CN216248007U - Handling device and sample analyzer - Google Patents

Abstract

The utility model relates to a carrying device and a sample analyzer. The carrying device comprises a frame; a picking and placing module; the transmission module comprises a first synchronous belt assembly, a transmission shaft and a sliding sleeve, the taking and placing module is fixedly connected with the first synchronous belt, the sliding sleeve is fixedly connected with a first driving wheel, the transmission shaft penetrates through the first driving wheel, and the sliding sleeve is sleeved on the transmission shaft so that the sliding sleeve and the transmission shaft can move relatively and can be prevented from rotating relatively; the first driving module is used for driving the first synchronous belt assembly and the sliding sleeve to move along the transmission shaft; the second driving module is connected with the transmission shaft and used for driving the transmission shaft to rotate around the axis of the transmission shaft. The sample analyzer comprises the carrying device. The carrying device can reduce the load in the moving process, increase the carrying speed and enable the picking and placing module to reach a target area quickly.

Description

Handling device and sample analyzer

Technical Field

The utility model relates to the technical field of mechanical instruments, in particular to a carrying device and a sample analyzer.

Background

In many installations, handling devices are provided to transport the parts or products between the stations. In order to achieve a movement in two directions, two drive elements are provided, which are designated as vertical drive element and horizontal first drive element, respectively. In addition, in order to realize the snatching of product goods, still can set up the grabbing subassembly such as clamping jaw. In the related art, many handling devices typically connect the vertical drive member to the gripper assembly as a module, which is then connected to the horizontal first drive member. When carrying, through the first driving piece of level with whole module motion to target area, the rethread vertical driving piece drive snatchs the subassembly and reciprocates and snatch the target object article. However, in this structure, if the grabbing component moves along the horizontal first direction, the horizontal first driving component needs to drive the whole module consisting of the grabbing component and the vertical driving component at the same time, which causes a large load and a slow moving speed in the moving process, and the grabbing component cannot reach the target area quickly.

SUMMERY OF THE UTILITY MODEL

The utility model provides a conveying device which can improve the conveying speed and has a simple structure.

A handling device comprising a first mechanism, the first mechanism comprising:

a frame;

a picking and placing module;

the transmission module comprises a first synchronous belt assembly, a transmission shaft and a sliding sleeve, the first synchronous belt assembly comprises a first synchronous belt, a first driving wheel and a first driven wheel, the taking and placing module is fixedly connected with the first synchronous belt, the sliding sleeve is fixedly connected with the first driving wheel, and the transmission shaft penetrates through the first driving wheel and the sliding sleeve so that the sliding sleeve and the transmission shaft can relatively move along the axial direction of the transmission shaft and can be prevented from relatively rotating around the axial direction of the transmission shaft;

the first driving module is arranged on the rack and used for driving the first synchronous belt assembly and the sliding sleeve to move along the transmission shaft;

the second driving module is installed on the rack and connected with the transmission shaft, and the second driving module is used for driving the transmission shaft to rotate around the axis of the transmission shaft.

In one embodiment, one of the sliding sleeve and the transmission shaft is provided with a projection, and the other is provided with a groove, and the projection is clamped into the groove.

In one embodiment, the drive shaft is a splined shaft.

In one embodiment, the transmission module further includes a first connecting member, the transmission shaft penetrates through the first connecting member, the first driving wheel is connected with the first connecting member through a bearing, the first driving module is connected with the first connecting member, and the first driving module is configured to drive the first connecting member to move along the transmission shaft.

In one embodiment, the rack includes a first mounting plate, the first driving module includes a first driving element and a second synchronous belt assembly, the second synchronous belt assembly includes a second synchronous belt, a second driving wheel and a second driven wheel, the first driving element is connected with the second driving wheel, the first connecting element is fixedly connected with the second synchronous belt, the first driving element is mounted on the first mounting plate, and the first driving element and the transmission module are respectively located on two sides of the first mounting plate.

In one embodiment, the rack includes a first mounting plate, the second driving module includes a second driving element and a third synchronous belt assembly, the third synchronous belt assembly includes a third synchronous belt, a third driving wheel and a third driven wheel, the second driving element is connected with the third driving wheel, the transmission shaft is coaxially connected with the third driven wheel, the second driving element is mounted on the first mounting plate, and the second driving element and the transmission module are respectively located at two sides of the first mounting plate.

In one embodiment, the pick-and-place module comprises a second connecting piece and a clamping jaw, and the clamping jaw is fixedly connected with the first synchronous belt through the second connecting piece.

In one embodiment, the device further comprises a first sliding rail and a first sliding block which are connected in a sliding mode, wherein one of the first sliding rail and the first sliding block is connected with the second connecting piece, and the other one of the first sliding rail and the first sliding block is connected with the rack.

In one embodiment, the clamping jaw comprises a first clamping arm and a second clamping arm, a first protruding portion protruding towards the second clamping arm is arranged on the first clamping arm, a second protruding portion protruding towards the first clamping arm is arranged on the second clamping arm, and the first protruding portion and the second protruding portion are used for wrapping an object to be transported.

Above-mentioned handling device, sliding sleeve and transmission shaft can take place along the axial relative movement of transmission shaft, but the two is fixed along the position of transmission shaft circumference, and the sliding sleeve can move along the transmission shaft promptly, but can not rotate around the transmission shaft, and when the transmission shaft rotated, the sliding sleeve also can rotate in step. Because the taking and placing module is fixedly connected with the first synchronous belt, when the first synchronous belt rotates, the taking and placing module moves along the arrangement direction of the first driving wheel and the first driven wheel under the driving of the first synchronous belt. The axial direction of the transmission shaft is recorded as a first direction, and the arrangement direction of the first driving wheel and the first driven wheel is recorded as a second direction. When the first driving module drives the first synchronous belt assembly and the sliding sleeve to move along the transmission shaft (i.e. along the first direction), the pick-and-place module fixedly connected with the first synchronous belt in the first synchronous belt assembly also moves along the first direction. When the transmission shaft is driven to rotate by the second driving module, the sliding sleeve synchronously rotates along with the transmission shaft, and the first driving wheel fixedly connected with the sliding sleeve synchronously rotates, so that the first synchronous belt is driven to rotate, and the picking and placing module moves along the second direction. In the conveying device, the moving of the taking and placing modules in different directions is realized through the relative movement and synchronous rotation between the sliding sleeve and the transmission shaft, and the situation that one driving module and the taking and placing module integrally move under the driving of the other driving module can not occur, so that the load in the moving process is small, the moving speed can be increased, and the taking and placing module can quickly reach a target area.

The utility model provides a sample analyzer, which can reduce the load in the movement process and increase the conveying speed by applying the conveying device, so that a taking and placing module can reach a target area quickly.

Sample analyzer, including above-mentioned handling device.

Drawings

FIG. 1 is a schematic view of an overall structure of a carrying device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of components of the first driving module, the second driving module, the transmission module and the like of the handling device in fig. 1;

fig. 3 is a schematic structural diagram of a part of the pick-and-place module and the transmission module of the handling apparatus in fig. 1.

Reference numerals:

a first mechanism 11;

a frame 100, a first mounting plate 110, a side plate 120;

a first driving member 210, a second timing belt 221, a second driving pulley 222, and a second driven pulley 223;

a second driving member 310, a third timing belt 321, a third driving pulley 322, and a third driven pulley 323;

a first synchronous belt 411, a first driving wheel 412, a first driven wheel 413, a transmission shaft 420, a sliding sleeve 430, a first connecting piece 440, a linear bearing 450 and a first clamping block 460;

the clamping jaw 510, the first clamping arm 511, the first extension part 5111, the second clamping arm 512, the second extension part 5121, the second connecting piece 520, the tensioning wheel 530, the connecting block 540 and the second clamping block 550;

a first slide rail 711, a first slider 712, a guide post 730;

a first positioning member 811, a first position sensor 812, a second positioning member 821, and a second position sensor 822.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 3, a carrying device according to an embodiment of the present invention includes a first mechanism 11, where the first mechanism 11 includes a frame 100, a pick-and-place module, a transmission module, a first driving module, a second driving module, and the like, and the first driving module and the second driving module are both mounted on the frame 100. The transmission module includes a first synchronous belt assembly, a transmission shaft 420, a sliding sleeve 430, and the like, wherein the first synchronous belt assembly includes a first synchronous belt 411, a first driving wheel 412, and a first driven wheel 413, the first synchronous belt 411 is sleeved on the first driving wheel 412 and the first driven wheel 413, and the pick-and-place module is fixedly connected to the first synchronous belt 411. The first driving pulley 412 and the first driven pulley 413 are arranged along a second direction, an axial direction of the transmission shaft 420 is the first direction, and the first direction is perpendicular to the second direction. In the embodiment shown in the drawings, the second direction is a vertical direction, and the first direction is in a horizontal plane. The sliding sleeve 430 is sleeved on the transmission shaft 420, so that the sliding sleeve 430 and the transmission shaft 420 can move relatively along the axial direction of the transmission shaft 420, and the sliding sleeve 430 and the transmission shaft 420 are prevented from rotating relatively around the axial direction of the transmission shaft 420. The first driving wheel 412 is located at one side of the sliding sleeve 430 and is fixedly connected with the sliding sleeve 430, and the first driving wheel 412 is also sleeved on the spline shaft 420. The first drive module can drive the first timing belt assembly and the sliding sleeve 430 to move along the transmission shaft 420 (i.e., in the first direction). The second driving module is connected to the transmission shaft 420, and the second driving module can drive the transmission shaft 420 to rotate around its own axis.

In this embodiment, since the sliding sleeve 430 and the transmission shaft 420 can move relative to each other along the axial direction (i.e., the first direction) of the transmission shaft 420, but the positions of the sliding sleeve 430 and the transmission shaft 420 along the circumferential direction of the transmission shaft 420 are fixed, that is, the sliding sleeve 430 can move along the transmission shaft 420 but cannot rotate relative to the transmission shaft 420, and when the transmission shaft 420 rotates, the sliding sleeve 430 can also rotate synchronously. Since the pick-and-place module is fixedly connected to the first timing belt 411, when the first timing belt 411 rotates, the pick-and-place module is driven by the first timing belt 411 to move along the second direction. When the first driving module drives the first synchronous belt assembly and the sliding sleeve 430 to move along the transmission shaft 420 (i.e., along the first direction), the pick-and-place module fixedly connected to the first synchronous belt 411 of the first synchronous belt assembly will also move along the first direction. When the transmission shaft 420 is driven to rotate by the second driving module, the sliding sleeve 430 rotates synchronously therewith, and the first driving wheel 412 fixedly connected with the sliding sleeve 430 also rotates synchronously, so as to drive the first synchronous belt 411 to rotate, thereby realizing the movement of the pick-and-place module along the second direction. In the carrying device, the moving of the taking and placing modules in different directions is realized through the relative movement and the synchronous rotation between the sliding sleeve and the transmission shaft, the situation that one driving module and the taking and placing module integrally move under the driving of the other driving module can not occur, so that the load in the moving process is small, the moving speed can be increased, and the taking and placing module can quickly reach a target area and has a simple structure.

Specifically, in some embodiments, one of the sliding sleeve 430 and the transmission shaft 420 is provided with a groove, and the other is provided with a protrusion, and the protrusion is clamped into the groove, so that the sliding sleeve 430 and the transmission shaft 420 can move relatively along the axial direction of the transmission shaft 420, and the sliding sleeve 430 and the transmission shaft 420 are prevented from rotating relatively around the axial direction of the transmission shaft 420. Because one of the sliding sleeve 430 and the transmission shaft 420 is provided with a groove, the other is provided with a projection, and the projection is clamped into the groove, so that the sliding sleeve 430 and the transmission shaft 420 can move relatively along the axial direction (i.e. the first direction) of the transmission shaft 420, but the two are fixed along the circumferential direction of the transmission shaft 420, i.e. the sliding sleeve 430 can move along the transmission shaft 420 but cannot rotate relative to the transmission shaft 420, and when the transmission shaft 420 rotates, the sliding sleeve 430 can also rotate synchronously.

Preferably, in some embodiments, the drive shaft 420 is a splined shaft and the sliding sleeve 430 is a splined hub. So set up and to make the connection between sliding sleeve 430 and the transmission shaft 420 more stable, when sliding sleeve 430 rotated along with transmission shaft 420, the rotation process was more stable, and difficult the emergence is rocked. This embodiment is equivalent to the previous embodiment, on the basis of which a plurality of sets of the protrusions and the grooves are provided along the circumferential direction of the transmission shaft 420, so that the number of sets of the protrusions and the grooves along the circumferential direction of the transmission shaft 420 is increased, and a plurality of sets of the protrusions and the grooves are engaged.

In some embodiments, the driving module further includes a first connecting member 440, the driving shaft 420 passes through the first connecting member 440, the first driving wheel 412 is connected with the first connecting member 440 through a bearing, the first driving module is connected with the first connecting member 440, and the first driving module can drive the first connecting member 440 to move along the driving shaft 420. Specifically, the first connecting member 440 is located at one side of the first driving wheel 412, and the center of the first connecting member 440 is hollowed out for the transmission shaft 420 to pass through. The end of the first driving wheel 412 near the first connecting member 440 is provided with an outward extending structure, which extends into the center of the first connecting member 440 and is connected with the first driving wheel through a bearing. Since the first driving wheel 412 is connected with the first connecting member 440 through the bearing, when the transmission shaft 420 is driven to rotate by the second driving module, the sliding sleeve 430 and the first driving wheel 412 will be driven to rotate together around the first direction relative to the first connecting member 440 without being hindered by the first connecting member 440, and when the first driving module drives the first connecting member 440 to move along the first direction, the sliding sleeve 430 and the first driving wheel 412 will synchronously move along with the first driving wheel, so as to realize the movement of the first synchronous belt assembly along the first direction.

Of course, in other embodiments, the first connecting member 440 may not be provided, and the first driving member is connected to the first driving wheel 412 only when the first timing belt assembly and the sliding sleeve 430 need to be driven to move along the first direction, or the first driving member may not be connected when the first timing belt assembly and the sliding sleeve 430 need not be driven. Specifically, the first driving module includes a cylinder, the telescopic end of the cylinder is connected with an electromagnet, the first driving wheel 412 is made of a ferromagnetic material, or the first driving wheel 412 is connected with a ferromagnetic part made of a ferromagnetic material. The electromagnet is energized and is connected with the first driving wheel 412 through magnetic attraction, so that the first synchronous belt assembly can be driven to move along the first direction. The electromagnet is powered off, the connection between the electromagnet and the first driving wheel 412 is disconnected, and the first driving wheel 412 can rotate along with the transmission shaft 420 without being blocked by the first driving module.

Referring to fig. 2, in some embodiments, the rack 100 includes a first mounting plate 110, the first driving module includes a first driving element 210 and a second synchronous belt assembly, the second synchronous belt assembly includes a second synchronous belt 221, a second driving pulley 222 and a second driven pulley 223, the first driving element 210 is connected to the second driving pulley 222, the first connecting element 440 is fixedly connected to the second synchronous belt 221, the first driving element 210 is mounted on the first mounting plate 110, and the first driving element 210 and the transmission module are respectively located at two sides of the first mounting plate 110. Specifically, the second timing belt 221 is sleeved on the second driving wheel 222 and the second driven wheel 223, the second driving wheel 222 is connected to the output shaft of the first driving element 210, and the first driving element 210 can drive the second driving wheel 222 to rotate. The first connecting member 440 is fixedly connected to the first clamping block 460, and the first clamping block 460 is clamped on the second timing belt 221 and is fixedly connected to the second timing belt 221. First mounting panel 110 is located the horizontal plane, two curb plates 120 of fixedly connected with on the first mounting panel 110, and two curb plates 120 set up along first direction interval, and transmission shaft 420 passes two curb plates 120, and all is connected through the bearing between two curb plates 120. The first driving member 210 is located above the first mounting plate 110, the transmission module is located below the first mounting plate 110, and the first driving member 210 and the transmission module are respectively arranged on the upper side and the lower side of the first mounting plate 110, so that the space can be more fully utilized, the situation that parts in the area where the transmission module is located are too many and are crowded is avoided, and the installation and the subsequent maintenance are more convenient.

In some embodiments, the second driving module includes a second driving element 310 and a third timing belt assembly, the third timing belt assembly includes a third timing belt 321, a third driving wheel 322 and a third driven wheel 323, the second driving element 310 is connected to the third driving wheel 322, the transmission shaft 420 is coaxially connected to the third driven wheel 323, the second driving element 310 is mounted on the first mounting plate 110, and the second driving element 310 and the transmission module are respectively located at two sides of the first mounting plate 110. Specifically, the third timing belt 321 is sleeved on the third driving wheel 322 and the third driven wheel 323, and the third driving wheel 322 is connected to the output shaft of the second driving element 310. The second driving member 310 is located above the first mounting plate 110, the transmission module is located below the first mounting plate 110, and the second driving member 310 and the transmission module are respectively arranged on the upper side and the lower side of the first mounting plate 110, so that the space can be more fully utilized, the situation that parts in the area where the transmission module is located are too many and are crowded is avoided, and the installation and the subsequent maintenance are more convenient.

In some embodiments, the first positioning member 811 is connected to the first connecting member 440, and the first position sensor 812 is disposed on the housing 100, so that when the first positioning member 811 moves to a predetermined position, the first positioning member 811 can be sensed by the first position sensor 812. Specifically, first locating part 811 is the opto-coupler separation blade, and the opto-coupler separation blade stretches out from first connecting piece 440 outwards, and first position sensor 812 is the opto-coupler, and the opto-coupler is installed on first mounting panel 110, and when the opto-coupler separation blade along first direction removal to preset position along with first connecting piece 440 for the opto-coupler is blocked when responding by the opto-coupler separation blade, marks the initial position of transmission module edge first direction with this position.

In some embodiments, the frame 100 is provided with a guide post 730, and a linear bearing 450 is disposed between the guide post 730 and the first connector 440. Specifically, a guide post 730 is disposed between the two side plates 120, the first connecting member 440 is sleeved on the guide post 730, and a linear bearing 450 is disposed between the first connecting member 440 and the guide post 730. By providing the guide post 730, the movement of the first connecting member 440 along the first direction can be more stable, and by providing the linear bearing 450, the friction force when the first connecting member 440 slides along the guide post 730 can be reduced.

Referring to fig. 2 and 3, in some embodiments, the pick-and-place module includes a second connector 520 and a clamping jaw 510, and the clamping jaw 510 is fixedly connected to the first timing belt 411 through the second connector 520. Specifically, the clamping jaw 510 is fixedly connected to the second connecting member 520, the second connecting member 520 is fixedly connected to the second clamping block 550, and the second clamping block 550 is clamped to the first synchronous belt 411 and is fixedly connected to the first synchronous belt 411. Of course, the object to be transported can be sucked by the sucking disc instead of being clamped by the clamping jaws.

In some embodiments, the pick-and-place module further comprises a tension wheel 530, and the tension wheel 530 abuts against the first timing belt 411. Specifically, the connection block 540 is connected to the first connection member 440, and the tension wheel 530 is connected to the connection block 540 through a bearing. The tension pulley 530 is located outside the first timing belt 411 and abuts against an outer wall of the first timing belt 411. By additionally arranging the tension wheel 530, the tension degree of the first synchronous belt 411 can be improved, and good transmission capacity can be ensured.

In some embodiments, the pick-and-place module further includes a second positioning member 821 connected to the second connector 520, and a second position sensor 822 is disposed on the frame 100, wherein when the second positioning member 821 moves to a predetermined position, the second positioning member 821 can be sensed by the second position sensor 822. Specifically, the second position sensor 822 is installed on the connection block 540 connected to the rack 100, the second position sensor 822 is an optical coupler, the second positioning member 821 is an optical coupler blocking piece, and when the optical coupler blocking piece moves to a predetermined position along the second direction along with the second connecting member 520, the optical coupler is blocked by the optical coupler blocking piece to sense, and the position is recorded as the initial position of the pick-and-place module along the second direction.

In some embodiments, a first sliding track 711 and a first sliding block 712 are further provided, and one of the first sliding track 711 and the first sliding block 712 is connected to the second connecting member 520, and the other is connected to the first connecting member 440. In the embodiment shown in the drawings, the first sliding rail 711 is mounted to the connection block 540 connected to the first connection member 440, and the first slider 712 is connected to the second connection member 520. When the second driving member 310 drives the clamping jaw 510 to move up and down along the second direction, the first sliding block 712 will slide along the first sliding rail 711 for guiding, so as to enhance the stability of the movement process.

In some embodiments, the clamping jaw 510 includes a first clamping arm 511 and a second clamping arm 512, a first protruding portion 5111 protruding toward the second clamping arm 512 is disposed on the first clamping arm 511, a second protruding portion 5121 protruding toward the first clamping arm 511 is disposed on the second clamping arm 512, and the first protruding portion 5111 and the second protruding portion 5121 are used for wrapping the object to be transported. Specifically, the clamping jaw 510 is a power-driven clamping jaw, and the first clamping arm 511 and the second clamping arm 512 can be driven by a driving source of the power-driven clamping jaw to move close to or away from each other to realize clamping. During the centre gripping, first extension 5111 and second extension 5121 can wrap up in the outer wall of waiting to transport the thing to the stability of reinforcing centre gripping makes and waits to transport the difficult drop of thing. Further, the shapes and sizes of the inner walls of the first protruding portion 5111 and the second protruding portion 5121 are matched with those of the outer wall of the object to be transported, so that the inner walls of the first protruding portion 5111 and the second protruding portion 5121 are attached to the outer wall of the object to be transported, and the stability of clamping is further enhanced.

In some embodiments, a sample analyzer includes the handling device of any of the above embodiments, with the benefits of any of the above embodiments. In this embodiment, the object to be transported is a reaction cup.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. Handling device, its characterized in that includes first mechanism, first mechanism includes:

a frame;

a picking and placing module;

the transmission module comprises a first synchronous belt assembly, a transmission shaft and a sliding sleeve, the first synchronous belt assembly comprises a first synchronous belt, a first driving wheel and a first driven wheel, the taking and placing module is fixedly connected with the first synchronous belt, the sliding sleeve is fixedly connected with the first driving wheel, and the transmission shaft penetrates through the first driving wheel and the sliding sleeve so that the sliding sleeve and the transmission shaft can relatively move along the axial direction of the transmission shaft and can be prevented from relatively rotating around the axial direction of the transmission shaft;

the first driving module is arranged on the rack and used for driving the first synchronous belt assembly and the sliding sleeve to move along the transmission shaft;

the second driving module is installed on the rack and connected with the transmission shaft, and the second driving module is used for driving the transmission shaft to rotate around the axis of the transmission shaft.

2. The handling device of claim 1, wherein one of the sliding sleeve and the transmission shaft is provided with a protrusion, and the other one of the sliding sleeve and the transmission shaft is provided with a groove, and the protrusion is clamped into the groove.

3. The handling device of claim 2, wherein the drive shaft is a splined shaft.

4. The transfer device of claim 1, wherein the transmission module further comprises a first connecting member, the transmission shaft passes through the first connecting member, the first driving wheel is connected with the first connecting member through a bearing, the first driving module is connected with the first connecting member, and the first driving module is used for driving the first connecting member to move along the transmission shaft.

5. The conveying device as claimed in claim 4, wherein the frame comprises a first mounting plate, the first driving module comprises a first driving member and a second synchronous belt assembly, the second synchronous belt assembly comprises a second synchronous belt, a second driving wheel and a second driven wheel, the first driving member is connected with the second driving wheel, the first connecting member is fixedly connected with the second synchronous belt, the first driving member is mounted on the first mounting plate, and the first driving member and the transmission module are respectively located at two sides of the first mounting plate.

6. The transfer device of claim 4, wherein the frame comprises a first mounting plate, the second driving module comprises a second driving member and a third synchronous belt assembly, the third synchronous belt assembly comprises a third synchronous belt, a third driving wheel and a third driven wheel, the second driving member is connected with the third driving wheel, the transmission shaft is coaxially connected with the third driven wheel, the second driving member is mounted on the first mounting plate, and the second driving member and the transmission module are respectively located at two sides of the first mounting plate.

7. The transfer device of claim 4, wherein the pick-and-place module comprises a second connector and a clamping jaw, and the clamping jaw is fixedly connected with the first synchronous belt through the second connector.

8. The handling device of claim 7, further comprising a first slide rail and a first slide block slidably connected to each other, wherein one of the first slide rail and the first slide block is connected to the second link and the other is connected to the first link.

9. The carrying device as claimed in claim 7, wherein the clamping jaw comprises a first clamping arm and a second clamping arm, a first protruding portion protruding towards the second clamping arm is arranged on the first clamping arm, a second protruding portion protruding towards the first clamping arm is arranged on the second clamping arm, and the first protruding portion and the second protruding portion are used for wrapping the object to be carried.

10. Sample analyzer, characterized in that it comprises a handling device according to any one of claims 1 to 9.

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