Single drive double sampling device

Abstract

The utility model discloses a single drive double shift sampling device, including support drive mechanism, be provided with grabbing mechanism and pipette mechanism on support drive mechanism, support drive mechanism can drive grabbing mechanism and pipette mechanism staggered lifting simultaneously, and grabbing mechanism can catch the plate frame, and pipette mechanism can suck the sample tube, the utility model discloses the beneficial effect is through support drive mechanism and drives grabbing mechanism and pipette mechanism to lift simultaneously, realizes the ascending of grabbing mechanism and the descending of pipette mechanism, and they do not interfere with each other, has simplified mechanical structure, has reduced the cost to the space of saving, through the fixed setting three sensors, and the sensing sheet is set up on grabbing mechanism, and the movement of sensing sheet is driven through the lifting of grabbing mechanism to the position of grabbing mechanism and pipette mechanism is judged, and the working efficiency is improved greatly.

Description

Technical Field

[0001] This utility model relates to the field of sample storage technology, and in particular to a single-drive dual-transfer sampling device. Background Technology

[0002] In the field of biological samples, when biological samples transported via transport tanks are stored in storage equipment, the first step is to grab the plate rack into the operation area for operations such as tube picking. The grabbing and tube picking operations are performed sequentially and both require three degrees of freedom of movement. Therefore, the space occupied in the operation area is relatively large, and the cost of setting up two sets of moving modules is high. Utility Model Content

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0004] In view of the problems existing in the above or prior art, this utility model is proposed.

[0005] Therefore, the purpose of this utility model is to provide a single-drive dual-movement sampling device that can simultaneously drive the gripping mechanism and the suction mechanism to move up and down, so that the gripping mechanism rises while the suction mechanism falls, and the two do not interfere with each other. This simplifies the mechanical structure, reduces costs, and saves space. By setting a sensing mechanism, the position information of the gripping mechanism and the suction mechanism can be effectively monitored, which greatly improves work efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a single-drive dual-transfer sampling device, which includes a support drive mechanism; a gripping mechanism and a suction tube mechanism are provided on the support drive mechanism; the support drive mechanism can simultaneously drive the gripping mechanism and the suction tube mechanism to perform staggered lifting and lowering, the gripping mechanism can grip the plate frame, and the suction tube mechanism can suck up the sample tube.

[0007] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, a sensing mechanism is provided on the support drive mechanism, which can monitor the position of the grasping mechanism.

[0008] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the support drive mechanism includes a support frame and a drive component; the drive component is set on the support frame, and its two sides are respectively connected to the gripping mechanism and the suction mechanism. The drive component drives the gripping mechanism to rise while simultaneously driving the suction mechanism to fall.

[0009] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the driving component includes a first driving member, an upper driven member, a lower driven member, and a rotating member; the upper driven member and the lower driven member are respectively disposed near the upper and lower ends of the support frame, the rotating member is connected to the upper driven member, and the rotating member is connected to both the upper and lower driven members, and the first driving member can drive the upper driven member.

[0010] In a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the gripping mechanism includes a gripping connection component and a gripping component; the gripping connection component is connected to the support drive mechanism, the gripping connection component is provided with the gripping component, and the support drive mechanism drives the gripping connection component and the gripping component to move up and down.

[0011] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the gripping connection assembly includes a rotating component, a connecting frame, and a connecting frame guide rail; the connecting frame guide rail is mounted on the support drive mechanism, the connecting frame is slidably connected to the connecting frame guide rail, one side of the connecting frame is mounted on the rotating component, and the rotating component can drive the connecting frame to rise and fall.

[0012] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the gripping component includes a rotary driver, which is mounted on the gripping connection component. The lower end of the rotary driver is connected to a rotary shaft, and the lower end of the rotary shaft is connected to a gripper driver. The gripper driver is connected to the gripper, and the gripper driver can drive the gripper to grip the plate frame. The rotary driver can drive the rotary shaft, the gripper driver, and the gripper to rotate 360°.

[0013] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the straw mechanism includes a rotating component, a straw support assembly, and a straw assembly; the straw support assembly is connected to the rotating component, and the straw assembly is provided on the straw support assembly; the rotating component can drive the straw support assembly and the straw assembly to move up and down.

[0014] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the suction tube support assembly includes a lifting support frame and a second guide rail. The lifting support frame is connected to the rotating component, and the second guide rail is mounted on the support drive mechanism. The lifting support frame and the second guide rail are slidably connected.

[0015] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the straw assembly includes a straw, a straw drive component, and a straw lifting component; the lower end of the straw drive component is connected to the straw, the straw drive component is connected to the straw lifting component, and the straw lifting component can drive the straw and the straw drive component to move up and down.

[0016] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the straw lifting component includes a straw lifting guide rail, a straw lifting driver, and a lead screw; the straw lifting guide rail is set on the lifting support frame, the lower end of the straw lifting driver is connected to the lead screw, the straw driving component is connected to the lead screw, and the straw driving component is slidably connected to the straw lifting guide rail; the rotation of the lead screw can drive the straw driving component to lift.

[0017] As a preferred embodiment of the single-drive dual-movement sampling device of this utility model, the sensing mechanism includes a gripping connection assembly, a support frame, a first sensor, a second sensor, a third sensor, and a sensing plate; the sensing plate is disposed on the gripping connection assembly, and the first sensor, the second sensor, and the third sensor are respectively disposed on the upper, middle, and lower parts of the support frame, the sensing plate moves up and down with the gripping connection assembly, and the sensing plate senses the first sensor, the second sensor, and the third sensor respectively.

[0018] The beneficial effects of this utility model are as follows: This utility model uses a support drive mechanism to simultaneously drive the gripping mechanism and the straw mechanism to rise and fall, so that the gripping mechanism rises while the straw mechanism falls, and the two do not interfere with each other. This simplifies the mechanical structure, reduces costs, and saves space. By fixing three sensors and setting the sensor plates on the gripping mechanism, the position of the gripping mechanism and the straw mechanism can be determined by the movement of the sensor plates driven by the rise and fall of the gripping mechanism. This greatly improves work efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0020] Figure 1 This is a three-dimensional schematic diagram of a single-drive dual-movement sampling device.

[0021] Figure 2 This is a three-dimensional schematic diagram of a single-drive dual-movement sampling device from another perspective.

[0022] Reference numerals: 1; Support drive mechanism; 2; Straw mechanism; 3; Sensing mechanism; 4; Support frame; 11; Drive assembly; 12; First drive member; 121; Upper follower; 122; Lower follower; 123; Rotating member; 124; Straw connection assembly; 21; Straw assembly; 22; Connecting frame; 212; Connecting frame guide rail; 213; Rotary driver; 221; Rotating shaft; 222; Gripper driver; 223; Rotating member; 124; Straw support assembly; 31; Straw assembly; 32; Lifting support frame; 311; Second guide rail; 312; Lifting support frame; 311; Second guide rail; 312; Straw lifting guide rail; 3231; Straw lifting driver; 3232; Lead screw; 3233; First sensor; 41; Second sensor; 42; Third sensor; 43; Sensing plate; 44; Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments. Example 1

[0026] Reference Figures 1-2 This is the first embodiment of the present invention. This embodiment provides a single-drive dual-movement sampling device, which includes a support drive mechanism 1, a gripping mechanism 2 and a suction mechanism 3. By connecting the gripping mechanism 2 and the suction mechanism 3 to the support drive mechanism 1, the support drive mechanism 1 can drive the gripping mechanism 2 to rise while the suction mechanism 3 falls, and vice versa.

[0027] Specifically, it includes a support drive mechanism 1; the support drive mechanism 1 is equipped with a gripping mechanism 2 and a suction mechanism 3; the support drive mechanism 1 can simultaneously drive the gripping mechanism 2 and the suction mechanism 3 to perform staggered lifting and lowering, the gripping mechanism 2 can grip the plate frame, and the suction mechanism 3 can suck up the sample tube.

[0028] Preferably, the support drive mechanism 1 can drive the gripping mechanism 2 and the straw mechanism 3 simultaneously. When the gripping mechanism 2 rises, the straw mechanism 3 falls, and vice versa.

[0029] In summary, this utility model uses a support drive mechanism 1 to simultaneously drive the gripping mechanism 2 and the straw mechanism 3 to rise and fall, so that the gripping mechanism 2 rises while the straw mechanism 3 falls, and the two do not interfere with each other, simplifying the mechanical structure, reducing costs, and saving space. Example 2

[0030] Reference Figures 1-2 This is the second embodiment of the present invention. In the previous embodiment, the single-drive dual-movement sampling device includes a support drive mechanism 1, a gripping mechanism 2, and a suction mechanism 3. By connecting the gripping mechanism 2 and the suction mechanism 3 to the support drive mechanism 1, the support drive mechanism 1 can drive the gripping mechanism 2 to rise while the suction mechanism 3 falls, and vice versa.

[0031] Specifically, it includes a support drive mechanism 1; the support drive mechanism 1 is equipped with a gripping mechanism 2 and a suction mechanism 3; the support drive mechanism 1 can simultaneously drive the gripping mechanism 2 and the suction mechanism 3 to perform staggered lifting and lowering, the gripping mechanism 2 can grip the plate frame, and the suction mechanism 3 can suck up the sample tube.

[0032] Preferably, the support drive mechanism 1 can drive the gripping mechanism 2 and the straw mechanism 3 simultaneously. When the gripping mechanism 2 rises, the straw mechanism 3 falls, and vice versa.

[0033] Furthermore, a sensing mechanism 4 is provided on the support drive mechanism 1, which can monitor the position of the gripping mechanism 2.

[0034] Preferably, since the gripping mechanism 2 and the sensing mechanism 4 are on the same axis, the position of the straw mechanism 3 can also be obtained as long as the position of the gripping mechanism 2 can be detected.

[0035] Furthermore, the support drive mechanism 1 includes a support frame 11 and a drive component 12; the drive component 12 is mounted on the support frame 11, and its two sides are connected to the gripping mechanism 2 and the straw mechanism 3 respectively. The drive component 12 drives the gripping mechanism 2 to rise while simultaneously driving the straw mechanism 3 to fall.

[0036] Furthermore, the drive assembly 12 includes a first drive member 121, an upper follower 122, a lower follower 123, and a rotating member 124; the upper follower 122 and the lower follower 123 are respectively disposed near the upper and lower ends of the support frame 11, the rotating member 124 is connected to the upper follower 122, and the rotating member 124 is connected to both the upper follower 122 and the lower follower 123, and the first drive member 121 can drive the upper follower 122.

[0037] Preferably, the drive assembly 12 can be a motor with a pulley, but other methods can also be used, such as a motor with gears and a chain.

[0038] Preferably, the first driving element 121 includes a motor, but the first driving element 121 can also be a driving method in the prior art.

[0039] Preferably, the upper driven member 122 and the lower driven member 123 are rotating wheels, and the rotating member 124 is a transmission belt.

[0040] Preferably, the first driving member 121 can drive the upper driven member 122 to rotate, thereby driving the rotating member 124 and the lower driven member 123 to rotate, thereby driving the gripping mechanism 2 and the suction tube mechanism 3 to alternately lift and lower.

[0041] Preferably, the gripping mechanism 2 and the straw mechanism 3 are fixed on both sides of the rotating part 124 respectively, and the fixed positions are not in the same horizontal direction, so that the gripping mechanism 2 and the straw mechanism 3 do not affect each other during the lifting and lowering process.

[0042] Furthermore, the gripping mechanism 2 includes a gripping connection component 21 and a gripping component 22; the gripping connection component 21 is connected to the support drive mechanism 1, and the gripping component 22 is provided on the gripping connection component 21. The support drive mechanism 1 drives the gripping connection component 21 and the gripping component 22 to move up and down.

[0043] Furthermore, the gripping connection assembly 21 includes a rotating component 124, a connecting frame 212, and a connecting frame guide rail 213; the connecting frame guide rail 213 is mounted on the support drive mechanism 1, the connecting frame 212 is slidably connected to the connecting frame guide rail 213, one side of the connecting frame 212 is on the rotating component 124, and the rotating component 124 can drive the connecting frame 212 to rise and fall.

[0044] Furthermore, the gripping component 22 includes a rotary driver 221, which is mounted on the gripping connection component 21. The lower end of the rotary driver 221 is connected to a rotary shaft 222, and the lower end of the rotary shaft 222 is connected to a gripper driver 223. The gripper driver 223 is connected to a gripper 224. The gripper driver 223 can drive the gripper 224 to grip the plate frame. The rotary driver 221 can drive the rotary shaft 222, the gripper driver 223, and the gripper 224 to rotate 360°.

[0045] Furthermore, the straw mechanism 3 includes a rotating component 124, a straw support assembly 31, and a straw assembly 32; the straw support assembly 31 is connected to the rotating component 124, and the straw support assembly 31 is provided with the straw assembly 32; the rotating component 124 can drive the straw support assembly 31 and the straw assembly 32 to move up and down.

[0046] Furthermore, the straw support assembly 31 includes a lifting support frame 311 and a second guide rail 312. The lifting support frame 311 is connected to the rotating component 124, and the second guide rail 312 is mounted on the support drive mechanism 1. The lifting support frame 311 and the second guide rail 312 are slidably connected.

[0047] Furthermore, the straw assembly 32 includes a straw 321, a straw drive 322, and a straw lifting component 323; the lower end of the straw drive 322 is connected to the straw 321, and the straw drive 322 is connected to the straw lifting component 323, which can drive the straw 321 and the straw drive 322 to move up and down.

[0048] Preferably, the straw driver 322 is a drive motor, which can drive the straw 321 to fix the sample tube.

[0049] It should be noted that pipette 321 can also be used in a vacuum negative pressure manner to draw up and fix the sample tube.

[0050] Furthermore, the straw lifting component 323 includes a straw lifting guide rail 3231, a straw lifting driver 3232, and a lead screw 3233; the straw lifting guide rail 3231 is mounted on the lifting support frame 311, the lower end of the straw lifting driver 3232 is connected to the lead screw 3233, the straw driving component 322 is connected to the lead screw, and the straw driving component 322 is slidably connected to the straw lifting guide rail 3231. The rotation of the lead screw 3233 can drive the straw driving component 322 to lift.

[0051] Preferably, the straw lifting component 323 can drive the straw driving component 322 and the straw 321 to move up and down a certain distance to grasp and fix the sample tube.

[0052] Preferably, the straw lifting driver 3232 can be a motor, which can drive the lead screw 3233 to rotate. One side of the straw driving component 322 is engaged with the lead screw 3233, and the straw driving component 322 is also connected to the straw lifting guide rail 3231. The straw lifting guide rail 3231 guides and limits the straw driving component 322 to ensure that the straw 321 is raised and lowered vertically.

[0053] Furthermore, the sensing mechanism 4 includes a gripping connection assembly 21, a support frame 11, a first sensor 41, a second sensor 42, a third sensor 43, and a sensing plate 44; the sensing plate 44 is disposed on the gripping connection assembly 21, and the first sensor 41, the second sensor 42, and the third sensor 43 are respectively disposed on the upper, middle, and lower parts of the support frame 11. The sensing plate 44 moves up and down with the gripping connection assembly 21, and the sensing plate 44 senses the first sensor 41, the second sensor 42, and the third sensor 43 respectively.

[0054] Preferably, by providing a sensor plate 44 on the gripping mechanism 2, the gripping mechanism 2 drives the sensor plate 44 to move up and down, so that the first sensor 41, the second sensor 42, and the third sensor 43 respectively sense the sensor plate 44, thereby obtaining the position of the gripping mechanism 2. Since the same driving component 12 is used, the position of the straw mechanism 3 is also determined when the position of the gripping mechanism 2 is obtained.

[0055] Preferably, by utilizing the same set of drive components 12, the sensor plate on the straw mechanism 3 is saved.

[0056] In summary, this utility model uses a support drive mechanism 1 to simultaneously drive the gripping mechanism 2 and the straw mechanism 3 to rise and fall, achieving the lifting of the gripping mechanism 2 and the lowering of the straw mechanism 3 without interference between them. This simplifies the mechanical structure, reduces costs, and saves space. By fixing three sensors on the gripping mechanism 2, the movement of the sensors caused by the lifting of the gripping mechanism 2 determines the positions of the gripping mechanism 2 and the straw mechanism 3, significantly improving work efficiency.

[0057] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of this utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structural equivalents but also equivalent structures. Without departing from the scope of this invention, other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments. Therefore, this invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0058] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the present invention as currently considered, or those features that are not relevant to implementing the present invention) may be omitted.

[0059] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A single-drive dual-transfer sampling device, characterized in that: It includes a support drive mechanism (1); the support drive mechanism (1) is provided with a gripping mechanism (2) and a suction mechanism (3); the support drive mechanism (1) can simultaneously drive the gripping mechanism (2) and the suction mechanism (3) to perform staggered lifting and lowering, the gripping mechanism (2) can grip the plate frame, and the suction mechanism (3) can suck up the sample tube.

2. The single-drive dual-shift sampling device as described in claim 1, characterized in that: The support drive mechanism (1) is provided with a sensing mechanism (4), which can monitor the position of the gripping mechanism (2).

3. The single-drive dual-shift sampling device as described in claim 1, characterized in that: The support drive mechanism (1) includes a support frame (11) and a drive component (12); the drive component (12) is mounted on the support frame (11), and the two sides of the drive component (12) are connected to the gripping mechanism (2) and the straw mechanism (3) respectively. The drive component (12) drives the gripping mechanism (2) to rise while driving the straw mechanism (3) to fall.

4. The single-drive dual-shift sampling device as described in claim 3, characterized in that: The drive assembly (12) includes a first drive member (121), an upper follower member (122), a lower follower member (123), and a rotating member (124). The upper follower member (122) and the lower follower member (123) are respectively located near the upper and lower ends of the support frame (11). The rotating member (124) is connected to the upper follower member (122) and is connected to both the upper follower member (122) and the lower follower member (123). The first drive member (121) can drive the upper follower member (122).

5. The single-drive dual-shift sampling device as described in claim 1, characterized in that: The gripping mechanism (2) includes a gripping connection component (21) and a gripping component (22); the gripping connection component (21) is connected to the support drive mechanism (1), and the gripping component (22) is provided on the gripping connection component (21). The support drive mechanism (1) drives the gripping connection component (21) and the gripping component (22) to move up and down.

6. The single-drive dual-shift sampling device as described in claim 5, characterized in that: The gripping connection assembly (21) includes a rotating component (124), a connecting frame (212), and a connecting frame guide rail (213); the connecting frame guide rail (213) is mounted on the support drive mechanism (1), the connecting frame (212) is slidably connected to the connecting frame guide rail (213), one side of the connecting frame (212) is on the rotating component (124), and the rotating component (124) can drive the connecting frame (212) to rise and fall.

7. The single-drive dual-shift sampling device as described in claim 5, characterized in that: The gripping assembly (22) includes a rotary driver (221), which is mounted on the gripping connection assembly (21). The lower end of the rotary driver (221) is connected to a rotating shaft (222), and the lower end of the rotating shaft (222) is connected to a gripper driver (223). The gripper driver (223) is connected to a gripper (224). The gripper driver (223) can drive the gripper (224) to grip the plate frame. The rotary driver (221) can drive the rotating shaft (222), the gripper driver (223), and the gripper (224) to rotate 360°.

8. The single-drive dual-shift sampling device as described in any one of claims 1 to 7, characterized in that: The straw mechanism (3) includes a rotating component (124), a straw support assembly (31), and a straw assembly (32); the straw support assembly (31) is connected to the rotating component (124), and the straw support assembly (31) is provided with the straw assembly (32). The rotating component (124) can drive the straw support assembly (31) and the straw assembly (32) to move up and down.

9. The single-drive dual-shift sampling device as described in claim 8, characterized in that: The straw support assembly (31) includes a lifting support frame (311) and a second guide rail (312). The lifting support frame (311) is connected to the rotating component (124), and the second guide rail (312) is mounted on the support drive mechanism (1). The lifting support frame (311) and the second guide rail (312) are slidably connected.

10. The single-drive dual-shift sampling device as described in claim 9, characterized in that: The straw assembly (32) includes a straw (321), a straw drive (322), and a straw lifting component (323); the lower end of the straw drive (322) is connected to the straw (321), the straw drive (322) is connected to the straw lifting component (323), and the straw lifting component (323) can drive the straw (321) and the straw drive (322) to move up and down.

11. The single-drive dual-shift sampling device as described in claim 10, characterized in that: The straw lifting component (323) includes a straw lifting guide rail (3231), a straw lifting driver (3232), and a lead screw (3233). The straw lifting guide rail (3231) is mounted on the lifting support frame (311). The lower end of the straw lifting driver (3232) is connected to the lead screw (3233). The straw driving component (322) is connected to the lead screw, and the straw driving component (322) is slidably connected to the straw lifting guide rail (3231). The rotation of the lead screw (3233) can drive the straw driving component (322) to lift.

12. The single-drive dual-shift sampling device as described in claim 2, characterized in that: The sensing mechanism (4) includes a gripping connection assembly (21), a support frame (11), a first sensor (41), a second sensor (42), a third sensor (43), and a sensing plate (44). The sensing plate (44) is disposed on the gripping connection assembly (21). The first sensor (41), the second sensor (42), and the third sensor (43) are respectively disposed on the upper, middle, and lower parts of the support frame (11). The sensing plate (44) moves up and down with the gripping connection assembly (21). The sensing plate (44) senses the first sensor (41), the second sensor (42), and the third sensor (43) respectively.

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