Sample tube clamping mechanism and sample tube clamping detection method

Abstract

The application relates to a sample tube clamping mechanism and a sample tube clamping detection method, which comprise a supporting assembly and a clamping assembly; the clamping assembly is provided with a clamping motor, a clamping finger movement base and at least three clamping fingers arranged in a rotationally symmetrical mode; the clamping motor and the clamping finger movement base are both mounted on the supporting assembly; a middle part rotating shaft of the clamping finger is connected to the clamping finger movement base; a first end of the clamping finger is connected to an output end of the clamping motor; the output end of the clamping motor has an extension state, which is used for driving the first end and driving a second end of the clamping finger to rotate relative to the middle part, so that the second ends are in a clamping state or an open state; the clamping structure of the at least three clamping fingers realizes clamping in cooperation with the extension of the output end of the clamping motor; on one hand, a clamping space required is relatively small, and clamping reliability is high; on the other hand, even when the height of the sample tube is unknown, clamping of sample tubes with different heights can be compatible; on the third hand, the application has the advantages of simplicity and compact structure layout, and is suitable for separate use and integrated application.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a sample tube clamping mechanism and a sample tube clamping testing method. Background Technology

[0002] In automated laboratories, improving testing efficiency and ensuring reliable sample tube transfer are crucial. Traditional techniques restrict sample tube gripping to only two degrees of freedom, resulting in low gripping reliability and requiring a large gripping space. Furthermore, the techniques are incompatible with all types of sample tubes, and cannot rotate the tubes during gripping and transfer, necessitating a separate rotary scanning station. Additionally, they lack the ability to determine sample tube size or whether a sample is being gripped, indicating a low level of automation.

[0003] Chinese Patent Publication No. CN217494283U discloses a sample tube clamping device, including a driving mechanism and a clamping mechanism. The clamping mechanism includes a first clamp and a second clamp. The first clamp is connected to the driving mechanism. The first clamp has a first clamping part and a second clamping part along its extension direction. The second clamp is connected to the driving mechanism. The second clamp has a third clamping part and a fourth clamping part along its extension direction. The third clamping part is opposite to the first clamping part, and the fourth clamping part is opposite to the second clamping part. The driving mechanism is used to drive the clamping mechanism to clamp or open. The first clamping part cooperates with the third clamping part to clamp the body of the sample tube, and the second clamping part cooperates with the fourth clamping part to clamp the cap of the sample tube.

[0004] However, the sample tube clamping device uses a rotating gripper and a counter-gripping method, which results in a large clamping space required. Regardless of whether the sample tube is capped or not, it cannot accommodate sample tubes of different heights when the height of the sample tube is unknown, and it is impossible to determine the diameter of the sample tube being clamped or whether the sample tube is being clamped.

[0005] Chinese patent CN115489988A discloses a sample tube gripping device, including a Z-axis mechanism and a clamping mechanism mounted on the Z-axis mechanism. The clamping mechanism has clamping and rotation functions, and a barcode scanner is installed on the Z-axis mechanism. The Z-axis mechanism is used to move the clamping mechanism down to the sample tube clamping position to clamp the sample tube cap, and after clamping, it moves the clamping mechanism up to remove the sample tube. During the upward movement and removal of the sample tube, the clamping mechanism rotates the sample tube so that the barcode scanner can scan and identify the barcode on the sample tube. By performing sample tube sorting while rotating and scanning during sample tube removal, scanning can be performed simultaneously with transportation.

[0006] However, this sample tube gripping device also uses a rotating gripper and a counter-gripping method, which results in a large required clamping space, making it incompatible with sample tubes of different heights, and it is impossible to determine the diameter of the sample tube being gripped or whether the sample tube has been gripped.

[0007] Therefore, the traditional method of clamping sample tubes has the following problems:

[0008] The opposing gripping action requires a large gripping space and has low gripping reliability;

[0009] The splitting or twisting method increases the complexity of the structure;

[0010] When the height of the sample tube is unknown, it cannot be compatible with gripping sample tubes of different heights.

[0011] It is impossible to determine the diameter of the clamped sample tube or whether the sample tube is being clamped, especially when the machine is restarted after a power outage. If it is impossible to determine whether the sample tube is present, the sample inside the tube may be damaged. Summary of the Invention

[0012] Therefore, it is necessary to provide a sample tube clamping mechanism and a sample tube clamping detection method.

[0013] In one embodiment, a sample tube clamping mechanism includes a support component and a clamping component;

[0014] The clamping assembly includes a clamping motor, a finger-clamping motion base, and at least three fingers arranged in a rotational symmetrical manner. The clamping motor and the finger-clamping motion base are both mounted on the support assembly.

[0015] The middle part of the gripper is connected to the gripper movement base, and the first end of the gripper is connected to the output end of the gripping motor.

[0016] The output end of the clamping motor has a telescopic state, which is used to drive the first end and drive the second end of the clamping finger to rotate relative to the middle part, so that each of the second ends is in a clamping state or in an open state.

[0017] The aforementioned sample tube clamping mechanism employs a clamping structure with at least three clamping fingers, which, in conjunction with the extension and retraction of the clamping motor output, achieves clamping. On the one hand, it requires relatively little clamping space and has high clamping reliability; on the other hand, it can accommodate sample tubes of different heights even when the height of the sample tube is unknown; furthermore, it has the advantages of simplicity and compact structural layout, making it suitable for standalone use and integrated applications.

[0018] Furthermore, in one embodiment, the clamping assembly is further provided with a finger clamping fixing shaft and a finger clamping bearing. The finger clamping fixing shaft is disposed on the finger clamping motion base, and the middle part is connected to the finger clamping motion base through the rotational shaft cooperation of the finger clamping bearing and the finger clamping fixing shaft, so as to realize the connection between the middle part and the rotational shaft of the finger clamping motion base.

[0019] Furthermore, in one embodiment, the clamping assembly is further provided with a locking nut, a collar, and a cover plate. The finger clamping fixing shaft passes sequentially through the cover plate, the finger clamping bearing, the collar, and the locking nut. The cover plate is positioned on one side of the axial direction of the finger clamping bearing, and the collar and the locking nut are positioned on the other side of the axial direction of the finger clamping bearing. The locking nut cooperates with the collar to fix the finger clamping fixing shaft.

[0020] In one embodiment, the sample tube clamping mechanism further includes a rotating component mounted on the support component;

[0021] The rotating component is connected to the finger-clamping motion base and is used to drive the finger-clamping motion base to rotate, so as to drive each of the fingers to rotate together;

[0022] The output end of the clamping motor is connected to the first end through the bearing of the rotating assembly, and is used to maintain the position when the finger clamping motion base is rotating.

[0023] In one embodiment, the rotating assembly further includes a rotating pulley seat, a support column, a rotating motor, a synchronous pulley, a synchronous belt, a rotating bearing, and a bearing seat;

[0024] The support assembly is provided with a gripper base plate and a rotating fixed shaft. The gripping motor, the rotating motor and the rotating fixed shaft are all mounted on the gripper base plate, and the output end of the gripping motor passes through the rotating fixed shaft.

[0025] The synchronous pulley is connected to the rotating pulley seat via the synchronous belt, and the rotating pulley seat is rotatably mounted outside the rotating fixed shaft via the rotary bearing;

[0026] The bearing housing is disposed between the rotating pulley housing and the finger-clamping motion base, the support column passes through the bearing housing, the bearing is installed in the bearing housing, and the finger-clamping motion base is fixed to the bottom of the rotating pulley housing by the support column;

[0027] The output end of the rotary motor drives the synchronous pulley to rotate the rotary pulley seat, the support column, the bearing seat, and the finger-clamping motion base together.

[0028] Furthermore, in one embodiment, the rotating assembly is further provided with a bearing end cover, which is located between the rotating bearing and the bearing housing. The bearing end cover is used to fix the rotating bearing to the rotating fixed shaft to fix the rotating bearing. The output end of the clamping motor passes through the bearing end cover, the rotating bearing and the rotating fixed shaft.

[0029] In one embodiment, the support assembly further includes a sliding bushing and a drive shaft. The sliding bushing passes through and is fixed within the bearing housing. The drive shaft slidably passes through the sliding bushing. One end of the drive shaft is fixed to the underside of the rotating pulley seat, and the other end is fixed to the finger-clamping motion base. Alternatively...

[0030] The rotating assembly is also provided with a bearing fixing shaft, which is installed at the output end of the clamping motor. The inner ring of the bearing is connected to the bearing fixing shaft, and the outer ring of the bearing is connected to the bearing seat, so that the output end of the clamping motor remains in position when the clamping finger movement base rotates.

[0031] Furthermore, in one embodiment, the rotating assembly is further provided with a washer and a spring washer nut, the inner ring of the bearing is axially positioned by the bearing fixing shaft, and is connected to the bearing fixing shaft by the washer and the spring washer nut.

[0032] In one embodiment, the support component is further provided with a zero-position optocoupler mounting block, which is mounted under the gripper base plate;

[0033] The rotating assembly further includes a zero-position optocoupler baffle and a rotational zero-position optocoupler; the zero-position optocoupler baffle is disposed on the rotating pulley seat, and the rotational zero-position optocoupler is disposed on the zero-position optocoupler mounting block, wherein the rotational zero-position optocoupler is used to cooperate with the zero-position optocoupler baffle to position the rotational position of the rotating pulley seat; and / or,

[0034] The clamping assembly is further provided with a clamping zero-position optocoupler, which is disposed on the zero-position optocoupler mounting block. The bearing seat has a protruding annular edge, which is used to trigger the clamping zero-position optocoupler.

[0035] In one embodiment, the clamping assembly further includes a tapered transmission block connected to the output end of the clamping motor, wherein the first end elastically abuts against the outer tapered surface of the tapered transmission block;

[0036] When the output end of the clamping motor is extended, it drives the conical transmission block to approach the finger clamping motion base. The conical transmission block pushes the first end to move outward axially with respect to the rotational symmetry of each finger clamping, and drives the second end to rotate relative to the middle part, so that each second end is in a clamping state.

[0037] When the output end of the clamping motor is in the retracted state, it drives the conical transmission block away from the finger-clamping motion base. The first end moves inward relative to the rotationally symmetrical axis, causing the second end to rotate relative to the middle part, so that all the second ends are in an open state together; or...

[0038] The first end is slidably connected to the output end of the clamping motor, and the sliding direction is perpendicular to the extension and retraction direction of the output end of the clamping motor;

[0039] When the output end of the clamping motor is extended, it drives the first end to slide outward relative to each of the clamping fingers in a rotationally symmetrical manner, thereby causing the second end to rotate relative to the middle part, so that each of the second ends is in a clamping state together.

[0040] When the output end of the clamping motor is in the retracted state, it drives the first end to slide inward relative to the rotationally symmetrical axis of each clamping finger, thereby causing the second end to rotate relative to the middle part, so that each of the second ends is in the open state together.

[0041] In one embodiment, the clamping assembly further includes a transmission bearing and a transmission bearing shaft, wherein the transmission bearing is mounted on the first end via the transmission bearing shaft;

[0042] The first end elastically abuts against the outer conical surface of the tapered transmission block via the transmission bearing, the transmission bearing being used to roll on the outer conical surface; or,

[0043] The first end elastically abuts against the output end of the clamping motor via the transmission bearing, and the transmission bearing is used to roll on the output end of the clamping motor.

[0044] In one embodiment, the second end of the finger clamp is provided with a finger clamping surface and a finger clamp cap clearance surface. The second end abuts against the body of the sample tube at the finger clamping surface, and the second end forms a cap that avoids the sample tube at the finger clamp cap clearance surface; or...

[0045] The number of the clamping fingers is three or four.

[0046] Furthermore, in one embodiment, the clamping assembly is further provided with at least two elastic reset members, the two ends of which are respectively connected to the first ends of the different clamping fingers. The elastic reset members are used to make the first ends elastically abut against the output end of the clamping motor, so as to drive the first ends to maintain the relative position with the output end of the clamping motor when the output end of the clamping motor is in an extended or retracted state.

[0047] Furthermore, in one embodiment, the clamping assembly is further provided with at least two tension springs. The first end of each clamping finger has two mounting holes, each for mounting one end of a different tension spring. The two mounting holes are arranged in a front-to-back pattern along the extension and retraction direction of the output end of the clamping motor and have different distances relative to the rotational symmetry axis of each clamping finger, so that the tension spring is located below the output end of the clamping motor, and the tension spring is used to elastically abut against the output end of the clamping motor; or the tension spring is located below the conical transmission block of the clamping assembly, and the tension spring is used to elastically abut against the outer conical surface of the conical transmission block.

[0048] In one embodiment, the sample tube clamping mechanism further includes an encoder and a motor control board;

[0049] The support assembly is provided with a motor control board mounting plate. The motor control board is mounted on the motor control board mounting plate and is electrically connected to the clamping motor. The motor control board is used to monitor the current of the clamping motor.

[0050] The encoder is electrically connected to the clamping motor and the motor control board respectively. The encoder is used to provide feedback on the current step count of the clamping motor and to input parameters to the motor control board.

[0051] In one embodiment, a sample tube clamping detection method includes the following steps:

[0052] The second end of the clamping finger is driven by the clamping motor to be in an open state; wherein, the clamping position of the second end is set to adapt to the length of the sample tube, and the clamping finger cap clearance surface of the second end is set to adapt to the cap of the sample tube.

[0053] Adjust the position of the sample tube clamping mechanism;

[0054] The second end of the gripper finger is driven into a gripping state by the gripping motor;

[0055] Monitor the current current and current step count of the clamping motor;

[0056] The size of the sample tube is determined based on the current current and the current number of steps, so as to adjust the clamping force. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of the sample tube clamping mechanism according to an embodiment of the present application.

[0059] Figure 2 for Figure 1 A cross-sectional view of the sample tube clamping mechanism of the embodiment shown.

[0060] Figure 3 for Figure 1 Another schematic diagram of the embodiment shown.

[0061] Figure 4 for Figure 3 An enlarged schematic diagram of point A in the illustrated embodiment.

[0062] Figure 5 for Figure 3 An enlarged schematic diagram of section B in the illustrated embodiment.

[0063] Figure 6 for Figure 3 A cross-sectional view of one direction of the embodiment shown.

[0064] Figure 7 for Figure 6 A partial enlarged schematic diagram of the embodiment shown.

[0065] Figure 8 for Figure 3 A cross-sectional view of another aspect of the embodiment shown.

[0066] Reference numerals: Sample tube clamping assembly 100, support 200, rotating structure 300, clamping structure 400, encoder 1, clamping motor 2, motor control board 3, gripper base plate 4, zero-position optocoupler baffle 5, rotating pulley seat 6, support column 7, transmission bearing 8, gripper finger 9, gripper finger clamping surface 91, gripper finger tube cap clearance surface 92, mounting hole 93, first end 94, middle part 95, second end 96, gripper finger movement base 10, sample tube 11, tube body 111, tube cap 112, motor control board mounting plate 12, rotating motor 13. Synchronous pulley; 14. Synchronous belt; 15. Rotary zero-position optocoupler; 16. Zero-position optocoupler mounting block; 17. Clamping zero-position optocoupler; 18. Sliding bushing; 19. Transmission bearing shaft; 20. Transmission shaft; 21. Rotary bearing; 22. Bearing end cover; 23. Bearing seat; 24. Circular edge; 241. Conical transmission block; 25. Outer conical surface; 251. Shim; 26. Bearing; 27. Bearing fixing shaft; 28. Tension spring; 29. ​​Finger fixing shaft; 30. Finger bearing; 31. Locking nut; 32. Shaft collar; 33. Cover plate; 34. Rotary fixing shaft; 35. Spring washer nut; 36. Detailed Implementation

[0067] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0068] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0070] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0071] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0072] This application discloses a sample tube clamping mechanism and a sample tube clamping detection method, which includes some or all of the technical features of the following embodiments; that is, the sample tube clamping mechanism includes some or all of the following structures. In one embodiment of this application, a sample tube clamping mechanism includes a support assembly and a clamping assembly; the clamping assembly is provided with a clamping motor, a clamping finger movement base, and at least three clamping fingers arranged in a rotationally symmetrical manner, the clamping motor and the clamping finger movement base are both mounted on the support assembly; the middle part of the clamping finger is pivotally connected to the clamping finger movement base, and the first end of the clamping finger is connected to the output end of the clamping motor; the output end of the clamping motor has a telescopic state, used to drive the first end, causing the second end of the clamping finger to rotate relative to the middle part, so that each of the second ends is in a clamping state or in an open state. The aforementioned sample tube clamping mechanism employs a clamping structure with at least three clamping fingers, which, in conjunction with the extension and retraction of the clamping motor output, achieves clamping. On the one hand, it requires relatively little clamping space and has high clamping reliability; on the other hand, it can accommodate sample tubes of different heights even when the height of the sample tube is unknown; furthermore, it has the advantages of simplicity and compact structural layout, making it suitable for standalone use and integrated applications.

[0073] The following is combined Figures 1 to 8 The sample tube clamping mechanism and sample tube clamping detection method are described in detail.

[0074] Currently, in automated laboratories, sample racks accommodating sample tubes 11 typically have sample tube holes spaced at certain intervals in rows and columns. When gripping sample tubes 11, the gripping point is usually chosen where the gap between the sample tubes 11 is largest, for example, at a 45° angle. When the gap between sample tubes 11 is small, the gripping surface of the gripping mechanism's fingers is also narrow, resulting in instability and easy tube drop. The traditional solution is to increase the gap between sample tubes 11 to increase the gripping area of ​​the gripping fingers. This method increases the size of the machine, leading to a waste of departmental space. Therefore, it is necessary to study a sample tube gripping mechanism 100 that relatively reduces the gripping space. In one embodiment, a sample tube gripping mechanism 100 is as follows: Figure 1 As shown, it includes a support component 200 and a clamping component 400; the clamping component 400 is mounted on the support component 200 and is used to clamp the sample tube 11. In this embodiment, the sample tube clamping mechanism 100 further includes a rotating component 300, which is mounted on the support component 200.

[0075] For ease of understanding, Figure 1The illustrated embodiment also shows a sample tube 11 held by the clamping assembly 400. However, it is understood that the sample tube clamping mechanism 100 may or may not hold the sample tube 11. Generally, it can be understood that the sample tube clamping mechanism 100 does not include the sample tube 11. In special cases, the sample tube clamping mechanism 100 may include the sample tube 11, for example, a specially made sample tube 11.

[0076] Combination Figure 2 The clamping assembly 400 includes a clamping motor 2, a finger-moving base 10, and at least three rotationally symmetrically arranged fingers 9. The clamping motor 2 and the finger-moving base 10 are both mounted on the support assembly 200. The middle portion 95 of each finger 9 is pivotally connected to the finger-moving base 10, and the first end 94 of each finger 9 is connected to the output end of the clamping motor 2. The output end of the clamping motor 2 has a telescopic state, used to drive the first end 94, causing the second end 96 of each finger 9 to rotate relative to the middle portion 95, so that each of the second ends 96 is either in a clamping state or an open state. This design requires relatively little clamping space for each finger 9 to engage or disengage, and provides high clamping reliability. Furthermore, due to the design of at least three fingers 9, combined with the clamping position design in other embodiments, it can accommodate sample tubes of different heights even when the height of the sample tube is unknown.

[0077] Furthermore, each of the rotationally symmetrically arranged gripping fingers 9 has a rotational symmetry axis 90. With this structural design, when the output end of the gripping motor 2 is in the extended state, the output end of the gripping motor 2 drives the first end 94, and the first end 94 moves outward relative to the rotational symmetry axis 90 of each gripping finger 9, that is, away from the rotational symmetry axis 90. Since the position of the middle part 95 of the gripping finger 9 relative to the rotational symmetry axis 90 remains unchanged, the middle part 95 rotates, thereby driving the second end 96 of the gripping finger 9 to move inward relative to the rotational symmetry axis 90, that is, to be adjacent to the rotational symmetry axis 90. Therefore, each of the second ends 96 is in a gripping state, thereby clamping the sample tube 11. Conversely, when the output end of the clamping motor 2 is in the retracted state, the output end of the clamping motor 2 drives the first end 94, which moves inward relative to the rotational symmetry axis 90, thereby causing the second end 96 to move outward relative to the rotational symmetry axis 90. Therefore, all the second ends 96 are in the open state, thereby releasing the sample tube 11. It also has the advantages of being simple and having a compact structure, making it suitable for standalone use and integrated applications.

[0078] In one embodiment, such as Figure 2and Figure 3 As shown, the second end 96 of the clamping finger 9 is provided with a clamping surface 91 and a clamping cap clearance surface 92. The second end 96 abuts against the body 111 of the sample tube 11 at the clamping surface 91. Further, the second end 96 rigidly abuts, flexibly abuts, or elastically abuts against the body 111 of the sample tube 11 at the clamping surface 91. Flexible abutment means that a recoverable or non-recoverable deformation occurs upon contact, while elastic abutment means that an elastic and recoverable deformation occurs upon contact. In addition, the second end 96 forms a cap 112 at the clamping cap clearance surface 92 to avoid the sample tube 11. This design is advantageous for adapting to various sample tubes 11, and the sample tube clamping mechanism 100 can be used regardless of whether it has the cap 112.

[0079] In one embodiment, such as Figure 3 As shown, the sample tube clamping mechanism 100 further includes an encoder 1 and a motor control board 3; the support assembly 200 is provided with a motor control board mounting plate 12, the motor control board 3 is mounted on the motor control board mounting plate 12 and electrically connected to the clamping motor 2, the motor control board 3 is used to monitor the current current of the clamping motor 2; the encoder 1 is electrically connected to both the clamping motor 2 and the motor control board 3, the encoder 1 is used to feedback the current step count of the clamping motor 2 and input parameters to the motor control board 3, the specific parameters can be set according to the control requirements of the motor control board 3, and are omitted here. Further, the motor control board 3 is also used to control the movement of the clamping motor and realize the clamping detection function. In various embodiments, the motor, including the clamping motor 2 and the rotary motor 13 used in the rotating assembly 300, can be a lead screw motor but is not limited to a lead screw motor, the lead screw motor is not limited to a fixed shaft lead screw motor, and a common motor connected to a lead screw can also be used. This design, through encoder 1 and motor control board 3, determines whether to clamp sample tube 11, and adjusts clamping motor 2 according to the diameter of the clamped sample tube 11. It is highly intelligent and widely applicable. It does not require prior knowledge of the sample tube 11 type. Combined with the embodiment with clamping finger tube cap avoidance surface 92, it can reliably clamp sample tubes 11 with different diameters, different heights, different tube cap 112 forms, and with or without tube cap 112.

[0080] In one embodiment, such as Figure 2 and Figure 3 As shown, the clamping assembly 400 is further provided with a conical transmission block 25 connected to the output end of the clamping motor 2, and the first end 94 elastically abuts against the outer conical surface 251 of the conical transmission block 25; that is, the first end 94 directly or indirectly elastically abuts against the outer conical surface 251 of the conical transmission block 25.

[0081] When the output end of the clamping motor 2 is extended, it drives the conical transmission block 25 closer to the finger-clamping motion base 10. The conical transmission block 25 pushes the first end 94 outward relative to the rotational symmetry axis 90 of each finger 9, causing the second end 96 to rotate relative to the middle part 95, so that all the second ends 96 are in a clamping state. When the output end of the clamping motor 2 is retracted, it drives the conical transmission block 25 away from the finger-clamping motion base 10. The first end 94 moves inward relative to the rotational symmetry axis 90, causing the second end 96 to rotate relative to the middle part 95, so that all the second ends 96 are in an open state. This structural design enables the output end of the clamping motor 2, in the extended state, to drive the first end 94 to rotate the second ends 96 of the fingers 9 relative to the middle part 95 in different directions, so that all the second ends 96 move outward relative to the rotational symmetry axis 90 to be in an open state, or to move inward relative to the rotational symmetry axis 90 to be in a clamping state.

[0082] The cone-shaped transmission block 25 includes a conical shape, a pyramidal shape, and a double-conical shape with vertical symmetry. Half of the double-conical shape with vertical symmetry is either a conical or a pyramidal shape. Further, in this embodiment, the cone-shaped transmission block 25 is conical, and the outer cone surface 251 is an outer circular cone surface. Alternatively, in other embodiments, the cone-shaped transmission block 25 is pyramidal, with the number of its facets being the same as the number of gripping fingers 9. The first end 94 directly or indirectly elastically abuts against the outer facet of the cone-shaped transmission block 25. Alternatively, in other embodiments, the cone-shaped transmission block 25 is a double-conical shape with vertical symmetry. When the output end of the clamping motor 2 is extended, it drives the cone-shaped transmission block 25 closer to the gripping finger movement base 10. The upper cone surface is used when clamping, and the lower cone surface is used when opening.

[0083] Based on the above embodiments, further, in one embodiment, the clamping assembly 400 is also provided with a rolling assembly, wherein the first end 94 elastically abuts against the outer conical surface 251 of the conical transmission block 25 via the rolling assembly, and the rolling assembly is used to roll on the outer conical surface 251. In one embodiment, the rolling assembly is a drive bearing, an oil-free bushing, a roller, or a polished rod. Taking a drive bearing, such as a transmission bearing, as an example, combined with... Figure 4 and Figure 5In one embodiment, the clamping assembly 400 further includes a transmission bearing 8 and a transmission bearing shaft 20. The transmission bearing 8 is mounted to the first end 94 via the transmission bearing shaft 20. The first end 94 elastically abuts against the outer conical surface 251 of the tapered transmission block 25 via the transmission bearing 8, and the transmission bearing 8 is used to roll on the outer conical surface 251. This design allows the transmission bearing 8 to transform the sliding friction between the clamping finger 9 and the outer conical surface 251 into rolling friction, reducing wear and increasing the smoothness of movement.

[0084] Alternatively, in other embodiments, the first end 94 is slidably connected to the output end of the clamping motor 2, and the sliding direction is perpendicular to the extension / retraction direction of the output end of the clamping motor 2. When extended, the output end of the clamping motor 2 drives the first end 94 to slide outward relative to the rotational symmetry axis 90 of each of the clamping fingers 9, causing the second end 96 to rotate relative to the middle portion 95, so that all the second ends 96 are in a clamping state. When retracted, the output end of the clamping motor 2 drives the first end 94 to slide inward relative to the rotational symmetry axis 90 of each of the clamping fingers 9, causing the second end 96 to rotate relative to the middle portion 95, so that all the second ends 96 are in an open state. This structural design also enables the output end of the clamping motor 2, when extended, to drive the first end 94 to rotate the second ends 96 of the clamping fingers 9 relative to the middle portion 95 in different directions, so that all the second ends 96 move outward relative to the rotational symmetry axis 90 to be in an open state, or move inward relative to the rotational symmetry axis 90 to be in a clamping state.

[0085] Based on the above embodiments, in one embodiment, the first end 94 elastically abuts against the output end of the clamping motor 2 via the transmission bearing 8, and the transmission bearing 8 is used to roll on the output end of the clamping motor 2.

[0086] Furthermore, in one embodiment, such as Figure 2 and Figure 3As shown, the clamping assembly 400 is further provided with at least two elastic reset members. The two ends of the elastic reset members are respectively connected to the first ends 94 of the different clamping fingers 9. The elastic reset members are used to make the first ends 94 elastically abut against the output end of the clamping motor 2, so that when the output end of the clamping motor 2 is in an extended state or a retracted state, the first ends 94 are driven to maintain a relative position with the output end of the clamping motor 2. The elastic reset element includes a spring, such as a compression spring or a tension spring. Taking a tension spring as an example, in one embodiment, the clamping assembly 400 is further provided with at least two tension springs 29. The first end 94 of the clamping finger 9 has two mounting holes 93. The two mounting holes 93 are respectively used to install one end of different tension springs 29. The two mounting holes 93 are arranged back and forth along the extension and retraction direction of the output end of the clamping motor 2 and have different distances relative to the rotational symmetry axis 90 of each clamping finger 9, so that the tension spring 29 is located below the output end of the clamping motor 2 and the positions of each tension spring 29 are spaced apart to avoid mutual collision and interference. The tension spring 29 is used to make the first end 94 elastically abut against the output end of the clamping motor 2. In the embodiment with a conical transmission block 25, the tension spring 29 is used to make the tension spring 29 located below the conical transmission block 25 of the clamping assembly 400, and the tension spring 29 is used to make the first end 94 elastically abut against the outer conical surface 251 of the conical transmission block 25. In this design, the distance between the two mounting holes 93 in the radial direction is not equal, which is to ensure that the elastic force is equal when the clamping finger 9 is pulled inward.

[0087] In this embodiment, the number of gripping fingers 9 is four. This embodiment uses four gripping fingers 9 to grip the sample tube 11, thereby restricting the sample tube 11 from four directions, resulting in high gripping reliability. In embodiments with tension springs 29, correspondingly, in this embodiment, the number of tension springs 29 is two, with each of the two gripping fingers 9 connected to one tension spring 29. In other embodiments, the number of gripping fingers 9 is three; in embodiments with tension springs 29, the three tension springs 29 are connected end-to-end to the three gripping fingers 9 to form a triangle, with each tension spring 29 connected to two gripping fingers 9.

[0088] In one embodiment, such as Figure 3 and Figure 4As shown, the support assembly 200 is further provided with a zero-position optocoupler mounting block 17, which is mounted on the gripper base plate 4; the rotating assembly 300 is further provided with a zero-position optocoupler baffle 5 and a rotating zero-position optocoupler 16; the zero-position optocoupler baffle 5 is disposed on the rotating pulley seat 6, and the rotating zero-position optocoupler 16 is disposed on the zero-position optocoupler mounting block 17, and the rotating zero-position optocoupler 16 is used to cooperate with the zero-position optocoupler baffle 5 to position the rotational position of the rotating pulley seat 6; and / or, the clamping assembly 400 is further provided with a clamping zero-position optocoupler 18, which is disposed on the zero-position optocoupler mounting block 17, and the bearing seat 24 is provided with a protruding annular edge 241, which is used to trigger the clamping zero-position optocoupler 18. With this design, the circular edge 241 surrounds the entire circumference, ensuring that it can act as a zero-position baffle to trigger and clamp the zero-position optocoupler 18 regardless of the rotation angle. The zero-position optocoupler baffle 5, on the one hand, works with the rotating zero-position optocoupler 16 mounted on the zero-position optocoupler mounting block 17 to achieve directional positioning of the rotation position, and on the other hand, it also serves as the axial positioning function for the rotating bearing 22. Furthermore, the circular edge 241, in conjunction with clamping the zero-position optocoupler 18, achieves the positioning of the output end of the clamping motor 2.

[0089] For an embodiment having the rotating component 300, in one embodiment, such as Figure 1 and Figure 2 As shown, the rotating component 300 drives the finger-clamping motion base 10 to rotate, thereby causing each of the fingers 9 to rotate together. The output end of the clamping motor 2 is connected to the first end 94 through the bearing 27 of the rotating component 300, and is used to maintain its position when the finger-clamping motion base 10 is rotating. In traditional sample tube clamping mechanisms, the integrated rotating jaws, i.e., the clamping mechanism, usually require slip rings to prevent wire entanglement when the jaws rotate. However, this increases the complexity of the system. In the structural design of this application, the rotating component 300 and the clamping component 400 achieve a bearing fit in the structure. When the fingers 9, i.e., the jaws, rotate, they do not drive the clamping power source to move. Therefore, it is not necessary to use slip rings to prevent wire entanglement during rotation.

[0090] Combination Figure 3 and Figure 4In one embodiment, the rotating assembly 300 further includes a rotating pulley seat 6, a support column 7, a rotating motor 13, a synchronous pulley 14, a synchronous belt 15, a rotating bearing 22, and a bearing seat 24; the support assembly 200 includes a gripper base plate 4 and a rotating fixed shaft 35, the gripping motor 2, the rotating motor 13, and the rotating fixed shaft 35 are all mounted on the gripper base plate 4, and the output end of the gripping motor 2 passes through the rotating fixed shaft 35; the synchronous pulley 14 is connected to the rotating pulley seat 6 via the synchronous belt 15, and the rotating pulley seat... The rotating bearing 22 is rotatably mounted outside the rotating fixed shaft 35; the bearing seat 24 is disposed between the rotating pulley seat 6 and the finger-clamping motion base 10; the support column 7 passes through the bearing seat 24; the bearing 27 is installed in the bearing seat 24; and the finger-clamping motion base 10 is fixed to the rotating pulley seat 6 via the support column 7; the output end of the rotating motor 13 drives the synchronous pulley 14 to rotate the rotating pulley seat 6, the support column 7, the bearing seat 24, and the finger-clamping motion base 10 together. In this embodiment, the synchronous belt 15 is a toothed belt; in other embodiments, the synchronous belt 15 can also be a rack and pinion or a chain, etc., to realize the transmission of rotational motion, that is, to realize the transmission of rotational motion through toothed belt drive, gear drive, or chain drive, etc.

[0091] Furthermore, in one embodiment, such as Figure 6 and Figure 7 As shown, the rotating assembly 300 is also provided with a bearing end cover 23, which is located between the rotating bearing 22 and the bearing seat 24. The bearing end cover 23 is used to fix the rotating bearing 22 under the rotating fixed shaft 35 to fix the rotating bearing 22. The output end of the clamping motor 2 passes through the bearing end cover 23, the rotating bearing 22 and the rotating fixed shaft 35.

[0092] In one embodiment, such as Figure 4 As shown, the support assembly 200 also includes a sliding bushing 19 and a drive shaft 21. The sliding bushing 19 passes through and is fixed within the bearing seat 24. The drive shaft 21 slidably passes through the sliding bushing 19. One end of the drive shaft 21 is fixed to the rotating pulley seat 6, and the other end is fixed to the finger-clamping motion base 10. The drive shaft 21 can also be called a guide shaft. On the one hand, it can center the fixed clamping motion base 10, thereby centering the moving part of the sample tube clamping mechanism 100. On the other hand, the drive shaft 21 can cooperate with the sliding bushing 19 mounted on the bearing seat 24 to guide the clamping drive part. Furthermore, it helps to maintain the relative position of the tapered transmission block 25 and the finger 9 when the bearing seat 24 rotates, thus preventing rotation.

[0093] In one embodiment, such as Figure 7 As shown, the rotating assembly 300 also includes a bearing fixing shaft 28, which is mounted on the output end of the clamping motor 2. The inner ring of the bearing 27 is connected to the bearing fixing shaft 28, and the outer ring of the bearing 27 is connected to the bearing seat 24, so that the output end of the clamping motor 2 remains in position when the clamping finger movement base 10 rotates. Further, in one embodiment, the rotating assembly 300 also includes a washer 26 and a spring washer nut 36. The inner ring of the bearing 27 is axially positioned by the bearing fixing shaft 28 and connected to the bearing fixing shaft 28 by the washer 26 and the spring washer nut 36. In this embodiment, a snap ring or other elastic buffer structure can also be used instead of the spring washer nut 36 to maintain the washer 26 elastically abutting against the inner ring of the bearing 27.

[0094] The rotation of the clamping finger 9, that is, the rotation of the middle part 95 of the clamping finger 9, can be achieved by using a bearing structure, a pin and pin hole structure, an oilless bushing, and a shaft mating structure, etc. Taking a bearing structure as an example, further, in one embodiment, such as Figure 7 and Figure 8 As shown, the clamping assembly 400 is further provided with a finger clamping fixing shaft 30 and a finger clamping bearing 31. The finger clamping fixing shaft 30 is disposed on the finger clamping motion base 10. The middle part 95 is connected to the finger clamping motion base 10 through the rotational engagement of the finger clamping bearing 31 and the finger clamping fixing shaft 30, so as to realize the connection between the middle part 95 and the rotational connection of the finger clamping motion base 10.

[0095] Furthermore, in one embodiment, such as Figure 7 and Figure 8 As shown, the clamping assembly 400 is further provided with a locking nut 32, a collar 33, and a cover plate 34. The finger clamping fixing shaft 30 passes sequentially through the cover plate 34, the finger clamping bearing 31, the collar 33, and the locking nut 32. The cover plate 34 is positioned on one side of the axial direction of the finger clamping bearing 31, and the collar 33 and the locking nut 32 are positioned on the other side of the axial direction of the finger clamping bearing 31. The locking nut 32 cooperates with the collar 33 to fix the finger clamping fixing shaft 30.

[0096] The following will continue to combine Figures 1 to 8This document provides a detailed description of the sample tube clamping mechanism and the sample tube clamping detection method. In one embodiment, the sample tube clamping mechanism 100 includes a support assembly 200, a rotating assembly 300, and a clamping assembly 400; wherein the support assembly 200 includes a base plate 4 of the sample tube clamping mechanism 100, a rotating fixed shaft 35, a sliding bushing 19, and a transmission shaft 21; the rotating assembly 300 includes a rotating pulley seat 6, a support column 7, a rotary motor 13, a synchronous pulley 14, a synchronous belt 15, a rotating zero-position optocoupler 16, a rotary bearing 22, and a bearing end cap 2. 3. Bearing housing 24, gasket 26, bearing 27, and bearing fixing shaft 28; Clamping assembly 400 includes transmission bearing 8, clamping finger 9, clamping finger clamping surface 91, clamping finger tube cap clearance surface 92, mounting hole 93, clamping finger moving base 10, zero-position optocoupler mounting block 17, clamping zero-position optocoupler 18, transmission bearing shaft 20, tapered transmission block 25, tension spring 29, clamping finger fixing shaft 30, clamping finger bearing 31, locking nut 32, collar 33, cover plate 34, and rotating fixing shaft 35. The sample tube clamping mechanism 100 or its support assembly 200, rotating assembly 300, and clamping assembly 400 may also include other structures; in other embodiments, the structural components in the support assembly 200, rotating assembly 300, and clamping assembly 400 may also be adjusted.

[0097] In one embodiment, the other structures of the sample tube clamping mechanism 100 are directly or indirectly mounted on the clamping mechanism base plate 4. The clamping mechanism base plate 4 can be connected to guiding components such as linear guide rails or linear bearings, and the movement of the entire sample tube clamping mechanism 100 in the horizontal or spatial directions is achieved in conjunction with the movement in the X, Y, Z or Rx, Ry, Rz directions. In this embodiment, the transmission form is not limited to linear bearings, but can also be a guide rail.

[0098] In one embodiment, the base plate 4 of the clamping mechanism is a mounting surface for motors and components. A clamping motor 2, a rotary motor 13, and a motor control board 3 are mounted on the base plate 4 of the clamping mechanism. An encoder 1 is also connected to the tail of the clamping motor 2. The encoder 1 is used to provide accurate position feedback for the clamping motor 2. A connector on the motor control board 3 is used to connect the clamping motor 2, the encoder 1, and the clamping zero-position optocoupler 18. The motor control board 3 is used to control the movement of the clamping motor and realize the clamping detection function.

[0099] In one embodiment, a rotating fixed shaft 35 is connected below the base plate 4 of the clamping mechanism. The rotating fixed shaft 35 is a hollow shaft used to accommodate the transmission part of the clamping motor 4, which has the advantage of compact structure to make full use of space. Two rotating bearings 22 are sleeved on the outer ring of the rotating fixed shaft 35. A rotating pulley seat 6 is sleeved on the outer ring of the rotating bearings 22. The outer ring of the rotating pulley 6 is machined with pulley teeth, which can mesh with the synchronous belt 15. The other end of the synchronous belt 15 is connected to a synchronous pulley 14, which is fixed on the rotating shaft of the rotating motor 13.

[0100] In one embodiment, a zero-position optocoupler baffle 5 is fixed above the rotating pulley seat 6. Two drive shafts 21 and a support column 7 are connected below the rotating pulley seat 6. The support column 7 is connected to and fixed to the clamping motion base 10, thereby connecting the moving part of the sample tube clamping mechanism 100 to the rotating pulley seat 6. A raised annular edge 241 is machined on the bearing seat 24, which surrounds the circumference to serve as a zero-position baffle to trigger the clamping of the zero-position optocoupler 18. A bearing hole is machined inside the bearing seat 24 for mounting the bearing 27, which contacts the outer ring of the bearing 27. The inner ring of the bearing 27 mates with the bearing fixing shaft 28, which is fastened to the shaft end of the clamping motor 2. The axial positioning of the inner ring of the bearing 27 is fixed by a washer 26 and a spring washer nut 36. The outer ring bearing of bearing 27 is axially fixed by a tapered transmission block 25 fixed on bearing housing 24. The outer conical surface 251 of the tapered transmission block 25 contacts the transmission bearing 8. When it moves up and down on the conical surface, it can drive the gripper 9 to rotate along the hinge axis to complete the opening and closing action of the gripper.

[0101] In one embodiment, the top of the gripper 9 has a transmission bearing shaft 20 for mounting the transmission bearing 8. The transmission bearing can be directly machined onto the gripper 9, or it can be fixedly connected to the gripper by mechanical connection or bonding, such as screws and nuts. The middle part of the gripper has mounting holes 93 for mounting tension springs 29. Each sample tube clamping mechanism 100 has a total of two spring mounting holes 93, which are arranged vertically to offset the two opposing tension springs 29 in the height direction.

[0102] In one embodiment, the middle portion of the finger clip 9 has a pivot hole, within which a finger clip bearing 31 is installed. A cover plate 34 is also installed on the finger clip 9 to restrict the axial movement of the outer ring of the finger clip bearing 31. The inner ring of the finger clip bearing 31 engages with the finger clip fixing shaft 30. The finger clip fixing shaft 30, in conjunction with a collar 33 and a locking nut 32, centers the finger clip 9 in the horizontal direction and connects it to the finger clip motion base 10, thereby enabling the finger clip 9 to rotate around the finger clip fixing shaft 30. Alternatively, the rolling rotation of the finger clip bearing 31 can be replaced by the sliding rotation of a pin and bushing or the sliding rotation of a pin and pin hole.

[0103] In one embodiment, the bottom of the gripper finger 9 has a gripping surface 91 and a sample tube cap clearance surface 92. Further, the gripping surface 91 of the gripper finger is made of soft silicone or polyurethane material to increase the friction between the gripper finger 9 and the sample tube 11 and to protect the barcode from damage. The gripping surface 91 is machined with corresponding serrated anti-slip grooves, increasing the friction between the gripper finger 9 and the sample tube 11 during gripping while still within the protection range. The connection between the soft material and the gripper finger 9 body can be achieved through interference fit, bonding, or screw fastening.

[0104] In one embodiment, a sample tube clamping detection method is implemented using the sample tube clamping mechanism 100 described in any embodiment. In one embodiment, the sample tube clamping detection method includes the following steps: driving the second end 96 of the clamping finger 9 to an open state via a clamping motor 2; wherein the clamping position of the second end 96 is set to adapt to the length of the sample tube 11, and the clamping finger cap clearance surface 92 of the second end 96 is set to adapt to the cap 112 of the sample tube 11; adjusting the position of the sample tube clamping mechanism 100; driving the second end 96 of the clamping finger 9 to a clamping state via the clamping motor 2; monitoring the current current and current step number of the clamping motor 2; determining the size of the tube body 111 of the sample tube 11 based on the current current and current step number to adjust the clamping force. This design uses a clamping method with the 9-finger gripper, combined with the extension and retraction of the output end of the clamping motor 2 to achieve clamping. On the one hand, it requires relatively little clamping space and has high clamping reliability; on the other hand, it can be compatible with clamping sample tubes of different heights even when the height of the sample tube is unknown; furthermore, it has the advantages of simplicity and compact structure, making it suitable for standalone use and integrated applications.

[0105] The implementation of the sample tube clamping mechanism and the sample tube clamping detection method will be further described below with reference to the above embodiments.

[0106] The clamping action is explained as follows. When the output end of the clamping motor 2 moves downward, the clamping action is performed. At this time, the clamping motor 2 extends downward, and the downward force is transmitted sequentially through the bearing fixing shaft 28 and the bearing 27 to drive the conical transmission block 25 to move downward. Since the outer ring of the transmission bearing 8 is always in contact with the conical transmission block 25 under the action of the tension spring 29, the transmission bearing 8 will roll upward along the outer conical surface 251 of the conical transmission block 25. The tension spring 29 is stretched. At this time, the finger clamping bearing 31 on the finger clamping 9 will rotate along the finger clamping fixing shaft 30. The upper part of the finger clamping bearing 31, i.e., the first end 94, opens outward, and the lower part, i.e., the second end 96, clamps inward, thereby achieving the clamping of the sample tube 11.

[0107] The opening action is explained as follows. When the output end of the clamping motor 2 moves upward, the clamping action is performed. At this time, the clamping motor 2 shortens axially, and the upward force is transmitted sequentially through the bearing fixed shaft 28 and the bearing 27 to drive the conical transmission block 25 to move upward. The tension spring 29 shortens, and the clamping finger 9 is located above the clamping finger bearing 31, i.e., the first end 94, which moves inward along the fixed shaft 30 under the action of the tension spring 29. This can also be understood as rotating through the middle part 95. The lower part, i.e., the second end 96, opens outward to achieve the opening action. The size of the opening and clamping stroke depends on the stroke of the conical transmission block 25 moving up and down.

[0108] The clamping detection function is implemented as follows. The clamping detection function is achieved through the combined action of the clamping current and the encoder. When the clamping assembly 400 performs an inward clamping action, the motor current is monitored while simultaneously monitoring the encoder's return value. When a sample tube 11 with a larger diameter is clamped during the clamping process, the motor current will increase abnormally. The size of the sample tube 11 can be calculated by the difference between the current step number returned by the encoder 1 and the target step number, thus enabling the clamping of sample tubes 11 of different diameters and the determination of their diameter size. When the clamping fails, the step number returned by the encoder 1 is the same as the target step number, and the current will not increase abnormally. Therefore, normal operation can be ensured.

[0109] For sample tubes 11 of different heights, since the clamping position of the clamping finger 9 is located in the middle of the tube body 111 at the lower end of the tube cap 112, for taller sample tubes 11, it will be clamped in the middle of the sample tube 11, and for shorter sample tubes 11, it will be clamped at the lower end of the tube cap 112. Thus, sample tubes 11 of different heights can be clamped without knowing the height of the sample tubes 11 in advance.

[0110] For both capped and uncapped sample tubes 11, since the clamping fingers 9 have a clamping cap avoidance surface 92, i.e., a sample tube cap avoidance surface, when clamping the capped sample tube 11, this avoidance surface can ensure that the clamping surface 251 of the clamping fingers contacts the tube body 111 of the sample tube 11, and the clamping cap avoidance surface 92 maintains a certain distance from the cap 112 of the sample tube 11, thus achieving compatibility between capped and uncapped samples and being compatible with different sample tube cap types.

[0111] The rotation action is explained as follows. When the rotary motor 13 is in operation, its output rotates, driving the synchronous pulley 14 to rotate the rotary pulley seat 6 via the synchronous belt 15. Since the moving part of the clamping assembly 400 is fixedly connected to the bottom of the rotary pulley seat 6 via the support column 7, the moving part of the clamping assembly 400 will rotate along with the rotary pulley seat 6. When the moving part of the clamping assembly 400 rotates, the bearing seat 24 and the conical transmission block 25 fixed thereon will rotate synchronously with the pulley seat under the anti-rotation action of the transmission shaft 21. When the bearing seat 24 rotates, the bearing fixed shaft will remain stationary due to the action of the bearing 27, meaning the clamping motor will not rotate. Therefore, it is not necessary to use a slip ring to prevent the power wire from tangling during the rotation of the clamping power. During synchronous rotation, the clamping fingers 9 and the conical transmission block 25 remain relatively stationary; therefore, the rotation action will not affect the clamping action.

[0112] In this embodiment, a four-claw structure is adopted, which is suitable for occasions where the space between sample tubes 11 is very small. The structure is compact and conducive to product miniaturization. It also integrates a rotation function. Each of the gripping fingers 9 of the clamping component 400 can rotate 360°, so that the sample tube 11 can be gripped and placed at any angle of 360°. Since the rotation of the gripping fingers 9 does not drive the clamping power source to move, the reliability is high.

[0113] It should be noted that other embodiments of this application also include a sample tube clamping mechanism and a sample tube clamping detection method formed by combining the technical features of the above embodiments.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A sample tube clamping mechanism (100), characterized in that, The supporting assembly (200) and the clamping assembly (400) are included. The clamping assembly (400) is provided with a clamping motor (2), a clamping finger movement base (10) and at least three clamping fingers (9) arranged in a rotationally symmetrical manner, the clamping motor (2) and the clamping finger movement base (10) are both mounted on the supporting assembly (200). The middle part (95) of the clamping finger (9) is connected to the clamping finger movement base (10) through a rotating shaft, and the first end (94) of the clamping finger (9) is connected to the output end of the clamping motor (2). The output end of the clamping motor (2) has an extension state, which is used to drive the first end (94) and drive the second end (96) of the clamping finger (9) to rotate relative to the middle part (95), so that each second end (96) is in a clamping state or an open state. The clamping assembly (400) is further provided with at least two elastic return members, the two ends of the elastic return member are respectively connected to the first end (94) of the different clamping fingers (9), and the elastic return member is used to elastically abut the first end (94) against the output end of the clamping motor (2), so that the first end (94) maintains the relative position with the output end of the clamping motor (2) when the output end of the clamping motor (2) is in the extended state or the retracted state. The clamping assembly (400) is further provided with at least two tension springs (29), the first end (94) of the clamping finger (9) is provided with two mounting holes (93), the two mounting holes (93) are respectively used to mount one end of the different tension springs (29), the two mounting holes (93) are arranged in front and back along the extension direction of the output end of the clamping motor (2), and have different distances relative to the rotationally symmetrical axis (90) of each clamping finger (9), so that the tension spring (29) is located below the output end of the clamping motor (2), and each tension spring (29) is spaced apart; the tension spring (29) is used to elastically abut the first end (94) against the output end of the clamping motor (2).

2. The sample tube clamping mechanism (100) according to claim 1, characterized in that The rotating assembly (300) is further included, and the rotating assembly (300) is mounted on the supporting assembly (200); The rotating assembly (300) is drivingly connected to the clamping finger movement base (10) and is used to drive the clamping finger movement base (10) to rotate, so as to drive each clamping finger (9) to rotate together; The output end of the clamping motor (2) is connected to the first end (94) through the bearing (27) of the rotating assembly (300), and is used to maintain the position in the state that the clamping finger movement base (10) rotates.

3. The sample tube clamping mechanism (100) according to claim 2, characterized in that The rotating assembly (300) is further provided with a rotating pulley base (6), a supporting column (7), a rotating motor (13), a synchronous pulley (14), a synchronous belt (15), a rotating bearing (22) and a bearing seat (24). The support assembly (200) is provided with a clamping jaw bottom plate (4) and a rotating fixed shaft (35), the clamping motor (2), the rotating motor (13) and the rotating fixed shaft (35) are all installed on the clamping jaw bottom plate (4), and an output end of the clamping motor (2) penetrates through the rotating fixed shaft (35); The synchronous pulley (14) is connected with the rotating pulley seat (6) through the synchronous belt (15), the rotating pulley seat (6) is rotatably arranged outside the rotating fixed shaft (35) through the rotating bearing (22); The bearing seat (24) is arranged between the rotating pulley seat (6) and the clamping finger movement base (10), the support column (7) penetrates through the bearing seat (24), the bearing (27) is installed in the bearing seat (24), and the clamping finger movement base (10) is fixed to the rotating pulley seat (6) through the support column (7); An output end of the rotating motor (13) is drivingly connected with the synchronous pulley (14), so as to drive the rotating pulley seat (6), the support column (7), the bearing seat (24) and the clamping finger movement base (10) to rotate together.

4. The sample tube clamping mechanism (100) according to claim 3, characterized in that The support assembly (200) is further provided with a sliding bushing (19) and a transmission shaft (21), the sliding bushing (19) penetrates through the bearing seat (24) and is fixed in the bearing seat (24), the transmission shaft (21) slidably penetrates through the sliding bushing (19), one end of the transmission shaft (21) is fixed to the rotating pulley seat (6), and the other end is fixed to the clamping finger movement base (10); or, The rotating assembly (300) is further provided with a bearing fixed shaft (28), the bearing fixed shaft (28) is installed on the output end of the clamping motor (2), an inner ring of the bearing (27) is connected with the bearing fixed shaft (28), and an outer ring of the bearing (27) is connected with the bearing seat (24), so that the output end of the clamping motor (2) remains in position in the state that the clamping finger movement base (10) rotates.

5. The sample tube clamping mechanism (100) of claim 3, wherein, The support assembly (200) is further provided with a zero position optocoupler mounting block (17), and the zero position optocoupler mounting block (17) is installed on the clamping jaw bottom plate (4); The rotating assembly (300) is further provided with a zero position optocoupler blocking piece (5) and a rotating zero position optocoupler (16), the zero position optocoupler blocking piece (5) is arranged on the rotating pulley seat (6), the rotating zero position optocoupler (16) is arranged on the zero position optocoupler mounting block (17), and the rotating zero position optocoupler (16) is used for positioning the rotating position of the rotating pulley seat (6) in cooperation with the zero position optocoupler blocking piece (5); and / or, The clamping assembly (400) is further provided with a clamping zero position optocoupler (18), the clamping zero position optocoupler (18) is arranged on the zero position optocoupler mounting block (17), and the bearing seat (24) is provided with a circular ring edge (241), and the circular ring edge (241) is used for triggering the clamping zero position optocoupler (18).

6. The sample tube clamping mechanism (100) of claim 1, wherein, The clamping assembly (400) is further provided with a conical transmission block (25) connected with the output end of the clamping motor (2), and the first end (94) elastically abuts against the outer taper surface (251) of the conical transmission block (25); In the extended state of the output end of the clamping motor (2), the conical transmission block (25) is driven to move close to the clamping finger movement base (10), the first end (94) is driven to move outward relative to the rotationally symmetric axis (90) of each clamping finger (9), the second end (96) is driven to rotate relative to the intermediate part (95), and each second end (96) is in a clamping state; In the retracted state of the output end of the clamping motor (2), the conical transmission block (25) is driven to move away from the clamping finger movement base (10), the first end (94) is driven to move inward relative to the rotationally symmetric axis (90), the second end (96) is driven to rotate relative to the intermediate part (95), and each second end (96) is in an open state; The tension spring (29) is located below the conical transmission block (25) of the clamping assembly (400), and the tension spring (29) is used to elastically abut the first end (94) against the outer taper surface (251) of the conical transmission block (25); Alternatively, The first end (94) is slidably connected with the output end of the clamping motor (2), and the sliding direction is perpendicular to the extension direction of the output end of the clamping motor (2); In the extended state of the output end of the clamping motor (2), the first end (94) is driven to slide outward relative to the rotationally symmetric axis (90) of each clamping finger (9), the second end (96) is driven to rotate relative to the intermediate part (95), and each second end (96) is in a clamping state; In the retracted state of the output end of the clamping motor (2), the first end (94) is driven to slide inward relative to the rotationally symmetric axis (90) of each clamping finger (9), the second end (96) is driven to rotate relative to the intermediate part (95), and each second end (96) is in an open state.

7. The sample tube clamping mechanism (100) according to claim 6, characterized in that The clamping assembly (400) is further provided with a transmission bearing (8) and a transmission bearing shaft (20), and the transmission bearing (8) is installed on the first end (94) through the transmission bearing shaft (20); The first end (94) elastically abuts against the outer taper surface (251) of the conical transmission block (25) through the transmission bearing (8), and the transmission bearing (8) is used to roll on the outer taper surface (251); or The first end (94) elastically abuts against the output end of the clamping motor (2) through the transmission bearing (8), and the transmission bearing (8) is used to roll on the output end of the clamping motor (2).

8. The sample tube clamping mechanism (100) of claim 1, wherein, The second end (96) of the finger (9) is provided with a finger clamping surface (91) and a finger tube cap avoiding surface (92), the second end (96) abuts the tube body (111) of the sample tube (11) at the finger clamping surface (91), and the second end (96) forms an avoiding position for the cap (112) of the sample tube (11) at the finger tube cap avoiding surface (92); or, The number of the fingers (9) is three or four.

9. The sample tube clamping mechanism (100) according to any one of claims 1 to 8, characterized in that Further comprising an encoder (1) and a motor control board (3); The support assembly (200) is provided with a motor control board mounting plate (12), the motor control board (3) is mounted on the motor control board mounting plate (12) and is electrically connected with the clamping motor (2), and the motor control board (3) is used for monitoring the current of the clamping motor (2); The encoder (1) is electrically connected with the clamping motor (2) and the motor control board (3) respectively, the encoder (1) is used for feeding back the current step number of the clamping motor (2) and inputting parameters to the motor control board (3).

10. A sample tube clamping detection method characterized by, The sample tube clamping detection method is realized by using the sample tube clamping mechanism (100) according to any one of claims 1 to 9, and the sample tube clamping detection method comprises the steps of: The second end (96) of the finger (9) is driven by the clamping motor (2) to be in an open state; wherein the clamping position of the second end (96) is set to adapt to the length of the sample tube (11), and the finger tube cap avoiding surface (92) of the second end (96) is set to adapt to the cap (112) of the sample tube (11); Adjusting the position of the sample tube clamping mechanism (100); The second end (96) of the finger (9) is driven by the clamping motor (2) to be in a clamping state; The current and the current step number of the clamping motor (2) are monitored; According to the current and the current step number, the size of the tube body (111) of the sample tube (11) is determined to adjust the clamping force.

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