A sample tube transfer robot and sample analysis system

Abstract

The present invention discloses a sample tube transfer manipulator and a sample analysis system. The sample tube transfer manipulator comprises a gripping mechanism; a lifting mechanism, which is connected to a gripping mounting plate and can drive the gripping mechanism to perform lifting and lowering movements; and a moving mechanism, which is arranged on the moving mechanism and can drive the lifting mechanism to perform rotational movements. The sample tube transfer manipulator provided by the present invention can adjust the distance between the first clamping jaw and the second clamping jaw by rotating a cam, so that the gripper can adapt to sample tubes of different diameters, so that the gripper can grasp sample tubes of various diameters, thereby improving the compatibility of the sample tube transfer manipulator with the sample tubes and improving the versatility of the sample tube transfer manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of sample tube transfer, and in particular to a sample tube transfer manipulator and a sample analysis system. Background Art

[0002] At present, in order to realize the automatic transfer of sample tubes and meet the needs of automated sample analysis, sample tube transfer robots are usually used to transfer sample tubes in precision instruments such as biochemical analyzers, blood analyzers and urine analyzers, as well as laboratory assembly line analysis systems.

[0003] When transferring a sample tube, the sample tube is usually first clamped by the sample tube transfer robot, and then the sample tube is transferred by driving the clamp through the rotating mechanism. The existing sample tube transfer robot can only grab sample tubes of fixed specifications, resulting in poor compatibility of the sample tube transfer robot with sample tubes, reducing the versatility of the sample tube transfer robot.

[0004] Therefore, how to improve the versatility of the sample tube transfer robot is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a sample tube transfer robot to improve the versatility of the sample tube transfer robot.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A sample tube transfer robot, comprising:

[0008] A gripping mechanism, the gripping mechanism comprising a gripping power device, a gripping mounting plate, a cam, a gripper, a first guide and a first elastic element, the gripping power device being arranged on the gripping mounting plate, the cam being arranged on the output shaft of the gripping power device, the gripper comprising a first clamping jaw and a second clamping jaw being slidably arranged on the first guide, the cam being located between the first clamping jaw and the second clamping jaw and in contact with the first clamping jaw and the second clamping jaw, and the first elastic element being arranged between an outer wall of the first clamping jaw and the gripping mounting plate and between an outer wall of the second clamping jaw and the gripping mounting plate;

[0009] A lifting mechanism, the lifting mechanism is connected to the grabbing mounting plate and can drive the grabbing mechanism to perform lifting motion;

[0010] The moving mechanism is provided on the lifting mechanism, and the moving mechanism can drive the lifting mechanism to perform rotational motion.

[0011] Preferably, in the above-mentioned sample tube transfer robot, the gripping mechanism further comprises a transmission member arranged between the cam and the first clamping jaw and the second clamping jaw.

[0012] Preferably, in the above-mentioned sample tube transfer robot, the first guide member is a first guide shaft, and the gripping mechanism further includes a first linear bearing arranged between the first guide shaft and the first clamping jaw and the second clamping jaw.

[0013] Preferably, in the above-mentioned sample tube transfer robot, the gripping mechanism also includes a first gripping finger detachably connected to the first clamp, a second gripping finger detachably connected to the second clamp and an in-place sensor arranged on the gripping mounting plate, and the inner walls of the first gripping finger and the second gripping finger cooperate with the outer wall of the sample tube.

[0014] Preferably, in the above-mentioned sample tube transfer robot, the lifting mechanism includes a lifting mounting plate, a lifting motor arranged on the lifting mounting plate, a driving wheel connected to the output shaft of the lifting motor, a driven wheel arranged on the lifting mounting plate, a synchronous toothed belt and a linear guide connecting the driving wheel and the driven wheel, the synchronous toothed belt is connected to the grabbing mounting plate, and the grabbing mounting plate is slidably connected to the linear guide through a lifting slider, and the linear guide is arranged on the moving mechanism.

[0015] Preferably, in the above-mentioned sample tube transfer robot, the lifting mechanism also includes a lifting position sensor arranged on the lifting mounting plate.

[0016] Preferably, in the above-mentioned sample tube transfer robot, the lifting mechanism also includes a fixed block arranged on the lifting mounting plate, a mounting block for mounting the driven wheel, a second elastic element arranged between the fixed block and the mounting block, and a second guide member arranged on the lifting mounting plate, and the mounting block is slidably connected to the second guide member.

[0017] Preferably, in the above-mentioned sample tube transfer robot, the second guide member is a second guide shaft, and a second linear bearing for reducing friction is provided between the second guide shaft and the mounting block.

[0018] Preferably, in the above-mentioned sample tube transfer robot, the moving mechanism includes a motor fixing seat, a rotating motor arranged on the motor fixing seat, a rotating connecting shaft connected to the output shaft of the rotating motor, and a support column arranged at one end of the rotating connecting shaft away from the rotating motor, and the lifting mechanism is arranged on the support column.

[0019] Preferably, in the above-mentioned sample tube transfer robot, the moving mechanism further comprises a rotation origin sensor arranged on the motor fixing seat.

[0020] Preferably, in the above-mentioned sample tube transfer robot, the moving mechanism further includes a spiral rotating winding member and a drag chain for protecting the cable of the sample tube transfer robot, and the rotating winding member is arranged on the rotating connecting shaft.

[0021] A sample analysis system comprises the sample tube transfer robot as described in any one of the above items.

[0022] When using the sample tube transfer robot provided by the present invention, since the cam is arranged on the output shaft of the grasping power device, the grasping power device can drive the cam to rotate; since the gripper includes a first clamping jaw and a second clamping jaw slidably arranged on the first guide member, the cam is located between the first clamping jaw and the second clamping jaw and contacts the first clamping jaw and the first clamping jaw, and a first elastic element is arranged between the outer wall of the first clamping jaw and the grasping mounting plate and between the outer wall of the second clamping jaw and the grasping mounting plate. Therefore, as the cam rotates, when the polar diameter of the contact position between the cam and the first clamping jaw and the second clamping jaw gradually increases, the cam pushes the first clamping jaw and the second clamping jaw, so that the first clamping jaw and the second clamping jaw overcome the compression force of the first elastic element and slide along the first guide member to the two sides of the cam, thereby realizing the opening movement of the gripper. The first clamping jaw and the second clamping jaw are connected to the first guide member to slide toward the center of the cam, so as to open the first clamping jaw and the second clamping jaw to allow the sample tube to pass through; when the diameter of the contact position between the cam and the first clamping jaw and the second clamping jaw gradually decreases, the compression force of the first elastic element pushes the first clamping jaw and the second clamping jaw to slide along the first guide member toward the center of the cam, so as to realize the clamping action of the gripper, so as to facilitate the clamping of the sample tube; after the gripper has clamped the sample tube, the lifting mechanism connected to the gripping mounting plate drives the gripping mechanism to lift and lower, so that the sample tube clamped by the gripper of the gripping mechanism is lifted and lowered; because the lifting mechanism is arranged on the moving mechanism, and the moving mechanism can drive the lifting mechanism to rotate, therefore, the moving mechanism can drive the gripping structure to rotate through the lifting mechanism, so that the gripper of the gripping mechanism drives the sample tube to rotate, so as to realize the transfer of the sample tube. It can be seen that the sample tube transfer manipulator provided by the present invention can adjust the distance between the first clamping jaw and the second clamping jaw by rotating the cam, so that the gripper can adapt to sample tubes of different diameters, so that the gripper can grab sample tubes of multiple diameters, thereby improving the compatibility of the sample tube transfer manipulator with the sample tube and improving the versatility of the sample tube transfer manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the assembly structure of a sample tube transfer robot provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a gripping mechanism provided by an embodiment of the present invention;

[0026] Figure 3 A structural schematic diagram of a lifting mechanism provided by an embodiment of the present invention;

[0027] Figure 4 A schematic structural diagram of a moving mechanism provided by an embodiment of the present invention.

[0028] Among them, 100 is a grasping mechanism, 101 is a grasping power device, 102 is a grasping mounting plate, 103 is a cam, 104 is a gripper, 1041 is a first clamping claw, 1041-a is a first grasping finger, 1042 is a second clamping claw, 1042-a is a second grasping finger, 105 is a first guide member, 106 is a first elastic element, 107 is a transmission member, 108 is a first linear bearing, 109 is an in-position sensor, 200 is a lifting mechanism, 201 is a lifting mounting plate, 202 is a lifting motor, 203 is a main The driving wheel 204 is the driven wheel, 205 is the synchronous toothed belt, 206 is the linear guide rail, 207 is the lifting slider, 208 is the lifting position sensor, 209 is the mounting block, 210 is the second elastic element, 211 is the second guide member, 212 is the second linear bearing, 300 is the moving mechanism, 301 is the motor fixing seat, 302 is the rotating motor, 303 is the rotating connecting shaft, 304 is the supporting column, 305 is the rotating origin sensor, 306 is the rotating winding member, 307 is the drag chain, and 400 is the sample tube. DETAILED DESCRIPTION

[0029] In view of this, the core of the present invention is to provide a sample tube transfer robot to improve the versatility of the sample tube transfer robot.

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figures 1 to 4 As shown, an embodiment of the present invention discloses a sample tube transfer robot, including a gripping mechanism 100 , a lifting mechanism 200 and a moving mechanism 300 .

[0032] The gripping mechanism 100 includes a gripping power device 101, a gripping mounting plate 102, a cam 103, a gripper 104, a first guide member 105 and a first elastic element 106. The gripping power device 101 is arranged on the gripping mounting plate 102, the cam 103 is arranged on the output shaft of the gripping power device 101, the gripper 104 includes a first clamping jaw 1041 and a second clamping jaw 1042 slidably arranged on the first guide member 105, and the cam 103 is located between the first clamping jaw 1041 and the second clamping jaw 1042 and is attached to the first clamping jaw. 1041 is in contact with the second clamping jaw 1042, and the first elastic element 106 is arranged between the outer wall of the first clamping jaw 1041 and the grabbing mounting plate 102 and between the outer wall of the second clamping jaw 1042 and the grabbing mounting plate 102; the lifting mechanism 200 is connected to the grabbing mounting plate 102, and can drive the grabbing mechanism 100 to perform lifting and lowering movements through a synchronous toothed belt transmission; the lifting mechanism 200 is arranged on the moving mechanism 300, and the moving mechanism 300 can drive the lifting mechanism 200 to rotate by rotating the connecting shaft 303.

[0033] When the sample tube transfer manipulator provided by the present invention is used, since the cam 103 is arranged on the output shaft of the grasping power device 101, the grasping power device 101 can drive the cam 103 to rotate; since the gripper 104 includes a first clamping jaw 1041 and a second clamping jaw 1042 slidably arranged on the first guide member 105, the cam 103 is located between the first clamping jaw 1041 and the second clamping jaw 1042 and contacts the first clamping jaw 1041 and the second clamping jaw 1042, and the outer wall of the first clamping jaw 1041 is in contact with the grasping mounting plate The first elastic element 106 is disposed between the outer wall of the first clamping jaw 1041 and the outer wall of the second clamping jaw 1042 and the grabbing mounting plate 102. Therefore, as the cam 103 rotates, when the polar diameter of the contact position between the cam 103 and the first clamping jaw 1041 and the second clamping jaw 1042 gradually increases, the cam 103 pushes the first clamping jaw 1041 and the second clamping jaw 1042, so that the first clamping jaw 1041 and the second clamping jaw 1042 overcome the compression force of the first elastic element 106 and slide along the first guide member 105 toward the two sides of the cam 103, thereby achieving the grabbing. The gripper 104 opens so as to open to allow the sample tube 400 to pass through; when the diameter of the contact position between the cam 103 and the first clamping jaw 1041 and the second clamping jaw 1042 gradually decreases, the compression force of the first elastic element 106 pushes the first clamping jaw 1041 and the second clamping jaw 1042 to slide along the first guide member 105 toward the center of the cam 103, thereby realizing the clamping action of the gripper 104, so as to facilitate the clamping of the sample tube 400; after the gripper 104 has clamped the sample tube 400, the gripper 104 is lifted up by the lifting device connected to the gripping mounting plate 102. The lowering mechanism 200 drives the gripping mechanism 100 to perform lifting and lowering movements, so that the sample tube 400 clamped by the gripper 104 of the gripping mechanism 100 performs lifting and lowering movements; since the lifting mechanism 200 is arranged on the moving mechanism 300, and the moving mechanism 300 can drive the lifting mechanism 200 to perform rotational movement, the moving mechanism 300 can drive the gripping structure to perform rotational movement through the lifting mechanism 200, so that the gripper 104 of the gripping mechanism 100 drives the sample tube 400 to perform rotational movement, thereby realizing the transfer of the sample tube 400. It can be seen that the sample tube transfer manipulator provided by the present invention can adjust the distance between the first clamping jaw 1041 and the second clamping jaw 1042 by rotating the cam 103, so that the gripper 104 can adapt to sample tubes 400 of different diameter specifications, so that the gripper 104 can grasp sample tubes 400 of various diameter specifications, thereby improving the compatibility of the sample tube transfer manipulator with the sample tube 400 and improving the versatility of the sample tube transfer manipulator.

[0034] It should be noted that the first elastic element 106 may be a spring, a colloid airbag or a rubber block, etc., and any type that can meet the use requirements belongs to the protection scope of the present invention; preferably, the embodiment of the present invention adopts a spring, which has a simple structure and is easy to install.

[0035] Furthermore, if Figure 2 As shown, the gripping mechanism 100 also includes a transmission member 107 disposed between the cam 103 and the first clamp 1041 and the second clamp 1042, so as to reduce the friction between the cam 103 and the first clamp 1041 and between the cam 103 and the second clamp 1042, reduce the wear on the cam 103, and extend the service life of the sample tube transfer robot.

[0036] The transmission member 107 may be a rotor, a rolling bearing, a roller or other type of parts. As long as the part can rotate to reduce the wear on the cam 103, it belongs to the protection scope of the present invention; preferably, the embodiment of the present invention adopts a rolling bearing.

[0037] In addition, the first guide member 105 can be a guide shaft, a guide rod or a guide rail. As long as the part can guide the movement of the first clamp 1041 and the second clamp 1042, it belongs to the protection scope of the present invention; preferably, the first guide member 105 provided in the embodiment of the present invention is a first guide shaft, which has a simple structure and is easy to process and manufacture.

[0038] In addition, the gripping mechanism 100 further includes a first linear bearing 108 disposed between the first guide shaft and the first clamping jaw 1041 and the second clamping jaw 1042 so as to reduce the friction between the first clamping jaw 1041 and the second clamping jaw 1042 and the first guide shaft, thereby extending the service life of the first guide shaft.

[0039] In addition, the gripping mechanism 100 further includes a first gripping finger 1041-a detachably connected to the first clamping jaw 1041, a second gripping finger 1042-a detachably connected to the second clamping jaw 1042, and an in-position sensor 109 disposed on the gripping mounting plate 102. The inner walls of the first gripping finger 1041-a and the second gripping finger 1042-a cooperate with the outer wall of the sample tube 400, so that the outer wall of the sample tube 400 is clamped by the first gripping finger 1041-a and the second gripping finger 1042-a, thereby improving the stability of the sample tube transfer manipulator, and detecting whether the sample tube 400 reaches a position that the gripper 104 can grip by the in-position sensor 109, thereby improving the gripping accuracy. .

[0040] It should be noted that the connection method between the first gripping finger 1041-a and the first clamping jaw 1041 and the second gripping finger 1042-a and the second clamping jaw 1042 can be a detachable connection method such as a bolt connection, a snap connection or a connection with a connecting plate. The first gripping finger 1041-a can also be connected to the first clamping jaw 1041 through an integrated rubber coating process, and the second gripping finger 1042-a can be connected to the second clamping jaw 1042 through a rubber coating process, so as to realize the integration of the first gripping finger 1041-a and the first clamping jaw 1041, and realize the integration of the second gripping finger 1042-a and the second clamping jaw 1042. As long as the first gripping finger 1041-a can be set in the first clamping jaw 1041 and the second gripping finger 1042-a can be set in the second clamping jaw 1042, they are all within the protection scope of the present invention.

[0041] In addition, the material of the first gripping finger 1041-a and the second gripping finger 1042-a can be rubber, resin, fiber or other types. As long as it is a non-metallic material that can reduce damage to the sample tube, it falls within the protection scope of the present invention.

[0042] Furthermore, the sample tube transfer robot provided by the present invention can be used for, but not limited to, the transfer of sample tubes 400, and can also be used for the transfer of automotive parts, electronic parts, or packaged food, etc. Therefore, the present invention does not specifically limit the application scope of the sample tube transfer robot. In actual applications, the first gripping finger 1041-a and the second gripping finger 1042-a can be adaptively replaced according to the shape of the object to be transferred.

[0043] like Figure 3As shown, the lifting mechanism 200 includes a lifting installation plate 201, a lifting motor 202, a driving wheel 203, a driven wheel 204, a synchronous toothed belt 205 and a linear guide rail 206; the lifting motor 202 is arranged on the lifting installation plate 201, and the driving wheel 203 is connected to the output shaft of the lifting motor 202, so that the driving wheel 203 is driven to rotate by the lifting motor 202; the driven wheel 204 is arranged on the lifting installation plate 201, and the synchronous toothed belt 205 connects the driving wheel 203 and the driven wheel 204, so that the synchronous toothed belt 205 forms a closed-loop rotation motion between the driving wheel 203 and the driven wheel 204, and the synchronous toothed belt 205 is connected to the grabbing installation plate 102, so that the synchronous toothed belt 205 can be driven by the synchronous toothed belt 20 5 drives the grabbing and mounting plate 102 to perform reciprocating lifting motion; and the grabbing and mounting plate 102 is slidably connected to the linear guide rail 206 through the lifting slider 207, so that the lifting motion of the grabbing and mounting plate 102 is guided by the linear guide rail 206, and the lifting motion trajectory accuracy of the grabbing and mounting plate 102 is improved, thereby improving the lifting motion trajectory of the gripper 104 of the grabbing mechanism 100; the linear guide rail 206 is arranged on the supporting column 304 on the moving mechanism 300, so that the moving mechanism 300 drives the linear guide rail 206 to rotate through the rotation of the supporting column 304, thereby driving the lifting mechanism 200 to rotate, so that the grabbing and mounting plate 102 connected to the lifting structure rotates, and drives the grabbing mechanism 100 to rotate.

[0044] Furthermore, the lifting mechanism 200 also includes a lifting position sensor 208 arranged on the lifting mounting plate 201, so as to detect whether the lifting mechanism 200 lifts the grabbing mounting plate 102 into position, thereby judging whether the gripper 104 of the grabbing mechanism 100 is lifted into position, thereby improving the movement accuracy of the sample tube transfer robot.

[0045] In addition, the lifting mechanism 200 also includes a fixed block, a mounting block 209, a second elastic element 210 and a second guide member 211; the fixed block is arranged on the lifting mounting plate 201, the mounting block 209 is used to install the driven wheel 204, the second elastic element 210 is arranged between the fixed block and the mounting block 209, the second guide member 211 is arranged on the lifting mounting plate 201, and the mounting block 209 is slidably connected to the second guide member 211, so that when the synchronous toothed belt 205 becomes loose after running for a long time, the compression force of the second elastic element 210 pushes the mounting block 209 to slide along the second guide member 211 to the side away from the driving wheel 203, and the mounting block 209 drives the driven wheel 204 to slide to the side away from the driving wheel 203, thereby realizing the tensioning of the synchronous toothed belt 205.

[0046] Similarly, the second guide member 211 can be a guide rod, a guide rail or a guide groove. As long as it can guide the movement of the mounting block 209 and improve the tensioning accuracy of the synchronous toothed belt 205, it belongs to the protection scope of the present invention; preferably, the second guide member 211 provided in the embodiment of the present invention is a second guide shaft, and a second linear bearing 212 is arranged between the second guide shaft and the mounting block 209 to reduce the friction between the second guide shaft and the mounting block 209 and extend the service life of the sample tube transfer robot.

[0047] In addition, the second elastic element 210 can be a spring, a colloidal airbag or a rubber block. As long as the part can generate compression force after compression to tighten the synchronous toothed belt 205, it falls within the protection scope of the present invention; preferably, the embodiment of the present invention uses a spring, which has a simple structure and is easy to install.

[0048] The mobile mechanism provided by the present invention can drive the lifting mechanism to perform rotational motion through a synchronous belt drive, a screw nut drive or a chain drive, or the lifting mechanism can be indirectly set on the mobile motor of the mobile mechanism through a rotating connecting piece to make the lifting mechanism perform rotational motion. As long as the transmission method can move the lifting mechanism 200 and thus move the grasping mechanism 100, it belongs to the protection scope of the present invention; preferably, the mobile mechanism 300 provided in the embodiment of the present invention can drive the lifting mechanism 200 to perform rotational motion.

[0049] Specifically, Figure 3 As shown, the moving mechanism 300 includes a motor fixing base 301, a rotating motor 302 arranged on the motor fixing base 301, a rotating connecting shaft 303 connected to the output shaft of the rotating motor 302, and a support column 304 arranged at one end of the rotating connecting shaft 303 away from the rotating motor 302, so that the rotating connecting shaft 303 can be driven to rotate by the rotating motor 302, thereby driving the support column 304 to rotate; so that the lifting mechanism 200 arranged on the support column 304 can rotate.

[0050] It should be noted that the embodiment of the present invention does not specifically limit the rotation angle of the rotating connecting shaft 303 and the support column 304. As long as the rotation angle can meet the use requirements, it belongs to the protection scope of the present invention; preferably, the connecting shaft and the support column 304 provided in the embodiment of the present invention can be driven by the rotating motor 302 to rotate 0 to 90° in the first direction and 0 to 90° in the second direction, and the first direction is the opposite direction of the second direction.

[0051] Furthermore, the moving mechanism 300 also includes a rotation origin sensor 305 arranged on the motor fixing seat 301, so as to judge whether the moving mechanism 300 rotates the lifting mechanism 200 into place through the rotation origin sensor 305, thereby judging whether the grasping mechanism 100 connected to the lifting mechanism 200 is rotated into place.

[0052] The above-mentioned rotating winding member 306 can be a plastic member, a stainless steel member or a carbon fiber member, etc. As long as it can fix the cable and reduce the entanglement and wear of the cable, it belongs to the protection scope of the present invention; preferably, the rotating winding member 306 provided in the embodiment of the present invention is a specially customized spring member, which can control the deformation in the vertical direction within 10% under the influence of the gravity of the cable.

[0053] In addition, the present invention also discloses a sample analysis system, including a sample tube transfer robot as described in any one of the above items, and thus has all the technical effects of the above-mentioned sample tube transfer robots, which will not be described one by one in this article.

[0054] The terms "first" and "second" and the like in the specification and claims of the present invention and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may include steps or units that are not listed.

[0055] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sample tube transfer robot, characterized in that: include: A gripping mechanism, the gripping mechanism comprising a gripping power device, a gripping mounting plate, a cam, a gripper, a first guide and a first elastic element, the gripping power device being arranged on the gripping mounting plate, the cam being arranged on the output shaft of the gripping power device, the gripper comprising a first clamping jaw and a second clamping jaw slidably arranged on the first guide, the cam being located between the first clamping jaw and the second clamping jaw and in contact with the first clamping jaw and the second clamping jaw, the first elastic element being arranged between the outer wall of the first clamping jaw and the gripping mounting plate and between the outer wall of the second clamping jaw and the gripping mounting plate; the gripping mechanism further comprising a transmission member arranged between the cam and the first clamping jaw and the second clamping jaw; the first guide being a first guide shaft, the gripping mechanism further comprising a first linear bearing arranged between the first guide shaft and the first clamping jaw and the second clamping jaw; A lifting mechanism, wherein the lifting mechanism is connected to the grabbing mounting plate and can drive the grabbing mechanism to perform lifting motion through a synchronous toothed belt transmission mode; the lifting mechanism comprises a lifting mounting plate, a lifting motor arranged on the lifting mounting plate, a driving wheel connected to the output shaft of the lifting motor, a driven wheel arranged on the lifting mounting plate, a synchronous toothed belt and a linear guide rail connecting the driving wheel and the driven wheel, the synchronous toothed belt is connected to the grabbing mounting plate, and the grabbing mounting plate is slidably connected to the linear guide rail through a lifting slider, and the linear guide rail is arranged on the moving mechanism; A moving mechanism, the lifting mechanism is arranged on the moving mechanism, and the moving mechanism can drive the lifting mechanism to rotate; the moving mechanism includes a motor fixing seat, a rotating motor arranged on the motor fixing seat, a rotating connecting shaft connected to the output shaft of the rotating motor, and a support column arranged at one end of the rotating connecting shaft away from the rotating motor, and the lifting mechanism is arranged on the support column.

2. The sample tube transfer robot according to claim 1, characterized in that: The gripping mechanism also includes a first gripping finger arranged on the first clamping jaw, a second gripping finger arranged on the second clamping jaw and an in-place sensor arranged on the gripping mounting plate, the inner walls of the first gripping finger and the second gripping finger cooperate with the outer wall of the sample tube, and the first gripping finger and the second gripping finger are both made of non-metallic materials.

3. The sample tube transfer robot according to claim 1, characterized in that: The lifting mechanism also includes a lifting position sensor arranged on the lifting installation plate.

4. The sample tube transfer robot according to claim 1, characterized in that: The lifting mechanism also includes a fixed block arranged on the lifting mounting plate, a mounting block for mounting the driven wheel, a second elastic element arranged between the fixed block and the mounting block, and a second guide member arranged on the lifting mounting plate, and the mounting block is slidably connected to the second guide member.

5. The sample tube transfer robot according to claim 4, characterized in that: The second guide member is a second guide shaft, and a second linear bearing for reducing friction is provided between the second guide shaft and the mounting block.

6. The sample tube transfer robot according to claim 1, characterized in that: The moving mechanism also includes a rotation origin sensor arranged on the motor fixing seat.

7. The sample tube transfer robot according to claim 1, characterized in that: The moving mechanism also includes a spiral rotating winding member and a drag chain for protecting the cable of the sample tube transfer robot, and the rotating winding member is arranged on the rotating connecting shaft.

8. A sample analysis system, characterized in that: It comprises a sample tube transfer robot as described in any one of claims 1 to 7.

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