Straw grabbing device

Abstract

The utility model discloses a straw grabbing device which comprises an ejector rod mechanism, a straw limiting mechanism and a grabbing hand mechanism. The guide pipe limiting mechanism is arranged on the guide pipe, the ejector rod mechanism is arranged in the gripper mechanism, the ejector rod mechanism is connected with the gripper mechanism, the guide pipe limiting mechanism can limit the ejector rod mechanism, the ejector rod mechanism can drive the gripper mechanism to ascend and descend, and the ejector rod mechanism drives the gripper mechanism to grab straw. The straw grabbing device has the advantages that the grabbing mechanism can be controlled to ascend and descend and grab straws at the same time through the ejector rod mechanism, and the ejector rod mechanism can control opening and closing of the grabbing mechanism and can drive the grabbing mechanism to ascend and descend in one-time movement; the guide pipe limiting mechanism can guide the gripper mechanism, it is guaranteed that the straw is carried in a vertical state, and the guide pipe limiting mechanism can assist in fixing and prevent the straw from shaking and falling in the carrying process; and the ladder limiting piece can limit the sliding cavity on the gripper, so that the gripping rod and the gripper are prevented from excessively extending out of the catheter limiting mechanism.

Description

Technical Field

[0001] This utility model relates to the field of sample storage and retrieval technology, and in particular to a straw gripping device. Background Technology

[0002] In the field of biobanks, lightweight containers such as wheat straws are used to hold biological samples. During sample transfer or storage, straw handling is required. Since wheat straws are larger and heavier than sample tubes, vacuum aspiration is not chosen; instead, mechanical structures are used for gripping and securing them. Therefore, a wheat straw gripping device needs to be designed. Utility Model Content

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0004] In view of the problems existing in the above or prior art, this utility model is proposed.

[0005] Therefore, the purpose of this utility model is to provide a straw gripping device, which can drive the gripper mechanism to lift and lower through the push rod mechanism, and can squeeze the gripper mechanism to grip the straw. Furthermore, the straw can be guided and limited by the guide tube limiting mechanism, thus realizing a movement that can control both the gripper mechanism to grip the straw and the lifting and lowering.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a straw gripping device, which includes a top rod mechanism, a guide tube limiting mechanism, and a gripper mechanism; the top rod mechanism is disposed inside the gripper mechanism and is connected to the gripper mechanism; the guide tube limiting mechanism can limit the top rod mechanism; the top rod mechanism can drive the gripper mechanism to move up and down; and the top rod mechanism can drive the gripper mechanism to grip the straw.

[0007] In a preferred embodiment of the straw gripping device of this utility model, the gripping mechanism includes a gripping assembly and a gripping limiting assembly; the gripping assembly and the gripping limiting assembly are connected, and the gripping assembly and the gripping limiting assembly are disposed within the conduit limiting mechanism; the push rod mechanism can drive the gripping assembly and the gripping limiting assembly to move, and the push rod mechanism can drive the gripping assembly to grip the straw.

[0008] In a preferred embodiment of the straw gripping device of this utility model, the gripper assembly includes a gripping rod, a gripper, and an expansion cavity; the gripping rod is connected to the gripper, the gripper has an expansion cavity inside, and the push rod mechanism squeezes and expands the gripper or drives the gripper to move through the expansion cavity, the gripper can grip the straw, and a sliding cavity is opened inside the gripper, the push rod mechanism can slide in the sliding cavity.

[0009] In a preferred embodiment of the straw gripping device of this utility model, the gripper is elastically deformable.

[0010] In a preferred embodiment of the straw gripping device of this utility model, the gripper limiting component includes a gripper upper sliding cavity, and a limiting cavity is provided inside the gripper upper sliding cavity; the gripper upper sliding cavity is connected to a gripper rod, the gripper upper sliding cavity can slide within the guide tube limiting mechanism, and the guide tube limiting mechanism can limit the movement distance of the gripper upper sliding cavity; the push rod mechanism can move within the limiting cavity, and the push rod mechanism can drive the gripper upper sliding cavity to move through the limiting cavity.

[0011] In a preferred embodiment of the straw gripping device of this utility model, the diameter of the sliding cavity of the gripper hand is larger than the diameter of the gripping rod, and the diameter of the limiting cavity is smaller than the diameter of the sliding cavity of the gripper hand.

[0012] As a preferred embodiment of the straw gripping device of this utility model, an inner limiting step is provided inside the limiting cavity, which can limit the top rod mechanism.

[0013] In a preferred embodiment of the straw gripping device of this utility model, the push rod mechanism includes a push rod assembly and a limit rod assembly; the push rod assembly is connected to the limit rod assembly, the push rod assembly can move to squeeze the gripper assembly to grip the straw, the push rod assembly can push the gripper mechanism to move upward, and the limit rod assembly can push the gripper mechanism to move downward.

[0014] In a preferred embodiment of the straw gripping device of this utility model, the push rod assembly includes a push rod and a push ball; the push rod is connected to the push ball, the push ball is disposed in the expansion cavity, the push ball can push the gripper to grip the straw, and the push rod drives the push ball to push the gripper to move upward.

[0015] In a preferred embodiment of the straw gripping device of this utility model, the limiting rod assembly includes a limiting push rod, one end of the pushing rod is connected to the limiting push rod, the limiting push rod is disposed in the limiting cavity, the limiting push rod can slide in the limiting cavity, and the diameter of the limiting push rod is larger than the diameter of the pushing rod.

[0016] In a preferred embodiment of the straw gripping device of this utility model, the guide tube limiting mechanism includes a guide tube assembly, the lower end of which is connected to a heat preservation component; the guide tube assembly can guide and limit the gripper mechanism, and the heat preservation component can freeze and keep the straw on the gripper mechanism warm.

[0017] In a preferred embodiment of the straw gripping device of this utility model, the guide tube assembly includes a guide tube and a stepped limiting member; the stepped limiting member is disposed at the lower end of the guide tube and can limit the sliding cavity of the gripper.

[0018] As a preferred embodiment of the straw gripping device of this utility model, it further includes a support component, which is connected to the guide tube limiting mechanism for support.

[0019] As a preferred embodiment of the straw gripping device of this utility model, it further includes a lifting drive component; the lifting drive component is mounted on the support component and can drive the top rod mechanism to lift.

[0020] The beneficial effects of this utility model are:

[0021] 1. The push rod mechanism can simultaneously control the lifting and lowering of the gripper mechanism and the gripping of the straw, so that the push rod mechanism can control the opening and closing of the gripper mechanism and drive the gripper mechanism to lift and lower in one movement;

[0022] 2. The guide pipe limiting mechanism can guide the gripper mechanism to ensure that the straw is transported in a vertical position. It can also help fix the straw to prevent it from shaking and falling during transportation.

[0023] 3. The stepped limit component can limit the sliding cavity of the gripper to prevent the gripper rod and gripper from extending excessively beyond the guide tube limit mechanism.

[0024] 4. Insulation components can be fitted with liquid nitrogen to keep the straw inside the tubing at a low temperature during transport, ensuring the samples remain in a low-temperature environment during transport.

[0025] 5. The outer conical design of the gripper allows the outer side of the gripper to safely contact the wheat straw around the straw to be gripped when it is opened, assisting in positioning. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0027] Figure 1 This is a schematic diagram of the overall straw gripping device.

[0028] Figure 2 This is a three-dimensional schematic diagram of the gripper mechanism of the straw grasping device.

[0029] Figure 3 for Figure 2 Cross-sectional view of section AA of the wheat tube gripping device.

[0030] Figure 4 for Figure 3 Enlarged view of point F1 of the wheat tube grasping device.

[0031] Figure 5 for Figure 3 Enlarged view of point F2 of the wheat tube gripping device.

[0032] Figure 6 This is a front view of the straw gripping device.

[0033] Figure 7 for Figure 6 A three-dimensional cross-sectional view of the BB section of the wheat tube gripping device.

[0034] Figure 8 for Figure 7 Enlarged view of point F3 of the wheat tube grasping device.

[0035] Figure 9 for Figure 7 Enlarged view of point F4 of the wheat tube grasping device.

[0036] Reference numerals: 1. Top rod mechanism; 2. Conduit limiting mechanism; 3. Gripper mechanism; 31. Gripper assembly; 32. Gripper limiting assembly; 311. Gripper; 312. Expanding cavity; 313. Upper sliding cavity of gripper; 321. Limiting cavity; 322. Inner limiting step; 323. Push rod assembly; 11. Limiting rod assembly; 12. Push rod; 111. Push ball; 112. Limiting push rod; 121. Conduit assembly; 21. Insulation assembly; 22. Conduit; 211. Stepped limiting component; 212. Support assembly; 4. Lifting drive assembly; 5. Detailed Implementation

[0037] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments. Example 1

[0040] Reference Figures 1-3 This is the first embodiment of the present invention. This embodiment provides a straw gripping device, which includes a top rod mechanism 1, a guide tube limiting mechanism 2, and a gripper mechanism 3. The guide tube limiting mechanism 2 can guide the gripper mechanism 3, and the top rod mechanism 1 can control the gripper mechanism 3 to rise and fall, and at the same time control the gripper mechanism 3 to grip the straw.

[0041] Specifically, it includes a top rod mechanism 1, a guide tube limiting mechanism 2, and a gripper mechanism 3; the top rod mechanism 1 is set inside the gripper mechanism 3 and is connected to the gripper mechanism 3; the guide tube limiting mechanism 2 can limit the top rod mechanism 1; the top rod mechanism 1 can drive the gripper mechanism 3 to move up and down; and the top rod mechanism 1 can drive the gripper mechanism 3 to grab the wheat straw.

[0042] In summary, the top rod mechanism 1 can simultaneously control the lifting and lowering of the gripper mechanism 3 and the gripping of the wheat straw. In one movement, the top rod mechanism 1 can control the opening and closing of the gripper mechanism 3 and drive the gripper mechanism 3 to lift and lower. The guide tube limiting mechanism 2 can guide the gripper mechanism 3 to ensure that the wheat straw is transported in a vertical state, and can also help fix it to prevent the wheat straw from shaking during the transportation process. Example 2

[0043] Reference Figures 1-9 This is the second embodiment of the present invention. In the previous embodiment, the straw gripping device includes a top rod mechanism 1, a guide tube limiting mechanism 2, and a gripper mechanism 3. The guide tube limiting mechanism 2 can guide the gripper mechanism 3, and the top rod mechanism 1 can control the gripper mechanism 3 to rise and fall, and at the same time control the gripper mechanism 3 to grip the straw.

[0044] Specifically, it includes a top rod mechanism 1, a guide tube limiting mechanism 2, and a gripper mechanism 3; the top rod mechanism 1 is set inside the gripper mechanism 3 and is connected to the gripper mechanism 3; the guide tube limiting mechanism 2 can limit the top rod mechanism 1; the top rod mechanism 1 can drive the gripper mechanism 3 to move up and down; and the top rod mechanism 1 can drive the gripper mechanism 3 to grab the wheat straw.

[0045] Furthermore, the gripper mechanism 3 includes a gripper assembly 31 and a gripper limiting assembly 32; the gripper assembly 31 and the gripper limiting assembly 32 are connected, and the gripper assembly 31 and the gripper limiting assembly 32 are disposed within the conduit limiting mechanism 2. The push rod mechanism 1 can drive the gripper assembly 31 and the gripper limiting assembly 32 to move, and the push rod mechanism 1 can drive the gripper assembly 31 to grip the straw.

[0046] Preferably, the gripper assembly 31 and the gripper limiting assembly 32 are provided with a push rod mechanism 1. The push rod mechanism 1 can push the gripper assembly 31 and the gripper limiting assembly 32 to move up and down, and the push rod mechanism 1 can drive the gripper assembly 31 to grip the straw.

[0047] Furthermore, the gripper assembly 31 includes a gripping rod 311, a gripper 312, and an expansion cavity 313; the gripping rod 311 is connected to the gripper 312, and the expansion cavity 313 is provided inside the gripper 312. The push rod mechanism 1 squeezes and expands the gripper 312 or drives the gripper 312 to move through the expansion cavity 313. The gripper 312 can grip the straw, and a sliding cavity is provided inside the gripper 312, in which the push rod mechanism 1 can slide.

[0048] Preferably, the grab bar 311 and the grab handle 312 are raised and lowered by the top rod mechanism 1.

[0049] Preferably, the push ball 112 is set inside the expansion cavity 313. The push rod 111 drives the push ball 112 to move towards the gripper 312. The push ball 112 will squeeze the gripper 312, causing the front end of the gripper 312 to open, thereby gripping the straw.

[0050] Furthermore, the gripper 312 can undergo elastic deformation.

[0051] Preferably, by setting the gripper 312 to be elastic, the gripper will automatically grab the straw when the ball 112 is pushed away from the gripper 312.

[0052] Furthermore, the gripper limiting assembly 32 includes a gripper upper sliding cavity 321, and a limiting cavity 322 is provided inside the gripper upper sliding cavity 321; the gripper upper sliding cavity 321 is connected to the gripper rod 311, the gripper upper sliding cavity 321 can slide within the conduit limiting mechanism 2, and the conduit limiting mechanism 2 can limit the moving distance of the gripper upper sliding cavity 321; the push rod mechanism 1 can move within the limiting cavity 322, and the push rod mechanism 1 can drive the gripper upper sliding cavity 321 to move through the limiting cavity 322.

[0053] Preferably, the stepped limiting member 212 on the conduit 211 can limit the sliding cavity 321 of the gripper, ensuring that when the push rod mechanism 1 pushes the sliding cavity 321 of the gripper, the stepped limiting member 212 can block the sliding cavity 321 of the gripper. At this time, the push rod mechanism 1 can open the gripper 312 during the pushing process, thereby gripping the sample.

[0054] Furthermore, the diameter of the sliding cavity 321 on the gripper hand is larger than the diameter of the gripper rod 311, and the diameter of the limiting cavity 322 is smaller than the diameter of the sliding cavity 321 on the gripper hand.

[0055] Preferably, by setting the diameter of the sliding cavity 321 of the gripper hand to be larger than the diameter of the gripper rod 311, a step is formed. The step limiting member 212 can limit the sliding cavity 321 of the gripper hand to prevent the sliding cavity 321 of the gripper hand from leaving the control range of the guide tube 211.

[0056] Furthermore, the limiting cavity 322 is provided with an inner limiting step 323, which can limit the push rod mechanism 1.

[0057] Preferably, by setting an inner limiting step 323 in the limiting cavity 322, it can be prevented that the limiting push rod 121 drives the push rod 111 and the push ball 112 to completely pass through the gripper 312, thereby preventing the gripper 312 from performing the gripping operation.

[0058] Furthermore, the push rod mechanism 1 includes a push rod assembly 11 and a limit rod assembly 12; the push rod assembly 11 is connected to the limit rod assembly 12, the push rod assembly 11 can move to squeeze the gripper assembly 31 to grip the straw, the push rod assembly 11 can push the gripper mechanism 3 to move upward, and the limit rod assembly 12 can push the gripper mechanism 3 to move downward.

[0059] Furthermore, the push rod assembly 11 includes a push rod 111 and a push ball 112; the push rod 111 is connected to the push ball 112, the push ball 112 is disposed in the expansion cavity 313, the push ball 112 can push the gripper 312 to grab the straw, and the push rod 111 drives the push ball 112 to push the gripper 311 to move upward.

[0060] Preferably, the expansion cavity 313 is provided with a push ball 112. The push ball 112 moves towards the gripper 312 and squeezes the gripper 312, causing the gripper 312 to open. The push ball 112 moves away from the gripper 312, and the gripper 312 loses the thrust of the push ball 112 and automatically clamps the straw. When the push ball 112 reaches the limit position inside the expansion cavity 313, it will drive the gripper assembly 31 and the gripper limiting assembly 32 to move.

[0061] Furthermore, the limiting rod assembly 12 includes a limiting push rod 121, one end of the push rod 111 is connected to the limiting push rod 121, the limiting push rod 121 is disposed in the limiting cavity 322, the limiting push rod 121 can slide in the limiting cavity 322, and the diameter of the limiting push rod 121 is larger than the diameter of the push rod 111.

[0062] Preferably, when the limiting push rod 121 moves toward the gripper 312, and the stepped limiting member 212 blocks the upper sliding cavity 321 of the gripper, the limiting push rod 121 can still move within the limiting cavity 322, thereby allowing the push rod 111 and the push ball 112 to continue moving, causing the push ball 112 to squeeze and expand the gripper 312, so that the gripper 312 can grasp the straw.

[0063] Furthermore, the conduit limiting mechanism 2 includes a conduit assembly 21, the lower end of which is connected to an insulation component 22; the conduit assembly 21 can guide and limit the gripper mechanism 3, and the insulation component 22 can freeze and insulate the straw on the gripper mechanism 3.

[0064] Preferably, the insulation component 22 contains liquid nitrogen, which can be used to cool and insulate the sample tube at low temperatures.

[0065] Furthermore, the conduit assembly 21 includes a conduit 211 and a stepped limiting member 212; the stepped limiting member 212 is disposed at the lower end of the conduit 211 and can limit the sliding cavity 321 of the gripper.

[0066] Preferably, by setting a stepped limiting member 212, the sliding cavity 321 of the gripper can be limited and blocked, so as to prevent the upper limit cavity 321 from detaching from the guide tube 211.

[0067] Furthermore, it also includes a support component 4, which is connected to the conduit limiting mechanism 2 for support.

[0068] Furthermore, it also includes a lifting drive assembly 5; the lifting drive assembly 5 is mounted on the support assembly 4, and the lifting drive assembly 5 can drive the top rod mechanism 1 to lift.

[0069] Preferably, the lifting drive assembly 5 includes a drive component, a lead screw module, and a sliding module. The drive component is connected to the lead screw module, the lead screw module is connected to the sliding module, and the sliding module is connected to the push rod mechanism 1. The drive component can drive the lead screw module to rotate, and the rotation of the lead screw module drives the sliding module to lift, thereby driving the push rod mechanism 1 to lift.

[0070] In summary, the push rod mechanism 1 can simultaneously control the lifting and lowering of the gripper mechanism 3 and the gripping of the wheat tube, enabling the push rod mechanism 1 to control the opening and closing of the gripper mechanism 3 and drive it to lift and lower in a single movement. The tubing limiting mechanism 2 guides the gripper mechanism 3, ensuring the wheat tube is transported vertically, and also helps to fix it, preventing the wheat tube from shaking and falling during transport. The stepped limiting component 212 limits the sliding cavity 321 on the gripper, preventing the gripping rod 311 and gripper 312 from extending beyond the tubing limiting mechanism 2. The heat preservation component 22 can be filled with liquid nitrogen to keep the wheat tube inside the tubing at a low temperature during transport, ensuring a low-temperature state during sample transport. The external conical design of the gripper 312 allows the outer side of the gripper 312 to safely contact the wheat tubes around the one to be gripped when it is opened, assisting in positioning.

[0071] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of this utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structural equivalents but also equivalent structures. Without departing from the scope of this invention, other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments. Therefore, this invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0072] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the present invention as currently considered, or those features that are not relevant to implementing the present invention) may be omitted.

[0073] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0074] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A straw gripping device, characterized in that: It includes a top rod mechanism (1), a conduit limiting mechanism (2), and a gripper mechanism (3); the top rod mechanism (1) is located inside the gripper mechanism (3), the top rod mechanism (1) is connected to the gripper mechanism (3), the conduit limiting mechanism (2) can limit the top rod mechanism (1), the top rod mechanism (1) can drive the gripper mechanism (3) to move up and down, and the top rod mechanism (1) can drive the gripper mechanism (3) to grab the straw.

2. The straw gripping device as described in claim 1, characterized in that: The gripper mechanism (3) includes a gripper assembly (31) and a gripper limiting assembly (32); the gripper assembly (31) and the gripper limiting assembly (32) are connected, the gripper assembly (31) and the gripper limiting assembly (32) are set inside the conduit limiting mechanism (2), the push rod mechanism (1) can drive the gripper assembly (31) and the gripper limiting assembly (32) to move, and the push rod mechanism (1) can drive the gripper assembly (31) to grip the straw.

3. The straw gripping device as described in claim 2, characterized in that: The gripper assembly (31) includes a gripping rod (311), a gripper (312), and an expansion cavity (313); the gripping rod (311) is connected to the gripper (312), the gripper (312) has an expansion cavity (313) inside, the push rod mechanism (1) squeezes and expands the gripper (312) or drives the gripper (312) to move through the expansion cavity (313), the gripper (312) can grip the straw, the gripper (312) has a sliding cavity inside, and the push rod mechanism (1) can slide in the sliding cavity.

4. The straw gripping device as described in claim 3, characterized in that: The gripper (312) is elastically deformable.

5. The straw gripping device as described in any one of claims 2 to 4, characterized in that: The gripper limiting assembly (32) includes a gripper upper sliding cavity (321), and a limiting cavity (322) is provided inside the gripper upper sliding cavity (321); the gripper upper sliding cavity (321) is connected to the gripper rod (311), the gripper upper sliding cavity (321) can slide inside the conduit limiting mechanism (2), and the conduit limiting mechanism (2) can limit the movement distance of the gripper upper sliding cavity (321), the push rod mechanism (1) can move inside the limiting cavity (322), and the push rod mechanism (1) can drive the gripper upper sliding cavity (321) to move through the limiting cavity (322).

6. The straw gripping device as described in claim 5, characterized in that: The diameter of the sliding cavity (321) on the gripper is greater than the diameter of the gripper rod (311), and the diameter of the limiting cavity (322) is smaller than the diameter of the sliding cavity (321) on the gripper.

7. The straw gripping device as described in claim 6, characterized in that: The limiting cavity (322) is provided with an inner limiting step (323), which can limit the push rod mechanism (1).

8. The straw gripping device as described in claim 5, characterized in that: The top rod mechanism (1) includes a push rod assembly (11) and a limit rod assembly (12); the push rod assembly (11) is connected to the limit rod assembly (12), the push rod assembly (11) can move to squeeze the gripper assembly (31) to grab the straw, the push rod assembly (11) can push the gripper mechanism (3) to move upward, and the limit rod assembly (12) can push the gripper mechanism (3) to move downward.

9. The straw gripping device as described in claim 8, characterized in that: The push rod assembly (11) includes a push rod (111) and a push ball (112); the push rod (111) is connected to the push ball (112), the push ball (112) is disposed in the expansion cavity (313), the push ball (112) can push the gripper (312) to grab the straw, and the push rod (111) drives the push ball (112) to push the gripper (311) to move upward.

10. The straw gripping device as described in claim 9, characterized in that: The limiting rod assembly (12) includes a limiting push rod (121), one end of the push rod (111) is connected to the limiting push rod (121), the limiting push rod (121) is disposed in the limiting cavity (322), the limiting push rod (121) can slide in the limiting cavity (322), and the diameter of the limiting push rod (121) is larger than the diameter of the push rod (111).

11. The straw gripping device as described in claim 5, characterized in that: The conduit limiting mechanism (2) includes a conduit assembly (21), the lower end of which is connected to a heat preservation assembly (22); the conduit assembly (21) can guide and limit the gripper mechanism (3), and the heat preservation assembly (22) can freeze and keep the straw on the gripper mechanism (3).

12. The straw gripping device as described in claim 11, characterized in that: The conduit assembly (21) includes a conduit (211) and a stepped limiting member (212); the stepped limiting member (212) is disposed at the lower end of the conduit (211), and the stepped limiting member (212) can limit the sliding cavity (321) of the gripper.

13. The straw gripping device as described in claim 1, characterized in that: It also includes a support component (4), which is connected to the catheter limiting mechanism (2) for support.

14. The straw gripping device as described in claim 13, characterized in that: It also includes a lifting drive assembly (5); the lifting drive assembly (5) is mounted on the support assembly (4), and the lifting drive assembly (5) can drive the top rod mechanism (1) to lift.

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