Parallel opening and closing sample clamping detection device and taking and placing device

Abstract

The utility model discloses a parallel opening and closing sample clamping and detecting device and a picking and placing device, comprising a pair of gripper clamping jaws which are used for clamping or placing a sample tube and are provided with wedge-shaped inclined planes; the gripper guide shaft is connected to the two gripper clamping jaws; the driving device is used for being connected with the moving device, and the moving device is used for driving the driving device to move to a preset position for grabbing the sample tube; the telescopic clamping mechanism is connected to the output end of the driving device, the output end of the driving device is used for driving the telescopic clamping mechanism to move in the direction facing the gripper clamping jaw or the direction facing the driving device, and a rolling pressing wheel of the telescopic clamping mechanism is attached to the wedge-shaped inclined face of the gripper clamping jaw; the groove type sensor is used for detecting whether the gripper clamping jaw successfully clamps the sample tube or not; and a control system. According to the sample clamping detection device capable of being opened and closed in parallel and the taking and placing device, the adaptability and compatibility of the device are high, and the detection result is more reliable.

Description

Technical Field

[0001] The utility model relates to the technical field of in vitro diagnostic instruments, and more specifically, to a parallel opening and closing sample clamping detection device. In addition, the utility model also relates to a taking and placing device comprising the parallel opening and closing sample clamping detection device. Background Art

[0002] With the rapid development of in vitro diagnostic technology, more and more types of in vitro diagnostic instruments have been developed and put into use, reducing the workload of hospital testing personnel.

[0003] Common containers used in hospitals to hold samples to be tested are cup-shaped or bottle-shaped; after the tester places it on the instrument's sample feeder, the sample device needs to be transported between the various testing processes inside the instrument, such as scanning, rotation, and mixing, with a special clamping mechanism. To ensure that the sample tube can be reliably moved back and forth between the various processes inside the instrument, and does not fall during operation or cannot be grabbed or placed at the workstation, the sample tube placement device in the instrument must have more stable and reliable performance. At the same time, due to limited space, the size of the grabbing device needs to be as small as possible.

[0004] The existing technology has a complex structure and occupies a large space. Such a structure has the defect of too large movable gap during use, and has high requirements on the state when clamping the sample tube. Similarly, it has high requirements on the size of the sample tube, which is generally limited to a limited size. Relatively simple grasping structures do not have a detection function. Some may have a detection function, but they are easy to be accidentally touched, so the detection reliability cannot be effectively guaranteed.

[0005] In summary, how to improve the adaptability and compatibility of the clamping device and improve the reliability of the detection results is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, an object of the present invention is to provide a parallel opening and closing sample clamping detection device, which has higher adaptability and compatibility and more reliable detection results.

[0007] Another object of the utility model is to provide a placing and taking device including the above-mentioned parallel opening and closing sample clamping and testing device.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] A parallel opening and closing sample clamping detection device, comprising:

[0010] A pair of gripper jaws are provided and used to grip or place the sample tube, and the gripper jaws are provided with a wedge-shaped inclined surface;

[0011] A gripper guide shaft connected to the two gripper jaws, and the gripper jaws can reciprocate along the gripper guide shaft;

[0012] A driving device, used to be connected to the moving device, the moving device is used to drive the driving device to move to a preset position for grabbing the sample tube, and the driving device is connected to the gripper guide shaft through a gripper side plate;

[0013] A telescopic clamping mechanism connected to the output end of the driving device, the output end of the driving device is used to drive the telescopic clamping mechanism to move in the direction toward the gripper clamping jaw or in the direction toward the driving device, and the rolling pressure wheel of the telescopic clamping mechanism is arranged to fit the wedge-shaped inclined surface of the gripper clamping jaw;

[0014] A slot sensor, provided between the telescopic clamping mechanism and the gripper jaw and used to detect whether the gripper jaw has successfully gripped the sample tube;

[0015] A control system is connected to the driving device and the slot sensor, and the control system is used to control the start or stop of the driving device and to receive the detection result of the slot sensor.

[0016] Preferably, the telescopic clamping mechanism also includes a telescopic guide shaft, a first elastic member, a fixed block, a clamping member and a fixed shaft, the telescopic guide shaft is connected to the output end of the driving device, the first end of the telescopic guide shaft is a large head end, the fixed block is a U-shaped member, and a through hole is provided in the middle thereof, the second end of the telescopic guide shaft passes through the through hole and is clamped with the fixed block through the clamping member, the first elastic member is provided between the large head end of the telescopic guide shaft and the fixed block, and both ends of the fixed block are fixed to the rolling pressure wheel which can rotate on a fixed axis through the fixed shaft.

[0017] Preferably, the slot-type sensor includes a sample tube sensing sheet, a sample tube sensing sheet guide block, a sample tube sensing sheet compression elastic member and a sample tube presence detection sensor; the sample tube sensing sheet is arranged on the sample tube sensing sheet guide block, the sample tube sensing sheet guide block is fixed to the gripper side plate, the sample tube sensing sheet compression elastic member is arranged on the telescopic guide shaft, and the sample tube presence detection sensor is arranged on the side of the gripper side plate away from the sample tube sensing sheet guide block.

[0018] Preferably, a gripper motor origin induction plate is also provided on the telescopic guide shaft, and the gripper motor origin induction plate is connected to the sample tube induction plate compression elastic part. A gripper motor origin sensor is also provided on the gripper side plate, and the gripper motor origin sensor is arranged in contact with the sample tube presence detection sensor.

[0019] Preferably, four gripper guide shafts are provided, four through holes are provided on the gripper clamping jaw, and the four through holes are arranged along a rectangle. A bearing is provided between the gripper guide shaft and the gripper clamping jaw, and the bearing can slide along the gripper guide shaft.

[0020] Preferably, a second elastic member is provided between the two gripper jaws, and two ends of the second elastic member are respectively connected to the two gripper jaws.

[0021] Preferably, a plurality of buffer components are provided on the end surfaces of the two gripper clamps that are arranged opposite to each other.

[0022] Preferably, the driving device includes a gripper motor and a gripper motor fixing plate, the gripper side plate includes a first gripper side plate and a second gripper side plate, and the first gripper side plate and the second gripper side plate are connected to the gripper motor fixing plate.

[0023] Preferably, friction guide blocks are provided on both the first gripper side plate and the second gripper side plate.

[0024] A pick-and-place device comprises a parallel opening and closing sample clamping detection device, wherein the parallel opening and closing sample clamping detection device is any of the above-mentioned parallel opening and closing sample clamping detection devices.

[0025] The utility model provides a parallel opening and closing sample clamping detection device, wherein the two gripper clamps are connected by a gripper guide shaft, the gripper clamps can move along the gripper guide shaft, each gripper clamp is provided with a wedge-shaped inclined surface, the driving device is connected to the gripper guide shaft through a gripper side plate, the output end of the driving device is connected to the telescopic clamping mechanism and can drive the telescopic clamping mechanism to move in the direction of the gripper clamp or in the direction of the driving device, the telescopic holding mechanism includes a rolling pressure wheel, the rolling pressure wheel is closely fitted to the wedge-shaped inclined surface on the gripper clamp, and when the driving device pushes the telescopic clamping mechanism to move in the direction of the gripper clamp, the rolling pressure wheel can move along the wedge-shaped cross section and The claws are squeezed to reduce the distance between the two gripper claws, thereby completing the clamping of the sample tube; when the driving device pulls the telescopic clamping mechanism to move toward the driving device, the rolling pressure wheel returns along the wedge-shaped section, and the gripper claws no longer exert a clamping force on the sample tube. The sample tube falls freely under the action of gravity to complete the placement of the sample tube. The parallel opening and closing structure can be applied to sample tubes of more sizes and models, improving the adaptability and compatibility of the device. The slot sensor can more accurately detect whether the gripper claws have successfully clamped the sample tube, and can prevent the occurrence of false touch to a greater extent, and the signal transmission is more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0027] Figure 1 It is a structural schematic diagram of the parallel opening and closing sample clamping detection device provided by the utility model;

[0028] Figure 2 An exploded view of the parallel opening and closing sample clamping detection device provided by the utility model;

[0029] Figure 3 A partial cross-sectional view of the parallel opening and closing sample clamping detection device provided by the utility model;

[0030] Figure 4 A schematic diagram of the internal structure of the parallel opening and closing sample clamping detection device provided by the utility model;

[0031] Figure 5 A schematic diagram of the structure of the telescopic clamping mechanism provided by the utility model;

[0032] Figure 6 This is a schematic structural diagram of the gripper clamp provided by the utility model.

[0033] Figures 1 to 6 , the reference numerals include:

[0034] 1 is the gripper claw, 2 is the gripper guide shaft;

[0035] 3 is a telescopic clamping mechanism, 3-1 is a rolling pressure wheel, 3-2 is a telescopic guide shaft, 3-3 is a first elastic member, 3-4 is a fixed block, 3-5 is a clamping member, and 3-6 is a fixed shaft;

[0036] 4 is a gripper side plate, 5 is a slot sensor, 5-1 is a sample tube sensor, 5-2 is a sample tube sensor guide block, 5-3 is a sample tube sensor compression elastic member, and 5-4 is a sample tube presence detection sensor;

[0037] 6 is the gripper motor sensor, 6-1 is the gripper motor origin induction sheet, and 6-2 is the gripper motor origin sensor;

[0038] 7 is a second elastic member, 8 is a gripper motor, 9 is a gripper motor fixing plate, 10 is a friction guide block, and 11 is a buffer assembly. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0040] The core of the utility model is to provide a parallel opening and closing sample clamping detection device, which has high adaptability and compatibility and more reliable detection results.

[0041] Another core of the utility model is to provide a taking and placing device including the above-mentioned parallel opening and closing sample clamping and detecting device.

[0042] It should be noted that the directions or positional relationships indicated by “upper”, “lower”, “front”, “back”, etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present application.

[0043] The present application provides a parallel opening and closing sample clamping detection device, comprising: a gripper jaw 1, a gripper guide shaft 2, a driving device, a telescopic clamping mechanism 3, a slot sensor 5 and a control system;

[0044] Wherein, the gripper jaws 1 are provided with a pair and are used to grip or place the sample tube, and the gripper jaws 1 are provided with a wedge-shaped inclined surface;

[0045] The gripper guide shaft 2 is connected to the two gripper jaws 1, and the gripper jaws 1 can reciprocate along the gripper guide shaft 2;

[0046] The driving device is used to connect with the moving device, and the moving device is used to drive the driving device to move to a preset position for grabbing the sample tube. The driving device is connected to the gripper guide shaft 2 through the gripper side plate 4;

[0047] The telescopic clamping mechanism 3 is connected to the output end of the driving device, and the output end of the driving device is used to drive the telescopic clamping mechanism 3 to move in the direction toward the gripper clamping jaw 1 or in the direction toward the driving device, and the rolling pressure wheel 3-1 of the telescopic clamping mechanism 3 is arranged to fit the wedge-shaped inclined surface of the gripper clamping jaw 1;

[0048] The slot sensor 5 is provided between the telescopic clamping mechanism 3 and the gripper jaw 1 and is used to detect whether the gripper jaw 1 has successfully gripped the sample tube;

[0049] The control system is connected to the driving device and the slot sensor 5 , and the control system is used to control the start or stop of the driving device and to receive the detection result of the slot sensor 5 .

[0050] For details, please refer to the attached Figure 1 , Attachment Figure 2 , Attachment Figure 4 With attached Figure 6 The gripper jaws 1 are provided with a pair and are arranged opposite to each other. The two gripper jaws 1 are connected by a gripper guide shaft 2, and the gripper guide shaft 2 passes through the gripper jaws 1. The two gripper jaws 1 can reciprocate along the gripper guide shaft 2. The driving device is connected to the gripper guide shaft 2 through the gripper side plate 4. The output end of the driving device is arranged toward the gripper jaw 1, and the output end of the driving device is connected to the telescopic clamping mechanism 3. When the driving device is started, it can push the telescopic clamping mechanism 3 to move toward the gripper jaw 1, and can also pull the telescopic clamping mechanism 3 back to the direction of the driving device. This process is realized by a control system. The telescopic clamping mechanism 3 includes a rolling pressure wheel 3-1, and the rolling pressure wheel 3-1 is attached to the wedge-shaped inclined surface of the upper end of the gripper jaw 1. When the driving device pushes the telescopic clamping mechanism 3 to move toward the gripper jaw 1, the rolling pressure wheel 3-1 pushes the gripper jaw 1. The gripper jaw 1 applies a force so that the gripper jaw 1 can move along the gripper guide shaft 2 toward another gripper jaw 1, thereby completing the gripping action of the sample tube. On the contrary, after the rolling pressure wheel 3-1 is separated from the wedge-shaped inclined plane, the gripper jaw 1 no longer applies a force to the sample tube, and the sample tube falls freely under the action of gravity, thereby realizing the placement action of the sample tube. It should be noted that a groove sensor 5 is provided on the telescopic clamping mechanism 3 and the gripper jaw 1. The use of the groove sensor 5 can more accurately detect whether the gripper jaw 1 has successfully gripped the sample tube, and can prevent the occurrence of false touch to a greater extent, and the signal transmission is more stable and reliable. In addition, the gripper jaw 1 moves parallel to the gripper guide shaft 2, and the parallel opening and closing structure can be applicable to sample tubes of more sizes and models, thereby improving the adaptability and compatibility of the device.

[0051] On the basis of the above embodiment, the telescopic clamping mechanism 3 also includes a telescopic guide shaft 3-2, a first elastic member 3-3, a fixed block 3-4, a clamping member 3-5 and a fixed shaft 3-6. The telescopic guide shaft 3-2 is connected to the output end of the driving device. The first end of the telescopic guide shaft 3-2 is a large head end. The fixed block 3-4 is a U-shaped member and a through hole is provided in the middle thereof. The second end of the telescopic guide shaft 3-2 passes through the through hole and is clamped with the fixed block 3-4 through the clamping member 3-5. A first elastic member 3-3 is provided between the large head end of the telescopic guide shaft 3-2 and the fixed block 3-4. Both ends of the fixed block 3-4 are fixed to the rolling pressure wheel 3-1 which can rotate on a fixed axis through the fixed shaft 3-6.

[0052] For details, please refer to the attached Figure 4 With attached Figure 5The cross section of the telescopic guide shaft 3-2 is a T-shaped component, and the end with a smaller diameter passes through the fixed block 3-4 and is clamped by the clamping member 3-5. A first elastic member 3-3 is provided between the telescopic guide shaft 3-2 and the upper end surface of the fixed block 3-4. The first elastic member 3-3 can push the fixed block 3-4 to move when the telescopic guide shaft 3-2 moves toward the fixed block 3-4 and play a certain buffering role. The fixed block 3-4 is a U-shaped component, and both ends of it are connected to a rolling pressure wheel 3-1 through a fixed shaft 3-6. When the fixed block 3-4 moves toward the gripper clamp 1, the two rolling pressure wheels 3-1 slide along the wedge-shaped section of the gripper clamp 1 and apply stress to the gripper clamp 1, so that the gripper clamp 1 can move toward the middle along the gripper guide shaft 2, thereby completing the clamping of the sample tube. When the telescopic guide shaft 3-2 moves toward the driving device, the stress applied by the first elastic member 3-3 to the fixed block 3-4 gradually decreases, and the clamping stress of the gripper clamp 1 on the sample tube gradually decreases, rather than decreasing in a fault-like manner, which can prevent the sample tube from falling directly.

[0053] Optionally, the clamping parts 3-5 can be pins or pins.

[0054] On the basis of the above-mentioned embodiment, the slot-type sensor 5 includes a sample tube sensing sheet 5-1, a sample tube sensing sheet guide block 5-2, a sample tube sensing sheet compression elastic member 5-3 and a sample tube presence detection sensor 5-4. The sample tube sensing sheet 5-1 is arranged on the sample tube sensing sheet guide block 5-2, the sample tube sensing sheet guide block 5-2 is fixed to the gripper side plate 4, the sample tube sensing sheet compression elastic member 5-3 is arranged on the telescopic guide shaft 3-2, and the sample tube presence detection sensor 5-4 is arranged on the gripper side plate 4 on the side away from the sample tube sensing sheet guide block 5-2.

[0055] For details, please refer to the attached Figure 1 With attached Figure 2 The working principle of the slot sensor 5 is that only when the sample tube sensing piece 5-1 moves to the middle of the sample tube presence detection sensor 5-4 and blocks the emission of the opposite light source can the signal be transmitted. The sample tube sensing piece 5-1 blocks the emission of the sensor light source by entering and exiting the slot. The sample tube presence detection sensor 5-4 is fixedly set. The sample tube sensing piece 5-1 moves with the moving parts, and the signal transmission is more reliable, reducing the risk of accidental touch. The movement of the sample tube sensing piece 5-1 is realized by the sample tube itself. When grabbing the sample tube, the sample tube pushes the sample tube sensing piece 5-1 into the sensor in the gripper in coordination with the movement in the XY directions, blocking the emission of the light source and realizing the transmission of the signal; when releasing the sample tube, the sample tube sensing piece 5-1 is no longer blocked by the sample tube, and at the same time, it moves downward under the compression force of the sample tube sensing piece compression elastic member 5-3 above to exit the sensor sensing slot; therefore, it is more direct and reliable to detect the presence of the sample tube in the gripper.

[0056] On the basis of the above embodiment, a gripper motor origin sensing piece 6-1 is also provided on the telescopic guide shaft 3-2, and the gripper motor origin sensing piece 6-1 is connected to the sample tube sensing piece compression elastic member 5-3. A gripper motor origin sensor 6-2 is also provided on the gripper side plate 4, and the gripper motor origin sensor 6-2 is arranged in contact with the sample tube presence detection sensor 5-4.

[0057] Specifically, the gripper jaw 1 is also provided with a gripper motor sensor 6, which is also a slot-type sensor for detecting the position of the gripper jaw 1. The working principle is the same as that described above and will not be repeated here.

[0058] In some embodiments, there are four gripper guide shafts 2, and four through holes are provided on the gripper jaw 1. The four through holes are arranged along a rectangle. A bearing is provided between the gripper guide shaft 2 and the gripper jaw 1, and the bearing can slide along the gripper guide shaft 2.

[0059] For details, please refer to the attached Figure 3 With attached Figure 4 Four through holes are arranged on the upper end of the gripper jaw 1. The number of gripper guide shafts 2 is the same as the number of through holes and is arranged through the through holes. Preferably, there are four of them to maintain structural stability. A bearing is arranged between the gripper guide shaft 2 and the gripper jaw 1. The bearing is preferably a wear-resistant plastic bearing, which is used in conjunction with the through hole on the gripper jaw 1 and the gripper guide shaft 2 to avoid direct contact between the gripper guide shaft 2 and the gripper through hole, and to prevent wear and chipping caused by multiple relative sliding contacts between metals, which may affect the smooth opening and closing of the gripper jaw 1.

[0060] In some embodiments, a second elastic member 7 is disposed between the two gripper jaws 1 , and two ends of the second elastic member 7 are respectively connected to the two gripper jaws 1 .

[0061] For details, please refer to the attached Figure 3 The second elastic member 7 is used to keep the two gripper jaws 1 separated, that is, the sample tube is placed. When the telescopic clamping mechanism 3 moves toward the gripper jaw 1 so that the gripper jaw 1 clamps the sample tube, the second elastic member 7 can also play a buffering role.

[0062] Optionally, both the first elastic member 3 - 3 and the second elastic member 7 may be springs, which have a high cost-performance ratio.

[0063] On the basis of the above-mentioned embodiment, a plurality of buffer components 11 are arranged on the end surfaces of the two gripper jaws 1 which are arranged opposite to each other.

[0064] Specifically, the buffer assembly 11 is assembled on the gripper jaw 1 and is arranged to protrude from the mating surface of the gripper jaw 1, so as to provide elastic buffer when grabbing the sample tube and prevent the sample tube from being damaged when being clamped.

[0065] Optionally, the buffer component 11 may be a rubber buffer pad.

[0066] Based on the above embodiment, the driving device includes a gripper motor 8 and a gripper motor fixing plate 9, the gripper side plate 4 includes a first gripper side plate and a second gripper side plate, the first gripper side plate and the second gripper side plate are connected to the gripper motor fixing plate 9, and the first gripper side plate and the second gripper side plate are both provided with a plurality of through holes for realizing the passage of the gripper guide shaft 2.

[0067] Specifically, the first gripper side plate and the second gripper side plate are respectively arranged on both sides of the gripper motor 8 and fixed to the gripper motor 8 by bolt connection, and a gripper motor fixing plate 9 is clamped between the first gripper side plate and the second gripper side plate.

[0068] On the basis of the above embodiment, friction guide blocks 10 are provided on both the first gripper side plate and the second gripper side plate.

[0069] Specifically, the friction guide block 10 is made of wear-resistant material. When the telescopic clamping mechanism 3 moves up and down, the fixed block 3-4 will move downward along the friction guide block 10, limiting its swing during the descent, allowing the gripper to complete the opening and closing action more smoothly. Because this process is surface-to-surface contact, it is sliding friction. Compared with rolling friction, the friction force is increased, and the friction guide block 10 needs to be made of relatively wear-resistant material.

[0070] In addition to the above-mentioned parallel opening and closing sample clamping detection device, the present invention also provides a pick-up and placement device including the parallel opening and closing sample clamping detection device disclosed in the above-mentioned embodiment. For the structures of other parts of the pick-up and placement device, please refer to the prior art and will not be described in detail herein.

[0071] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0072] The above is a detailed introduction to a parallel opening and closing sample clamping detection device and a pick-and-place device provided by the utility model. This article uses specific examples to illustrate the principle and implementation method of the utility model. The description of the above embodiment is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A parallel opening and closing sample clamping detection device, characterized in that: include: A pair of gripper jaws (1) are provided and used for gripping or placing a sample tube, wherein the gripper jaws (1) are provided with a wedge-shaped inclined surface; A gripper guide shaft (2) connected to the two gripper clamping jaws (1), wherein the gripper clamping jaws (1) can perform reciprocating motion along the gripper guide shaft (2); A driving device, used to be connected to the moving device, the moving device is used to drive the driving device to move to a preset position for grabbing the sample tube, the driving device is connected to the gripper guide shaft (2) through a gripper side plate (4); A telescopic clamping mechanism (3) is connected to the output end of the driving device, and the output end of the driving device is used to drive the telescopic clamping mechanism (3) to move in a direction toward the gripper clamping jaw (1) or in a direction toward the driving device, and the rolling pressure wheel (3-1) of the telescopic clamping mechanism (3) is arranged to fit the wedge-shaped inclined surface of the gripper clamping jaw (1); A slot sensor (5) is provided on the telescopic clamping mechanism (3) and the gripper jaw (1) and is used to detect whether the gripper jaw (1) has successfully gripped the sample tube; A control system is connected to the driving device and the slot sensor (5), the control system being used to control the start or stop of the driving device and to receive the detection result of the slot sensor (5).

2. The parallel opening and closing sample clamping detection device according to claim 1, characterized in that: The telescopic clamping mechanism (3) also includes a telescopic guide shaft (3-2), a first elastic member (3-3), a fixed block (3-4), a clamping member (3-5) and a fixed shaft (3-6); the telescopic guide shaft (3-2) is connected to the output end of the driving device; the first end of the telescopic guide shaft (3-2) is a large end; the fixed block (3-4) is a U-shaped member and a through hole is provided in the middle thereof; the second end of the telescopic guide shaft (3-2) passes through the through hole and is clamped with the fixed block (3-4) through the clamping member (3-5); the first elastic member (3-3) is provided between the large end of the telescopic guide shaft (3-2) and the fixed block (3-4); and both ends of the fixed block (3-4) are fixed to the rolling pressure wheel (3-1) which can rotate on a fixed axis through the fixed shaft (3-6).

3. The parallel opening and closing sample clamping detection device according to claim 2, characterized in that: The slot-type sensor (5) comprises a sample tube sensing sheet (5-1), a sample tube sensing sheet guide block (5-2), a sample tube sensing sheet compression elastic member (5-3) and a sample tube presence detection sensor (5-4); the sample tube sensing sheet (5-1) is arranged on the sample tube sensing sheet guide block (5-2); the sample tube sensing sheet guide block (5-2) is fixed to the gripper side plate (4); the sample tube sensing sheet compression elastic member (5-3) is arranged on the telescopic guide shaft (3-2); and the sample tube presence detection sensor (5-4) is arranged on a side of the gripper side plate (4) away from the sample tube sensing sheet guide block (5-2).

4. The parallel opening and closing sample clamping detection device according to claim 3, characterized in that: The telescopic guide shaft (3-2) is also provided with a gripper motor origin induction sheet (6-1), and the gripper motor origin induction sheet (6-1) is connected to the sample tube induction sheet compression elastic member (5-3). The gripper motor origin sensor (6-2) is also provided on the gripper side plate (4), and the gripper motor origin sensor (6-2) is arranged in contact with the sample tube presence detection sensor (5-4).

5. The parallel opening and closing sample clamping detection device according to claim 1, characterized in that: The gripper guide shafts (2) are provided with four, the gripper clamping jaw (1) is provided with four through holes, the four through holes are arranged along a rectangle, a bearing is provided between the gripper guide shaft (2) and the gripper clamping jaw (1), and the bearing can slide along the gripper guide shaft (2).

6. The parallel opening and closing sample clamping detection device according to claim 1, characterized in that: A second elastic member (7) is provided between the two gripping jaws (1), and two ends of the second elastic member (7) are respectively connected to the two gripping jaws (1).

7. The parallel opening and closing sample clamping detection device according to claim 6, characterized in that: A plurality of buffer components (11) are arranged on the end surfaces of the two gripper clamping jaws (1) which are arranged opposite to each other.

8. The parallel opening and closing sample clamping detection device according to any one of claims 1 to 7, characterized in that: The driving device comprises a gripper motor (8) and a gripper motor fixing plate (9), and the gripper side plate (4) comprises a first gripper side plate and a second gripper side plate, wherein the first gripper side plate and the second gripper side plate are connected to the gripper motor fixing plate (9).

9. The parallel opening and closing sample clamping detection device according to claim 8, characterized in that: The first gripper side plate and the second gripper side plate are both provided with friction guide blocks (10).

10. A pick-and-place device, comprising a parallel opening and closing sample clamping and detection device, characterized in that: The parallel opening and closing sample clamping detection device is the parallel opening and closing sample clamping detection device as claimed in any one of claims 1 to 9.

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