Cap opening and closing clamp jaw, assembly and sample pretreatment device

Abstract

This utility model discloses a capping and uncapping gripper, including gripping arms arranged around an axis and a gripping drive assembly for driving all gripping arms to move radially synchronously. A radially inward protrusion is provided on the inner sidewall of the lower end of the gripping arm. The bottom surface of the gripping arm is lower than the bottom surface of the protrusion. The top surface of the protrusion forms a hooking part for hooking the bottom of the tube cap to separate the tube cap from the sample tube, thereby achieving capping. A pressing part is also formed on the protrusion to press the self-sealing cap into the sample tube opening, thereby achieving capping. This allows for simultaneous operations such as gripping and placing sample tubes, opening and discarding sample tube caps, capping of analyzed sample tubes, and handling of centrifuge adapters. This utility model also discloses a capping and uncapping assembly, including a robotic arm and a tube-holding mechanism. The robotic arm is equipped with the aforementioned capping and uncapping gripper, and the tube-holding mechanism includes a tube-holding gripper for gripping the sample tube body. This utility model also discloses a blood sample pretreatment device.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, specifically a cap-opening and cap-closing gripper, component, and sample pretreatment device. Background Technology

[0002] Sample pretreatment systems are used to perform a series of pretreatment processes on blood samples before testing, including sample loading, centrifugation, cap opening, retrieval, and transfer. Due to the numerous steps involved, and the inability of a single robotic arm to simultaneously perform tasks such as gripping and placing sample tubes, opening and discarding sample tube caps, sealing sample tubes after analysis, and handling centrifuge adapters, existing technologies often employ separate workstations for each process. This not only results in a large footprint but also high equipment costs.

[0003] While some existing sample pretreatment systems have integrated multiple processes into one device, they still cannot simultaneously perform tasks such as gripping and placing sample tubes, opening and discarding sample tube caps, sealing sample tubes after analysis, and picking up and placing centrifuge adapters using a single robotic arm. Therefore, multiple robotic arms need to be integrated into the same device to perform some tasks, which not only increases the equipment cost of the pretreatment system but also increases the difficulty of coordinating and controlling multiple robotic arms.

[0004] In addition, existing sample preprocessing systems have the following shortcomings: (1) Due to the low coefficient of friction between the plastic material of the sample tube and the cap and the metal material of the gripper, the probability of the gripper slipping and the cap failing to come off is relatively high. (2) When opening the cap, the cap is usually removed by using an elastic element combined with a push rod. However, the elastic element may have fatigue fracture or reduced elasticity, which may lead to cap removal failure. Therefore, the elastic element needs to be replaced regularly, and the replacement time of the elastic element needs to be verified. If the elastic element is damaged, it may lead to batch cap removal failure, affecting subsequent processes.

[0005] (3) The gap between the sample tube and the tray is small, the operating space of the robot is very small, and the gripper of the robot is prone to interference with the sample tube. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a capping and uncapping gripper, a component, and a sample pretreatment device; the capping and uncapping gripper can simultaneously perform operations such as gripping and placing sample tubes, opening and discarding sample tube caps, capping sample tubes after analysis, and picking up and placing centrifuge adapters.

[0007] To achieve the above objectives, this utility model provides the following technical solution: This utility model first proposes a cap opening and closing gripper, including a gripping arm arranged around an axis and a gripping drive assembly for driving all the gripping arms to move radially synchronously; the lower end inner sidewall of the gripping arm is provided with a radially inward protrusion. The bottom surface of the clamping arm is lower than the bottom surface of the protrusion. The top surface of the protrusion is formed with a hooking part for hooking the bottom of the cap to separate the cap from the sample tube and thus open the cap. The protrusion is also formed with a pressing part for pressing the self-sealing cap into the opening of the sample tube to seal the cap.

[0008] Furthermore, the pressing part includes a first pressing part formed on the bottom surface of the protrusion for pressing the first self-sealing cap into the opening of the sample tube to achieve sealing, and the first pressing part is pressed against the top surface of the first self-sealing cap; Alternatively, an inner inclined surface is provided between the bottom surface of the protrusion and the bottom surface of the clamping arm to form an inner guide portion. The pressing portion includes a second pressing portion, which includes a groove formed between the top and bottom surfaces of the protrusion. The groove is used to engage the outer extension of the second self-sealing cap, and the second self-sealing cap is pressed into the opening of the sample tube by applying downward pressure to the outer extension to achieve sealing.

[0009] Furthermore, the external guide portion is configured as an inclined surface relative to the axis, and the distance between the external guide portion and the axis gradually increases from bottom to top.

[0010] This utility model also proposes a capping and sealing assembly, including a robotic arm and a tube holding mechanism. The robotic arm is equipped with capping and sealing grippers as described above, and the tube holding mechanism includes tube holding grippers for holding the sample tube body tightly.

[0011] Furthermore, the tube-holding mechanism includes a height detection sensor group, which comprises a plurality of detection sensors arranged at intervals along the vertical direction, and is used for: When the lid is opened, the height of the sample tube and whether the lid opening was successful are determined based on the combination of sensor trigger states. During capping, the height of the sample tube and whether the capping was successful are determined based on the sensor trigger status combination.

[0012] Furthermore, the detection sensors are arranged at intervals along the vertical direction.

[0013] This utility model also proposes a sample pretreatment device, comprising: The cap opening and cap sealing assembly is used to perform cap opening and cap sealing operations; The sample storage module is used to enable orderly sample loading and retrieval; Sample transfer track, used to connect the analyzer for sample transfer; Centrifuge adapter module for storing centrifuge adapters; Sample cap preparation device for loading ready-to-use self-sealing caps; The cap opening and cap sealing assembly is the same as described above.

[0014] Furthermore, the tube-holding mechanism is located on one side of the sample transport track, and the sample transport track is provided with a download position corresponding to the tube-holding mechanism; the tube-holding mechanism is provided with a detection sensor for detecting whether the holder has entered the download position, and the sample transport track is provided with an RFID reader for reading holder information to determine whether sealing is required; And / or, the sample cap preparation device includes: The sample cap sorting module is used to arrange unordered sample caps in an orderly manner. The chute conveyor channel is used to transport ordered sample caps to the cap loading position; A positioning detection sensor is used to determine the sample cap preparation status at the cap loading position.

[0015] Furthermore, it also includes a robot arm drive assembly for driving the robot arm to move in three mutually perpendicular directions. The robot arm drive assembly causes the robot arm's workpiece to cover the sample storage module, sample transfer track, centrifuge adapter module, and sample cap preparation device to achieve the following: The sample tube is gripped and moves between the sample storage module, the centrifuge adapter module, and the sample transport track. The tube-holding mechanism works in conjunction with the tube-holding mechanism to complete the sample tube opening and closing operations; Take the centrifuge adapter out of the centrifuge adapter module; The sample cap is clamped from the sample cap preparation device.

[0016] The beneficial effects of this utility model are as follows: This utility model's cap-opening and cap-closing gripper utilizes a clamping drive assembly to drive the gripping arm to move radially synchronously, enabling operations such as gripping and placing sample tubes and picking up / dropping centrifuge adapters. A radially inward protrusion is provided on the inner side wall of the lower end of the gripping arm. When the bottom surface of the gripping arm is lower than the bottom surface of the protrusion, during cap opening, the hook portion hooks the bottom of the cap, allowing the cap to be pulled off the sample tube, thus achieving the technical purpose of cap opening. During capping, the pressing portion applies downward pressure to the self-sealing cap, causing the self-sealing cap to cover the sample tube, thus achieving the technical purpose of capping. When the protrusion... When the middle part of the part has a slot, when opening the cap, the hook part is used to hook the bottom of the cap and pull the cap off the sample tube to achieve the technical purpose of opening the cap. When sealing the cap, the self-sealing cap feature is inserted into the slot, and the interlocking relationship between the slot and the self-sealing cap feature applies downward pressure to the self-sealing cap, so that the self-sealing cap covers the sample tube and achieves the technical purpose of sealing the cap. In total, the cap opening and sealing gripper of this utility model can simultaneously realize the gripping and placement of sample tubes, the opening and discarding of sample tube caps, the sealing of sample tubes after analysis, and the picking and putting away of centrifuge adapters.

[0017] In summary, the sample pretreatment device of this utility model has the following advantages: (1) A sample pretreatment device integrates a series of pretreatment tasks before testing, such as sample loading, centrifugation, cap opening, retrieval and transfer, which can meet the needs of small hospitals for automation and intelligence. Its small area makes it easier to place. The sample pretreatment device only needs to be equipped with one robotic arm, which can effectively reduce the cost of the whole equipment and reserve more space, thereby realizing more functions in a limited space.

[0018] (2) The gripper of the hook part of the robot can pull out the cap, which effectively avoids the problem of slippage due to the small friction between the gripper and the cap, resulting in failure to open the cap.

[0019] (3) The clamping structure is simple and does not require any additional structures, which can avoid the problem of the cap sticking to the hand.

[0020] (4) Press the sample tube cap in when sealing to effectively avoid the problem of the sample tube cap not being pressed in properly. Attached Figure Description

[0021] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration: Figure 1 This is a schematic diagram of the structure of an embodiment of the sample pretreatment device of this utility model; Figure 2 This is a structural diagram of the cap opening and closing assembly; Figure 3 This is a structural diagram of the cap-opening and cap-closing gripper, specifically a diagram showing the state of the hook part engaging with the cap during cap opening. Figure 4 This is a schematic diagram of the cap-opening and cap-closing gripper structure, specifically a diagram showing the state of the pressing part and the self-sealing cap when the cap is being closed. Figure 5 This is a structural diagram of the opening and closing gripper, specifically a diagram showing the state of the gripper when it is holding the centrifuge adapter. Figure 6 This is a schematic diagram of the cap-opening and cap-closing gripper, specifically a diagram showing the state when the sample cap is discarded. Figure 7 This is a schematic diagram of the opening and closing gripper structure, specifically a schematic diagram of the gripper opening degree for discarding the sample tube cap; Figure 8 This is a schematic diagram of the first type of clamping arm structure; Figure 9 A top view of the grippers holding a sample tube or centrifuge adapter; Figure 10 This is a schematic diagram of the second structure of the clamping arm, specifically a diagram showing the state when the slot and the sample tube feature are engaged. Figure 11 This is a schematic diagram of the second structure of the clamping arm, specifically a diagram showing the state when the hook part is engaged with the tube cap; Figure 12 This is a schematic diagram of the second structure of the clamping arm, specifically a diagram showing the state when the hook part is engaged with the centrifugal adapter; Figure 13 This is a schematic diagram of the tube-holding mechanism; Figure 14 A schematic diagram of the device for preparing sample tube caps.

[0022] Explanation of reference numerals in the attached figures: 100-Robot arm; 110-Clamping arm; 111-Hooking part; 112-Protrusion; 113-Outer guide part; 114-First pressing part; 115-Inner guide part; 116-Slot; 120-Clamping drive assembly; 200-Tube holding mechanism; 201-Detection sensor; 202-Detection sensor; 203-Detection sensor; 204-Detection sensor; 205-Tube holding gripper; 300-Sample storage module; 400-Sample transfer track; 500-Centrifuge adapter module; 600-Sample tube cap preparation device; 601-Sample tube cap sorting module; 602-Slide conveying channel; 603-Loading position; 604-Position detection sensor; 700-Robot arm drive assembly; 10-Sample tube; 21-First self-sealing cap; 22-Second self-sealing cap; 30-Centrifuge adapter; 31-Center column slot; 40-Tube cap. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0024] like Figure 1 As shown, the sample pretreatment device of this embodiment includes a capping and uncapping assembly, a sample storage module 300, a sample transport track 400, a centrifuge adapter module 500, and a sample tube cap preparation device 600. Specifically, the capping and uncapping assembly is used to open and cap the sample tubes. The sample tubes can contain blood, urine, or cerebrospinal fluid samples, etc., which are not limited here. The sample storage module 300 is used to enable orderly sample loading and retrieval. The sample transport track 400 is used to connect to the analyzer for sample transport. The centrifuge adapter module 500 is used to store centrifuge adapters. The sample tube cap preparation device 600 is used to load ready-to-use self-sealing caps.

[0025] The blood sample pretreatment device of this embodiment also includes a robot drive assembly 700 for driving the robot to move in three mutually perpendicular directions. The robot drive assembly 700 causes the working workpiece of the robot 100 to cover the sample storage module 300, the sample transfer track 400, the centrifuge adapter module 500, and the sample tube cap preparation device 600, so as to: grasp the sample tube and move it between the sample storage module 300, the centrifuge adapter module 500, and the sample transfer track 400; cooperate with the tube holding mechanism 200 to complete the sample tube opening and closing operations; take the centrifuge adapter from the centrifuge adapter module 500 and put it on; and grasp the self-sealing cap from the sample tube cap preparation device 600.

[0026] like Figure 2-7 As shown, the capping and uncapping assembly of this embodiment includes a robotic arm 100 and a tube-holding mechanism 200. The robotic arm 100 is equipped with capping and uncapping grippers, and the tube-holding mechanism 200 includes tube-holding grippers 205 for gripping the sample tube body. The capping and uncapping grippers of this embodiment include gripping arms 110 arranged around an axis and a clamping drive assembly 120 for driving all gripping arms 110 to move synchronously radially. Figure 8As shown, a radially inward protrusion 112 is provided on the inner sidewall of the lower end of the clamping arm 110. Specifically, in this embodiment, the bottom surface of the clamping arm 110 is lower than the bottom surface of the protrusion 112. The top surface of the protrusion 112 is formed with a hooking part 111 for hooking the bottom of the cap to separate the cap from the sample tube, thereby opening the cap. A pressing part is formed on the protrusion 112 for pressing down the self-sealing cap to seal the cap. Specifically, in this embodiment, the top surface of the protrusion 112 is entirely formed with the hooking part 111, and the bottom surface of the protrusion 112 is entirely formed with the pressing part. Of course, in some other embodiments, the hooking part 111 can also be formed on the top surface of the protrusion 112, such as when the top surface of the protrusion 112 is set as a stepped surface, the top surface of the protrusion 112 forms the hooking part 111.

[0027] When performing the capping operation, the robotic arm 100 is controlled to clamp the sample tube body with the protrusion 112 and to engage with the bottom surface of the cap with the hook part 111. In this way, the sample tube body is fixed, and the robotic arm 100 can pull out the cap, thus achieving the technical purpose of opening the cap. When performing the capping operation, the clamping arm 110 is used to clamp the self-sealing cap, and the robotic arm 100 is controlled to align the self-sealing cap with the fixed sample tube body. The downward pressure part applies downward pressure to the self-sealing cap, causing the self-sealing cap to cover the sample tube body, thus achieving the technical purpose of capping.

[0028] In this embodiment, the pressing portion includes a first pressing portion 114 formed on the bottom surface of the protrusion 112 for pressing the first self-sealing cap 21 into the opening of the sample tube to achieve sealing. The first pressing portion 114 is pressed against the top surface of the first self-sealing cap 21. That is, in this embodiment, the first pressing portion 114 is formed on the bottom surface of the protrusion 112. Specifically, in this embodiment, the entire bottom surface of the protrusion 112 forms the first pressing portion 114. Of course, in some other embodiments, the first pressing portion 114 can also be formed on a portion of the bottom surface of the protrusion 112. For example, when the bottom surface of the protrusion 112 is set as a stepped surface, the first pressing portion 114 can be formed only on a portion of the bottom surface of the protrusion 112.

[0029] In some other embodiments, the outer wall of the clamping arm 110 is provided with an external guide portion 113 for preventing interference with surrounding sample tubes, such as... Figure 9 As shown. Specifically, the outer inlet portion 113 is configured as an inclined surface that is tilted relative to the axis, and the distance between the outer inlet portion 113 and the axis gradually increases from bottom to top.

[0030] Of course, such as Figure 10-12As shown, in some other embodiments, an inner inclined surface can be provided between the bottom surface of the protrusion 112 and the bottom surface of the clamping arm 110 to form an inner guide portion 115. In this case, a hook portion 111 for hooking the bottom of the cap to open the cap is formed on the top surface of the protrusion 112. The pressing portion includes a second pressing portion, which includes a groove 116 formed between the top and bottom surfaces of the protrusion 112. The groove 116 is used to engage the outer extension of the second self-sealing cap 22, and by applying downward pressure to the outer extension, the second self-sealing cap 22 is pressed into the opening of the sample tube to achieve capping. In use, the cap feature is embedded in the groove 116. Utilizing the limiting fit between the groove 116 and the outer extension of the second self-sealing cap 22, a downward force can be applied to the second self-sealing cap 22, thus achieving the technical purpose of capping. Of course, when opening the cap, an upward force can also be applied to the cap by the hook portion 111 to achieve the technical purpose of opening the cap.

[0031] like Figure 13 As shown, the tube-holding mechanism 200 in this embodiment includes a height detection sensor group, which comprises a plurality of detection sensors arranged at intervals along the vertical direction, and is used for: determining the height of the sample tube and whether the opening is successful based on the combination of trigger states of the detection sensors when the cap is opened; and determining the height of the sample tube and whether the cap is successfully sealed based on the combination of trigger states of the detection sensors when the cap is sealed. Specifically, in this embodiment, the height detection sensor group includes three detection sensors arranged at intervals along the vertical direction, namely detection sensor 201, detection sensor 202, and detection sensor 203.

[0032] In a preferred embodiment of this example, the tube holding mechanism 200 is disposed on one side of the sample transfer track 400, and the sample transfer track 400 and the tube holding mechanism 200 are respectively provided with download positions. The tube holding mechanism 200 is provided with a detection sensor 204 for detecting whether the holder has entered the download position, and the sample transfer track 400 is provided with an RFID reader for reading holder information to determine whether sealing is required. If sealing is required, the robotic arm 100 is used to grip the sample tube on the corresponding holder and transfer the sample tube into the tube holding mechanism 200 for clamping and fixing. Then, the robotic arm 100 is used to grip the self-sealing cap from the sample tube cap preparation device 600 and place the self-sealing cap on the sample tube to achieve sealing. Finally, the robotic arm 100 is used to transfer the sealed sample tube to the sample storage module 300 for recycling.

[0033] like Figure 14As shown, in this embodiment, the sample cap preparation device 600 includes a sample cap sorting module 601, a chute conveying channel 602, and a positioning detection sensor 604. Specifically, the sample cap sorting module 601 is used to arrange disordered sample caps in an orderly manner; the chute conveying channel 602 is used to transport the ordered sample caps to the cap loading position 603; and the positioning detection sensor 604 is used to determine the sample cap preparation status at the cap loading position. Specifically, the robotic arm 100 picks up the loaded self-sealing caps from the cap loading position 603.

[0034] The blood sample pretreatment device in this embodiment performs functions such as loading, unloading, opening and sealing the cap, and picking up and placing the centrifuge adapter, as follows.

[0035] Sample tube movement function: Medical staff place blood samples systematically into the sample storage module 300, and the robotic arm 100 transports the blood samples to the centrifuge adapter 500; after centrifugation, the sample tubes are transported from the centrifuge adapter module 500 to the sample transfer track 400. After the blood samples have been analyzed and sealed, they are moved back into the sample storage module 300 for retrieval. Figure 8 As shown, since the gap between the sample tubes in the tray of the centrifuge adapter module 500 or the sample storage module 300 is very small, when the robot arm opens and descends to the appropriate position, it is easy to hit the surrounding sample tubes. This embodiment can effectively reduce the risk of interference between the robot arm and the surrounding sample tubes by setting the external guide part 113.

[0036] Opening function: To save time, after centrifugation, the sample tube moves to the sample transfer track 400, the tube holding mechanism 200 clamps the sample tube 700, and the robotic arm 100 drives the gripper to rise. The bottom of the tube cap is pulled upward by the gripper hook part 111 and separates from the sample tube. After the robotic arm 100 lifts, if it is a 100mm sample tube, the detection sensors 201, 202, and 203 of the tube holding mechanism 200 are all in the triggered state before opening the cap. If all detection sensors are still in the triggered state after opening the cap, it means... If the cap opening fails, the possible reasons are that the sample tube has moved upwards or the cap opening process itself failed. In this case, an alarm should be triggered and the machine stopped for inspection. If only detection sensors 202 and 203 are triggered, the cap opening is successful. For 75mm sample tubes, detection sensors 202 and 203 of the tube holding mechanism 200 should be triggered before cap opening. If they remain triggered after cap opening, the cap opening has failed, likely due to the sample tube moving upwards or the cap opening process itself failing. In this case, an alarm should be triggered and the machine stopped for inspection. If only sample tube detection sensor 203 is triggered, the cap opening is successful. After successful cap opening, the cap rejection process begins. Conversely, during the capping process, the holder enters the download position, triggering detection sensor 204. The RFID reader reads the holder information and determines whether capping is required. If capping is required, detection sensors 203 and 202 determine the sample tube height. If only detection sensor 203 is triggered, it indicates a 75mm sample tube. If both detection sensors 203 and 202 are triggered simultaneously, it indicates a 100mm sample tube. The robotic arm 100 descends to the specified height based on the feedback to complete the capping. If both detection sensors 202 and 203 are triggered after the 75mm sample tube is capped, the capping is successful; otherwise, the capping has failed. If all detection sensors 201, 202, and 203 are triggered after the 100mm sample tube is capped, the capping is successful; otherwise, the capping has failed.

[0037] The detection sensors 201 and 202 of the tube-holding mechanism 200 will determine whether the cap opening is successful based on the detection results. If the cap opening is successful, the robotic arm 100 moves to the cap-dropping position; if it is unsuccessful, the cap opening can be repeated, that is, the robotic arm 100 will descend and open the cap again.

[0038] Cap dropping function: After the robotic arm 100 moves to the cap dropping position, it opens its grippers. The sample cap tilts under gravity. To prevent the sample cap from sticking to the grippers, see [link to relevant documentation]. Figure 7 As shown, the gripper opening H needs to be greater than the maximum size of the sample cap. To increase the chance of it falling out, the gripper can be rotated.

[0039] Capping function: After analysis, the sample tubes are transported to the download position via the sample transfer track 400. The tube holding mechanism 200 clamps and straightens the sample tubes. The robotic arm 100 picks up a self-sealing cap from the sample tube cap preparation device 600, moves to the tube holding mechanism 200, and presses the self-sealing cap in through the pressing part. See below. Figure 4 As shown, the sealing success is determined by the detection sensors 201 and 202 on the tube clamping mechanism 200.

[0040] Adapter moving function: Due to the weight of the adapter, directly gripping the adapter's central post may cause it to slip. The gripper hook part 111 can be made to fit tightly against the lower part of the central post slot 31, thereby achieving stable movement of the adapter.

[0041] Description of sample cap preparation device 600: The sample cap sorting module 601 arranges the disordered self-sealing caps into an orderly manner and conveys them to the cap loading position 603 through the chute conveying channel 602. The position detection sensor 604 determines whether the self-sealing cap is ready. If it is ready, the robot arm 100 will come here to pick up the self-sealing cap when there is a need to seal it. If it is not ready, it can send a signal to the sample cap sorting module 601 to complete the preparation of the sample cap.

[0042] Description of the tube holding mechanism 200: When a sample is transported from the sample transfer track 400, the detection sensor 204 detects a signal. The track RFID reader determines whether the sample analysis is complete. If so, the height of the sample tube is determined by detection sensors 201 and 202. The tube holding gripper 205 clamps the tube body, and the robotic arm 100 holds the sample tube cap and moves it to the lowering position, descending to the specified height to complete the capping. If the holder is empty, the robotic arm 100 can pick up the centrifuged sample tube, insert the sample tube into the holder, the tube holding mechanism 200 clamps the sample tube body, and the robotic arm moves upward to complete the capping. Whether the capping was successful can be determined by the detection sensors 201 and 202.

[0043] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A cap-opening and cap-closing gripper, characterized in that: It includes clamping arms arranged around an axis and a clamping drive assembly for driving all the clamping arms to move radially in sync; the lower inner sidewall of the clamping arms is provided with a radially inward protrusion. The bottom surface of the clamping arm is lower than the bottom surface of the protrusion. The top surface of the protrusion is formed with a hooking part for hooking the bottom of the cap to separate the cap from the sample tube and thus open the cap. The protrusion is also formed with a pressing part for pressing the self-sealing cap into the opening of the sample tube to seal the cap.

2. The cap-opening and cap-closing gripper according to claim 1, characterized in that: The pressing part includes a first pressing part formed on the bottom surface of the protrusion for pressing the first self-sealing cap into the opening of the sample tube to achieve sealing, and the first pressing part is pressed against the top surface of the first self-sealing cap; Alternatively, an inner inclined surface is provided between the bottom surface of the protrusion and the bottom surface of the clamping arm to form an inner guide portion. The pressing portion includes a second pressing portion, which includes a groove formed between the top and bottom surfaces of the protrusion. The groove is used to engage the outer extension of the second self-sealing cap, and the second self-sealing cap is pressed into the opening of the sample tube by applying downward pressure to the outer extension to achieve sealing.

3. The cap-opening and cap-closing gripper according to claim 1 or 2, characterized in that: The outer wall of the clamp arm is provided with an external guide portion to prevent interference with surrounding sample tubes.

4. The cap-opening and cap-closing gripper according to claim 3, characterized in that: The external guide portion is configured as an inclined surface relative to the axis, and the distance between the external guide portion and the axis gradually increases from bottom to top.

5. A cap-opening and cap-closing assembly, characterized in that: It includes a robotic arm and a tube-holding mechanism. The robotic arm is equipped with a capping and sealing gripper as described in any one of claims 1-4, and the tube-holding mechanism includes a tube-holding gripper for holding the sample tube body tightly.

6. The cap-opening and cap-closing assembly according to claim 5, characterized in that: The pipe-holding mechanism includes a height detection sensor group, which comprises several detection sensors arranged at intervals along the vertical direction, and is used for: When the lid is opened, the height of the sample tube and whether the lid opening was successful are determined based on the combination of the trigger states of the detection sensors. During capping, the height of the sample tube and whether the capping was successful are determined based on the combination of trigger states of the detection sensors.

7. The cap-opening and cap-closing assembly according to claim 6, characterized in that: The detection sensors are arranged at intervals along the vertical direction.

8. A sample pretreatment apparatus, characterized in that: include: The cap opening and cap sealing assembly is used to perform cap opening and cap sealing operations; The sample storage module is used to enable orderly sample loading and retrieval; Sample transfer track, used to connect the analyzer for sample transfer; Centrifuge adapter module for storing centrifuge adapters; Sample cap preparation device for loading ready-to-use self-sealing caps; The cap opening and capping assembly is the cap opening and capping assembly as described in any one of claims 5-7.

9. The sample pretreatment apparatus according to claim 8, characterized in that: The tube-holding mechanism is located on one side of the sample transport track, and the sample transport track is provided with a download position corresponding to the tube-holding mechanism; the tube-holding mechanism is provided with a detection sensor for detecting whether the holder has entered the download position, and the sample transport track is provided with a reader for reading the holder information to determine whether sealing is required; And / or, the sample cap preparation device includes: The sample cap sorting module is used to arrange unordered sample caps in an orderly manner. The chute conveyor channel is used to transport ordered sample caps to the cap loading position; A positioning detection sensor is used to determine the sample cap preparation status at the cap loading position.

10. The sample pretreatment apparatus according to claim 8 or 9, characterized in that: It also includes a robot arm drive assembly for driving the robot arm to move in three mutually perpendicular directions. The robot arm drive assembly causes the robot arm's workpiece to cover the sample storage module, sample transport track, centrifuge adapter module, and sample cap preparation device to achieve the following: The sample tube is gripped and moves between the sample storage module, the centrifuge adapter module, and the sample transport track. The tube-holding mechanism works in conjunction with the tube-holding mechanism to complete the sample tube opening and closing operations; Take the centrifuge adapter out of the centrifuge adapter module; The sample cap is clamped from the sample cap preparation device.

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