A sample tube uncap device and a sample tube scheduling apparatus

Abstract

The application discloses a sample tube uncapping device and a sample tube scheduling equipment, the sample tube uncapping device comprises a Z-axis mechanism and an uncapping mechanism assembled on the Z-axis mechanism, the Z-axis mechanism can drive the uncapping mechanism to move downward to an uncapping and capping position, rotate the uncapping and capping position, and then move upward to a waiting position, and the Z-axis mechanism is used for driving the uncapping mechanism to move downward to the uncapping and capping position, rotate the uncapping and capping position, and then move upward to the waiting position, the uncapping mechanism comprises a supporting seat, a push rod motor assembly, a rotating motor assembly, a push rod assembly, an elastic slide rod assembly and a clamping jaw assembly, the push rod motor assembly and the rotating motor assembly are both mounted on the supporting seat, in the uncapping and capping position, the push rod motor assembly can drive the push rod assembly and the elastic slide rod assembly to form a fixed shaft type up-down push-pull, and when the up-down push-pull is performed, the clamping jaw assembly mounted on the rotating motor assembly is driven to open and close to realize clamping and loosening of a tube cover, and when the tube cover is clamped, the clamping jaw assembly is rotated by the rotating motor assembly, so that the uncapping and capping position can be rotated.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a sample tube opening device and a sample tube scheduling device. Background Technology

[0002] In biochemical sample testing, the efficiency and safety of sample tube opening are crucial aspects. Traditionally, sample tube opening is done manually by testing personnel. When dealing with large batches of sample tubes, manual opening is labor-intensive and inefficient. Therefore, various tube opening devices have emerged on the market, primarily using mechanical structures to open and close the sample tube caps, replacing manual operation. This reduces the workload for testing personnel while improving the efficiency and safety of test tube opening and closing.

[0003] Currently, some capping devices on the market require manual gripping of the tube body, with the machine opening the cap by increasing friction. This type of capping machine requires manual effort to overcome the friction generated during the opening process, and when testing a large number of tubes, the labor intensity is high, and the human hand is prone to slipping, making it difficult to guarantee smooth opening of the sample tube caps. Therefore, some automated capping equipment has also appeared on the market, enabling pre-testing preparation through inspection lines. These automated capping devices include at least a sample tube gripping device, a tube clamping mechanism, and a sample tube capping device. Currently, some manufacturers use a solenoid valve-driven linkage structure to rotate the capping device's grippers, resulting in a complex structure and high manufacturing difficulty; others use a gear and rack structure, which has a high mechanical failure rate, generates significant noise, and may also result in cap loss. Summary of the Invention

[0004] The purpose of this invention is to provide a sample tube opening device and a sample tube scheduling device, which aims to solve the problem of complex structure of existing sample tube opening devices.

[0005] To solve the above-mentioned technical problems, the objective of this invention is achieved through the following technical solution: A sample tube opening device is provided, comprising a Z-axis mechanism and an opening mechanism mounted on the Z-axis mechanism. The Z-axis mechanism is used to drive the opening mechanism downward to the sample tube opening / closing position to clamp the sample tube cap, and after clamping, to drive the opening mechanism upward to remove the sample tube.

[0006] The opening mechanism includes a support base, a push rod motor assembly, a rotary motor assembly, a push rod assembly, an elastic slide rod assembly, and a gripper assembly;

[0007] The support base is mounted on the Z-axis mechanism, which is used to drive the support base to move up and down in the height direction.

[0008] Both the push rod motor assembly and the rotary motor assembly are mounted on the support base;

[0009] Both the gripper assembly and the elastic slide bar assembly are mounted on the bottom of the rotary motor assembly. The gripper assembly can perform clamping movements in the horizontal direction, and the elastic slide bar assembly can move up and down in the vertical direction. The elastic slide bar assembly is slidably connected to the gripper assembly, and when the elastic slide bar assembly moves downward in the vertical direction, it is linked to the gripper assembly to perform clamping movements to achieve clamping of the sample tube cap. The rotary motor assembly is used to drive the elastic slide bar assembly and the gripper assembly to rotate.

[0010] The top of the push rod assembly is connected to the output end of the push rod motor assembly, and the bottom of the push rod assembly extends through to the bottom of the rotary motor assembly and is rotatably connected to the elastic slide rod assembly. The push rod motor assembly is used to push the push rod assembly downward and cause the elastic slide rod assembly to elastically compress downward.

[0011] Furthermore, the push rod motor assembly includes a push rod motor base, a push rod motor, a spring, and a pull ring; the push rod motor base is mounted on the support base; the front end of the push rod motor is mounted on the push rod motor base facing downwards, and the output shaft of the front end of the push rod motor can be pushed downwards; the spring is fitted onto the output shaft of the push rod motor; the pull ring is mounted on the output shaft of the push rod motor, and the top of the push rod assembly is connected to the pull ring to achieve downward pushing along with the output shaft of the push rod motor.

[0012] Furthermore, the push rod motor assembly also includes a position baffle mounted on the output shaft of the push rod motor; the support plate is equipped with an opening and closing recognition optocoupler. When the output shaft of the push rod motor is pushed downward, the push rod assembly and the elastic slide rod assembly are sequentially moved downward to drive the gripper assembly to clamp in the horizontal direction until the position baffle moves downward into the opening and closing recognition optocoupler and triggers the stop movement, thus completing the clamping of the gripper assembly.

[0013] Furthermore, the push rod assembly includes an adapter pull seat and a bearing rod; the top of the adapter pull seat is fixedly connected to the pull ring; the top of the bearing rod is connected to the bottom of the adapter pull seat, and the bottom of the bearing rod is rotatably connected to the top of the elastic slide rod assembly.

[0014] Furthermore, the bearing rod includes a push rod limiting post, a push rod, an angular contact bearing, and a bearing housing; the top of the push rod limiting post is fixedly connected to the bottom of the adapter pull seat; the top of the push rod is fixedly connected to the bottom of the push rod limiting post; the angular contact bearing is built into the bearing housing, and the bearing housing is clamped to the bottom of the push rod by the angular contact bearing and can rotate relative to the push rod; the bottom of the bearing housing is fixedly connected to the top of the elastic slide rod assembly.

[0015] Furthermore, the rotary motor assembly includes a fixed plate, a rotary motor base, a rotary motor, a timing belt assembly, and a guide rod mounting base; the fixed plate is mounted on the support base; the rotary motor base is mounted on one end of the fixed plate, and the rotary motor is mounted on the rotary motor base; the guide rod mounting base is rotatably mounted on the other end of the fixed plate, and the elastic slide rod assembly and the gripper assembly are both mounted on the bottom of the guide rod mounting base; one end of the timing belt assembly is connected to the output shaft of the rotary motor, and the other end of the timing belt assembly is connected to the top of the guide rod mounting base; the interior of the guide rod mounting base is used to accommodate the push rod assembly, the top of the push rod assembly protrudes upward and is connected to the push rod motor assembly, and the bottom of the push rod assembly protrudes downward and is rotatably connected to the elastic slide rod assembly.

[0016] Furthermore, the rotary motor assembly also includes a first bearing, a washer, a second bearing, and a bearing cover plate; the other end of the fixed plate is provided with a stepped circular hole for mounting the guide rod mounting seat; the first bearing, the washer, and the second bearing are sequentially installed in the stepped circular hole, and the bearing cover plate is locked to the top surface of the stepped circular hole to press the first bearing, the washer, and the second bearing into the stepped circular hole; the guide rod mounting seat passes through the stepped circular hole and rotates within the first bearing and the second bearing.

[0017] Furthermore, the rotary motor assembly also includes a rotary baffle mounted on the guide rod mounting base; a rotary identification optocoupler is mounted on the support plate, and the edge of the rotary baffle is located in the detection port of the rotary identification optocoupler; when the rotary motor drives the synchronous belt assembly to drive and connect the guide rod mounting base to drive the gripper assembly to rotate, the rotary identification optocoupler identifies the number of rotations and position of the gripper assembly by identifying the number of rotations and position of the rotary baffle.

[0018] Furthermore, the elastic slide rod assembly includes: a T-shaped slide rod, linear bearings, guide rods, and positioning springs; the top of the T-shaped slide rod is fixedly connected to the bottom of the bearing seat, and the bottom of the T-shaped slide rod is slidably connected to the gripper assembly; two linear bearings are respectively installed at the top ends of the T-shaped slide rod; two guide rods are respectively inserted into the two linear bearings, the tops of the two guide rods are inserted into the bottom of the rotary motor assembly, and the bottoms of the two guide rods extend to the bottom of the T-shaped slide rod; two positioning springs are respectively fitted onto the two guide rods; when the elastic slide rod assembly moves downward along the height direction, the T-shaped slide rod moves downward on the guide rod through the linear bearings and compresses the positioning springs.

[0019] Furthermore, the elastic slide rod assembly also includes a rotating shaft, rotating shaft bearings, and retaining rings; the rotating shaft passes through both sides of the bottom of the T-shaped slide rod; two rotating shaft bearings are respectively installed at both ends of the rotating shaft; two retaining rings are respectively snapped onto both ends of the rotating shaft to lock the two rotating shaft bearings onto the rotating shaft; the two rotating shaft bearings are respectively slidably connected to the gripper assembly.

[0020] Furthermore, the gripper assembly includes two symmetrically arranged baffles, two connecting blocks, and two grippers; the two baffles are fixedly installed at the bottom of the rotary motor assembly, and the two baffles are located on both sides of the elastic slide rod assembly; the two connecting blocks are slidably installed on the inner sides of the two baffles in the horizontal direction; the two grippers are fixedly connected to the bottom of the two connecting blocks; each of the two connecting blocks is provided with an inclined sliding groove, and the two rotating shaft bearings are slidably connected in the two inclined sliding grooves.

[0021] Furthermore, the gripper assembly also includes two linear guide rails and two sliders; the two linear guide rails are fixedly installed on the inner sides of the two baffles; the two sliders are slidably installed on the two linear guide rails in the horizontal direction; and the two connecting blocks are fixedly installed on the two sliders.

[0022] Furthermore, the Z-axis mechanism includes a support plate, a drive assembly, a contamination-proof tray assembly, and an infrared optocoupler. The drive assembly is mounted on the support plate and connected to the support base, and is used to drive the support base to move up and down in the height direction. The contamination-proof tray assembly is mounted on the support plate and located below the opening mechanism. When the opening mechanism moves up with the cover to the waiting position, the contamination-proof tray assembly rotates to correspond to the area below the cap held by the opening mechanism. When the opening mechanism moves down with the cover to the opening / closing position and rotates to close the cover, the contamination-proof tray assembly rotates to avoid the area below the cap held by the opening mechanism. The infrared optocoupler is mounted on the support plate. During the process of the opening mechanism moving up with the cover to the waiting position after moving down to the opening / closing position and rotating to open the cover, the infrared optocoupler is used to detect whether the opening mechanism is holding a cap.

[0023] This invention also provides a sample tube scheduling device, which includes the sample tube opening device described above.

[0024] This invention provides a sample tube opening device and a sample tube scheduling device. The sample tube opening device includes a Z-axis mechanism and an opening mechanism mounted on the Z-axis mechanism. The Z-axis mechanism can drive the opening mechanism to move down to the opening position for rotational opening, and then move the opening mechanism with the cover to the waiting position. It also drives the opening mechanism to move down to the opening position with the cover for rotational closing, and then move the opening mechanism to the waiting position. The opening mechanism includes a support base, a push rod motor assembly, a rotary motor assembly, a push rod assembly, an elastic slide rod assembly, and a gripper assembly. Both the push rod motor assembly and the rotary motor assembly are mounted on the support base. In the opening position, the push rod motor assembly can drive the push rod assembly and the elastic slide rod assembly to form a fixed-axis up-and-down push-pull mechanism. During the up-and-down push-pull, the gripper assembly mounted on the rotary motor assembly opens and closes to clamp and release the tube cover. When clamping the tube cover, the rotary motor assembly drives the gripper assembly to rotate, thus rotating the cover to open and close. The opening and closing mechanism of the sample tube opening device in this embodiment has a simple opening and closing structure and is easy to assemble. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the sample tube opening device provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the double-opening mechanism provided in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the single-opening mechanism provided in an embodiment of the present invention;

[0029] Figure 4 A cross-sectional structural schematic diagram of the lid-opening mechanism provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the push rod motor assembly provided in an embodiment of the present invention;

[0031] Figure 6 This is a structural schematic diagram of the bearing rod provided in an embodiment of the present invention;

[0032] Figure 7 A cross-sectional structural schematic diagram of the bearing rod provided in an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of a rotary motor assembly provided in an embodiment of the present invention;

[0034] Figure 9 A cross-sectional structural schematic diagram of the rotary motor assembly provided in an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the structure of the elastic slide bar assembly provided in an embodiment of the present invention;

[0036] Figure 11 A cross-sectional structural schematic diagram of the elastic slide bar assembly provided in an embodiment of the present invention;

[0037] Figure 12 This is a schematic diagram of the gripper assembly provided in an embodiment of the present invention;

[0038] Figure 13 This is a schematic diagram of the Z-axis assembly provided in an embodiment of the present invention.

[0039] Explanation of the markings in the image:

[0040] 1. Z-axis mechanism; 11. Support plate; 12. Drive assembly; 13. Anti-fouling tray assembly; 14. Infrared optocoupler;

[0041] 2. Opening mechanism;

[0042] 21. Support base; 211. Opening / closing recognition optocoupler; 212. Rotation recognition optocoupler;

[0043] 22. Actuator motor assembly; 221. Actuator motor mount; 222. Actuator motor; 223. Spring; 224. Position stop; 225. Pull ring;

[0044] 23. Rotary motor assembly; 231. Fixing plate; 232. Rotary motor base; 233. Rotary motor; 234. First synchronous pulley; 235. Synchronous belt; 236. Second synchronous pulley; 237. Guide rod mounting base; 238. First bearing; 239. Washer ring; 2310. Second bearing; 2320. Bearing cover plate; 2330. Rotary baffle plate;

[0045] 24. Push rod assembly; 241. Adapter pull seat; 242. Bearing rod; 2421. Push rod limit post; 2422. Push rod; 2423. Angular contact bearing; 2424. Bearing housing;

[0046] 25. Elastic slide rod assembly; 251. T-shaped slide rod; 252. Linear bearing; 253. Guide rod; 254. Positioning spring; 255. Rotary shaft; 256. Rotary shaft bearing; 257. Snap ring; 258. Combination screw;

[0047] 26. Gripper assembly; 261. Baffle; 262. Connecting block; 2621. Inclined slide; 263. Gripper; 264. Linear guide rail; 265. Slider. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0050] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0051] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0052] Combination Figure 1 and Figure 2This invention provides a sample tube opening device, including a Z-axis mechanism 1 and an opening mechanism 2 mounted on the Z-axis mechanism 1. The Z-axis mechanism 1 is used to drive the opening mechanism 2 to move down to the sample tube opening / closing position. The opening mechanism 2 clamps and rotates the sample tube cap to open it. After opening, the Z-axis mechanism 1 drives the opening mechanism 2 to move the cap up to the waiting position. When closing the cap, the Z-axis mechanism 1 drives the opening mechanism 2 to move down to the opening / closing position with the cap, rotates to close the cap, and then moves up to the waiting position, thus completing the opening / closing process of the current sample tube.

[0053] Combination Figure 3 and Figure 4 The opening mechanism 2 of this embodiment will be described in detail below:

[0054] The opening mechanism 2 includes: a support base 21, a push rod motor assembly 22, a rotary motor assembly 23, a push rod assembly 24, an elastic slide rod assembly 25, and a gripper assembly 26;

[0055] The support base 21 is mounted on the Z-axis mechanism 1. The Z-axis mechanism 1 drives the support base 21 to move up and down in the height direction, thereby driving the entire opening mechanism 2 to move up and down in the height direction, so as to move down to clamp the sample tube and then move up to take it out.

[0056] The rotary motor assembly 23 is mounted on the support base 21; the gripper assembly 26 and the elastic slide bar assembly 25 are both mounted on the bottom of the rotary motor assembly 23. The gripper assembly 26 can perform gripping movement in the horizontal direction, and the elastic slide bar assembly 25 can move up and down in the height direction. The elastic slide bar assembly 25 is slidably connected to the gripper assembly 26, and when the elastic slide bar assembly 25 moves down in the height direction, it is linked to the gripper assembly 26 to perform gripping movement to achieve gripping of the sample tube cap. The rotary motor assembly 23 is used to drive the elastic slide bar assembly 25 and the gripper assembly 26 to perform rotational movement.

[0057] The push rod motor assembly 22 is mounted on the support base 21; the top of the push rod assembly 24 is connected to the output end of the push rod motor assembly 22, and the bottom of the push rod assembly 24 extends through to the bottom of the rotary motor assembly 23 and is rotatably connected to the elastic slide rod assembly 25. The push rod motor assembly 22 is used to push the push rod assembly 24 to move downward and to drive the elastic slide rod assembly 25 to move downward elastically compressed.

[0058] The Z-axis mechanism 1 is equipped with a barcode scanner 11. When the sample tube is removed from the opening mechanism 2, the rotary motor assembly 23 drives the gripper assembly 26 to rotate and rotates the sample tube, so that the barcode scanner 11 can scan and identify the barcode on the sample tube.

[0059] Understandably, the process of clamping the sample tube cap is as follows: First, the Z-axis mechanism 1 drives the entire cap opening mechanism 2 to move down to the sample tube opening / closing position and makes the gripper assembly 26 correspond to the sample tube cap to be clamped. Then, the push rod motor assembly 22 pushes the push rod assembly 24 down and drives the elastic slide rod assembly 25 to move downward elastically, thereby driving the gripper assembly 26 to clamp in the horizontal direction and clamp the sample tube cap.

[0060] Understandably, the process of opening the sample tube cap is as follows: after the gripper assembly 26 clamps the sample tube cap, the rotary motor assembly 23 drives the gripper assembly 26 to rotate along the opening direction of the cap. The friction between the gripper assembly 26 and the cap can be used to rotate the cap out of the sample tube, thus completing the opening. The Z-axis mechanism 1 then drives the cap opening mechanism 2 to move the cap up to the waiting position for waiting.

[0061] Understandably, after the sample tube has been sampled and returned to the opening / closing position, the closing process is the reverse of the opening process. The Z-axis mechanism 1 drives the opening mechanism 2 to move the cover down to the opening / closing position. Then, the rotary motor assembly 23 drives the gripper assembly 26 to rotate along the closing direction of the tube cover, thus closing the cover. Then, the push rod motor assembly 22 pulls upward and drives the push rod assembly 24 and the elastic slide rod assembly 25 to move upward, thereby driving the gripper assembly 26 to open horizontally, thus releasing the tube cover. Finally, the Z-axis mechanism 1 drives the opening mechanism 2 to move upward to the waiting position to wait for the next opening / closing.

[0062] In this embodiment, the push rod motor assembly 22 is linked to the push rod assembly 24 and the elastic slide rod assembly 25 to form a fixed shaft type up and down push-pull structure, so as to realize the clamping and releasing of the pipe cover, and the rotary motor assembly 23 directly drives the gripper assembly 26 to rotate to realize the rotary opening and closing of the pipe cover. It has the advantages of simple structure and convenient assembly.

[0063] It should be noted that two opening mechanisms 2 can be provided in this embodiment. The two opening mechanisms 2 can be integrally assembled through a support base 21. The two opening mechanisms 2 can be symmetrically distributed or distributed at right angles. The exposed structures of the two opening mechanisms 2 can avoid interference by staggering their vertical distribution, thereby making the two opening mechanisms 2 more compact. It can be understood that two barcode scanners 11 can be provided for corresponding barcode scanning and identification for the two opening mechanisms 2.

[0064] For ease of understanding, the structure of a single opening mechanism 2 will be described in detail below.

[0065] Combination Figure 5 As shown, the push rod motor assembly 22 in the cover opening mechanism 2 is described in detail below:

[0066] In some embodiments, the push rod motor assembly 22 includes a push rod motor base 221, a push rod motor 222, a spring 223, and a pull ring 225; the push rod motor base 221 is mounted on a support base 21; the front end of the push rod motor 222 is mounted on the push rod motor base 221 facing downward, and the output shaft of the front end of the push rod motor 222 can be pushed and pulled downward; the spring 223 is fitted on the output shaft of the push rod motor 222; the pull ring 225 is mounted on the output shaft of the push rod motor 222, and the top of the push rod assembly 24 is connected to the pull ring 225 to realize the downward pushing and pulling movement with the output shaft of the push rod motor 222.

[0067] In this embodiment, the push rod motor base 221 can be an L-shaped plate. One side of the push rod motor base 221 is fixedly mounted on the support base 21 with screws, and an opening is opened on the other side of the push rod motor base 221. The front end of the push rod motor 222 is fixedly mounted on the other side of the push rod motor base 221 with its front end facing downward, and the output shaft of the front end of the push rod motor 222 extends downward from the opening. The spring piece 223 is fitted onto the output shaft of the push rod motor 222 and has a certain buffering effect when the push rod motor 222 is pushed down. The cylindrical surface at the bottom of the pull ring 225 is milled flat to facilitate clamping and tightening with tools to lock the structure on the output shaft of the push rod motor 222. After the top of the push rod assembly 24 is connected to the pull ring 225, the push rod assembly 24 can be pushed downward with the output shaft of the push rod motor 222, thereby pushing the elastic slide rod assembly 25 downward elastically compressed and connecting with the gripper assembly 26 to perform clamping work.

[0068] In some embodiments, the push rod motor assembly 22 further includes a position baffle 224 fitted onto the output shaft of the push rod motor 222; an opening / closing identification optocoupler 211 is mounted on the support plate (see reference ). Figure 3 When the output shaft of the push rod motor 222 pushes downward and drives the push rod assembly 24 and the elastic slide rod assembly 25 to move downward, it drives the gripper assembly 26 to clamp in the horizontal direction until the position baffle 224 moves downward into the opening and closing identification optocoupler 211 and triggers the stop movement, thus completing the clamping of the gripper assembly 26.

[0069] In this embodiment, the position baffle 224 can be fitted onto the output shaft of the push rod motor 222 after the spring piece 223, and then the spring piece 223 and the position baffle 224 are locked onto the output shaft of the push rod motor 222 by the pull ring 225; through the cooperation of the position baffle 224 and the opening and closing recognition optocoupler 211, when the output shaft of the push rod motor 222 is pushed downward, the opening and closing recognition optocoupler 211 can identify the Z-direction position of the position baffle 224, thereby identifying the Z-direction movement stroke of the push rod motor 222, and thus controlling the opening and closing size of the gripper assembly 26.

[0070] Combination Figure 4 , Figure 6 and Figure 7The push rod assembly 24 in the cover opening mechanism 2 is described in detail below:

[0071] In some embodiments, the push rod assembly 24 includes an adapter pull seat 241 and a bearing rod 242; the top of the adapter pull seat 241 is fixedly connected to the pull ring 225; the top of the bearing rod 242 is connected to the bottom of the adapter pull seat 241, and the bottom of the bearing rod 242 is rotatably connected to the top of the elastic slide rod assembly 25.

[0072] In this embodiment, the top of the adapter pull base 241 can be designed with a flat groove, and the bottom cylindrical surface of the pull ring 225 can be designed with a milled flat surface. The pull ring 225 is inserted into the flat groove of the adapter pull base 241 through the bottom milling flatness. Both the top of the adapter pull base 241 and the bottom cylindrical surface of the pull ring 225 are designed with 3mm round holes. After aligning the round holes of the two parts, a pin is inserted. One end of the pin has a cylindrical head diameter greater than 3mm, and the other end is designed with a mounting groove and a retaining spring 257 is installed, so that the push rod motor assembly 22 and the adapter pull base 241 can be fixedly connected.

[0073] In some embodiments, the bearing rod 242 includes a push rod limiting post 2421, a push rod 2422, an angular contact bearing 2423, and a bearing seat 2424; the top of the push rod limiting post 2421 is fixedly connected to the bottom of the adapter pull seat 241; the top of the push rod 2422 is fixedly connected to the bottom of the push rod limiting post 2421; the angular contact bearing 2423 is built into the bearing seat 2424, and the bearing seat 2424 is snapped onto the bottom of the push rod 2422 by the angular contact bearing 2423 and can rotate relative to the push rod 2422; the bottom of the bearing seat 2424 is fixedly connected to the top of the elastic slide rod assembly 25.

[0074] In this embodiment, an angular contact bearing 2423 is first installed in the central circular hole of the bearing housing 2424, then a push rod 2422 is inserted into the central circular hole of the bearing housing 2424, and then another angular contact bearing 2423 is installed. A circular boss is provided on the rod wall of the push rod 2422, which can limit the two angular contact bearings 2423 to the upper and lower ends of the central circular hole of the bearing housing 2424. The upper end of the push rod 2422 is fixedly connected to the bottom of the push rod limiting post 2421, and the top of the push rod limiting post 2421 is locked in the circular hole step provided at the bottom of the adapter pull seat 241, which facilitates positioning and concentric installation, so that the push rod motor assembly 22, the adapter pull seat 241 and the bearing rod 242 can be fixedly connected in sequence.

[0075] Combination Figure 8 and Figure 9 The following is a detailed description of the rotary motor assembly 23 in the cover opening mechanism 2:

[0076] In some embodiments, the rotary motor assembly 23 includes a fixed plate 231, a rotary motor base 232, a rotary motor 233, a timing belt assembly, and a guide rod mounting base 237; the fixed plate 231 is mounted on a support base 21; the rotary motor base 232 is mounted on one end of the fixed plate 231, and the rotary motor 233 is mounted on the rotary motor base 232; the guide rod mounting base 237 is rotatably mounted on the other end of the fixed plate 231, and the elastic slide rod assembly 25 and the gripper assembly 26 are both mounted on the bottom of the guide rod mounting base 237; one end of the timing belt assembly is connected to the output shaft of the rotary motor 233, and the other end of the timing belt assembly is connected to the top of the guide rod mounting base 237; the interior of the guide rod mounting base 237 is used to accommodate the push rod assembly 24, the top of the push rod assembly 24 protrudes upward and is connected to the push rod motor assembly 22, and the bottom of the push rod assembly 24 protrudes downward and is rotatably connected to the elastic slide rod assembly 25.

[0077] The synchronous belt assembly includes a first synchronous pulley 234, a synchronous belt 235, and a second synchronous pulley 236. The first synchronous pulley 234 is coaxially connected to the output shaft of the rotary motor 233. The second synchronous pulley 236 is mounted on the cylindrical surface of the step designed at the upper end of the guide rod mounting base 237. The synchronous belt 235 is fitted onto the first synchronous pulley 234 and the second synchronous pulley 236.

[0078] In this embodiment, multiple limiting bosses can be designed on the support base 21, and grooves that cooperate with the limiting bosses on the support base 21 can be designed on the fixing plate 231 to increase the installation accuracy of the fixing plate 231. The rotary motor base 232 can be an inverted U-shaped structure. The bottom of the rotary motor base 232 is installed on the two side edges of one end of the fixing plate 231. Two grooves are designed on the two side edges of one end of the fixing plate 231, and the width of the protrusion in the middle is consistent with the inner width of the rotary motor base 232. The front end of the rotary motor 233 is fixedly installed on the top of the rotary motor base 232. The output shaft of the front end of the rotary motor 233 extends downward into the interior of the rotary motor base 232. The first synchronous pulley 234 is coaxially connected to the output shaft of the rotary motor 233 and is located inside the rotary motor base 232. The guide rod mounting base 237 is rotatably mounted on the other end of the fixed plate 231. The second synchronous pulley 236 is coaxially connected to the top of the guide rod mounting base 237. After installation, the second synchronous pulley 236 and the first synchronous pulley 234 are at the same horizontal height. After the synchronous belt 235 is fitted onto the first synchronous pulley 234 and the second synchronous pulley 236, a stable transmission structure can be formed. The tension of the synchronous belt 235 can be adjusted by rotating the position of the motor base 232 and the fixed plate 231.

[0079] Therefore, the rotary motor 233 drives the first synchronous pulley 234 to rotate, which in turn drives the synchronous belt 235 to rotate the second synchronous pulley 236, thereby driving the guide rod mounting base 237 to rotate. Here, we will describe the interaction of the push rod motor assembly 22, the adapter pull base 241, and the bearing rod 242 as described above. The bearing rod 242 is inserted upwards into the guide rod mounting base 237 through the bottom circular hole. After insertion, the top of the bearing rod 242 protrudes from the second synchronous pulley 236 mounted on the top of the guide rod mounting base 237 and connects with the adapter pull base 241 at this position. This allows the bearing rod 242 to be stably positioned inside the guide rod mounting base 237, facilitating the linkage between the bearing rod 242 and the elastic slide rod assembly 25 mounted at the bottom of the guide rod mounting base 237.

[0080] The elastic slide rod assembly 25 is fixedly installed at the bottom of the guide rod mounting base 237. The bearing rod 242 is connected to the elastic slide rod assembly 25 installed at the bottom of the guide rod mounting base 237. When the bearing rod 242 is pushed down by the push rod motor assembly 22, the elastic slide rod assembly 25 will be driven to perform elastic compression movement downward, thereby driving the gripper assembly 26 to perform clamping movement to achieve clamping of the sample tube cap.

[0081] The gripper assembly 26 is fixedly installed at the bottom of the guide rod mounting base 237. After the gripper assembly 26 clamps the sample tube cap, the device moves the sample tube upward and removes it. Then, the rotary motor 233 drives the synchronous belt assembly to rotate and the guide rod mounting base 237 to rotate, thereby driving the gripper assembly 26 and the elastic slide rod assembly 25 to rotate. This enables the gripper assembly 26 to drive the sample tube to rotate so that the barcode scanner 11 can identify the barcode on the sample tube body.

[0082] In some embodiments, the rotary motor assembly 23 further includes a first bearing 238, a washer 239, a second bearing 2310, and a bearing cover plate 2320; the other end of the fixing plate 231 is provided with a stepped circular hole for mounting the guide rod mounting seat 237; the first bearing 238, the washer 239, and the second bearing 2310 are sequentially installed in the stepped circular hole, and the bearing cover plate 2320 is locked to the top surface of the stepped circular hole to press the first bearing 238, the washer 239, and the second bearing 2310 into the stepped circular hole; the guide rod mounting seat 237 passes through the stepped circular hole and rotates within the first bearing 238 and the second bearing 2310.

[0083] In this embodiment, the guide rod mounting base 237 extends upward through the stepped circular hole of the fixing plate 231 from the lower circular hole. To ensure stable rotation of the guide rod mounting base 237 on the fixing plate 231, a first bearing 238, a washer 239, and a second bearing 2310 are placed from the upper circular hole of the fixing plate 231 and fitted onto the guide rod mounting base 237. The bearing cover plate 2320 is locked to the top surface of the stepped circular hole of the fixing plate 231. The combined height of the first bearing 238, washer 239, and second bearing 2310 exceeds the height of the circular hole in the fixing plate 231. When the bearing cover plate 2320 is... When locked to the fixing plate 231, the first bearing 238, the washer 239, and the second bearing 2310 can be pressed to prevent vertical movement, and the rotational stability of the guide rod mounting seat 237 can be ensured by the first bearing 238 and the second bearing 2310. It should be noted that the guide rod mounting seat 237 can be stably positioned in the stepped circular hole of the fixing plate 231 by connecting with the first bearing 238 and the second bearing 2310, or it can be stably positioned in the stepped circular hole of the fixing plate 231 by connecting with the second synchronous wheel 236 installed on the top of the guide rod mounting seat 237 to the fixing plate 231.

[0084] In some embodiments, the rotary motor assembly 23 further includes a rotary baffle 2330 fitted on the guide rod mounting base 237; a rotary identification optocoupler 212 is mounted on the support plate, and the edge of the rotary baffle 2330 is located in the detection port of the rotary identification optocoupler 212; when the rotary motor 233 drives the synchronous belt assembly to drive and connect the guide rod mounting base 237 to drive the gripper assembly 26 to rotate, the rotary identification optocoupler 212 identifies the number of rotations and position of the rotary baffle 2330 to identify the number of rotations and position of the gripper assembly 26, and thus identifies the number of rotations of the tube cap.

[0085] In this embodiment, the rotating baffle 2330 is fitted onto the top of the guide rod mounting base 237. The height of the rotating optical coupler baffle exceeds the gap between the second synchronous wheel 236 and the second bearing 2310. First, the rotating baffle 2330 is fitted onto the top of the guide rod mounting base 237, and then the second synchronous wheel 236 is locked onto the stepped cylindrical surface at the top of the guide rod mounting base 237. This presses the rotating baffle 2330 firmly to prevent cross-movement. Thus, when the rotary motor assembly 23 operates, the rotating baffle 2330 rotates with the guide rod mounting base 237. The rotation recognition optical coupler 212 can identify the number of rotations and position of the rotating baffle 2330 by recognizing the notch markings on the rotating baffle 2330, thereby identifying the number of rotations and position of the gripper assembly 26.

[0086] Combination Figure 10 and Figure 11 The following is a detailed description of the elastic slide rod assembly 25 in the cover opening mechanism 2:

[0087] In some embodiments, the elastic slide rod assembly 25 includes: a T-shaped slide rod 251, a linear bearing 252, a guide rod 253, and a positioning spring 254; the top of the T-shaped slide rod 251 is fixedly connected to the bottom of the bearing seat 2424, and the bottom of the T-shaped slide rod 251 is slidably connected to the gripper assembly 26; two linear bearings 252 are respectively installed at the top ends of the T-shaped slide rod 251; two guide rods 253 are respectively inserted into the two linear bearings 252, the tops of the two guide rods 253 are inserted into the bottom of the rotary motor assembly 23, and the bottoms of the two guide rods 253 extend to the bottom of the T-shaped slide rod 251; two positioning springs 254 are respectively fitted onto the two guide rods 253; when the elastic slide rod assembly 25 moves downward along the height direction, the T-shaped slide rod 251 moves downward on the guide rod 253 through the linear bearings 252 and compresses the positioning springs 254.

[0088] In this embodiment, the elastic slide rod assembly 25 adopts a symmetrical design. A flattened cylinder is designed at the top center of the T-shaped slide rod 251 to align with the groove designed at the bottom of the bearing seat 2424. Four through holes are provided on the top of the T-shaped slide rod 251 around the flattened cylinder. These four through holes are locked and fixed with four threaded holes designed at the bottom of the bearing seat 2424, allowing the elastic slide rod assembly 25 to rotate relative to the bearing rod 242 via the bearing seat 2424. Cylinders with stepped circular holes are provided at both ends of the top of the T-shaped slide rod 251 for mounting linear bearings 252. The linear bearings 252 are pressed into the T-shaped slide rod 251 by combination screws 258 to prevent the linear bearings 252 from moving vertically. Two positioning springs 254 are respectively installed on the bottom surfaces of the top two ends of the T-shaped slide rod 251. Two guide rods 253 are respectively inserted into two linear bearings 252. The top of the guide rod 253 is fixedly inserted into the bottom of the guide rod mounting base 237, and the bottom of the guide rod 253 passes through the positioning spring 254 and is positioned with the bottom of the positioning spring 254. When the push rod motor assembly 22 is activated, the T-shaped slide rod 251 is driven to perform an elastic compression movement downward on the guide rod 253 through the linear bearing 252, thereby driving the gripper assembly 26 to perform a clamping movement to clamp the sample tube cap. The positioning springs 254 can add spring buffer during the push rod motor assembly 22's up and down pushing and pulling process, and can also provide a certain auxiliary clamping force when the gripper assembly 26 clamps the sample tube cap, reducing the occurrence of cap falling off.

[0089] In some embodiments, the elastic slide rod assembly 25 further includes a rotating shaft 255, rotating shaft bearings 256, and retaining rings 257; a through hole is opened at the bottom of the T-shaped slide rod 251, the rotating shaft 255 passes through the through hole and its two ends are located on both sides of the bottom of the T-shaped slide rod 251; two rotating shaft bearings 256 are respectively installed at both ends of the rotating shaft 255; two retaining rings 257 are respectively snapped onto both ends of the rotating shaft 255 to lock the two rotating shaft bearings 256 onto the rotating shaft 255; the two rotating shaft bearings 256 are respectively slidably connected to the gripper assembly 26. When the T-shaped slide rod 251 performs an elastic compression movement downward on the guide rod 253, it drives the rotating shaft bearings 256 at both ends of the rotating shaft 255 to move downward, thereby driving the gripper assembly 26 to perform a clamping movement to achieve clamping of the sample tube cap.

[0090] Combination Figure 12 As shown, the gripper assembly 26 in the lid opening mechanism 2 is described in detail below:

[0091] In some embodiments, the gripper assembly 26 includes two symmetrically arranged baffles 261, two connecting blocks 262, two grippers 263, two linear guides 264, and two sliders 265; the two baffles 261 are fixedly installed on the bottom of the rotary motor assembly 23, and the two baffles 261 are located on both sides of the elastic slide rod assembly 25; the two linear guides 264 are fixedly installed on the inner side of the two baffles 261; the two sliders 265 are slidably installed on the two linear guides 264 in the horizontal direction; the two connecting blocks 262 are fixedly installed on the two sliders 265; the two grippers 263 are fixedly connected to the bottom of the two connecting blocks 262; each of the two connecting blocks 262 is provided with an inclined slide groove 2621, and two rotating shaft bearings 256 are slidably connected in the two inclined slide grooves 2621.

[0092] This embodiment focuses on one side baffle 261. The top of baffle 261 is fixed to the bottom side of guide rod mounting base 237 by screws. Linear guide rail 264 is fixedly installed on the bottom inner side of baffle 261. The linear guide rail 264 is provided with a sliding groove. The slider 265 slides horizontally in the sliding groove of the linear guide rail 264. The connecting block 262 is fixedly installed on the slider 265 by screws so that it slides horizontally with the slider 265. Inclined sliding groove 2621 is inclinedly opened on the top inner side of the connecting block 262. The gripper 263 is fixedly connected to the bottom of the connecting block 262. It should be noted that the inclination directions of the two inclined sliding grooves 2621 on the two connecting blocks 262 are opposite. Therefore, when the two rotating shaft bearings 256 slide downward in the two inclined sliding grooves 2621, the two connecting blocks 262 can be driven to move in opposite directions in the horizontal direction on the corresponding linear guide rail 264, and drive the two grippers 263 to move in opposite directions to achieve clamping.

[0093] Combination Figure 13 As shown, the Z-axis mechanism 1 will be described in detail below:

[0094] Z-axis mechanism 1 includes a support plate 11, a drive assembly 12, a contamination-proof tray assembly 13, and an infrared optocoupler 14. The drive assembly 12 is mounted on the support plate 11 and connected to the support base 21, and is used to drive the support base 21 to move up and down in the height direction. The contamination-proof tray assembly 13 is mounted on the support plate 11 and located below the opening mechanism 2. When the opening mechanism 2 moves up with the cover to the waiting position, the contamination-proof tray assembly 13 rotates to correspond to the lower position of the cover held by the opening mechanism 2. When the opening mechanism 2 moves down with the cover to the opening position to rotate and close the cover, the contamination-proof tray assembly 13 rotates to avoid the lower position of the cover held by the opening mechanism 2. The infrared optocoupler 14 is mounted on the support plate. When the opening mechanism 2 moves down to the opening position to rotate and open the cover, and then moves up with the cover to the waiting position, the infrared optocoupler 14 is used to detect whether the opening mechanism 2 is holding a cover.

[0095] In this embodiment, the drive assembly 12 can be a structure where a lead screw motor drives a slider to move, and the slider drives the support base 21 to move. The anti-fouling tray assembly 13 can be driven by a motor to rotate the tray. When the capping mechanism 2 moves upward with the cap on to the waiting position, the tray is driven to rotate to the area below the cap held by the capping mechanism 2 to prevent dripping. When the capping mechanism 2 moves downward, the tray is driven to rotate to avoid dripping. The infrared optocoupler 14 can detect whether the capping mechanism 2 is holding a cap during the upward movement of the cap. If a cap is detected, it proves that the capping was successful.

[0096] This invention also provides a sample tube scheduling device, including the sample tube opening device described above.

[0097] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A sample tube cover opening device, comprising a Z-axis mechanism and a cover opening mechanism assembled on the Z-axis mechanism, the Z-axis mechanism being used to drive the cover opening mechanism to move downward to an opening and closing cover position, rotate to open the cover, and then move upward to a waiting position, and being used to drive the cover opening mechanism to move downward to the opening and closing cover position, rotate to close the cover, and then move upward to the waiting position, characterized in that: the cover opening mechanism comprises a support base, a push rod motor assembly, a rotating motor assembly, a push rod assembly, an elastic slide rod assembly and a clamping jaw assembly; the support base is installed on the Z-axis mechanism, and the Z-axis mechanism is used to drive the support base to move up and down in the height direction; the push rod motor assembly and the rotating motor assembly are both installed on the support base; the clamping jaw assembly and the elastic slide rod assembly are both installed on the bottom of the rotating motor assembly, the clamping jaw assembly can move in clamping in the horizontal direction, the elastic slide rod assembly can move up and down in the height direction, the elastic slide rod assembly is in sliding connection with the clamping jaw assembly, and when the elastic slide rod assembly moves downward in the height direction, the clamping jaw assembly is driven to move in clamping to clamp the cover of the sample tube, and the rotating motor assembly is used to drive the elastic slide rod assembly and the clamping jaw assembly to rotate; the top of the push rod assembly is connected to the output end of the push rod motor assembly, the bottom of the push rod assembly penetrates through the bottom of the rotating motor assembly and is in rotational connection with the elastic slide rod assembly, and the push rod motor assembly is used to drive the push rod assembly to move downward and drive the elastic slide rod assembly to move downward and be elastically compressed; the push rod motor assembly further comprises a position stopper sleeved on the output shaft of the push rod motor; the support plate of the Z-axis mechanism is provided with a opening and closing recognition photoelectric coupler, when the output shaft of the push rod motor is pushed downward, the push rod assembly and the elastic slide rod assembly are sequentially driven to move downward to drive the clamping jaw assembly to move in clamping in the horizontal direction, until the position stopper moves downward to the opening and closing recognition photoelectric coupler and triggers the movement to stop, the clamping of the clamping jaw assembly is completed; the Z-axis mechanism comprises a support plate, a driving assembly, a dirt-proof tray assembly and an infrared photoelectric coupler; the driving assembly is installed on the support plate and connected with the support base, and is used to drive the support base to move up and down in the height direction; the dirt-proof tray assembly is installed on the support plate and located below the cover opening mechanism, when the cover opening mechanism moves upward to the waiting position with the cover, the dirt-proof tray assembly rotates to correspond to the position below the cover clamped by the cover opening mechanism, when the cover opening mechanism moves downward to the opening and closing cover position to rotate to close the cover, the dirt-proof tray assembly rotates to avoid the position below the cover clamped by the cover opening mechanism, and the infrared photoelectric coupler is installed on the support plate and is used to detect whether the cover is clamped on the cover opening mechanism during the process that the cover opening mechanism moves downward to the opening and closing cover position to rotate to open the cover, and then moves upward to the waiting position with the cover.

2. The sample tube cover opening device according to claim 1, characterized in that: the push rod motor assembly comprises a push rod motor base, a push rod motor, a spring and a pull ring; the push rod motor base is installed on the support base. ​ ​ ​ ​ ​ ​ ​ ​ ​ The front end of the push rod motor is installed on the push rod motor seat towards the bottom, and the output shaft of the front end of the push rod motor can be pushed out towards the bottom; The elastic sheet is sleeved on the output shaft of the push rod motor; The pull ring is installed on the output shaft of the push rod motor, and the top of the push rod assembly is connected to the pull ring to realize the pushing out of the output shaft of the push rod motor towards the bottom.

3. The sample tube opening device according to claim 2, wherein: The push rod assembly comprises an adapter pull seat and a bearing rod; The top of the adapter pull seat is fixedly connected to the pull ring; The top of the bearing rod is connected to the bottom of the adapter pull seat, and the bottom of the bearing rod is rotationally connected to the top of the elastic slide rod assembly.

4. The sample tube opening device according to claim 3, wherein: The bearing rod comprises a push rod limiting column, a push rod, an angular contact bearing and a bearing seat; The top of the push rod limiting column is fixedly connected to the bottom of the adapter pull seat; The top of the push rod is fixedly connected to the bottom of the push rod limiting column; The angular contact bearing is built in the bearing seat, the bearing seat is clamped to the bottom of the push rod through the angular contact bearing and can rotate relative to the push rod; The bottom of the bearing seat is fixedly connected to the top of the elastic slide rod assembly.

5. The sample tube opening device according to claim 1, wherein: The rotating motor assembly comprises a fixed plate, a rotating motor seat, a rotating motor, a synchronous belt assembly and a guide rod mounting seat; The fixed plate is installed on the support seat; The rotating motor seat is installed on one end of the fixed plate, and the rotating motor is installed on the rotating motor seat; The guide rod mounting seat is rotationally installed on the other end of the fixed plate, and the elastic slide rod assembly and the clamping jaw assembly are both installed on the bottom of the guide rod mounting seat; One end of the synchronous belt assembly is connected to the output shaft of the rotating motor, and the other end of the synchronous belt assembly is connected to the top of the guide rod mounting seat; The inside of the guide rod mounting seat is used for accommodating the push rod assembly, the top of the push rod assembly protrudes upwards and is connected to the push rod motor assembly, and the bottom of the push rod assembly is exposed downwards and rotationally connected to the elastic slide rod assembly.

6. The sample tube opening device according to claim 5, wherein: The rotating motor assembly further comprises a first bearing, a grommet, a second bearing and a bearing cover plate; The other end of the fixed plate is provided with a stepped round hole for installing the guide rod mounting seat; The first bearing, the grommet and the second bearing are sequentially installed in the stepped round hole, and the bearing cover plate is locked on the top surface of the stepped round hole to press the first bearing, the grommet and the second bearing in the stepped round hole; The guide rod mounting seat penetrates through the stepped round hole and rotates in the first bearing and the second bearing.

7. The sample tube opening device according to claim 5, wherein: The rotating motor assembly further comprises a rotating stop sheet sleeved on the guide rod mounting seat; The support plate is provided with a rotating recognition optical coupler, and the edge of the rotating stop sheet is located in the detection port of the rotating recognition optical coupler. When the rotary motor drives the synchronous belt assembly to drive and connect the guide rod mounting seat to drive the jaw assembly to rotate, the rotation recognition photocoupler recognizes the rotation number and position of the jaw assembly by recognizing the rotation number and position of the rotation stop sheet. 8.The sample tube opening device according to claim 4, characterized in that: The elastic slide rod assembly comprises a T-shaped slide rod, a linear bearing, a guide rod and a positioning spring. The top of the T-shaped slide rod is fixedly connected with the bottom of the bearing seat, and the bottom of the T-shaped slide rod is slidably connected with the jaw assembly. Two linear bearings are respectively arranged at the two ends of the top of the T-shaped slide rod. Two guide rods are respectively inserted into the two linear bearings, and the top of each guide rod is inserted into the bottom of the rotary motor assembly, and the bottom of each guide rod penetrates into the bottom of the T-shaped slide rod. Two positioning springs are respectively sleeved on the two guide rods. When the elastic slide rod assembly moves downward along the height direction, the T-shaped slide rod moves downward on the guide rod through the linear bearing and compresses the positioning spring. 9.The sample tube opening device according to claim 8, characterized in that: The elastic slide rod assembly further comprises a rotating shaft, a rotating shaft bearing and a snap spring. The rotating shaft penetrates through the two sides of the bottom of the T-shaped slide rod. Two rotating shaft bearings are respectively arranged at the two ends of the rotating shaft. Two snap springs are respectively arranged at the two ends of the rotating shaft to lock the two rotating shaft bearings on the rotating shaft. The two rotating shaft bearings are respectively slidably connected with the jaw assembly. 10.The sample tube opening device according to claim 9, characterized in that: The jaw assembly comprises two symmetrically arranged stop sheets, two connecting blocks and two jaws. The two stop sheets are fixedly arranged at the bottom of the rotary motor assembly, and the two stop sheets are located at the two sides of the elastic slide rod assembly. The two connecting blocks are slidably arranged at the inner sides of the two stop sheets along the horizontal direction. The two jaws are fixedly connected with the bottoms of the two connecting blocks. The two connecting blocks are respectively provided with inclined sliding grooves, and the two rotating shaft bearings are slidably connected with the two inclined sliding grooves. 11.The sample tube opening device according to claim 10, characterized in that: The jaw assembly further comprises two linear guides and two sliding blocks. The two linear guides are respectively fixedly arranged at the inner sides of the two stop sheets. The two sliding blocks are respectively slidably arranged on the two linear guides along the horizontal direction. The two connecting blocks are respectively fixedly arranged on the two sliding blocks.

12. A sample tube dispatching apparatus characterized by comprising: The sample tube opening device according to any one of claims 1-11.

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