Anti-collision clamping device, reagent mixing device and chemiluminescence immunity analyzer

Abstract

The utility model relates to an anti-collision clamping device, a reagent mixing device and a chemical immunoluminescence analyser, the anti-collision clamping device comprises a lifting assembly, a clamping assembly and a control assembly, the lifting assembly comprises a lead screw motor, the lead screw motor is sleeved with a lead screw nut, the lead screw nut is sleeved with a nut seat, and the clamping assembly is connected with the control assembly; the bottom face of the nut seat abuts against the end face of the flange face of the lead screw nut. The clamping assembly comprises a connecting frame and a gripper, one end of the connecting frame is fixedly connected with the side face of the nut base, and the other end of the connecting frame is fixedly connected with the gripper. A jogging detection assembly is arranged in the connecting frame, extends out of a first end from the inside of the connecting frame and is in contact with the bottom surface of the flange; when the distance between the end face of the flange and the bottom face of the nut seat exceeds the preset distance, the micro-motion detection assembly is triggered to send out a first detection signal, and the control assembly stops the lifting assembly and the clamping assembly from moving downwards according to the first detection signal. The structure is simple and compact, detection feedback can be achieved, and accidental collision of the gripper is effectively prevented.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an anti-collision clamping device, a reagent mixing device and a chemiluminescence immunoassay analyzer. Background Art

[0002] The chemiluminescent immunoassay analyzer is a tool for diagnosing some diseases using immunodiagnostic technology. It includes a reagent mixing device, which usually includes an electric gripper for gripping the reagent kit and inserting it into the reagent compartment turntable. After the existing electric gripper grips the reagent kit, it is inserted into the reagent compartment turntable driven by the Z-axis motion mechanism. However, during the downward movement of the electric gripper in the Z direction, a collision may occur, causing the motor to stall. In the absence of accidental collision feedback, failure to handle it in time may easily lead to damage to the reagent compartment turntable, reagent kit or gripper and other mechanisms.

[0003] Therefore, how to provide a gripping component that can detect accidental collisions and provide feedback is a problem that needs to be solved urgently. Utility Model Content

[0004] In view of the technical problems existing in the prior art, the present application provides an anti-collision clamping device with a simple and compact structure that can detect feedback and effectively prevent accidental collision of the gripper.

[0005] The anti-collision clamping device includes a lifting component, a clamping component and a control component, the lifting component drives the clamping component to move along with it in the vertical direction, the lifting component includes a screw motor, a screw nut is sleeved on the screw of the screw motor, the screw nut is stepped, includes a flange at the bottom end and a cylindrical tube protruding on the flange; a nut seat is sleeved on the screw nut, and the bottom surface of the nut seat abuts against the end surface of the flange; the clamping component includes a connecting frame and a gripper, one end of the connecting frame is fixedly connected to the side of the nut seat, and the other end is fixedly connected to the gripper The hand is fixedly connected, and the gripper is used to clamp the test kit; a micro-motion detection component is arranged in the connecting frame, and the first end of the micro-motion detection component extends outward from the connecting frame and contacts with the bottom surface of the flange; when the gripper moves downward and encounters an obstacle, the nut seat is forced to stop moving, and the screw nut continues to move and drives the first end, and when the distance between the flange end face and the bottom surface of the nut seat exceeds a predetermined distance, the micro-motion detection component is triggered to send a first detection signal, and the control component stops the downward movement of the lifting assembly and the clamping assembly according to the first detection signal.

[0006] Optionally, according to an embodiment of the present application, the micro-motion detection component also extends a second end outward from the connecting frame, and the second end is located between the bottom surface of the nut seat and the end surface of the flange, and is used to detect the tightness between the nut seat and the flange.

[0007] Optionally, according to an embodiment of the present application, it also includes a sensor assembly, the sensor assembly includes an optical coupler and a baffle, the lifting assembly includes a vertically placed bracket, the optical coupler is arranged on the bracket, the baffle is arranged on the side of the nut seat close to the optical coupler, when the baffle follows the nut seat to reach the optical coupler position, it triggers the optical coupler to send a second detection signal, and the control assembly controls the movement of the lifting assembly and the clamping assembly in combination with the first detection signal and the second detection signal.

[0008] Optionally, according to an embodiment of the present application, a first hole is opened on the edge of the flange, and a second hole is correspondingly opened on the bottom surface of the nut seat. One or more fasteners are passed through the first hole on the flange and extend outward from a fastening portion. The portion other than the fastening portion is a movable portion, and the fastening portion is fixedly connected to the nut seat through the second hole. A spring is sleeved on the movable portion, which is located between the bottom end of the fastener and the bottom surface of the flange, and is used to tighten the screw nut and the nut seat.

[0009] Optionally, according to an embodiment of the present application, the optical coupler is an in-position optical coupler, which is arranged at a position of the bracket near the end of the screw rod, and when the in-position optical coupler does not send out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the reagent kit collides before reaching the predetermined insertion position, and the control component keeps the lifting component and the clamping component in a stopped state; when the in-position optical coupler sends out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the reagent kit is fully inserted into the predetermined position, and the control component further controls the clamping component to release the reagent kit and lift the lifting component; when the in-position optical coupler sends out a second detection signal and the micro-motion detection component does not send out a first detection signal, it is determined that the clamping component does not clamp the reagent kit, and the control component controls the lifting component and the clamping component to put the reagent kit back to its original position, re-grasp it, and re-execute the insertion operation.

[0010] Optionally, according to an embodiment of the present application, the optical coupler is a zero-position optical coupler, which is arranged at the top of the bracket. When the zero-position optical coupler sends a second detection signal, it is determined that the gripper has reached the initial position, and the control component stops the movement of the lifting component and the clamping component.

[0011] Optionally, according to an embodiment of the present application, the optical coupler is a mid-position optical coupler, which is arranged at a position of the bracket close to the middle of the screw rod, and when the mid-position optical coupler does not send out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the nut seat collides with the reagent box before reaching the middle of the bracket, and the control component keeps the lifting and clamping components in a stopped state; when the mid-position optical coupler sends out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the nut seat collides with the reagent box after reaching the middle of the bracket, and the control component keeps the lifting and clamping components in a stopped state.

[0012] Optionally, according to an embodiment of the present application, the gripper includes two oppositely disposed jaws, a connecting rod is provided on the end of the jaws, a tension spring is hung on the jaws, and both ends of the tension spring are respectively hung on the connecting rod to form tension so that the gripper remains in a clamped state when the power is cut off.

[0013] Optionally, according to an embodiment of the present application, the predetermined distance is set to 1.5 mm-2.5 mm.

[0014] On the other hand, an embodiment of the present application provides a reagent mixing device, including a bottle holder, and also including the anti-collision clamping device as described above, which is used to clamp the reagent kit and insert it into the bottle holder.

[0015] On the other hand, an embodiment of the present application provides a chemiluminescent immunoassay analyzer, including a liquid adding needle and a reagent mixing device as described above, wherein the reagent mixing device is used to mix the reagents in the reagent kit so that the liquid adding needle draws the mixed reagent to a predetermined position.

[0016] According to the anti-collision clamping device provided in the embodiment of the present application, through the design of the screw motor, the screw nut and the nut seat, it is possible to provide the clamping component with stable and reliable power for its movement in the vertical direction. At the same time, according to the characteristics of the micro-motion detection component that can detect subtle structural changes between mechanical structures, combined with the characteristics that the screw nut and the nut seat will separate when the gripper encounters an obstacle, the structure is simple and compact, and can realize accidental collision detection and feedback of the clamping device, thereby effectively preventing accidental collision of the gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Below, the preferred embodiments of the present application will be further described in detail with reference to the accompanying drawings, wherein:

[0018] Figure 1 is a three-dimensional diagram of an anti-collision clamping device according to an embodiment of the present application;

[0019] Figure 2 is based on Figure 1 A partial enlarged view of part A;

[0020] Figure 3 is an assembly diagram of a lifting assembly according to an embodiment of the present application;

[0021] Figure 4 is a schematic structural diagram of a micro-motion detection assembly according to an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of the structure of a gripper according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] In the following detailed description, reference may be made to the various specification drawings that are part of the present application and are used to illustrate specific embodiments of the present application. In the accompanying drawings, similar reference numerals describe substantially similar components in different figures. The various specific embodiments of the present application are described below in sufficient detail so that a person of ordinary skill in the art with relevant knowledge and skills in the art can implement the technical solutions of the present application. It should be understood that other embodiments may also be used or structural, logical or electrical changes may be made to the embodiments of the present application.

[0025] Figure 1 is a three-dimensional diagram of an anti-collision clamping device according to an embodiment of the present application, Figure 2 is based on Figure 1 A partial enlarged view of part A. Figure 1 , Figure 2 As shown, the present application provides an anti-collision clamping device, including a lifting component 10, a clamping component 20 and a control component (not shown in the figure), the lifting component 10 drives the clamping component 20 to move along with it in a vertical direction, and the control component can control the operation of the lifting component 10 and the clamping component 20 according to signals or instructions.

[0026] Figure 3 is an assembly diagram of a lifting assembly according to an embodiment of the present application. Figure 1-Figure 3As shown, the lifting assembly 10 includes a screw motor 11, and a screw nut 12 is sleeved on the screw of the screw motor 11. The screw nut 12 is stepped and includes a flange 120 at the bottom and a cylindrical tube 121 protruding from the flange 120; a nut seat 13 is sleeved on the screw nut 12, and the bottom surface of the nut seat 13 abuts against the end surface of the flange 120. In some embodiments, the nut seat 13 can be a cube or a cuboid, one side of which is fixedly connected to the clamping assembly 20, and a slide groove 130 is provided on the side away from the clamping assembly 20. The lifting assembly 10 includes a vertically placed bracket 14, and a slideway 140 is vertically provided on the side of the bracket 14 facing the nut seat 13, and the slide groove 130 is connected to the slideway 140, and the slideway 140 can ensure that the nut seat 13 moves in the vertical direction.

[0027] Those skilled in the art know that when the screw motor 11 stops moving, the screw nut 12 remains stationary at the position before stopping and will not continue to move due to its own gravity. In some embodiments, by installing an electromagnetic brake or a dynamic brake on the motor, the brake is immediately activated when the motor stops, and the rotation of the screw is fixed by friction to prevent the screw nut 12 from sliding down; in other embodiments, the controller sends appropriate instructions when the screw motor 11 stops, so that the screw motor 11 outputs a certain reverse holding torque to prevent the screw nut 12 from sliding down.

[0028] Furthermore, Figure 3 As shown, a first hole 1200 is provided at the edge of the flange 120, and a second hole 131 is correspondingly provided on the bottom surface of the nut seat 13. One or more fasteners 132 are passed through the first hole 1200 and are arranged on the flange 120 and extend outwardly from a fastening portion 1320. The portion other than the fastening portion 1320 is a movable portion 1321, and the fastening portion 1320 is fixedly connected to the nut seat 13 through the second hole 131. An elastic member 133 is sleeved on the movable portion 1321, which is located between the bottom end of the fastener 132 and the bottom surface of the flange 120, and is used for tightening the screw nut 12 and the nut seat 13. In some embodiments, the first hole 1200 is a through hole, the second hole 131 is a threaded hole, the fastener 132 is an equal height limit step bolt, in which case the fastening portion 1320 is the threaded portion of the equal height limit step bolt, and the elastic member 133 is a spring. By providing the equal height limit step bolt and the spring, the flange 120 and the bottom surface of the nut seat 13 can be more reliably fitted.

[0029] Combination Figure 1-Figure 3As shown, the clamping assembly 20 includes a connecting frame 21 and a gripper 22, one end of the connecting frame 21 is fixedly connected to the side of the nut seat 13, and the other end is fixedly connected to the gripper 22, and the gripper 22 is used to clamp the reagent kit 50. The control component controls the operation of the lead screw motor 11 according to the instruction to drive the lead screw nut 12 to rise or fall in the vertical direction, and transmits power to the gripper 22 through the nut seat 13 and the connecting frame 21 to drive the gripper 22 to move in the vertical direction.

[0030] Figure 4 is a schematic diagram of the structure of the micro-motion detection component according to an embodiment of the present application. Figure 4 Combination Figure 2 As shown, a micro-motion detection component 30 is arranged in the connecting frame 21, and the micro-motion detection component 30 extends outward from the connecting frame 21 with a first end 31 and a second end 32, respectively contacting the bottom surface and the end surface of the flange 120, and the second end 32 is in contact with the bottom surface of the nut seat 13 at the same time. When the nut seat 13 and the flange 120 are in close contact, a detection signal is sent out to determine the close contact state between the two; when the gripper 22 moves downward and encounters an obstacle, the nut seat 13 is forced to stop moving, and the screw nut 12 continues to move and drive the first end 31. When the distance between the end surface of the flange 120 and the bottom surface of the nut seat 13 exceeds a predetermined distance, the micro-motion detection component 30 is triggered to send a first detection signal, and the control component stops the lifting component 10 and the clamping component 20 from moving downward according to the first detection signal.

[0031] Combination Figure 1-Figure 3 As shown, in some embodiments, the anti-collision clamping device also includes a sensor assembly 40, the sensor assembly 40 includes an optical coupler 41 and a baffle 42, the optical coupler 41 is arranged on the bracket 14, and the baffle 42 is arranged on the side of the nut seat 13 close to the optical coupler 41, and when the baffle 42 follows the nut seat 13 to reach the position of the optical coupler 41, the optical coupler 41 is triggered to send a second detection signal, and the control assembly controls the movement of the lifting assembly 10 and the clamping assembly 20 in combination with the first detection signal and the second detection signal.

[0032] In some embodiments, the optical coupler 41 includes an in-position optical coupler 410, which is arranged at a position of the bracket 14 near the end of the screw rod 110. The specific position can be set by a person skilled in the art according to actual needs. For example, it can be set at a position when the reagent kit 50 is about to contact or just contacts the reagent compartment turntable (not shown in the figure), or it can be set at a position when the reagent kit 50 is inserted into the reagent compartment turntable. At this time, the second detection signal and the first detection signal can be combined to judge the placement of the reagent kit 50: when the in-position optical coupler 410 does not send out the second detection signal and the micro-motion detection component 30 sends out the first detection signal, it is determined that the reagent kit 50 collides before reaching the predetermined insertion position; when the in-position optical coupler 410 sends out the second detection signal and the micro-motion detection component 30 sends out the first detection signal, it is determined that the reagent kit 50 is fully inserted into the predetermined position; when the in-position optical coupler 410 sends out the second detection signal and the micro-motion detection component 30 does not send out the first detection signal, it is determined that the clamping component 20 does not clamp the reagent kit 50.

[0033] Furthermore, according to the placement and taking of the reagent kit 50, the lifting assembly 10 and the clamping assembly 20 perform different actions: when an unexpected collision occurs, the control assembly keeps the lifting assembly 10 and the clamping assembly 20 in a stopped state; when the insertion of the reagent kit 50 is completed, the control assembly further controls the clamping assembly 20 to release the reagent kit 50 and lift the lifting assembly 10; when the reagent kit 50 is not clamped, the control assembly controls the lifting assembly 10 and the clamping assembly 20 to put the reagent kit 50 back to its original place and re-grasp it, and re-execute the insertion operation.

[0034] In some embodiments, the optical coupler 41 includes a zero-position optical coupler 411, which is disposed at the top of the bracket 14. When the zero-position optical coupler 411 sends a second detection signal, it is determined that the gripper 22 has reached the initial position, and the control component stops the movement of the lifting component 10 and the clamping component 20.

[0035] In some embodiments, the optical coupler 41 includes a mid-position optical coupler 412, which is arranged at a position of the bracket 14 near the middle of the screw rod 110. When the mid-position optical coupler 412 does not send out a second detection signal and the micro-motion detection component 30 sends out a first detection signal, it is determined that the nut seat 13 collides with the reagent box 50 before reaching the middle of the bracket 14, and the control component keeps the lifting component 10 and the clamping component 20 in a stopped state; when the mid-position optical coupler 412 sends out a second detection signal and the micro-motion detection component 30 sends out a first detection signal, it is determined that the nut seat 13 collides with the reagent box 50 after reaching the middle of the bracket 14, and the control component keeps the lifting component 10 and the clamping component 20 in a stopped state.

[0036] In some embodiments, the predetermined distance can be adaptively adjusted according to the actual application scenario, and can be specifically adjusted according to whether the fastener 132 and the elastic member 133 are provided on the screw nut 12, and whether the sensor assembly 40 is provided. For example, when there are no fasteners 132, elastic members 133 and sensor assembly 40, it is considered that the two will be separated by a certain distance when the reagent box 50 is inserted, such as 3mm for example, and it is required not to send the first detection signal when the reagent box 50 is inserted, so the predetermined distance should be slightly larger than the distance at this time, and the predetermined distance can be set to: 3mm < predetermined distance ≤ 4mm. For example, when there are fasteners 132 and elastic members 133, but no sensor assembly 40, it is required not to send the first detection signal when the reagent box 50 is inserted, and the distance between the two is smaller when the reagent box 50 is inserted, such as 2mm for example, and the predetermined distance can be set to: 2mm < predetermined distance ≤ 3mm. For example, when there are no fasteners 132 and elastic members 133, but there is a sensor assembly 40, a first detection signal is also sent when the reagent box 50 is inserted, and the predetermined distance can be set to 2.5 mm-3.5 mm, preferably 3 mm. For example, when there are fasteners 132, elastic members 133 and sensor assembly 40, a first detection signal is also sent when the reagent box 50 is inserted, and the predetermined distance can be set to 1.5 mm-2.5 mm, preferably 2 mm.

[0037] Furthermore, if Figure 2 As shown, in some embodiments, the connecting frame 21 is provided with an adjustment window 210 at the location where the micro-motion detection component 30 is disposed, so as to facilitate adjustment of a predetermined distance of the micro-motion detection component 30 .

[0038] Figure 5 Schematic diagram of the structure of the gripper according to the embodiment of the present application. Figure 5 As shown, the gripper 22 includes two oppositely arranged clamping jaws 220, a connecting rod 221 is provided on the end of the clamping jaw 220, a tension spring 222 is hung on the clamping jaw 220, and the two ends of the tension spring 222 are respectively hung on the connecting rod 221 to form tension so that the gripper 22 remains in a clamped state when the power is off.

[0039] The present application also proposes a reagent mixing device, comprising a bottle seat, and also comprising the anti-collision clamping device as described above, which is used to clamp the reagent kit and insert it into the bottle seat.

[0040] The present application also proposes a chemiluminescent immunoassay analyzer, including a liquid adding needle and a reagent mixing device as described above, the reagent mixing device is used to mix the reagent in the reagent bottle, so that the liquid adding needle draws the mixed reagent to a predetermined position. The chemiluminescent immunoassay analyzer proposed in the embodiment of the present application includes the aforementioned reagent mixing device, which can mix the reagents used in the analyzer, and can use the reagent needle to draw the mixed reagent into the reaction tube.

[0041] In summary, the anti-collision clamping device provided in the embodiment of the present application, through the design of the screw motor, screw nut and nut seat, can provide the clamping component with stable and reliable power for its movement in the vertical direction. At the same time, based on the characteristics of the micro-motion detection component that can detect subtle structural changes between mechanical structures, combined with the characteristics that the screw nut and the nut seat will separate when the gripper encounters an obstacle, the accidental collision detection and feedback of the clamping device can be realized, thereby effectively preventing accidental collision of the gripper.

[0042] The above embodiments are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the scope of the present invention. Therefore, all equivalent technical solutions should also fall within the scope of the present invention.

Claims

1. An anti-collision clamping device, comprising a lifting component, a clamping component and a control component, wherein the lifting component drives the clamping component to move along with it in a vertical direction, characterized in that: The lifting assembly includes a screw motor, a screw nut is sleeved on the screw of the screw motor, and the screw nut is stepped, including a flange at the bottom end and a cylindrical tube protruding from the flange; a nut seat is sleeved on the screw nut, and the bottom surface of the nut seat abuts against the end surface of the flange; the clamping assembly includes a connecting frame and a gripper, one end of the connecting frame is fixedly connected to the side surface of the nut seat, and the other end is fixedly connected to the gripper, and the gripper is used to clamp the reagent kit; a micro-motion detection assembly is arranged in the connecting frame, and the first end of the micro-motion detection assembly extends outward from the connecting frame and contacts the bottom surface of the flange; When the gripper encounters an obstacle when moving downward, the nut seat is forced to stop moving, and the screw nut continues to move and drives the first end. When the distance between the flange end face and the bottom surface of the nut seat exceeds a predetermined distance, the micro-motion detection component is triggered to send a first detection signal, and the control component stops the downward movement of the lifting component and the clamping component according to the first detection signal.

2. The anti-collision clamping device according to claim 1, characterized in that: The micro-motion detection component also extends a second end outward from the connecting frame, and the second end is located between the bottom surface of the nut seat and the end surface of the flange, and is used to detect the tight state between the nut seat and the flange.

3. The anti-collision clamping device according to claim 1, characterized in that: It also includes a sensor component, which includes an optical coupler and a baffle. The lifting component includes a vertically placed bracket, the optical coupler is arranged on the bracket, and the baffle is arranged on the side of the nut seat close to the optical coupler. When the baffle follows the nut seat to reach the optical coupler position, it triggers the optical coupler to send a second detection signal. The control component controls the movement of the lifting component and the clamping component in combination with the first detection signal and the second detection signal.

4. The anti-collision clamping device according to claim 3, characterized in that: A first hole is provided at the edge of the flange, and a second hole is correspondingly provided on the bottom surface of the nut seat. One or more fasteners are passed through the first hole and extend outwardly from a fastening portion on the flange. The portion other than the fastening portion is a movable portion, and the fastening portion is fixedly connected to the nut seat through the second hole. A spring is sleeved on the movable portion and is located between the bottom end of the fastener and the bottom surface of the flange, and is used to tighten the screw nut and the nut seat.

5. The anti-collision clamping device according to claim 3, characterized in that: The optical coupler is an in-position optical coupler, which is arranged at a position of the bracket close to the end of the screw rod. When the in-position optical coupler does not send out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the reagent kit collides before reaching the predetermined insertion position, and the control component keeps the lifting component and the clamping component in a stopped state; when the in-position optical coupler sends out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the reagent kit is fully inserted into the predetermined position, and the control component further controls the clamping component to release the reagent kit and lift the lifting component; When the in-place optical coupler sends out a second detection signal and the micro-motion detection component does not send out a first detection signal, it is determined that the clamping component has not clamped the reagent kit, and the control component controls the lifting component and the clamping component to put the reagent kit back to its original position, re-grasp it, and re-execute the insertion operation.

6. The anti-collision clamping device according to claim 3, characterized in that: The optical coupler is a zero-position optical coupler, which is arranged at the top of the bracket. When the zero-position optical coupler sends out a second detection signal, it is determined that the gripper has reached the initial position, and the control component stops the movement of the lifting component and the clamping component.

7. The anti-collision clamping device according to claim 3, characterized in that: The optical coupler is a mid-position optical coupler, which is arranged at a position of the bracket close to the middle of the screw rod. When the mid-position optical coupler does not send out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the nut seat has collided with the reagent box before reaching the middle of the bracket, and the control component keeps the lifting and clamping components in a stopped state; when the mid-position optical coupler sends out a second detection signal and the micro-motion detection component sends out a first detection signal, it is determined that the nut seat has collided with the reagent box after reaching the middle of the bracket, and the control component keeps the lifting and clamping components in a stopped state.

8. The anti-collision clamping device according to claim 1, characterized in that: The gripper comprises two clamping jaws arranged opposite to each other, a connecting rod is arranged on the end of the clamping jaw, a tension spring is hung on the clamping jaw, and the two ends of the tension spring are respectively hung on the connecting rod to form tension so that the gripper remains in a clamped state when the power is off.

9. A reagent mixing device, comprising a bottle holder, characterized in that: It also includes an anti-collision clamping device as described in any one of claims 1 to 8, which is used to clamp the reagent box and insert it into the bottle holder.

10. A chemiluminescent immunoassay analyzer, comprising a liquid addition needle, characterized in that: It also includes the reagent mixing device as described in claim 9, wherein the reagent mixing device is used to mix the reagents in the reagent kit so that the liquid adding needle draws the mixed reagent to a predetermined position.

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