed on the rear frame 55 to restrict the forward and backward movement of the rear storage box, while the control of the front of the vehicle 1 limits the front storage box.

[0166] In this embodiment, the control head 1 is fixed to the front frame 54, and the control top plate 37 is connected to the control head 1. Specifically, the control head 1 passes through the control top plate 37. A controller is installed inside the control head 1. The controller is used to control the operation of the devices on the control head 1, the front frame 54, the rear frame 55, and the control top plate 37. The control method can be Bluetooth control or an electrical signal connection; this is not limited here.

[0167] In this embodiment, the wheel module 3 includes a wheel fixing body 29 and a displacement wheel 31. The wheel fixing body 29 is directly and displaceably connected to the front frame 54 or the rear frame 55. The second telescopic rod passes through the wheel fixing body 29 and connects to the displacement wheel 31. The second telescopic rod can control the movement of the wheel fixing body 29 and the displacement wheel 31.

[0168] In this embodiment, the bottom of the lifting cylinder 8 is fixed to the wheel fixing block, and the top of the lifting cylinder 8 is located in the slide groove 38 of the control top plate 37. The slide groove 38 of the control top plate 37 includes at least a horizontal X-direction slide groove 38 and a horizontal Y-direction slide groove 38. The controller is used to control the first telescopic rod 4 to retract so that the front frame 54 and the rear frame 55 are combined. At this time, the lifting cylinder 8 moves along the horizontal X-direction slide groove 38, and a sliding wheel 39 is provided on the top of the lifting cylinder 8.

[0169] In this embodiment, a positioning camera can also be installed below the front frame 54. This camera is used to locate the position of the reagent accessories in real time.

[0170] Optionally, the fixing plate 17 is connected to the control top plate 37 via the first telescopic cylinder 40, and the fixing plate 17 is located above the storage box 7;

[0171] The displacement joint 21 includes a fixed lever arm 41, a rotating lever arm 42, and a loading lever arm 43;

[0172] One end of the fixed lever arm plate 41 is connected to the displacement block 24, and at least two fixed lever arm plates 41 are connected to the displacement block 24.

[0173] The rotating lever arm 42 is connected to the fixed lever arm 41 via the wing nut rotating joint 25;

[0174] The loading lever arm 43 is connected to the rotating lever arm 42 via the wing nut rotating joint 25;

[0175] The loading arm plate 43 is connected to the adsorption rod 22.

[0176] In this embodiment, the gripping structure 6 includes a fixed plate 17, a lifting rod 18, a displacement plate 19, and at least two gripping devices 20. Similar to the previous embodiment, the fixed plate 17 is connected to the control top plate 37 through a first telescopic cylinder 40. The fixed plate 17 is located above the storage box 7. The first telescopic cylinder 40 can be extended and retracted through the control components (air pump and other control structures) in the control top plate 37.

[0177] Secondly, the displacement joint 21 in this embodiment includes a fixed lever arm 41, a rotating lever arm 42, and a loading lever arm 43. One end of the fixed lever arm 41 is connected to the displacement block 24, and at least two fixed lever arms 41 are connected to the displacement block 24. The rotating lever arm 42 is connected to the fixed lever arm 41 via a wing-shaped nut rotating joint 25. The loading lever arm 43 is connected to the rotating lever arm 42 via a wing-shaped nut rotating joint 25. The loading lever arm 43 is connected to the suction rod 22. The wing-shaped nut rotating joint 25 is mainly used to adjust the angle between the lever arms.

[0178] Optionally, the adsorption connection body 26 is fixed to the outermost loading arm plate 43;

[0179] The tracheal head 27 is connected to the adsorption head 28 through the hollow channel inside the adsorption connection body 26;

[0180] Plastic adsorption balls include accessory adsorption balls and reagent tube adsorption balls;

[0181] The surface of the accessory adsorption ball is provided with an accessory adsorption area, which is a plane and has at least two unidirectional adsorption holes.

[0182] The surface of the reagent tube adsorption ball is provided with a reagent tube adsorption area, and the reagent tube adsorption area is provided with a one-way adsorption hole with a diameter smaller than that of the reagent tube opening.

[0183] In this embodiment, the adsorption connecting body 26 is fixed to the outermost loading force arm plate 43. A small rotary motor on the wing nut rotating joint 25 is controlled by a controller to rotate, causing the wing nut rotating joint 25 to rotate. This, in turn, causes the fixed force arm plate 41, rotating force arm plate 42, and loading force arm plate 43 to change angles, resulting in the contraction and extension of the three force arm plates, thereby controlling the displacement of the adsorption connecting body 26 within a certain range. One end of the fixed force arm plate 41 is connected to the displacement block 24, and at least two fixed force arm plates 41 and at most four force arm plates are connected to each displacement block 24.

[0184] In this embodiment, the first end of the air tube head 27 is connected to the adsorption connection body 26, and the second end of the air tube head 27 is connected to the air valve, which is controlled by the controller. The adsorption connection body 26 has a hollow structure, which is connected to the adsorption head 28, so that the air valve can control the gas flow in the adsorption head 28.

[0185] The adsorption head 28 is a plastic adsorption ball, i.e., a spherical structure. The plastic adsorption ball is connected to the lower end of the adsorption connection body 26. The plastic adsorption ball has a hollow structure and is provided with an air inlet and outlet hole that connects to the hollow channel inside the adsorption connection body 26. That is, the adsorption connection body 26 is connected and fixed to the plastic adsorption ball through the air inlet hole, so that the hollow areas of the two are connected.

[0186] In this embodiment, in order to adsorb different reagent accessories, the plastic adsorption balls include accessory adsorption balls and reagent tube adsorption balls. The accessory adsorption balls are mainly used to adsorb the chassis, reagent mounting plate and reagent kit cap which have a large flat surface, while the reagent tube adsorption balls are mainly used to adsorb the reagent tube and reagent cap which are not flat.

[0187] Specifically, the accessory adsorption ball has an accessory adsorption area on its surface. The accessory adsorption area is flat and has at least two unidirectional adsorption holes. Multiple adsorption holes facilitate better gripping. Furthermore, when the accessory adsorption ball is evacuated and shrinks, it will gradually deflate and the entire accessory adsorption ball will adhere to the chassis, reagent mounting plate, and reagent kit cap, thus achieving a double adsorption function.

[0188] The surface of the reagent tube adsorption ball is provided with a reagent tube adsorption area. The reagent tube adsorption area is provided with a one-way adsorption hole with a diameter smaller than that of the reagent tube opening. This one-way adsorption hole is used to adsorb reagent tubes with dents and reagent caps with small areas. When the reagent tube adsorption ball is evacuated and shrinks, it will gradually deflate and wrap around the reagent tube, thus strengthening the fixation effect.

[0189] Optionally, both the front storage box 56 and the rear storage box 57 are provided with a closed door 45 on the front side;

[0190] The closed door 45 is equipped with a handle 46 and a lock 47;

[0191] The mating surface of the front storage box 56 is provided with several grooves 48;

[0192] The mating surface of the rear storage box 57 is provided with a number of protrusions 49, and the positions of the grooves 48 and the protrusions 49 are matched. The grooves 48 and the protrusions 49 are used to fix the front storage box 56 and the rear storage box 57 after they are joined together.

[0193] At least two layers of partitions are provided in the front storage box 56 and the rear storage box 57;

[0194] The partition is provided with mounting holes 50 and a partition plate 51. The mounting holes 50 are used to fix excess reagent tubes.

[0195] A first conveyor belt rod 52 is provided on the front frame 54, and the first conveyor belt rod 52 is connected to the rotating device inside the front frame 54;

[0196] A second conveyor belt rod 53 is installed on the rear frame 55;

[0197] A conveyor belt 34 is provided on the first conveyor belt rod 52 and the second conveyor belt rod 53;

[0198] The first conveyor belt rod 52 and the second conveyor belt rod 53 are provided with matching fitting structures. The fitting structures are used to combine the first conveyor belt rod 52 and the second conveyor belt rod 53 when the front frame 54 and the rear frame 55 are combined.

[0199] In this embodiment, from Figure 10 and Figure 15 The structure of the storage box is clearly visible. Other storage box structures can also be observed in other figures. Both storage box 7 and rear storage box 57 have a closed door 45 on the front side. The closed door 45 is equipped with a handle 46 and a lock 47. After the boxes are assembled, the staff can open them from the side and take out the assembled reagent kit.

[0200] In this embodiment, the mating surface of the front storage box 56 is provided with several grooves, and the mating surface of the rear storage box 57 is provided with several protrusions. The grooves and protrusions are positioned to match each other. The grooves and protrusions are used to fix the front storage box 56 and the rear storage box 57 after they are combined. This structure is a fixing structure for a splittable box. Figure 14 and Figure 15 The structure of the groove is clearly visible.

[0201] In this embodiment, at least two layers of partitions are provided in the front storage box 56 and the rear storage box 57. The partitions are provided with mounting holes 50 and dividing plates 51. The mounting holes 50 are used to fix excess reagent tubes, and the dividing plates 51 are used to divide the storage areas. Figure 14 and Figure 15 The structure of the storage box is clearly visible. From... Figure 16 and Figure 17 The structure of the mounting holes and partitions can be clearly seen.

[0202] In this embodiment, a first conveyor belt rod 52 is provided on the front frame 54, and the first conveyor belt rod 52 is connected to a rotating device inside the front frame 54. The rotating device is controlled by a controller to rotate. A second conveyor belt rod 53 is provided on the rear frame 55, and the second conveyor belt rod 53 is not connected to the rotating device. A conveyor belt 34 is provided on the first conveyor belt rod 52 and the second conveyor belt rod 53. The first conveyor belt rod 52 and the second conveyor belt rod 53 are provided with matching fitting structures. The fitting structures are used to combine the first conveyor belt rod 52 and the second conveyor belt rod 53 when the front frame 54 and the rear frame 55 are combined. At this time, the rotating device inside the front frame 54 can drive the first conveyor belt rod 52 and the second conveyor belt rod 53 to move together. Please refer to... Figure 18 , Figure 18 This is a schematic diagram of the matching structure between the first conveyor belt rod 52 and the second conveyor belt rod 53.

[0203] Please refer to Figure 20 , Figure 20 The unmanned vehicle is located on the ground, while the reagent kit cleaning, drying and disinfection equipment is located underground. By transferring and lifting the tray underground, the space occupied is greatly reduced, and it can be used in conjunction with this type of unmanned vehicle for adsorption and assembly.

[0204] In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and other terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to describe the relative positional relationship between the components or parts and do not specifically limit the specific installation orientation of each component or part.

[0205] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0206] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; 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, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0207] Furthermore, the structures, proportions, sizes, etc., drawn in the accompanying drawings of this application are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that this application can produce, should still fall within the scope of the technical content disclosed in this application.

Claims

1. An unmanned vehicle for assembling medical reagent kit components, characterized in that, include: Control of the vehicle head, frame, at least four wheel modules, first telescopic rod, second telescopic rod, gripping structure, storage box, at least four lifting cylinders, and gripping fixing module; The vehicle frame is divided into a split and stretchable front frame and a rear frame, which are connected by the first telescopic rod. The wheel module is connected to the vehicle frame via the second telescopic rod; The control unit is mounted on the vehicle frame; The bottom of the lifting cylinder is mounted on the wheel module; The storage box is fixed in the vehicle frame. The storage box is divided into a split front storage box and a rear storage box, which are located on the front and rear vehicle frames, respectively. The gripping and fixing module is located on the lifting cylinder; The gripping structure is located in the center of the gripping and fixing module; The gripping structure includes a lifting mechanism and at least two gripping devices; the lifting mechanism is fixed to the center of the gripping fixing module; at least two gripping devices are disposed on the lifting mechanism; The gripping device includes at least two displacement joints and at least two adsorption rods; the displacement joints are connected to the adsorption rods, and the displacement joints are used to adjust the position of the adsorption rods, which are used to adsorb different reagent kit accessories.

2. The unmanned vehicle according to claim 1, characterized in that, The gripping and fixing module consists of two X-axis telescopic rods, four Y-axis telescopic rods, two storage blocks, and a central motor. Two Y-axis telescopic rods connect two adjacent lifting cylinders on the front frame and the rear frame; two X-axis telescopic rods pass through two storage blocks respectively, and the two ends of the X-axis telescopic rods are connected to the two adjacent lifting cylinders; the two storage blocks are respectively connected to the central motor through the two Y-axis telescopic rods. The lifting mechanism includes a fixed plate, a lifting rod, and a displacement plate; The center of the fixed plate is connected to the central motor; at least four lifting rods are provided on the fixed plate; the fixed plate is fixed to the displacement plate by the at least four lifting rods; The displacement plate is provided with a displacement track; at least two of the gripping devices are disposed on the displacement track of the displacement plate; The displacement joint includes at least two lever arms; The lever arm plate is fixed to the displacement track of the displacement plate by a displacement block; the lever arm plates are connected to each other by a rotary joint; the suction rod is fixed to the outermost lever arm plate; The adsorption rod includes an adsorption connection body, an air tube head, and an adsorption head; The adsorption connection body is fixed to the outermost lever arm; the first end of the air tube head is connected to the adsorption connection body, and the second end of the air tube head is connected to the air valve; the adsorption head is connected to the lower end of the adsorption connection body, and the adsorption head is used to adsorb objects; the air tube head is connected to the adsorption head through the hollow channel inside the adsorption connection body. The adsorption head is a plastic adsorption ball; the plastic adsorption ball is connected to the lower end of the adsorption connection body; the plastic adsorption ball has a hollow structure and is provided with an air inlet / outlet hole that is connected to the hollow channel inside the adsorption connection body; the surface of the plastic adsorption ball is provided with an adsorption area, and the adsorption area is provided with at least one unidirectional adsorption hole.

3. The unmanned vehicle according to any one of claims 1 to 2, characterized in that, The wheel module includes a fixed wheel body, a rotating body, and a displacement wheel; The wheel fixing body is a liftable structure; an obstacle avoidance radar is installed on the wheel fixing body; The side of the wheel fixing body is connected to the vehicle frame via the second telescopic rod; the top of the wheel fixing body is connected to the lifting cylinder; the rotating body is disposed on the bottom surface of the wheel fixing body; and the displacement wheel is disposed below the rotating body.

4. The unmanned vehicle according to claim 3, characterized in that, The cross-section of the control vehicle head is an inverted right trapezoid; a barcode scanner is installed on the inclined surface of the control vehicle head.

5. The unmanned vehicle according to any one of claims 1 to 2, characterized in that, The vehicle frame is provided with at least four transverse conveyor belts; the at least four transverse conveyor belts are located below the storage box, and the transverse conveyor belts are used to move the storage box laterally.

6. The unmanned vehicle according to any one of claims 1 to 2, characterized in that, The storage box is equipped with at least two layers of partitions; at least two rows of auxiliary rollers are evenly arranged on the partitions.

7. The unmanned vehicle according to claim 2, characterized in that, The unmanned vehicle also includes a limiting block, and the grasping and fixing module is a control top plate; The control unit is fixed to the front frame; The wheel module includes a wheel fixing body and a displacement wheel, and the wheel fixing body is connected to the vehicle frame. The second telescopic rod passes through the wheel fixing body and connects to the displacement wheel; The control top plate is connected to the upper part of the control vehicle head, and a controller is installed inside the control vehicle head. The controller is used to control the operation of the control vehicle head, the front frame, the rear frame and the devices on the control top plate. The bottom of the lifting cylinder is fixed to the wheel fixing body, and the top of the lifting cylinder is located in the slide groove of the control top plate. The controller is used to control the first telescopic rod to retract so that the front frame and the rear frame are combined. The top of the lifting cylinder is equipped with a sliding wheel; The limiting block is disposed on the rear frame and is used to fix the front and rear positions of the rear storage box; The gripping structure is located in the center of the control top plate.

8. The unmanned vehicle according to claim 7, characterized in that, The fixing plate is connected to the control top plate via a first telescopic cylinder, and the fixing plate is located above the storage box; The displacement joint includes a fixed lever arm, a rotating lever arm, and a loading lever arm; one end of the fixed lever arm is connected to the displacement block, and at least two fixed lever arms are connected to the displacement block; the rotating lever arm is connected to the fixed lever arm via a wing nut rotating joint; the loading lever arm is connected to the rotating lever arm via the wing nut rotating joint; and the loading lever arm is connected to the adsorption rod.

9. The unmanned vehicle according to claim 8, characterized in that, The adsorption connection body is fixed to the outermost loading arm plate; the air tube head is connected to the adsorption head through the hollow channel inside the adsorption connection body; The plastic adsorption ball includes an accessory adsorption ball and a reagent tube adsorption ball; the surface of the accessory adsorption ball is provided with an accessory adsorption area, which is planar, and the accessory adsorption area is provided with at least two unidirectional adsorption holes; the surface of the reagent tube adsorption ball is provided with a reagent tube adsorption area, and the reagent tube adsorption area is provided with a unidirectional adsorption hole with a diameter smaller than that of the reagent tube opening.

10. The unmanned vehicle according to claim 9, characterized in that, Both the front storage box and the rear storage box are equipped with closed doors on their front sides; The closed door is equipped with a handle and a lock; the mating surface of the front storage box has several grooves; the mating surface of the rear storage box has several protrusions, the grooves and protrusions are matched in position, and the grooves and protrusions are used to fix the front and rear storage boxes after they are joined together; at least two layers of partitions are provided in the front and rear storage boxes; the partitions are provided with mounting holes and dividing plates, and the mounting holes are used to fix excess reagent tubes; A first conveyor belt rod is provided on the front frame, and the first conveyor belt rod is connected to a rotating device inside the front frame; a second conveyor belt rod is provided on the rear frame; a conveyor belt is provided on the first conveyor belt rod and the second conveyor belt rod; a matching interlocking structure is provided on the first conveyor belt rod and the second conveyor belt rod, and the interlocking structure is used to combine the first conveyor belt rod and the second conveyor belt rod when the front frame and the rear frame are combined.

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