Self-adaptive sample tube rotating gripper device and sample processing system

Abstract

The utility model discloses a self-adaptive sample tube rotating gripper device and a sample processing system, and relates to the technical field of sample detection.The self-adaptive sample tube rotating gripper device comprises a rotating clamping assembly, a rotating motor, a transmission case and a rotating disc assembly arranged at the bottom of the transmission case, the rotating motor is connected with the transmission case, and the rotating disc assembly is connected with the rotating clamping assembly; the transmission case drives the turntable assembly to rotate; the self-adaptive gripper comprises a clamping sliding rail, gripper bases, extension springs, spring supports and grippers, the gripper bases are arranged on the clamping sliding rail and horizontally move along the clamping sliding rail, the clamping sliding rail is arranged at the bottom of the rotating disc assembly, and the clamping motor is connected with the rotating disc assembly so that the two gripper bases can be driven to be close to or away from each other through the rotating disc assembly. The bottom of each gripper base is elastically connected with a gripper, spring supports are arranged on the grippers, and the extension spring is arranged between the two spring supports. According to the device, the sample tube can be placed in place, and the sample tube is not easy to fall off when being powered off.

Description

Technical Field

[0001] The utility model relates to the field of sample detection technology, and more specifically, to an adaptive sample tube rotating gripper device and a sample processing system including the adaptive sample tube rotating gripper device. Background Art

[0002] In the prior art, a common sample tube opening device includes a lifting mechanism, a clamping mechanism, and a rotating mechanism, wherein the clamping mechanism and the rotating mechanism are arranged on the lifting mechanism, and the clamping mechanism includes a first rotary drive device, a torque holding device, a first transmission device, and at least two clamping jaws. The first rotary drive device is connected to each clamping jaw through the torque holding device and the first transmission device in sequence. The first transmission device is used to convert the rotary motion of the first rotary drive device into a radial gathering or dispersion of each clamping jaw. The rotating mechanism is used to drive each clamping jaw to rotate as a whole along the central axis of each clamping jaw. The above-mentioned sample tube opening device can clamp the caps of sample tubes of different diameters with the same clamping force, achieving compatibility with sample tubes of various specifications and facilitating use. After the cap of the sample tube is clamped and fixed, the rotating mechanism drives the clamping mechanism to rotate, and at the same time, the lifting mechanism drives the rotating mechanism and the clamping mechanism to rise, so that the cap and the tube body are separated, completing the opening. However, during the process of taking and placing the sample tube, there are problems with the sample tube tilting and position deviation, resulting in the problem that the sample tube cannot be placed in the sample tray. Furthermore, after the motors of the lifting mechanism, the clamping mechanism, and the rotating mechanism are powered off, there may be a risk that the sample tube may fall due to weak holding force.

[0003] In summary, how to provide a device that can place the sample tube in place and prevent the sample tube from falling when the power is cut off is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of the present invention is to provide an adaptive sample tube rotating gripper device, which can not only place the sample tube in place, but also prevent the sample tube from falling when the power is off.

[0005] Another object of the present invention is to provide a sample processing system comprising the above-mentioned adaptive sample tube rotating gripper device.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] An adaptive sample tube rotating gripper device, comprising:

[0008] A rotary clamping assembly comprising a clamping motor, a rotating motor, a transmission box, and a turntable assembly disposed at the bottom of the transmission box, wherein the rotating motor is connected to the transmission box to drive the turntable assembly to rotate through the transmission box;

[0009] An adaptive gripper includes a clamping slide rail, a gripper base, a tension spring, a spring bracket and a gripper. The gripper base is arranged on the clamping slide rail and moves horizontally along the clamping slide rail. The clamping slide rail is arranged at the bottom of the turntable assembly. The clamping motor is connected to the turntable assembly to drive the two gripper bases to move closer or away from each other through the turntable assembly. The bottom of each gripper base is elastically connected to the gripper. The spring bracket is provided on the gripper, and the tension spring is arranged between the two spring brackets.

[0010] In one embodiment, the clamping motor and the rotating motor are both brushless DC motors.

[0011] In one embodiment, the turntable assembly includes a turntable cover, a turntable base, a cam follower, a cam turntable, and a rotating shaft, wherein the turntable cover is disposed at the bottom of the turntable base, and the cam turntable is located between the turntable cover and the turntable base;

[0012] The rotating shaft is connected to the clamping motor, the rotating shaft is arranged in the cam turntable, the cam follower is connected to the top of the gripper base, and the cam follower is arranged in the cam groove of the cam turntable. When the rotating shaft rotates, the cam follower can be driven to move horizontally along the cam groove.

[0013] In one embodiment, the transmission box includes a first gear, a transmission box base, a second gear, a bearing seat, a bearing, and a transmission box cover;

[0014] The first gear is sleeved on the output shaft of the rotating motor, and the rotating motor is fixed on the transmission box base. The second gear is provided on the bearing seat, and the bearing seat is fixed on the clamping motor. The transmission box cover is pressed on the outer ring of the bearing. The bearing is provided between the bearing seat and the transmission box base, and the outer ring of the bearing is stationary while the inner ring rotates.

[0015] In one embodiment, an inverted U-shaped outer frame is provided above the transmission box, and the clamping motor and the rotating motor are both provided in the outer frame.

[0016] In one embodiment, a conductive slip ring is provided through the top of the outer frame, and the wiring harness of the clamping motor rotates at one end and is fixed at the other end through the conductive slip ring, and the wiring harness of the rotating motor is fixed to the outer frame.

[0017] In one embodiment, the device further comprises a detection sensor for detecting the rotation position of the rotating motor, wherein the detection sensor is provided on the rotating motor.

[0018] In one embodiment, a vertical floating slide rail is provided on the gripper base, the gripper is provided on the vertical floating slide rail and moves vertically along the vertical floating slide rail, and a compression spring is provided between the bottom of the gripper base and the top of the gripper.

[0019] A sample processing system comprises the adaptive sample tube rotating gripper device described in any one of the above items.

[0020] When using the adaptive sample tube rotating gripper device provided by the present invention, once the sample tube is in place, the clamping motor is activated, driving the two gripper bases along the clamping rails toward or away from each other via the turntable assembly, thereby driving the gripper to remove and place the sample tube. When grasping the sample tube, the clamping motor adjusts the duty cycle to adjust the clamping force and clamping speed based on feedback from the clamping motor's speed and current, thereby achieving a clamping function that adapts to sample tubes of varying diameters. Once the sample tube is clamped in place, the rotary motor drives the rotating clamping assembly and adaptive gripper to rotate as a whole via the transmission box, achieving rotation of the sample tube.

[0021] When placing the sample tube back into the sample tray after testing, the gripper and gripper base are elastically connected, reducing impact during the gripper's vertical movement. Furthermore, the gripper can move downward under the weight of the sample tube, and the elastic connection between the gripper and gripper base provides a floating squeezing force to secure the sample tube in place as it is pressed into the sample tray. Furthermore, a spring bracket on the fixed gripper, with a tension spring connecting the two spring brackets, provides a holding force to secure the sample tube, ensuring stability and eliminating the risk of the sample tube falling after the motor is powered off due to a lack of holding force.

[0022] In summary, the adaptive sample tube rotating gripper device provided by the present invention can not only place the sample tube in place, but also prevent the sample tube from falling off when the power is cut off.

[0023] In addition, the utility model also provides a sample processing system including the above-mentioned adaptive sample tube rotating gripper device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0025] Figure 1 This is a schematic structural diagram of the adaptive sample tube rotating gripper device provided by the present invention;

[0026] Figure 2 This is a schematic structural diagram of the adaptive sample tube rotating gripper device from another perspective;

[0027] Figure 3 It is a structural diagram of the adaptive gripper;

[0028] Figure 4 This is a structural diagram of the adaptive gripper from another perspective;

[0029] Figure 5 It is a structural schematic diagram of the rotary clamping assembly;

[0030] Figure 6 It is a structural diagram of the transmission box and turntable assembly.

[0031] Figures 1-6 middle:

[0032] 100 is a rotary clamping assembly, 101 is a conductive slip ring, 102 is a detection sensor, 103 is a clamping motor, 104 is a rotating motor, 105 is a transmission box, 10501 is a first gear, 10502 is a transmission box base, 10503 is a second gear, 10504 is a bearing seat, 10505 is a bearing, 10506 is a transmission box cover, 106 is a turntable assembly, 10601 is a turntable cover, 10602 is a turntable base, 10603 is a cam follower, 10604 is a cam turntable, and 10605 is a rotating shaft;

[0033] 200 is an adaptive gripper, 201 is a clamping slide rail, 202 is a gripper base, 203 is a compression spring, 204 is a vertical floating slide rail, 205 is a tension spring, 206 is a spring bracket, and 207 is a gripper. DETAILED DESCRIPTION

[0034] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] The core of the present invention is to provide an adaptive sample tube rotating gripper device that can not only place the sample tube in place but also prevent the sample tube from falling when the power is off. Another core of the present invention is to provide a sample processing system including the adaptive sample tube rotating gripper device.

[0036] Please refer to Figures 1 to 6 , Figure 1 This is a schematic structural diagram of the adaptive sample tube rotating gripper device provided by the present invention; Figure 2 This is a schematic structural diagram of the adaptive sample tube rotating gripper device from another perspective; Figure 3 It is a structural diagram of the adaptive gripper; Figure 4 This is a structural diagram of the adaptive gripper from another perspective; Figure 5 It is a structural schematic diagram of the rotary clamping assembly; Figure 6 It is a structural diagram of the transmission box and turntable assembly.

[0037] This specific embodiment provides an adaptive sample tube rotating gripper device, comprising:

[0038] The rotary clamping assembly 100 includes a clamping motor 103, a rotating motor 104, a transmission box 105, and a turntable assembly 106 disposed at the bottom of the transmission box 105. The rotating motor 104 and the transmission box 105 are connected to drive the turntable assembly 106 to rotate through the transmission box 105.

[0039] The adaptive gripper 200 includes a clamping rail 201, a gripper base 202, a tension spring 205, a spring bracket 206 and a gripper 207. The gripper base 202 is arranged on the clamping rail 201 and moves horizontally along the clamping rail 201. The clamping rail 201 is arranged at the bottom of the turntable assembly 106. The clamping motor 103 is connected to the turntable assembly 106 to drive the two gripper bases 202 to approach or move away from each other through the turntable assembly 106. The bottom of each gripper base 202 is elastically connected to the gripper 207. A spring bracket 206 is provided on the gripper 207, and a tension spring 205 is provided between the two spring brackets 206.

[0040] During actual use, the shape, structure, type, etc. of the rotary clamping assembly 100 and the adaptive gripper 200 can be determined according to actual conditions and actual needs.

[0041] When using the adaptive sample tube rotating gripper device provided by the present invention, after the sample tube is in place, the clamping motor 103 is controlled to start, so as to drive the two gripper bases 202 along the clamping slide 201 toward or away from each other via the turntable assembly 106, thereby driving the gripper 207 to take and place the sample tube. When grabbing the sample tube, the clamping motor 103 adjusts the duty cycle to adjust the clamping force and clamping speed through feedback of the clamping motor 103's speed and current, thereby achieving a clamping function that adapts to sample tubes of different diameters. After the sample tube is clamped in place, the rotating motor 104 drives the rotating clamping assembly 100 and the adaptive gripper 200 to rotate as a whole through the transmission box 105 to achieve the rotation operation of the sample tube.

[0042] After testing, when placing the sample tube back into the sample holder, the elastic connection between gripper 207 and gripper base 202 reduces impact during the vertical movement of gripper 207. Furthermore, gripper 207 can move downward under the weight of the sample tube, and the elastic connection between gripper 207 and gripper base 202 provides a floating squeezing force to ensure the sample tube is properly placed during the pressing process into the sample holder. Furthermore, a spring bracket 206 is fixed on gripper 207, and a tension spring 205 connects the two spring brackets 206. The tension spring 205 provides a holding force for clamping the sample tube, ensuring stability and eliminating the risk of the sample tube falling due to a lack of holding force after the motor is powered off.

[0043] In summary, the adaptive sample tube rotating gripper device provided by the present invention can not only place the sample tube in place, but also prevent the sample tube from falling off when the power is cut off.

[0044] In one embodiment, the clamping motor 103 and the rotating motor 104 are both brushless DC motors.

[0045] It should be noted that the clamping motor 103 can adjust its duty cycle to adjust the clamping force and speed based on feedback from the motor's speed and current, thereby achieving a clamping function that can adapt to sample tubes of varying diameters. This allows the present device to ensure that the gripper 207 can adapt to clamping sample tubes of varying sizes during the clamping process. Furthermore, the rotational motor 104 can adjust its duty cycle to adjust the rotational torque and speed based on feedback from the motor's speed and current. This, combined with the detection of the gripper 207's rotational position by the detection sensor 102, can achieve a sample tube rotation function that can adapt to varying rotational torques, speeds, and rotational positions. In other words, during the rotation process, the present device can ensure that the gripper 207 can adapt to sample tube rotations requiring varying torques, speeds, and rotational positions.

[0046] In one embodiment, the turntable assembly 106 includes a turntable cover 10601, a turntable base 10602, a cam follower 10603, a cam turntable 10604 and a rotating shaft 10605, and the structure is as follows: Figure 5 、 6 As shown, the turntable cover 10601 is arranged at the bottom of the turntable base 10602, and the cam turntable 10604 is located between the turntable cover 10601 and the turntable base 10602; the rotating shaft 10605 is connected to the clamping motor 103, and the rotating shaft 10605 is arranged in the cam turntable 10604, the cam follower 10603 is connected to the top of the gripper base 202, and the cam follower 10603 is arranged in the cam groove of the cam turntable 10604, and when the rotating shaft 10605 rotates, the cam follower 10603 can be driven to move horizontally along the cam groove.

[0047] Specifically, the clamping motor 103 drives the rotating shaft 10605 to rotate, which in turn drives the cam disc 10604 to rotate. The cam disc 10604, through its cam groove design, allows the cam follower 10603 to move horizontally along the cam groove. This means that the cam follower 10603 and the gripper base 202 move horizontally (i.e., move closer to or further away from each other) along the clamping rail 201. The above structure converts the rotational motion of the rotating shaft 10605 into the rotational motion of the cam disc 10604 and the horizontal motion of the cam follower 10603, thereby achieving the clamping or releasing operation of the gripper 207.

[0048] In one embodiment, the transmission box 105 includes a first gear 10501, a transmission box base 10502, a second gear 10503, a bearing seat 10504, a bearing 10505 and a transmission box cover 10506. Figure 5 、 6 As shown; the first gear 10501 is sleeved on the output shaft of the rotating motor 104, the rotating motor 104 is fixed on the transmission box base 10502, the second gear 10503 is provided on the bearing seat 10504, the bearing seat 10504 is fixed on the clamping motor 103, the transmission box cover 10506 is pressed on the outer ring of the bearing 10505, the bearing 10505 is provided between the bearing seat 10504 and the transmission box base 10502, and the outer ring of the bearing 10505 is stationary and the inner ring rotates.

[0049] That is, the rotating motor 104 can drive the first gear 10501 to rotate, and drive the second gear 10503 to rotate through gear transmission. Since the second gear 10503, the bearing seat 10504 and the clamping motor 103 are fixed as an integrated structure, the bearing seat 10504 and the clamping motor 103 are driven to rotate as a whole, thereby realizing the overall rotation of the gripper 207.

[0050] In one embodiment, an inverted U-shaped outer frame is provided above the transmission box 105 , and the clamping motor 103 and the rotating motor 104 are both provided in the outer frame to protect the clamping motor 103 and the rotating motor 104 .

[0051] In one embodiment, a conductive slip ring 101 is provided through the top of the outer frame. The wiring harness of the clamping motor 103 rotates at one end and is fixed at the other end through the conductive slip ring 101. The wiring harness of the rotating motor 104 is fixed on the outer frame.

[0052] It should be noted that the conductive slip ring 101 can be fixed to the outer frame of the transmission case 105, and the rotating motor 104 can be fixed to the transmission case 105. The gear transmission mechanism in the transmission case 105 drives the adaptive gripper 200 to rotate as a whole. The wiring harness of the rotating motor 104 is fixed to the outer frame to avoid winding problems when the rotating motor 104 rotates. In addition, the turntable assembly 106 is connected to the clamping motor 103. The wiring harness of the clamping motor 103 rotates at one end and is fixed at the other end through the conductive slip ring 101, thus solving the winding problem of the clamping motor 103.

[0053] In one embodiment, the device further includes a detection sensor 102 for detecting the rotation position of the rotating motor 104 . The detection sensor 102 is disposed on the rotating motor 104 .

[0054] It should be noted that the rotation motor 104 can adjust its duty cycle to adjust the rotational torque and speed based on feedback from the rotational speed and current of the rotation motor 104. This, combined with the detection of the rotational position of the gripper 207 by the detection sensor 102, enables a sample tube rotation function that can adapt to different rotational torques, speeds, and rotational positions. In other words, during the rotation process, the present device can ensure that the gripper 207 can adapt to sample tube rotations with different torques, speeds, and rotational positions.

[0055] In one embodiment, a vertical floating rail 204 is provided on the gripper base 202 , the gripper 207 is provided on the vertical floating rail 204 and moves vertically along the vertical floating rail 204 , and a compression spring 203 is provided between the bottom of the gripper base 202 and the top of the gripper 207 .

[0056] It should be noted that the gripper 207 is fixed on the vertical floating slide rail 204 and moves vertically along the vertical floating slide rail 204. The compression spring 203 is located between the gripper base 202 and the gripper 207. The compression spring 203 is used to reduce the impact force and provide floating pressure during the vertical movement of the gripper 207.

[0057] It should also be noted that the clamping slide 201 is fixed on the turntable assembly 106, the gripper base 202 is fixed on the clamping slide 201 and moves horizontally along the clamping slide 201, the vertical floating slide 204 is fixed on the rear support base of the gripper base 202, the gripper 207 is fixed on the vertical floating slide 204 and moves vertically along the vertical floating slide 204, the compression spring 203 is located between the gripper base 202 and the gripper 207 to reduce the impact force and provide floating pressure during the vertical movement of the gripper 207, the spring bracket 206 is fixed on the gripper 207, and the tension spring 205 connects the two spring brackets 206, thereby providing holding force for the gripper 207 when the power is off, eliminating the risk of the clamped object (sample tube) falling due to tooth gap or low holding force after the motor is powered off.

[0058] In order to further illustrate the method of using the adaptive sample tube rotating gripper device provided by the present invention, an example is given below.

[0059] When the sample tube is in place, the clamping motor 103 in the rotary clamping assembly 100 is started, and the gripper base 202 in the adaptive gripper 200 is driven to move parallel to the clamping slide rail 201 through the transmission box 105 and the turntable assembly 106, thereby driving the gripper 207 to take and place the sample tube.

[0060] When grabbing a sample tube, the clamping motor 103 in the rotating clamping assembly 100 adjusts the clamping force and clamping speed by feedback of the speed and current of the clamping motor 103 and adjusting the duty cycle, thereby achieving a clamping function that can adapt to sample tubes of different diameters.

[0061] When the sample tube is clamped in place, the rotary motor 104 in the rotary clamping assembly 100 drives the rotary clamping assembly 100 and the adaptive gripper 200 to rotate as a whole through the transmission box 105, wherein the wiring harness of the rotary clamping assembly 100 is connected through the conductive slip ring 101 to achieve unlimited rotation.

[0062] At the same time, through the feedback of the rotation speed and current of the rotating motor 104, the duty cycle is adjusted to adjust the rotation torque and speed, combined with the detection of the rotation position of the gripper 207 by the detection sensor 102, thereby realizing the sample tube rotation function that can adapt to different rotation torque, speed and rotation position requirements.

[0063] After testing, when placing the sample tube back into the sample holder, the gripper 207 of the adaptive gripper 200 moves downward along the vertical floating rail 204. The compression spring 203 then provides a floating squeezing force, pressing the sample tube into the sample holder and securing it in place. Simultaneously, the spring support 206 and tension spring 205 on the gripper 207 provide a holding force, ensuring stability in gripping the sample tube and preventing it from falling in the event of a power outage.

[0064] That is, the device is provided with an adaptive gripper 207, which ensures that the sample tube is placed in place after grabbing the sample tube; the device is also provided with an adaptive rotating clamping assembly 100, which ensures that the gripper 207 can adapt to the clamping of sample tubes of different sizes during the clamping process, and ensures that the gripper 207 can adapt to the rotation of sample tubes with different torques, speeds and rotational positions during the rotation process.

[0065] In addition to the above-mentioned adaptive sample tube rotating gripper device, the present invention also provides a sample processing system including the adaptive sample tube rotating gripper device disclosed in the above-mentioned embodiment. For the structures of other parts of the sample processing system, please refer to the prior art and will not be described in detail herein.

[0066] It should be noted that the first gear 10501 and the second gear 10503 mentioned in the present invention are only used to distinguish the difference in position and there is no order of precedence.

[0067] In addition, it should be noted that the orientations or positional relationships indicated by "up and down", "top and bottom", etc. in the present invention are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of simplifying the description and facilitating understanding, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0068] 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. Any combination of all the embodiments provided by this utility model is within the scope of protection of this utility model and will not be described in detail here.

[0069] The above describes in detail the adaptive sample tube rotating gripper device and sample processing system provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above examples is only intended to help understand the method and core concept of the present invention. It should be noted that for ordinary technicians in this technical field, various improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An adaptive sample tube rotating gripper device, characterized in that: include: A rotating clamping assembly (100) comprises a clamping motor (103), a rotating motor (104), a transmission box (105), and a turntable assembly (106) arranged at the bottom of the transmission box (105); the rotating motor (104) and the transmission box (105) are connected to drive the turntable assembly (106) to rotate through the transmission box (105); An adaptive gripper (200) comprises a clamping rail (201), a gripper base (202), a tension spring (205), a spring bracket (206) and a gripper (207); the gripper base (202) is arranged on the clamping rail (201) and moves horizontally along the clamping rail (201); the clamping rail (201) is arranged at the bottom of the turntable assembly (106); the clamping motor (103) is connected to the turntable assembly (106) so as to drive the two gripper bases (202) to move closer to or away from each other through the turntable assembly (106); the bottom of each gripper base (202) is elastically connected to the gripper (207); the gripper (207) is provided with the spring bracket (206); and the tension spring (205) is arranged between the two spring brackets (206).

2. The adaptive sample tube rotating gripper device according to claim 1, characterized in that: The clamping motor (103) and the rotating motor (104) are both direct current brushless motors.

3. The adaptive sample tube rotating gripper device according to claim 1, characterized in that: The turntable assembly (106) comprises a turntable cover (10601), a turntable base (10602), a cam follower (10603), a cam turntable (10604) and a rotating shaft (10605), wherein the turntable cover (10601) is arranged at the bottom of the turntable base (10602), and the cam turntable (10604) is located between the turntable cover (10601) and the turntable base (10602); The rotating shaft (10605) is connected to the clamping motor (103), the rotating shaft (10605) is arranged in the cam rotating disk (10604), the cam follower (10603) is connected to the top of the gripper base (202), and the cam follower (10603) is arranged in the cam groove of the cam rotating disk (10604), when the rotating shaft (10605) rotates, the cam follower (10603) can be driven to move horizontally along the cam groove.

4. The adaptive sample tube rotating gripper device according to claim 3, characterized in that: The transmission box (105) comprises a first gear (10501), a transmission box base (10502), a second gear (10503), a bearing seat (10504), a bearing (10505) and a transmission box cover plate (10506); The first gear (10501) is sleeved on the output shaft of the rotating motor (104), and the rotating motor (104) is fixed on the transmission box base (10502); the second gear (10503) is arranged on the bearing seat (10504), and the bearing seat (10504) is fixed on the clamping motor (103); the transmission box cover (10506) is pressed on the outer ring of the bearing (10505); the bearing (10505) is arranged between the bearing seat (10504) and the transmission box base (10502), and the outer ring of the bearing (10505) is stationary while the inner ring rotates.

5. The adaptive sample tube rotating gripper device according to any one of claims 1 to 4, characterized in that: An inverted U-shaped outer frame is provided above the transmission box (105), and the clamping motor (103) and the rotating motor (104) are both arranged in the outer frame.

6. The adaptive sample tube rotating gripper device according to claim 5, characterized in that: A conductive slip ring (101) is provided through the top of the outer frame, a wiring harness of the clamping motor (103) rotates at one end and is fixed at the other end through the conductive slip ring (101), and a wiring harness of the rotating motor (104) is fixed on the outer frame.

7. The adaptive sample tube rotating gripper device according to any one of claims 1 to 4, characterized in that: It also includes a detection sensor (102) for detecting the rotation position of the rotating motor (104), wherein the detection sensor (102) is arranged on the rotating motor (104).

8. The adaptive sample tube rotating gripper device according to any one of claims 1 to 4, characterized in that: A vertical floating rail (204) is provided on the gripper base (202), the gripper (207) is provided on the vertical floating rail (204) and moves vertically along the vertical floating rail (204), and a compression spring (203) is provided between the bottom of the gripper base (202) and the top of the gripper (207).

9. A sample processing system, characterized in that: The invention comprises the adaptive sample tube rotating gripper device as described in any one of claims 1 to 8 above.

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