Bidirectional telescopic carrying equipment

Abstract

The utility model belongs to the technical field of transmission devices, and relates to bidirectional telescopic carrying equipment which comprises a supporting seat, a driving telescopic arm, a one-stage or multi-stage linkage telescopic arm, a threaded rod, a reciprocating rack, a rotary driving mechanism and a linkage mechanism. The threaded rod is rotationally mounted on the supporting seat, and the threaded rod is meshed with the reciprocating rack; the rotary driving mechanism is in transmission connection with the threaded rod; the linkage mechanism is connected with the driving telescopic arm and the linkage telescopic arm, and the linkage mechanism can drive the linkage telescopic arm to stretch out and draw back at the same time in the moving direction of the driving telescopic arm. By the adoption of the meshing transmission structure of the threaded rod and the reciprocating rack, good stability is achieved in the transmission process, the device is not prone to being affected by external interference, the structure of the device is simplified, the manufacturing cost is reduced, and the service life of the device is prolonged.

Description

Technical Field

[0001] This utility model relates to a bidirectional telescopic conveying device, belonging to the technical field of transmission devices. Background Technology

[0002] In intelligent automated analytical systems, sample transfer and analysis are key aspects of laboratory automation. To improve sample transfer efficiency, current technologies typically assemble sample tubes into test tube racks, which are then transported from a specific channel to the analytical equipment via a sample rack transfer device. After testing, the test tube racks are returned to their carrying device.

[0003] However, traditional sample rack transfer devices are often bulky, occupying a significant amount of laboratory space and having complex structures, which not only increases the difficulty of laboratory layout but also raises equipment costs. To address this, bidirectional telescopic handling devices have emerged on the market. For example, utility model patent application number 202010731642.4 discloses a manual / automatic integrated bidirectional transfer device. This device adopts a three-layer structure—a base plate, a lower moving plate, and an upper moving plate—enabling bidirectional telescopic functionality. However, this device still has some drawbacks in practical applications:

[0004] First, the base plate, lower moving plate, and upper moving plate all utilize gear transmission, employing two sets of gear and rack mechanisms. Each gear and rack mechanism has multiple meshing gears, resulting in a complex structure and cumbersome disassembly and replacement of parts, thus increasing maintenance costs. Second, this device requires high precision in the machining and assembly of parts. If the machining precision is insufficient, the assembly may be too loose or too tight. If the assembly between the base plate, lower moving plate, and upper moving plate is too loose, the extension and retraction stroke will be inaccurate; if the assembly is too tight, it will increase friction, increase wear, and shorten the service life. Furthermore, the gear-to-gear and gear-to-rack structures require alignment during assembly. In addition, the upper and lower moving plates are guided by rows of guide pulleys and long sliders. During frequent extension and retraction, the guide pulleys are prone to wear and damage.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present invention, and therefore may include information that does not constitute prior art. Utility Model Content

[0006] The purpose of this utility model is to provide a new technical solution to improve or solve the technical problems existing in the prior art as described above.

[0007] The technical solution provided by this utility model is as follows: A bidirectional telescopic conveying device includes a support base, an active telescopic arm, a single-stage or multi-stage linkage telescopic arm, a threaded rod, a reciprocating rack, a rotary drive mechanism, and a linkage mechanism. The reciprocating rack is mounted on the active telescopic arm; the threaded rod is rotatably mounted on the support base and meshes with the reciprocating rack; the rotary drive mechanism is drively connected to the threaded rod; the linkage mechanism is connected to the active telescopic arm and the linkage telescopic arm, and the linkage mechanism can drive the linkage telescopic arm to extend and retract along the movement direction of the active telescopic arm.

[0008] Compared with the prior art, the technical solution provided by this utility model has the following beneficial effects: This utility model adopts a meshing transmission structure of threaded rod and reciprocating rack, which converts the rotational motion of the rotary drive mechanism into the linear reciprocating motion of the reciprocating rack. The reciprocating rack then drives the active telescopic arm and the support seat to generate relative displacement. Then, through the linkage mechanism, the linkage telescopic arm extends and retracts simultaneously along the direction of motion of the active telescopic arm, thereby realizing the bidirectional and coordinated telescopic motion of the entire bidirectional telescopic handling equipment. It can drive the test tube rack to move a large stroke and realize the handling function of the test tube rack.

[0009] The meshing transmission structure of the threaded rod and reciprocating rack provides excellent stability during transmission and is not easily affected by external interference. Furthermore, this structure eliminates the need for strict centering of the support base and the active telescopic arm during assembly, as the rotation of the threaded rod naturally drives the active telescopic arm to center itself via the reciprocating rack. This design reduces the requirement for machining precision while ensuring high movement accuracy, thus guaranteeing the movement precision of the active telescopic arm.

[0010] This invention not only simplifies the structure of the equipment and reduces manufacturing costs, but also extends the service life of the equipment.

[0011] Based on the above technical solution, the present invention can be further improved as follows.

[0012] Furthermore, the linkage mechanism includes a first transmission belt and a second transmission belt. One end of the first transmission belt is fixed to one side of the support base, and the other end of the first transmission belt is S-shaped and passes through each telescopic arm between the support base and the final stage linkage telescopic arm in sequence before connecting to the final stage linkage telescopic arm. One end of the second transmission belt is fixed to the other side of the support base, and the other end of the second transmission belt is S-shaped and passes through each telescopic arm between the support base and the final stage linkage telescopic arm in sequence before connecting to the final stage linkage telescopic arm.

[0013] The beneficial effect of adopting the above-mentioned further solution is that when the linkage telescopic arm has only one stage, the final stage linkage telescopic arm refers to this single-stage linkage telescopic arm and is directly connected to the active telescopic arm. In this case, only the active telescopic arm exists between the support base and the final stage linkage telescopic arm. When the linkage telescopic arm includes two or more stages, the final stage linkage telescopic arm is the linkage telescopic arm furthest from the active telescopic arm. In this structure, an active telescopic arm and at least one intermediate linkage telescopic arm are provided between the support base and the final stage linkage telescopic arm. Through the S-shaped winding method of the first and second transmission belts, a coordinated linkage relationship can be established between the support base, each telescopic arm, and the final stage linkage telescopic arm, realizing multi-stage linkage telescopic.

[0014] Furthermore, when the linkage telescopic arm is a single-stage arm, the linkage mechanism can drive the linkage telescopic arm to extend and retract at twice the speed of the active telescopic arm.

[0015] When the linkage telescopic arm is multi-stage, the primary linkage telescopic arm extends and retracts at twice the extension and retraction speed of the active telescopic arm, and the moving distance of each stage linkage telescopic arm is twice the moving distance of the previous stage linkage telescopic arm.

[0016] The beneficial effect of adopting the above-mentioned further solution is that when the linkage telescopic arm has only one stage, for every certain length the active telescopic arm extends, the single-stage linkage telescopic arm will undergo a displacement of twice the length. Therefore, the total output stroke of the bidirectional telescopic conveying device can reach twice the travel stroke of the active telescopic arm. When the linkage telescopic arm includes two or more stages, the primary linkage telescopic arm is the linkage telescopic arm closest to the active telescopic arm, and the final linkage telescopic arm is the linkage telescopic arm farthest from the active telescopic arm. When the active telescopic arm moves a certain distance, the primary linkage telescopic arm will undergo a displacement of twice the length. The travel distance of each stage of the linkage telescopic arm is twice the travel distance of the previous stage. By setting multiple stages of linkage telescopic arms, the telescopic conveying distance can be expanded.

[0017] Furthermore, the linkage mechanism also includes a first pulley and a second pulley. The first pulley is used for the first transmission belt to pass over, and the second pulley is used for the second transmission belt to pass over. The first pulley and the second pulley are provided on each telescopic arm between the support base and the final stage linkage telescopic arm. The first pulley and the second pulley are respectively installed at both ends of each telescopic arm.

[0018] The beneficial effect of adopting the above-mentioned further solution is that the first pulley and the second pulley provide guidance for the first transmission belt and the second transmission belt, avoiding problems such as belt misalignment and friction during the extension and contraction process.

[0019] Furthermore, the support base and the active telescopic arm are slidably mounted together via a first guide rail, and the active telescopic arm and the linkage telescopic arm are slidably mounted together via a second guide rail.

[0020] The beneficial effect of adopting the above-mentioned further solution is that the support base and the active telescopic arm, as well as the active telescopic arm and the linkage telescopic arm, are all slidably installed with guide rails, which enables the active telescopic arm and the linkage telescopic arm to maintain stability and accuracy during extension and retraction, and the slide rails can better resist wear and deformation during long-term use, thereby extending the service life of the equipment.

[0021] Furthermore, both the first guide rail and the second guide rail are cross roller guide rails.

[0022] Furthermore, the telescopic arm is equipped with a loading lever, a mechanical gripper, or a support platform.

[0023] The beneficial effect of adopting the above-mentioned further solution is that the lever can push the sample carrier and other devices to move, thereby facilitating the loading and unloading of the sample carrier. The linkage telescopic arm can also be equipped with a mechanical gripper for gripping and placing the sample carrier. The top surface of the linkage telescopic arm can also be provided with one or more sample support platforms, so that the linkage telescopic arm itself becomes a carrier. In this way, the analytical instrument or the external gripper can directly place the product on the support platform for movement.

[0024] Furthermore, the telescopic arm is equipped with a loading lever, and the loading lever is equipped with a sensor for sensing objects.

[0025] Furthermore, one or more light sensors are respectively provided at both ends of the support base, and a baffle is provided on the active telescopic arm to cooperate with the light sensors. The baffle can move with the active telescopic arm and selectively block one or more of the light sensors during the movement.

[0026] The beneficial effect of adopting the above-mentioned further solution is that when the active telescopic arm moves, if the baffle blocks the first light sensor, it indicates that the active telescopic arm has moved to the left side of the support base; if the baffle blocks the second light sensor, it indicates that the active telescopic arm has moved to the right side of the support base. Through the light sensor, the bidirectional telescopic device of this utility model realizes the accurate detection and judgment of the movement direction of the active telescopic arm, providing reliable position feedback information for subsequent automated control, thereby improving the intelligence level and operating efficiency of the entire bidirectional telescopic device.

[0027] Furthermore, the first transmission belt and the second transmission belt are respectively connected to the support base through a first adjusting block and a second adjusting block. The first adjusting block can adjust the tension of the first transmission belt, and the second adjusting block can adjust the tension of the second transmission belt. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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 embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0029] Figure 1 This is a three-dimensional structural diagram of the bidirectional telescopic conveying device of this utility model in its initial state;

[0030] Figure 2 This is a three-dimensional structural diagram of the bidirectional telescopic conveying device of this utility model when it is extended to the right to its limit.

[0031] Figure 3 For the present utility model Figure 2 Main view and partially broken sectional view;

[0032] Figure 4 For the present utility model Figure 3 Top view;

[0033] Figure 5 This is a three-dimensional structural diagram of the bidirectional telescopic conveying device of this utility model from a bottom-view angle;

[0034] Figure 6 A simplified structural diagram of the installation of the first transmission belt and base, the active telescopic arm and the linkage telescopic arm of this utility model;

[0035] Figure 7 A simplified structural diagram showing the installation of the second transmission belt with the base, the active telescopic arm, and the linkage telescopic arm of this utility model.

[0036] Figure 8 This is a schematic diagram of the connection structure between the first transmission belt and the base, the active telescopic arm and the linkage telescopic arm when the bidirectional telescopic conveying device of this utility model extends to the right.

[0037] Figure 9 This is a schematic diagram of the connection structure between the second transmission belt and the base, the active telescopic arm and the linkage telescopic arm when the bidirectional telescopic handling device of this utility model extends to the right.

[0038] Figure 10This is a schematic diagram of the connection structure between the second transmission belt and the base, the active telescopic arm and the linkage telescopic arm when the bidirectional telescopic conveying device of this utility model extends to the left.

[0039] Figure 11 This is a schematic diagram of the connection structure between the first transmission belt and the base, the active telescopic arm and the linkage telescopic arm when the bidirectional telescopic conveying device of this utility model extends to the left.

[0040] Figure 12 This is a schematic diagram of the connection structure of the first transmission belt when the bidirectional telescopic handling device of this utility model has a multi-stage linkage telescopic arm;

[0041] Figure 13 This is a schematic diagram of the connection structure of the second transmission belt when the bidirectional telescopic conveying device of this utility model has a multi-stage linkage telescopic arm;

[0042] In the diagram, 100 is the support base; 110 is the first guide rail; 120 is the second guide rail; 200 is the active telescopic arm; 210 is the baffle; 300 is the linkage telescopic arm; 310 is the loading lever; 410 is the threaded rod; 420 is the reciprocating rack; 510 is the first transmission belt; 520 is the second transmission belt; 550 is the first pulley; 560 is the second pulley; 610 is the motor; 710 is the first light sensor; 720 is the second light sensor; and 730 is the third light sensor. Detailed Implementation

[0043] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and do not imply any priority in order or any specific technical meaning. Furthermore, the concepts of "connection" and "linkage" mentioned in this application, unless otherwise specified, are considered to include both direct connection (linkage) and indirect connection (linkage).

[0044] When interpreting the description of this application, it should be clarified that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating directions or positional relationships, are based on the perspective and layout shown in the accompanying drawings. They are intended to facilitate explanation and simplify the description process, and are not absolute limitations on the actual location, construction method, or operating mode of the described device or element. Therefore, these terms should not be construed as restrictive interpretations of the content of this application.

[0045] The principles and features of this utility model are described below with reference to examples. The examples are only used to explain this utility model and are not intended to limit the scope of this utility model.

[0046] Example 1:

[0047] like Figure 1 - Figure 5As shown, a bidirectional telescopic conveying device includes a support base 100, an active telescopic arm 200, a linked telescopic arm 300, a threaded rod 410, a reciprocating rack 420, a rotary drive mechanism, and a linkage mechanism. The threaded rod 410 is rotatably mounted on the support base and meshes with the reciprocating rack 420. The rotary drive mechanism is connected to the threaded rod 410 and drives the threaded rod 410 to rotate. The rotation of the threaded rod 410 can drive the reciprocating rack 420 to reciprocate linearly. The linkage mechanism is connected to the active telescopic arm 200 and the linked telescopic arm 300. The linkage mechanism can drive the linked telescopic arm 300 to extend and retract at twice the extension and retraction speed of the active telescopic arm 200, and the extension and retraction direction is consistent with the extension and retraction direction of the active telescopic arm 200.

[0048] In this embodiment, the support base 100, the active telescopic arm 200, and the linkage telescopic arm 300 are arranged sequentially from bottom to top. However, the present invention does not limit the installation orientation, and these components can also be arranged sequentially from top to bottom, from left to right, or from right to left.

[0049] The linkage mechanism includes a first transmission belt 510 and a second transmission belt 520, and the two ends of the active telescopic arm 200 are respectively provided with a first pulley 550 and a second pulley 560, as shown below. Figure 6 As shown, one end of the first transmission belt 510 is fixed to one side of the support base 100, and the other end of the first transmission belt 510 passes around the first pulley 550 mounted on the active telescopic arm 200 and is connected to the end of the linkage telescopic arm 300 away from the first pulley 550; Figure 7 As shown, one end of the second transmission belt 520 is fixed to the other side of the support base 100, and the other end of the second transmission belt 520 passes around the second pulley 560 mounted on the linkage telescopic arm 300 and is connected to the end of the linkage telescopic arm 300 away from the second pulley 560. Figure 8 As shown, when the active telescopic arm 200 moves to the right, the first pulley 550 pushes the first transmission belt 510 to extend to the right, thereby causing the first transmission belt 510 to drive the linkage telescopic arm 300 to move to the right synchronously, as shown. Figure 9 As shown, the second transmission belt 520 is also synchronously extended to the right by being dragged by the telescopic arm 300; as Figure 10 As shown, when the active telescopic arm 200 moves to the left, the second pulley 560 pushes the second transmission belt 520 to extend to the left, thereby causing the second transmission belt 520 to drive the linkage telescopic arm 300 to move to the left synchronously. Figure 11As shown, the first transmission belt 510 extends synchronously to the left under the drag of the linkage telescopic arm 300. Driven by the first transmission belt 510 or the second transmission belt 520, the linkage telescopic arm 300 moves in the same direction as the active telescopic arm 200 at twice the sliding speed of the active telescopic arm 200. That is, after the active telescopic arm 200 moves a certain distance, the linkage telescopic arm 300 moves twice the distance of the active telescopic arm 200.

[0050] Two first guide rails 110 are provided between the support base 100 and the active telescopic arm 200, and two second guide rails 120 are provided between the active telescopic arm 200 and the linked telescopic arm 300. In this embodiment, both the first guide rails 110 and the second guide rails 120 are cross roller guide rails, which enable the active telescopic arm 200 and the linked telescopic arm 300 to maintain stability and accuracy during extension and retraction, and the guide rails can better resist wear and deformation during long-term use, thereby extending the service life of the equipment.

[0051] This invention does not limit the structure of the rotary drive mechanism to adapt to the needs of different application scenarios. In a preferred embodiment of this invention, the rotary drive mechanism is driven by a motor 610, which is connected to the threaded rod 410 via a belt drive mechanism. Torque is transmitted using the friction between the belt and the pulley, thereby driving the threaded rod to rotate. Of course, the rotary drive mechanism can also adopt other drive forms. For example, it can be driven by a hydraulic motor, or by a geared motor directly driving a gear train to transmit torque to the threaded rod through gear meshing, or by the meshing of a sprocket and a chain to transmit torque. Those skilled in the art can select an appropriate drive form according to specific needs, all of which fall within the protection scope of this invention.

[0052] The telescopic arm 300 is equipped with loading levers 310 on one or both sides. These levers 310 can move the test tube rack, facilitating the loading and unloading of test tubes. Of course, to meet the needs of specific application scenarios, other functional auxiliary devices can be added to the telescopic arm 300. For example, the top surface of the telescopic arm 300 can be configured as a support platform, making the telescopic arm 300 itself a carrier. In this way, analytical instruments or external grippers can directly place products on the support platform for movement. The telescopic arm 300 can also be equipped with mechanical grippers for grasping and placing sample carriers.

[0053] One or more light sensors are respectively provided at both ends of the support base 100. The active telescopic arm 200 is provided with a baffle 210 that cooperates with the light sensor. The baffle 210 can move with the active telescopic arm 200 and selectively block one or more of the light sensors during the movement.

[0054] In this embodiment, as Figure 2 As shown, the support base 100 is equipped with a first light sensor 710, a second light sensor 720, and a third light sensor 730. The first light sensor 710 and the second light sensor 720 are located at the left and right ends of the support base 100, respectively, and the third light sensor 730 is located between the first light sensor 710 and the second light sensor 720. The active telescopic arm 200 is equipped with a baffle 210, which can move with the active telescopic arm 200 and, during the movement, blocks one or more of the first light sensor 710, the second light sensor 720, or the third light sensor 730 as its position changes. Specifically, when the active telescopic arm 200 is in the non-extended state, the baffle 210 will simultaneously block the light from the first light sensor 710, the second light sensor 720, and the third light sensor 730. At this time, the control system can immediately identify and determine that the active telescopic arm 200 is in its initial position. Once the baffle 210 leaves the sensing area of ​​the second light sensor 720, while the first light sensor 710 and the third light sensor 730 remain blocked, the control system can immediately identify and determine that the active telescopic arm 200 has begun to move to the left. As the active telescopic arm 200 continues to move to the left, the baffle 210 will continue to leave the sensing area of ​​the third light sensor 730. At this time, the baffle 210 only blocks the light from the first light sensor 710 on the left side of the support base 100, and the control system will determine that the active telescopic arm 200 has moved to the left side region; when the baffle 210 continues to leave the sensing area of ​​the first light sensor 710, the control system will determine that the active telescopic arm 200 has moved to the leftmost extreme position. The reverse movement is as follows: Figure 1 As shown, when the active telescopic arm 200 is in the non-extended state, the baffle 210 will simultaneously block the light from the first light sensor 710, the second light sensor 720, and the third light sensor 730. At this time, the control system can immediately identify and determine that the active telescopic arm 200 is in the initial position. When the baffle 210 leaves the sensing area of ​​the first light sensor 710 on the left side of the support base 100, while the second light sensor 720 and the third light sensor 730 are still blocked, the control system can immediately identify and determine that the active telescopic arm 200 has started to move to the right. As the active telescopic arm 200 continues to move to the right, the baffle 210 will continue to move away from the sensing area of ​​the third light sensor 730 until the baffle 210 only blocks the light from the second light sensor 720. At this point, the control system will determine that the active telescopic arm 200 has moved to the right side. The active telescopic arm 200 continues to move to the right until the baffle 210 continues to move away from the sensing area of ​​the second light sensor 720. At this point, the baffle 210 does not block any light sensor, and the control system will determine that the active telescopic arm 200 has moved to the right limit position.

[0055] The first transmission belt 510 and the second transmission belt 520 are connected to the support base 100 through the first adjusting block and the second adjusting block, respectively. The first adjusting block can adjust the tension of the first transmission belt 510, and the second adjusting block can adjust the tension of the second transmission belt 520.

[0056] The bidirectional telescopic conveying device of this invention can efficiently move test tube racks between the production line and analytical equipment. The specific workflow is as follows:

[0057] S1. Initial state: The bidirectional telescopic conveying equipment is in the off state. The active telescopic arm 200 is located directly above the support base 100, and the linkage telescopic arm 300 is vertically opposite to the active telescopic arm 200. The reciprocating rack 420 is engaged with the threaded rod 410. The first transmission belt 510 and the second transmission belt 520 are symmetrically distributed on both sides of the linkage telescopic arm 300, maintaining appropriate tension.

[0058] S2. Clamping the test tube rack: Start the motor 610, which drives the threaded rod 410 to rotate. The rotational motion of the threaded rod 410 is converted into the linear movement of the reciprocating rack 420. The reciprocating rack 420 further drives the active telescopic arm 200 to move towards the production line side. At the same time, the linkage telescopic arm 300, driven by the first transmission belt 510 or the second transmission belt 520, extends towards the production line side at twice the sliding speed of the active telescopic arm 200. When the linkage telescopic arm 300 drives the loading lever 310 to reach the production line, the test tube rack to be tested will move along the production line between the two loading levers 310 and be clamped.

[0059] S3. Conveying the test tube rack: The motor 610 rotates in the opposite direction, the threaded rod 410 rotates in the opposite direction, and the reciprocating rack 420 moves in the opposite direction, simultaneously driving the active telescopic arm 200 to move away from the production line (i.e., towards the analytical equipment). Driven by the first transmission belt 510 or the second transmission belt 520, the linkage telescopic arm 300 moves in the same direction as the active telescopic arm 200 at twice the sliding speed of the active telescopic arm 200. The loading lever 310 on the linkage telescopic arm 300 clamps the test tube rack and moves it towards the analytical equipment. After reaching the designated position, the motor 610 stops working, and the analytical equipment starts working.

[0060] S4. Test tube rack return operation: After the inspection is completed, the test tube rack needs to be returned to the production line. At this time, the motor 610 is restarted, the threaded rod 410 rotates, and the active telescopic arm 200 is moved to one side of the production line through the reciprocating rack 420. At the same time, the linkage mechanism drives the linkage telescopic arm 300 to extend and retract synchronously. The loading lever 310 clamps the test tube rack and moves it to one side of the production line until it is transported back to the production line. After the motor 610 stops working, the test tube rack will be transported along the production line to the next inspection station. When the next set of test tube racks to be inspected on the production line moves to the loading lever 310 and is clamped, the steps S3 to S4 are repeated.

[0061] Example 2:

[0062] like Figure 12 and Figure 13 As shown, unlike Embodiment 1, in this embodiment, the bidirectional telescopic conveying device includes multi-stage linked telescopic arms 300. The number of linked telescopic arms 300 is not limited in this embodiment; it can be two, three, or more stages. One end of the first transmission belt 510 is fixed to one side of the support base 100, and the other end of the first transmission belt 510 is S-shaped, successively passing over the active telescopic arm 200 and each stage of the linked telescopic arms 300 before connecting to the final stage of the linked telescopic arm 300. One end of the second transmission belt 520 is fixed to the other side of the support base 100, and the other end of the second transmission belt 520 is S-shaped, successively passing over the active telescopic arm 200 and each stage of the linked telescopic arms 300 before connecting to the final stage of the linked telescopic arm 300.

[0063] Driven by the first transmission belt 510 and the second transmission belt 520, the primary linkage telescopic arm can extend and retract at twice the extension and retraction speed of the active telescopic arm 200. Each level of the linkage telescopic arm 300 can extend and retract at twice the extension and retraction speed of the previous level of the linkage telescopic arm 300, and so on, to achieve multi-level linkage extension and retraction.

[0064] Similar to Embodiment 1, this embodiment still uses a transmission belt and pulley structure for linkage transmission. Each telescopic arm between the support base 100 and the final stage telescopic arm 300 is equipped with a first pulley 550 and a second pulley 560. The first transmission belt 510 passes around the first pulley 550, and the second transmission belt 520 passes around the second pulley 560, thus realizing the linkage between the active telescopic arm 200 and each stage of the linkage telescopic arm 300.

[0065] Similar to Embodiment 1, in this embodiment, guide rail structures are provided between the support base 100 and the active telescopic arm 200, between the active telescopic arm 200 and the linkage telescopic arm 300, and between each level of the linkage telescopic arm 300, to guide the telescopic movement of the telescopic arm.

[0066] Similar to Embodiment 1, in this embodiment, the support base 100 and the active telescopic arm 200 still use a reciprocating rack 420 with a threaded rod 410 for transmission. The motor 610 drives the threaded rod 410 to rotate, and the rotational motion of the threaded rod 410 is converted into the linear reciprocating motion of the reciprocating rack 420 and the active telescopic arm 200.

[0067] This utility model's bidirectional telescopic handling device uses a meshing transmission structure of threaded rod 410 and reciprocating rack 420 for active transmission, and a transmission belt and pulley structure for linkage transmission. This enables bidirectional and coordinated telescopic movement of the entire bidirectional telescopic handling device, which can drive the test tube rack to move a large distance, achieving efficient and high-precision handling of the test tube rack. This not only simplifies the structure of the device and reduces manufacturing costs, but also improves the efficiency and precision of the telescopic movement.

[0068] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A bi-directional telescoping handling apparatus, characterized by, Includes a support base (100), an active telescopic arm (200), a single-stage or multi-stage linkage telescopic arm (300), a threaded rod (410), a reciprocating rack (420), a rotary drive mechanism, and a linkage mechanism. The reciprocating rack (420) is mounted on the active telescopic arm (200); The threaded rod (410) is rotatably mounted on the support base (100), and the threaded rod (410) meshes with the reciprocating rack (420); The rotary drive mechanism is connected to the threaded rod (410) in a transmission manner; The linkage mechanism is connected to the active telescopic arm (200) and the linkage telescopic arm (300). The linkage mechanism can drive the linkage telescopic arm (300) to extend and retract along the movement direction of the active telescopic arm (200).

2. The bidirectional telescoping handling apparatus of claim 1, wherein, The linkage mechanism includes a first transmission belt (510) and a second transmission belt (520). One end of the first transmission belt (510) is fixed to one side of the support base (100), and the other end of the first transmission belt (510) is S-shaped and passes through each telescopic arm between the support base (100) and the final stage linkage telescopic arm (300) before connecting to the final stage linkage telescopic arm (300). One end of the second transmission belt (520) is fixed to the other side of the support base (100), and the other end of the second transmission belt (520) is S-shaped and passes through the telescopic arms between the support base (100) and the final stage linkage telescopic arm (300) before connecting to the final stage linkage telescopic arm (300).

3. The bidirectional telescoping handling apparatus of claim 1, wherein, When the linkage telescopic arm is at level one, the linkage mechanism can drive the linkage telescopic arm (300) to extend and retract at twice the extension and retraction speed of the active telescopic arm (200); When the linkage telescopic arm is multi-stage, the primary linkage telescopic arm (300) extends and retracts at twice the extension and retraction speed of the active telescopic arm (200), and each stage linkage telescopic arm (300) extends and retracts at twice the extension and retraction speed of the previous stage linkage telescopic arm (300).

4. The bidirectional telescoping handling apparatus of any of claims 1-3, wherein, The linkage mechanism further includes a first pulley (550) and a second pulley (560). Each telescopic arm between the support base (100) and the final stage linkage telescopic arm (300) is provided with the first pulley (550) and the second pulley (560). The first pulley (550) is used for the first transmission belt (510) to pass over, and the second pulley (560) is used for the second transmission belt (520) to pass over.

5. The bidirectional telescoping handling apparatus of claim 4, wherein, The support base (100) and the active telescopic arm (200) are slidably installed together via a first guide rail (110), and the active telescopic arm (200) and the linkage telescopic arm (300) are slidably installed together via a second guide rail (120).

6. The bidirectional telescoping handling apparatus of claim 5, wherein, Both the first guide rail (110) and the second guide rail (120) are cross roller guide rails.

7. The bidirectional telescoping handling apparatus of claim 4, wherein, The telescopic boom (300) is equipped with a loading lever (310), a mechanical gripper, or a support platform.

8. The bidirectional telescoping handling apparatus of claim 4, wherein, The telescopic arm (300) is equipped with a loading lever (310), and the loading lever (310) is equipped with a sensor for sensing objects.

9. The bidirectional telescoping handling apparatus of claim 4, wherein, One or more light sensors are provided at each end of the support base (100). The active telescopic arm (200) is provided with a baffle (210) that cooperates with the light sensor. The baffle (210) can move with the active telescopic arm (200) and selectively block one or more of the light sensors during the movement.

10. The bidirectional telescoping handling apparatus of claim 4, wherein, The first transmission belt (510) and the second transmission belt (520) are connected to the support base (100) through the first adjusting block and the second adjusting block, respectively. The first adjusting block can adjust the tension of the first transmission belt (510), and the second adjusting block can adjust the tension of the second transmission belt (520).

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