Self-protection sample rotating gripper device

Abstract

The utility model discloses a self-protection sample rotating gripper device, which relates to the technical field of sample inspection, and comprises a clamping mechanism, the clamping mechanism comprises a brake, a clamping motor, a clamping reduction gearbox, an adapter shaft sleeve and a second clamping gear which are sequentially distributed, one end of a motor shaft of the clamping motor is sequentially connected with the clamping reduction gearbox and the second clamping gear, and the other end of the motor shaft of the clamping motor is connected with the adapter shaft sleeve; the brake is arranged at the other end of the motor shaft so as to tightly hold the motor shaft during power failure, and the clamping reduction gearbox is arranged on the adapter shaft sleeve; the adapter shaft sleeve is rotationally arranged on the base assembly; the gripper mechanism comprises a gripper base connected with the adapter shaft sleeve, two sliding rails symmetrically arranged in the gripper base, two racks arranged on the sliding rails correspondingly and two grippers arranged at the bottoms of the sliding rails correspondingly, the two sides of the second clamping gear are engaged with the two racks correspondingly, and the grippers are used for gripping the sample pipe; and the rotating mechanism is used for driving the adapter shaft sleeve to rotate. The device can effectively reduce the falling risk of the sample tube after power failure.

Description

Technical Field

[0001] The utility model relates to the technical field of sample inspection, and more specifically to a self-protective sample rotating gripper device. Background Art

[0002] Currently, most medical blood collection tubes are cylindrical. Before entering the online testing instrument, they need to perform serum testing, open the cover to remove the tube cap, and transfer the sample tube. The sample tube cap or tube wall needs to be clamped and rotated respectively.

[0003] In the prior art, a common sample tube cover 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, 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 turn, the first transmission device is used to convert the rotary motion of the first rotary drive device into each clamping jaw gathering or spreading in the radial direction, and the rotating mechanism is used to drive each clamping jaw to rotate as a whole along the central axis of each clamping jaw. When using the sample tube cover opening device, the same clamping force can be used to clamp the tube caps of sample tubes of different diameters, so as to achieve compatibility with sample tubes of various specifications and facilitate use. After the tube cap 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 as to separate the tube cap from the tube body and complete the cover opening operation. However, when there is a sudden power failure or emergency stop during operation, there is a risk of the sample tube falling.

[0004] In summary, how to reduce the risk of sample tubes falling after power failure is an urgent problem to be solved by technical personnel in this field. Utility Model Content

[0005] In view of this, an object of the utility model is to provide a self-protective sample rotating gripper device, which can effectively reduce the risk of sample tubes falling after power failure.

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

[0007] A self-protective sample rotating gripper device, comprising:

[0008] The clamping mechanism comprises a brake, a clamping motor, a clamping reduction box, an adapter sleeve and a second clamping gear which are sequentially distributed, one end of the motor shaft of the clamping motor is sequentially connected to the clamping reduction box and the second clamping gear, the brake is arranged at the other end of the motor shaft to hold the motor shaft tightly when the power is off, and the clamping reduction box is arranged on the adapter sleeve;

[0009] A base assembly, wherein the adapter sleeve is rotatably disposed on the base assembly;

[0010] A gripper mechanism, comprising a gripper base connected to the adapter sleeve, two slide rails symmetrically arranged in the gripper base, two racks respectively arranged on the slide rails, and two grippers respectively arranged at the bottom of the slide rails, the two sides of the second clamping gear are respectively meshed with the two racks, and the grippers are used to grab the sample tube;

[0011] The rotating mechanism is used to drive the adapter sleeve to rotate.

[0012] In one embodiment, a conductive slip ring is provided at the end of the clamping mechanism, and the wiring harnesses of the clamping motor and the brake are both connected to the conductive slip ring.

[0013] In one embodiment, the clamping encoder is located behind the brake and fixed on the motor shaft, the wiring harness of the clamping encoder is connected to the conductive slip ring, and the clamping encoder is used to cooperate with the magnet at the end of the motor shaft to identify the position of the clamping mechanism.

[0014] In one embodiment, a sensing component is further included, wherein the sensing component includes a sensor fixing frame arranged on the base component and a sensor arranged on the sensor fixing frame;

[0015] The clamping motor is provided with an induction sheet used in conjunction with the sensor.

[0016] In one embodiment, the adapter sleeve is provided with a first clamping gear, and the rotating mechanism includes a rotating gear meshing with the first clamping gear, a rotating motor fixing plate, a rotating reduction box provided on the rotating motor fixing plate, and a rotating motor;

[0017] The rotary reduction box is fixed on the output shaft of the rotary motor, the rotary gear is arranged on the rotary reduction box, and the rotary motor fixing plate is arranged on the base assembly.

[0018] In one embodiment, a rotary encoder is disposed at the end of the output shaft to achieve position identification by cooperating with a magnet at the end of the output shaft.

[0019] In one embodiment, the upper and lower parts of the outer sides of each of the slide rails are provided with bearing retainers, and the bearing retainers are provided with rollers.

[0020] In one embodiment, the gripper base is provided with a guide member serving as a rolling guide, wherein the guide member is located between the two slide rails.

[0021] In one embodiment, oil baffles are provided at opposite ends of the two slide rails, and the oil baffles are used to scrape off the grease at the displacement position of the slide rails;

[0022] Limit baffles are provided at both ends of the gripper base, and the limit baffles are used to limit the moving range of the slide rail.

[0023] In one embodiment, the base assembly includes a base and an end cover, wherein the end cover is disposed at the bottom of the base to form a receiving cavity together with the base.

[0024] When using the self-protective sample rotating gripper device provided by the utility model, the base assembly can be used as the base of the device for connecting with other devices. During use, when the sample tube reaches the position to be grasped, the clamping motor in the clamping mechanism starts, driving the reduction box to move, and the second clamping gear cooperates with the rack in the gripper mechanism to drive the slide rail to move parallel to the gripper base, thereby driving the gripper to grasp the sample tube. Among them, when a power outage occurs, the brake realizes the breaking brake function by holding the motor shaft of the clamping motor tightly, so that the clamping motor stops running immediately to prevent the sample tube from falling when the power is off, thereby playing a protective function to prevent the sample tube from falling when the power is off.

[0025] When the sample tube is clamped in place, the rotating mechanism can be controlled to start running to drive the adapter sleeve to rotate, and the adapter sleeve can synchronously drive the gripper mechanism to rotate as a whole to realize the rotation operation of the sample tube. That is, the device can realize the clamping and rotation operation of the sample tube, and the device is provided with a sample tube anti-drop mechanism to ensure that the sample tube clamped by the gripper will not fall after power failure.

[0026] In summary, the self-protective sample rotating gripper device provided by the present invention can effectively reduce the risk of sample tubes falling after power failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 A schematic diagram of the structure of the self-protective sample rotating gripper device provided by the utility model;

[0029] Figure 2 An exploded view of the self-protecting sample rotating gripper device;

[0030] Figure 3 It is a structural schematic diagram of the base assembly and the gripper mechanism;

[0031] Figure 4 for Figure 3 AA cross-section diagram.

[0032] Figure 1-Figure 4 middle:

[0033] 100 is a clamping mechanism, 101 is a conductive slip ring, 102 is a clamping encoder, 103 is a brake, 104 is a clamping motor, 105 is an induction sheet, 106 is a clamping reduction box, 107 is a first clamping gear, 108 is a bearing, 109 is a transfer sleeve, and 110 is a second clamping gear;

[0034] 200 is a sensing component, 201 is a sensor, and 202 is a sensor fixing frame;

[0035] 300 is a base assembly, 301 is a base, and 302 is an end cover;

[0036] 400 is a gripper mechanism, 401 is a gripper base, 402 is a slide rail, 403 is a guide member, 404 is a rack, 405 is a bearing retainer, 406 is a gripper, 407 is an oil baffle, and 408 is a limit baffle;

[0037] 500 is a rotating mechanism, 501 is a rotating gear, 502 is a rotating motor fixing plate, 503 is a rotating reduction box, 504 is a rotating motor, and 505 is a rotating encoder. DETAILED DESCRIPTION

[0038] 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.

[0039] The core of the utility model is to provide a self-protective sample rotating gripper device, which can effectively reduce the risk of sample tubes falling after power failure.

[0040] Please refer to Figures 1 to 4 , Figure 1 A schematic diagram of the structure of the self-protective sample rotating gripper device provided by the utility model; Figure 2 An exploded view of the self-protecting sample rotating gripper device; Figure 3 It is a structural schematic diagram of the base assembly and the gripper mechanism; Figure 4 for Figure 3 AA cross-section diagram.

[0041] This specific embodiment provides a self-protective sample rotating gripper device, comprising:

[0042] The clamping mechanism 100 includes a brake 103, a clamping motor 104, a clamping reduction box 106, an adapter sleeve 109 and a second clamping gear 110 which are sequentially distributed. One end of the motor shaft of the clamping motor 104 is sequentially connected to the clamping reduction box 106 and the second clamping gear 110. The brake 103 is arranged at the other end of the motor shaft to hold the motor shaft tightly when the power is off. The clamping reduction box 106 is arranged on the adapter sleeve 109.

[0043] The base assembly 300, the adapter sleeve 109 is rotatably disposed on the base assembly 300;

[0044] The gripper mechanism 400 includes a gripper base 401 connected to the adapter sleeve 109, two slide rails 402 symmetrically arranged in the gripper base 401, two racks 404 respectively arranged on the slide rails 402, and two grippers 406 respectively arranged at the bottom of the slide rails 402. Both sides of the second clamping gear 110 are respectively meshed with the two racks 404. The grippers 406 are used to grab the sample tube;

[0045] The rotating mechanism 500 is used to drive the adapter sleeve 109 to rotate.

[0046] It should be noted that the clamping reduction box 106 is fixed on the clamping motor 104 to realize the functions of reducing the speed of the motor shaft and increasing the torque of the clamping motor 104. The second clamping gear 110 is fixed at the end of the clamping reduction box 106 to realize the rotation operation of the second clamping gear 110 by controlling the operation of the clamping motor 104. The brake 103 is fixed on the clamping motor 104 and can realize the purpose of emergency braking by clamping the motor shaft of the clamping motor 104.

[0047] In actual use, the shape, structure, size, material, position, etc. of the clamping mechanism 100, the base assembly 300, the gripping mechanism 400 and the rotating mechanism 500 can be determined according to actual conditions and actual needs.

[0048] When using the self-protective sample rotating gripper device provided by the utility model, the base assembly 300 can be used as the base of the device for connection with other devices. During use, when the sample tube reaches the position to be grasped, the clamping motor 104 in the clamping mechanism 100 is started, driving the reduction box 106 to move, and the second clamping gear 110 cooperates with the rack 404 in the gripper mechanism 400 to drive the slide rail 402 to move parallel to the gripper base 401, thereby driving the gripper 406 to grasp the sample tube. Among them, when a power outage occurs, the brake 103 realizes the brake function by holding the motor shaft of the clamping motor 104 tightly, so that the clamping motor 104 stops running immediately to prevent the sample tube from falling when the power is off, thereby playing a protective function to prevent the sample tube from falling when the power is off.

[0049] When the sample tube is clamped in place, the rotating mechanism 500 can be controlled to start running to drive the adapter sleeve 109 to rotate, and the adapter sleeve 109 can synchronously drive the gripper mechanism 400 to rotate as a whole to realize the rotation operation of the sample tube. That is, the device can realize the clamping and rotation operations of the sample tube, and the device is provided with a sample tube anti-drop mechanism to ensure that the sample tube clamped by the gripper 406 will not fall after power failure.

[0050] In summary, the self-protective sample rotating gripper device provided by the present invention can effectively reduce the risk of sample tubes falling after power failure.

[0051] In one embodiment, a conductive slip ring 101 is provided at the end of the clamping mechanism 100, and the wiring harnesses of the clamping motor 104 and the brake 103 are connected to the conductive slip ring 101. The conductive slip ring 101 can simultaneously connect the wiring harnesses of the clamping motor 104, the brake 103, and the clamping encoder 102, and solves the wiring harness winding problem by rotating one end and fixing the other end.

[0052] In one embodiment, the clamping encoder 102 is located behind the brake 103 and fixed on the motor shaft. The wiring harness of the clamping encoder 102 is connected to the conductive slip ring 101. The clamping encoder 102 is used to cooperate with the magnet at the end of the motor shaft to identify the position of the clamping mechanism 100, so as to achieve position identification and precision control of the clamping mechanism 100.

[0053] In one embodiment, it also includes a sensing component 200 , which includes a sensor fixing frame 202 arranged on the base component 300 and a sensor 201 arranged on the sensor fixing frame 202 ; the clamping motor 104 is provided with a sensing sheet 105 used in conjunction with the sensor 201 .

[0054] It should be noted that the sensing component 200 is fixed on the base component 300, wherein the sensor 201 is fixed on the sensor fixing frame 202, and the sensor fixing frame 202 is fixed on the base 301. By using the sensor 201 and the sensing sheet 105 in coordination, the rotation position of the clamping mechanism 100 can be determined and a reset operation can be performed.

[0055] In one embodiment, a first clamping gear 107 is provided on the adapter sleeve 109, and the rotating mechanism 500 includes a rotating gear 501 meshing with the first clamping gear 107, a rotating motor fixing plate 502, a rotating reduction gear box 503 provided on the rotating motor fixing plate 502, and a rotating motor 504; the rotating reduction gear box 503 is fixed on the output shaft of the rotating motor 504, the rotating gear 501 is provided on the rotating reduction gear box 503, and the rotating motor fixing plate 502 is provided on the base assembly 300.

[0056] It should be noted that the rotary reduction box 503 is fixed on the output shaft of the rotary motor 504, and can realize the functions of reducing the speed of the output shaft and increasing the torque. The rotary gear 501 is fixed on the rotary reduction box 503, and can rotate synchronously with the output shaft. When the rotary gear 501 rotates, it can drive the first clamping gear 107 to rotate, so that the first clamping gear 107 rotates, and then drives the overall rotation of the clamping mechanism 100 and the gripper mechanism 400, and also makes the clamped sample tube rotate.

[0057] In one embodiment, the rotary encoder 505 is disposed at the end of the output shaft to achieve position recognition by cooperating with the magnet at the end of the output shaft. That is, the rotary encoder 505 is located at the end of the rotary motor 504, and by cooperating with the magnet at the end of the output shaft of the rotary motor 504, the functions of position recognition and precision control of the rotary mechanism 500 can be achieved.

[0058] In one embodiment, the upper and lower parts of the outer sides of each slide rail 402 are provided with bearing retainers 405 , and rollers are provided on the bearing retainers 405 .

[0059] It should be noted that the gripper 406 is fixed on the slide rail 402 for clamping the sample tube in parallel. The bearing holder 405 is located at the upper and lower parts of the outer side of the slide rail 402, which can reduce the friction resistance between the slide rail 402 and the gripper base 401 when the gripper 406 clamps the sample tube horizontally. The rollers provided on the bearing holder 405 have the functions of rolling friction and limiting.

[0060] In one embodiment, the gripper base 401 is provided with a guide member 403 as a rolling guide, and the guide member 403 is located between the two slide rails 402. By providing the guide member 403, the deviation caused by the uneven force on the slide rail 402 can be reduced, so as to improve the overall fatigue life of the device.

[0061] In one embodiment, oil baffles 407 are provided at opposite ends of the two slide rails 402, and the oil baffles 407 are used to scrape off the grease at the displacement point of the slide rails 402; limit baffles 408 are provided at both ends of the gripper base 401, and the limit baffles 408 are used to limit the movement range of the slide rails 402.

[0062] It should be noted that the two slide rails 402 are provided with oil baffles 407 at the opposite ends, that is, when the two slide rails 402 approach each other, the two oil baffles 407 can approach each other synchronously, and when the two slide rails 402 move away from each other, the two oil baffles 407 can move away synchronously. During the horizontal reciprocating motion of the gripper 406, the oil baffles 407 can scrape off the grease at the displacement of the slide rail 402, and the scraped grease is blocked in the slide rail groove of the gripper base 401, so that the motion cavity of the slide rail 402 is sealed, and the scraped grease can be supplied to the second clamping gear 110, the rack 404, the bearing retainer 405 and the guide 403 during the motion, so that the reciprocating motion can repeatedly supply grease, thereby realizing the self-lubricating function and increasing the lubrication time.

[0063] In one embodiment, the base assembly 300 includes a base 301 and an end cover 302 . The end cover 302 is disposed at the bottom of the base 301 to form a receiving cavity with the base 301 .

[0064] It should be noted that the end cover 302 is fixed on the base 301, and the base 301 can be used as the base of the device for connecting with other devices. In addition, the clamping reduction box 106 can be fixed on the adapter sleeve 109, and the adapter sleeve 109 is clamped between the base 301 and the end cover 302 of the base assembly 300 through the bearing 108 to achieve smooth rotation of the adapter sleeve 109.

[0065] In order to further illustrate the use method of the self-protective sample rotating gripper device provided by the utility model, an example is given below.

[0066] When in use, after the sample tube reaches the position to be grasped, the clamping motor 104 in the clamping mechanism 100 is started, driving the reduction box 106 to move, and the second clamping gear 110 cooperates with the rack 404 in the gripper mechanism 400 to drive the slide rail 402 to move parallel to the gripper base 401, thereby driving the gripper 406 to grasp the sample tube. Among them, the bearing holder 405 can ensure the gap between the slide rail 402 and the gripper base 401, and ensure that the slide rail 402 has rolling friction with the gripper base 401 when moving, and the guide member 403 can ensure the gap between the two slide rails 402, and make the two slide rails 402 have rolling friction with the guide member 403 when running.

[0067] In addition, during the movement of the slide rail 402, the excess grease can be scraped off by the oil baffle plate 407 and stored in the oil storage tank of the slide rail 402, so as to achieve the purpose of self-lubrication, recycle the grease, reduce wear, improve lubricity, and extend the service life of the gripper 406. At the same time, the clamping encoder 102 controls the position and accuracy of the clamping motor 104, and when the power is off, the brake 103 clamps the motor shaft of the clamping motor 104 to achieve the function of protecting the sample tube from falling when the power is off.

[0068] When the sample tube is clamped in place, the rotary motor 504 in the rotating mechanism 200 is started, driving the rotary reducer 503 to move, and the rotating gear 501 and the first clamping gear 107 cooperate to drive the clamping mechanism 100 and the gripper mechanism 400 to rotate as a whole, thereby realizing the rotation function of the sample tube. Among them, the wiring harness of the clamping mechanism 100 is realized by the conductive slip ring 101 to realize that one end of the wiring harness rotates and the other end is fixed, and the sensor 201 in the sensing component 200 recognizes the position of the gripper 406 through the sensing sheet 105, and controls the position and accuracy of the rotary motor 504 in combination with the rotary encoder 505.

[0069] From the above usage process, it can be seen that the device can ensure that the sample tube clamped does not fall after power failure, and ensure that the grease has a long service life, smooth movement, wear resistance and long service life during the movement of the gripper 406. In addition, the device can realize the clamping and rotation functions of the gripper 406, and can detect the rotation and clamping position of the gripper 406 in real time.

[0070] It should be noted that the first clamping gear 107 and the second clamping gear 110 mentioned in the present invention are just used to distinguish the difference in position, and there is no order of precedence.

[0071] In addition, it should be noted that the orientation or position relationship indicated by "upper" and "lower" etc. in the present invention is based on the orientation or position relationship shown in the accompanying drawings, and is only for the convenience of simplifying the description and facilitating understanding, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0072] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other. Any combination of all embodiments provided by the utility model is within the protection scope of this utility model and will not be described in detail here.

[0073] The above is a detailed introduction to the self-protective sample rotating gripper 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 embodiments 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 self-protecting sample rotating gripper device, characterized in that: include: A clamping mechanism (100) comprises a brake (103), a clamping motor (104), a clamping reduction box (106), an adapter sleeve (109) and a second clamping gear (110) which are sequentially distributed; one end of the motor shaft of the clamping motor (104) is sequentially connected to the clamping reduction box (106) and the second clamping gear (110); the brake (103) is arranged at the other end of the motor shaft to hold the motor shaft tightly when power is off; and the clamping reduction box (106) is arranged on the adapter sleeve (109); A base assembly (300), wherein the adapter sleeve (109) is rotatably mounted on the base assembly (300); A gripper mechanism (400), comprising a gripper base (401) connected to the adapter sleeve (109), two slide rails (402) symmetrically arranged in the gripper base (401), two racks (404) respectively arranged on the slide rails (402), and two grippers (406) respectively arranged at the bottom of the slide rails (402), the two sides of the second clamping gear (110) are respectively meshed with the two racks (404), and the grippers (406) are used to grab the sample tube; The rotating mechanism (500) is used to drive the adapter sleeve (109) to rotate.

2. The self-protecting sample rotating gripper device according to claim 1, characterized in that: A conductive slip ring (101) is provided at the end of the clamping mechanism (100), and the wiring harnesses of the clamping motor (104) and the brake (103) are both connected to the conductive slip ring (101).

3. The self-protecting sample rotating gripper device according to claim 2, characterized in that: A clamping encoder (102) is located behind the brake (103) and fixed on the motor shaft, a wiring harness of the clamping encoder (102) is connected to the conductive slip ring (101), and the clamping encoder (102) is used to cooperate with a magnet at the end of the motor shaft to identify the position of the clamping mechanism (100).

4. The self-protecting sample rotating gripper device according to any one of claims 1 to 3, characterized in that: It also includes a sensing component (200), wherein the sensing component (200) includes a sensor fixing frame (202) arranged on the base component (300) and a sensor (201) arranged on the sensor fixing frame (202); The clamping motor (104) is provided with a sensing sheet (105) for use in conjunction with the sensor (201).

5. The self-protecting sample rotating gripper device according to any one of claims 1 to 3, characterized in that: The adapter sleeve (109) is provided with a first clamping gear (107), and the rotating mechanism (500) comprises a rotating gear (501) meshing with the first clamping gear (107), a rotating motor fixing plate (502), a rotating reduction box (503) provided on the rotating motor fixing plate (502), and a rotating motor (504); The rotary reduction box (503) is fixed on the output shaft of the rotary motor (504), the rotary gear (501) is arranged on the rotary reduction box (503), and the rotary motor fixing plate (502) is arranged on the base assembly (300).

6. The self-protecting sample rotating gripper device according to claim 5, characterized in that: A rotary encoder (505) is arranged at the end of the output shaft to realize position identification by cooperating with a magnet at the end of the output shaft.

7. The self-protecting sample rotating gripper device according to any one of claims 1 to 3, characterized in that: The upper and lower parts of the outer sides of each of the slide rails (402) are provided with bearing retainers (405), and the bearing retainers (405) are provided with rollers.

8. The self-protecting sample rotating gripper device according to claim 7, characterized in that: The gripper base (401) is provided with a guide member (403) serving as a rolling guide, and the guide member (403) is located between the two slide rails (402).

9. The self-protecting sample rotating gripper device according to any one of claims 1 to 3, characterized in that: An oil baffle (407) is provided at the opposite ends of the two slide rails (402), and the oil baffle (407) is used to scrape off the grease at the displacement position of the slide rails (402); Limit baffles (408) are provided at both ends of the gripper base (401), and the limit baffles (408) are used to limit the movement range of the slide rail (402).

10. The self-protecting sample rotating gripper device according to any one of claims 1 to 3, characterized in that: The base assembly (300) comprises a base (301) and an end cover (302), wherein the end cover (302) is arranged at the bottom of the base (301) to form a receiving cavity together with the base (301).

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