Blood sample introduction and mixing device

Abstract

The application provides a blood sample feeding and shaking device, which realizes compound motion controlled by a single driving source through the innovative cooperation of a back plate guide groove and a front plate rolling assembly. The guide groove is composed of a straight section and an arc section. When the rolling assembly moves along the groove, the straight section drives the front plate to vertically translate, and the arc section causes the front plate to swing around the rotation axis, which ingeniously converts linear motion into compound motion. This design simplifies the mechanical structure, reduces the number of motors, lowers the cost, and improves the motion synchronization and reliability. Rolling contact reduces frictional resistance, and the motion is more stable, with small energy loss and slight wear, thereby prolonging the service life of the mechanism. By optimizing the shape of the arc section of the guide groove, the swing amplitude and speed can be accurately controlled to meet the blood sample shaking requirements. This structure not only improves the efficiency and precision of blood sample feeding and shaking, but also can be expanded to other medical devices requiring compound motion, with a wide application prospect.

Description

Technical Field

[0001] This invention relates to a blood testing device, and more particularly to a blood sample injection and mixing device. Background Technology

[0002] In the current field of automated medical device testing, blood sample processing commonly employs separate equipment to complete the sampling tube fixation, mixing, and puncture sampling operations. Existing technologies typically separate the sampling tube clamping mechanism, the rotating mixing device, and the puncture sampling mechanism, integrating these functions through multi-degree-of-freedom robotic arms or conveyor belts. This separate architecture has significant drawbacks: First, the coordination accuracy between independent modules relies on a complex motion control system, resulting in bulky equipment and high assembly and debugging costs. Second, the connection between multiple stages is prone to positioning deviations, especially during sampling tube oscillation and mixing, where the relative position of the puncture needle and the tube opening can easily shift, leading to puncture failure or leakage risks. Furthermore, existing clamping mechanisms often use rigid clamps or single spring clamps, which are difficult to adapt to sampling tubes of different diameters, and the clamping force is uncontrollable, easily causing tube wall deformation or sample oscillation. More significantly, traditional guiding mechanisms use fixed slide rail structures, enabling only linear movement in one direction. They cannot simultaneously ensure vertical sampling and complete controllable oscillation movements, requiring the mixing function and puncture operation to be performed step-by-step, severely impacting testing efficiency. These technological bottlenecks have limited the automation level and reliability of blood testing equipment. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides a blood sampling and mixing device, comprising: a back plate, wherein a lifting mechanism is vertically arranged on the back plate;

[0004] The front plate is connected to the lifting end of the lifting mechanism via a front plate support block. The front plate has a rotation axis connected to the front plate support block and can rotate relative to the front plate support block with the rotation axis as the center.

[0005] The clamping mechanism, connected to the lower part of the front plate, is used to clamp the wall of the sampling tube;

[0006] The injection mechanism is connected to the upper part of the front plate, and the puncture needle is connected to the lifting end of the injection mechanism and extends into the sampling tube under the drive of the injection mechanism.

[0007] The back plate has a guide groove on its surface relative to the front plate. The guide groove includes a straight section and an arc section connected in sequence. The front plate has a rolling assembly on its surface relative to the back plate. One end of the rolling assembly rolls in contact with the groove wall of the guide groove and can move along the guide groove in the straight section and the arc section.

[0008] Furthermore, the lifting mechanism is a screw drive system, and the front plate support block is connected to the lifting end of the lifting mechanism.

[0009] Furthermore, the clamping mechanism includes two clamping plates, a gripper support plate, and a gripper drive mechanism. The gripper support plate is fixedly mounted on the front plate, the two clamping plates are connected to the gripper support plate and can move relative to each other, and a tension spring is connected between the two clamping plates. Under normal conditions, the tension spring has elastic potential energy that causes the two clamping plates to move towards each other, and the gripper drive mechanism controls the two clamping plates to move away from each other against the elastic potential energy of the tension spring.

[0010] Furthermore, each of the two clamping plates has an arc-shaped support surface on its opposite surface, which is in full contact with the cylindrical wall of the sampling tube; each clamping plate has a pair of rollers at its bottom, which press the sampling tube tightly from the four corners of the tube wall.

[0011] Furthermore, the gripper drive mechanism includes a rotary drive and a cam. The cam is located on the upper part between the two clamping plates, and its center is connected to the output end of the rotary drive. It includes a long end and a short end. The cam is driven by the rotary drive. During the conversion from the short end to the long end, the cam pushes the clamping plates outward by contacting the clamping plates.

[0012] Furthermore, the injection mechanism adopts a screw drive system, and the puncture needle is connected to the lifting end of the injection mechanism through an injection fixing block.

[0013] Furthermore, the rolling assembly includes a stop bolt and a bearing, one end of the stop bolt is fixed to the front plate, and the bearing is sleeved on the stop bolt and located between the front plate and the back plate.

[0014] Furthermore, the back plate or front plate is provided with a photoelectric switch for monitoring the movement of the sample injection mechanism and the lifting mechanism.

[0015] Furthermore, a first slide rail is vertically arranged on the back plate, and a slider is fixedly connected to the first slide rail, with the front plate support block fixedly connected to the slider.

[0016] Furthermore, a stop block is installed at the bottom of the gripper support plate, and the center of the stop block has a circular hole for the puncture needle to pass through.

[0017] This invention provides a blood sampling and mixing device, including a front plate and a back plate. The back plate is provided with a guide groove, and the front plate is provided with a rolling component. The precise control of compound motion is achieved through the cooperation of the guide groove and the rolling component. This design cleverly utilizes the geometric changes of the guide groove and the characteristics of rolling contact to transform the linear motion of a single drive source into the compound motion of the front plate, which greatly simplifies the mechanical structure and improves the system's motion efficiency and accuracy.

[0018] When the rolling assembly moves along the straight section of the guide groove, since the path of the groove is straight, the movement trajectory of the rolling assembly is also a vertical straight line. At this time, the front plate, driven by the rolling assembly, only undergoes vertical translational motion, while the rotation axis remains in a fixed position. In this state, the motion of the front plate can be regarded as a simple translational motion, and the speed and acceleration are determined by the rotational speed and acceleration of the lead screw stepper motor.

[0019] The situation changes when the rolling assembly enters the curved section of the guide groove. As the groove path becomes an arc, the rolling assembly must move along this arc while moving downwards, generating a lateral displacement component. This lateral displacement is transmitted to the front plate via the rotation axis, causing the front plate to rotate around the axis, i.e., oscillate. The magnitude of the oscillation angle depends on the radius of curvature of the curved section and the displacement of the rolling assembly. By precisely designing the shape of the curved section of the guide groove, the oscillation amplitude and speed of the front plate can be controlled to meet different requirements for blood sample mixing.

[0020] A significant advantage of this design is that the entire compound motion is controlled by only one drive source, simplifying the control system and improving motion synchronization. Compared to traditional multi-motor drive schemes, this invention reduces the number of motors and control complexity, lowers costs, and simultaneously improves system reliability and maintainability.

[0021] Meanwhile, the rolling contact between the rolling assembly and the guide groove significantly reduces frictional resistance, resulting in smoother movement of the front plate and reduced energy loss. Furthermore, due to the point contact characteristics of the rolling contact, wear is relatively low, extending the service life of the mechanism. To further improve the smoothness and precision of the movement, a small amount of grease can be added between the bearing and the guide groove wall to create boundary lubrication, reducing friction and wear.

[0022] In summary, the guiding mechanism of this invention, through ingenious geometric design and kinematic analysis, achieves the function of controlling complex motion with a single drive source, providing an efficient and reliable solution for blood sampling and mixing devices. This design concept can also be applied to other medical devices and automated equipment requiring complex motion, and has broad application prospects. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the blood sampling and mixing device of the present invention;

[0024] Figure 2 This is a schematic diagram of the connection between the front plate and the back plate of the present invention;

[0025] Figure 3 This is a structural diagram of the clamping mechanism and the sample injection mechanism on the front panel;

[0026] Figure 4This is a bottom view of the clamping mechanism;

[0027] Figure 5 This is a schematic diagram of the state of the device when the rolling component just enters the arc segment;

[0028] Figure 6 This is a schematic diagram of the state of the device when the rolling component enters the end of the arc segment.

[0029] Reference numerals: Back plate 1, Front plate 2, First lead screw motor 3, First transmission lead screw 4, Front plate support block 5, First slide rail 6, Slider 7, Rotating shaft 8, Rotating shaft fixing block 9, Roller 10, Tension spring 11, Clamping plate 12, Grip support plate 13, Second slide rail 14, Reduced stepper motor 15, Cam 16, Second lead screw motor 17, Second transmission lead screw 18, Sample injection fixing block 19, Puncture needle 20, Third slide rail 21, Guide groove 22, Plugging bolt 23, Shareholder assembly 24, First sensor group 25, Second sensor group 26, Third sensor group 27, Sampling tube 28, Arc segment 29, Straight segment 30, Stop block 31. Detailed Implementation

[0030] like Figure 1 The blood sampling and mixing device shown is used in the field of automated medical device testing. It can mix the blood sample in the sampling tube 28 and draw the blood sample through the puncture needle 20 during the mixing process. The blood sampling and mixing device includes a back plate 1, a front plate 2, a clamping mechanism, a sampling mechanism, and a guiding mechanism. The back plate 1 is the supporting base of the entire device. The clamping mechanism is used to clamp the sampling tube 28. The sampling mechanism is used to control the insertion of the puncture needle 20 into the sampling tube 28. The front plate 2 supports the clamping mechanism, the sampling mechanism, and other functional components. The guiding mechanism is respectively provided on the back plate 1 and the front plate 2 to guide the directional movement of the sampling tube 28.

[0031] like Figure 2 As shown, the back plate 1 is a plate-like structure made of metal, vertically connected to the main body of the external equipment through precision-machined mounting holes, ensuring the stability and rigidity of the device. A vertically extending lifting mechanism is provided on the back plate 1 to drive the front plate 2 and its functional components to move vertically. The lifting mechanism uses a screw drive system, providing stable and precise vertical movement, ensuring smooth and accurate lifting of the front plate 2. The lifting mechanism includes a first screw motor 3 fixedly mounted on the back plate 1, a first transmission screw 4 located at the output end of the first screw motor 3, and a front plate support block 5 that is mounted on the first transmission screw 4. The front plate support block 5 serves as a transitional connection between the front plate 2 and the back plate 1, cooperating with the first transmission screw 4. When the first screw motor 3 rotates, the front plate support block 5 moves vertically along the first transmission screw 4, thereby achieving precise vertical displacement control.

[0032] Furthermore, a first slide rail 6 is vertically arranged on the back plate 1, and a slider 7 is fixedly connected to the first slide rail 6. The front plate support block 5 is fixedly connected to the slider 7, so that the front plate support block 5 and the functional components on the front plate 2 can move vertically along the first slide rail 6, thereby cooperating with the lifting mechanism to restrict the vertical movement track of the front plate 2.

[0033] The front plate 2 is connected to the lifting end of the lifting mechanism via a front plate support block 5. The front plate support block 5 is made of wear-resistant material and is connected to the output end of the lead screw drive system, while also being connected to the front plate 2 via a precision-machined connection structure. The front plate 2 has a rotating shaft 8, which is perpendicular to the plane containing the back plate 1 and the front plate 2. It is rotatably connected to the front plate support block 5 via a rotating shaft fixing block 9, allowing the front plate 2 to rotate relative to the front plate support block 5 around the rotating shaft 8. The rotating shaft 8 is supported at both ends by bearings, ensuring the smoothness and accuracy of the front plate 2's swing. Specifically, the front plate support block 5 is fixedly connected to the lead screw nut, and simultaneously connected to the rotating shaft 8 via bearings, allowing the front plate 2 to not only move up and down with the lead screw nut but also swing around the rotating shaft 8. This design enables the front plate 2 to achieve compound motion, namely, vertical lifting motion and swinging motion around the rotating shaft 8, thus meeting the dual requirements of sample injection and mixing in the sampling tube 28.

[0034] like Figure 3 As shown, the clamping mechanism is connected to the lower part of the front plate 2 and is used to clamp the wall of the sampling tube 28. The design of the clamping mechanism takes into account the columnar characteristics of the sampling tube 28 and can adapt to sampling tubes 28 of different specifications. The clamping mechanism includes two clamping plates 12, a jaw support plate 13, and a jaw drive mechanism. The jaw support plate 13 is fixedly mounted on the front plate 2. The two clamping plates 12 are symmetrically designed and are slidably connected to the jaw support plate 13 via a second slide rail 14, allowing the two clamping plates 12 to slide towards each other along the second slide rail 14, ensuring the accuracy and stability of the movement of the clamping plates 12.

[0035] Each of the two clamping plates 12 has an arc-shaped support surface on its opposing surface, which can fully contact the cylindrical wall of the sampling tube 28 and "hold" the sampling tube 28 from both sides. Each clamping plate 12 has a pair of rollers 10 at its bottom, which can press the sampling tube 28 from the four corners of the tube wall to keep the sampling tube 28 stable. A tension spring 11 is connected to the upper part between the two clamping plates 12. The tension spring 11 has elastic potential energy that causes the two clamping plates 12 to move towards each other under normal conditions, providing the clamping force required for the relative movement of the clamping plates 12. Under the action of the tension spring 11, the two clamping plates 12 can maintain the clamping of the sampling tube 28 under normal conditions.

[0036] like Figure 3 and Figure 4As shown, the gripper drive mechanism controls the two clamping plates 12 to separate relative to each other, releasing the gripping of the sampling tube 28. The gripper drive mechanism includes a rotary drive component and a cam 16. The rotary drive component is a reduction stepper motor 15, which is fixedly installed on the top of the gripper support plate 13. The cam 16 is located on the upper part between the two clamping plates 12, with a symmetrical structure. Its center is connected to the output end of the rotary drive component and is controlled to rotate by the reduction stepper motor 15. The cam 16 has opposing long ends and short ends, with a smooth transition between the long and short ends. When rotating, the long and short ends contact the inner side of the clamping plates 12, overcoming the clamping force of the tension spring 11 and pushing the clamping plates 12 in opposite directions. This achieves smooth release of the clamping plates 12 during rotation, releasing the sampling tube 28. Conversely, when the reduction stepper motor 15 rotates in the opposite direction, the contact between the cam 16 and the clamping plates 12 gradually changes from the long end to the short end. The clamping plates 12 close under the action of the tension spring 11, clamping the sampling tube 28. This design enables the clamping mechanism to quickly and reliably complete the clamping and releasing actions of the sampling tube 28, meeting the high efficiency requirements of automated testing equipment. Furthermore, when the rotary drive is at the beginning of its stroke, the long end axis is parallel to the clamping plate 12, while the short end does not contact the clamping plate 12, leaving a gap. This does not limit the clamping plate 12, giving the clamping plate 12 a certain degree of adjustability. Under the action of the tension spring 11, it can clamp and maintain the clamped state for sampling tubes 28 of different diameters.

[0037] Furthermore, a stop block 31 is installed at the bottom of the gripper support plate 13. The stop block 31 is located above the sampling tube 28 and between the two sets of clamping plates 12. An annular positioning hole is provided at the bottom of the stop block 31 to position the top of the sampling tube 28. A circular hole is provided in the center of the stop block 31 for the puncture needle 20 to pass through. When the sampling tube 28 moves upward, its top will be blocked by the sampling tube 28, and the puncture needle 20 can be accurately inserted into the sampling tube 28.

[0038] The sample introduction mechanism is connected to the upper part of the front plate 2 and is used to insert the puncture needle 20 into the sampling tube 28 to draw blood samples. A liquid aspiration device (not shown in the figure) is connected to the rear side of the puncture needle. The design of the sample introduction mechanism emphasizes accuracy and stability to ensure that the puncture needle 20 can accurately pierce the sampling tube 28 and draw an appropriate amount of blood sample. The sample introduction mechanism also adopts a lead screw drive structure. It includes a second lead screw motor 17 and a second transmission lead screw 18. The second lead screw motor 17 is fixedly connected to the upper part of the front plate 2, and the second transmission lead screw 18 is connected to the drive end of the second lead screw motor 17. The output end of the second transmission lead screw 18 is connected to the sample introduction fixing block 19. The puncture needle 20 is fixedly mounted on the sample introduction fixing block 19. The sample introduction fixing block 19 is connected to the front plate 2 through a third slide rail 21. When the second lead screw motor 17 is started, the sample introduction fixing block 19 and the puncture needle 20 will move vertically along the third slide rail 21, thereby driving the puncture needle 20 to achieve precise vertical movement and insert it into the clamped sampling tube 28. This design allows the puncture needle 20 to penetrate the sampling tube 28 at a precise depth, ensuring the quantity and quality of blood samples collected.

[0039] like Figure 2 As shown, the back plate 1 has a guide groove 22 on its surface opposite the front plate 2. The guide groove 22 includes a straight segment 30 and an arc segment 29 connected in sequence. The guide groove 22 is manufactured using precision machining technology to ensure the dimensional accuracy and surface quality of the groove. The straight segment 30 of the guide groove 22 corresponds to the lifting movement path of the front plate 2, and the arc segment 29 corresponds to the swinging movement path of the front plate 2. A rolling assembly 24 is provided on the surface of the front plate 2 opposite the back plate 1. One end of the rolling assembly 24 rolls in contact with the groove wall of the guide groove 22 and can move along the guide groove 22 in the straight segment 30 and the arc segment 29. The cross-sectional shape of the guide groove 22 matches the outer contour of the rolling assembly 24 to ensure the stability of the rolling contact. The straight segment 30 of the guide groove 22 is designed as a flat rectangular groove to provide stable linear motion guidance for the rolling assembly 24; the arc segment 29 adopts a smooth arc curve design to ensure the smoothness and continuity of the movement of the front plate 2 during the swinging process. The design of the rolling assembly 24 fully considers the friction characteristics and motion accuracy requirements. In this embodiment, arc segment 29 is a smooth arc of 90°.

[0040] Specifically, the rolling assembly 24 includes a stop bolt 23 and a bearing. One end of the stop bolt 23 is fixed to the front plate 2, ensuring a secure connection. The bearing is fitted onto the stop bolt 23 and located between the front plate 2 and the back plate 1. The inner ring of the bearing is tightly fitted with the stop bolt 23, while the outer ring contacts the groove wall of the guide groove 22. Figure 1As shown, in the straight section 30 of the guide groove 22, the moving trajectory of the rolling component 24 is parallel to the moving trajectory of the front plate support block 5. The rolling component 24 moves vertically with the lifting mechanism, and the front plate 2 also maintains a vertical displacement. The clamping component can easily clamp the sampling tube 28 from the outside. Figure 5 and Figure 6 As shown, in the arc segment 29 of the guide groove 22, the rolling component 24 has a vertical movement trajectory and a horizontal displacement trajectory. The positions of the rolling component 24 and the front plate support block 5 are vertically offset, and the front plate 2 will rotate relative to the front plate support block 5 along the rotation axis 8, so that the front plate 2 is in an inclined swinging state, thereby realizing the shaking action of the sampling tube 28. This design allows the lifting and swinging actions of the sampling tube 28 to be achieved by the same driving source through the path change of the guide groove 22, which simplifies the structure and improves the motion coordination.

[0041] To improve the reliability and automation of the equipment, this embodiment also includes auxiliary functional components, which further enhance the performance and usability of the blood sampling and mixing device.

[0042] The back plate 1 or front plate 2 is equipped with a reflective photoelectric sensor for detecting the position of the sampling tube 28. The reflective photoelectric sensor employs a high-precision photoelectric sensor, detecting the presence and position of the sampling tube 28 by emitting a laser beam and receiving the reflected signal. When the sampling tube 28 is transported to the designated position, the reflective photoelectric sensor detects the reflected signal from the sampling tube 28, sends an electrical signal to the control system, triggering the clamping mechanism to ensure accurate clamping of the sampling tube 28. To improve the reliability of the detection, multiple reflective photoelectric sensors can be set to detect the position and orientation of the sampling tube 28 from different angles, ensuring accurate identification of the sampling tube 28 under various conditions.

[0043] For example, in this embodiment, a first sensor group 25 is provided on the back plate 1. The first sensor group 25 cooperates with the detection plate on the front plate support block 5 to monitor the stroke position of the front plate support block 5. A second sensor group 26 is provided on the front plate 2. The second sensor group 26 cooperates with the detection plate on the sample injection fixing block 19 to monitor the stroke position of the sample injection fixing block 19 and control the depth of the puncture needle 20 inserted into the sampling tube 28. A third sensor group 27 is provided on the gripper support plate 13. The third sensor group 27 cooperates with the detection plate on the clamping plate 12 to monitor the movement stroke of the clamping plate 12, thereby servo-controlling the opening and closing of the deceleration stepper motor 15.

[0044] The working process of this embodiment is described with reference to the accompanying drawings: In the initial state, the front plate 2 is in a high position, the clamping plate 12 of the clamping mechanism is in a closed state under the action of the tension spring 11, but the sampling tube 28 has not yet been clamped; the rolling assembly 24 is located at the top of the straight section 30 of the guide groove 22; the puncture needle 20 is in a high position, away from the sampling tube 28.

[0045] The external conveying mechanism delivers the sampling tube 28 into position. Based on sensor signals, the control system activates the deceleration stepper motor 15 of the clamping mechanism, driving the jaw opening cam 16 to rotate. This causes the clamping plates 12 to open outwards against the tension spring 11, preparing to clamp the sampling tube 28. The lifting mechanism controls the front plate support block 5 to move downwards until the clamping mechanism reaches the upper end of the sampling tube 28. The deceleration stepper motor 15 then rotates in the opposite direction, releasing the thrust on the clamping plates 12. The two clamping plates 12 close under the action of the tension spring 11, firmly clamping the sampling tube 28. At this time, the roller 10 gently presses against the sampling tube 28 from the side to ensure its stable position.

[0046] The lifting mechanism controls the front plate support block 5 to move upward along the straight section 30. During the upward movement of the sampling tube 28, the sampling mechanism is started at the same time. The second lead screw motor 17 controls the puncture needle 20 to move downward, so that the puncture needle 20 pierces the rubber stopper of the sampling tube 28 with precise speed and force, ensuring sealing and puncture quality.

[0047] The lifting mechanism continues to move upwards, and the rolling assembly 24 enters the arc segment 29. Due to the change in the shape of the guide groove 22, the rolling assembly 24 generates lateral displacement while moving upwards, pushing the front plate 2 to swing around the rotation axis 8, thus realizing the shaking action of the sampling tube 28. The frequency and amplitude of shaking can be precisely adjusted by the control system to meet the requirements of different testing items. Furthermore, since the sample injection mechanism and the clamping mechanism are connected to the front plate 2, the sample injection mechanism can simultaneously complete the aspiration of blood from the sampling tube 28 during the shaking process. After the blood collection is completed, the lifting mechanism controls the rolling assembly 24 to exit the arc segment 29 and move downwards along the straight segment 30. The second lead screw motor 17 rotates in the opposite direction, driving the puncture needle 20 to slowly exit the sampling tube 28. After the sampling tube 28 is in place, the deceleration stepper motor 15 controls the clamping plate 12 to release, returning the sampling tube 28 to its original position, waiting for the next cycle operation.

[0048] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A blood sampling and mixing device, characterized in that, include: Back plate (1), on which a lifting mechanism is vertically provided; The front plate (2) is connected to the lifting end of the lifting mechanism via the front plate support block (5). The front plate (2) has a rotating shaft (8) connected to the front plate support block (5) and can rotate relative to the front plate support block (5) with the rotating shaft (8) as the center. A clamping mechanism, connected to the lower part of the front plate (2), is used to clamp the wall of the sampling tube (28); The injection mechanism is connected to the upper part of the front plate (2), and the puncture needle (20) is connected to the lifting end of the injection mechanism and extends into the sampling tube (28) under the drive of the injection mechanism. The back plate (1) has a guide groove (22) on its surface relative to the front plate (2). The guide groove (22) includes a straight section (30) and an arc section (29) connected in sequence. The front plate (2) has a rolling assembly (24) on its surface relative to the back plate (1). One end of the rolling assembly (24) rolls in contact with the groove wall of the guide groove (22) and can move along the guide groove (22) in the straight section (30) and the arc section (29). The straight segment (30) of the guide groove (22) corresponds to the lifting and lowering motion path of the front plate (2), and the arc segment (29) corresponds to the swinging motion path of the front plate (2).

2. The blood sampling and mixing device as described in claim 1, characterized in that: The lifting mechanism is a screw drive system, and the front plate support block (5) is connected to the lifting end of the lifting mechanism.

3. The blood sampling and mixing device as described in claim 1, characterized in that: The clamping mechanism includes two clamping plates (12), a gripper support plate (13), and a gripper driving mechanism. The gripper support plate (13) is fixedly mounted on the front plate (2). The two clamping plates (12) are connected to the gripper support plate (13) and can move relative to each other. A tension spring (11) is connected between the two clamping plates (12). The tension spring (11) has elastic potential energy that causes the two clamping plates (12) to move towards each other under normal conditions. The gripper driving mechanism controls the two clamping plates (12) to move away from each other against the elastic potential energy of the tension spring (11).

4. The blood sampling and mixing device as described in claim 3, characterized in that: Each of the two clamps (12) has an arc-shaped support surface on its opposite surface, which is in full contact with the columnar tube wall of the sampling tube (28). Each clamp (12) has a pair of rollers (10) at its bottom, which press the sampling tube (28) from the four corners of the tube wall.

5. The blood sampling and mixing device as described in claim 3, characterized in that: The gripper drive mechanism includes a rotary drive and a cam (16). The cam (16) is located on the upper part between the two clamping plates (12), and its center is connected to the output end of the rotary drive. It includes a long end and a short end. The cam (16) is driven by the rotary drive. During the conversion from the short end to the long end, the cam pushes the clamping plates (12) outward by contacting them.

6. The blood sampling and mixing device as described in claim 1, characterized in that: The injection mechanism adopts a screw drive system, and the puncture needle (20) is connected to the lifting end of the injection mechanism through the injection fixing block (19).

7. The blood sampling and mixing device as described in claim 1, characterized in that: The rolling assembly (24) includes a stop bolt (23) and a bearing. One end of the stop bolt (23) is fixed to the front plate (2), and the bearing is sleeved on the stop bolt (23) and located between the front plate (2) and the back plate (1).

8. The blood sampling and mixing device as described in claim 1, characterized in that: The back plate (1) or front plate (2) is equipped with a photoelectric switch for monitoring the movement of the sample injection mechanism and the lifting mechanism.

9. The blood sampling and mixing device as described in claim 1, characterized in that: The back plate (1) is vertically provided with a first slide rail (6), and a slider (7) is fixedly connected to the first slide rail (6). The front plate support block (5) is fixedly connected to the slider (7).

10. The blood sampling and mixing device as described in claim 3, characterized in that: The bottom of the gripper support plate (13) is equipped with a stop (31), and the center of the stop (31) is provided with a round hole for the puncture needle (20) to pass through.

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