Sample tube picking mechanism

Abstract

The utility model discloses a sample tube picking mechanism which comprises a grabbing component and a limiting assembly. The grabbing component is provided with at least one set of limiting assemblies, the grabbing component can grab the sample tube, and the limiting assemblies can abut against and limit the sample tube on the side edge of the grabbed sample tube. The tube grabbing mechanism has the beneficial effects that by arranging the clamping part, a sample tube can be directly grabbed from the upper end of the sample tube, and the cryopreservation tube can be just grabbed from four gaps around the cryopreservation tube through the four groups of clamping jaws on the clamping part, so that the size of the tube grabbing mechanism is greatly reduced, the cost is reduced, and the efficiency is improved; through the arrangement of the limiting assembly, the surrounding sample tubes are prevented from being taken out, the grabbing efficiency is improved, and the risk that the sample tubes fall off and fall down is reduced; the working efficiency of storing and taking samples by experimenters is greatly improved due to the intelligent single sample picking tube; the device is matched with an X-axis, Y-axis and Z-axis driving mechanism to realize three-axis movement, so that the cryopreservation tubes are selected in multiple directions.

Description

Technical Field

[0001] This utility model relates to the field of biological sample technology, and in particular to a sample tube picking mechanism. Background Technology

[0002] Biological samples generally require low-temperature storage. Currently, most tissue, blood, DNA, biological fluids and protein samples are stored in an environment of -80°C, and the storage containers are generally ultra-low temperature freezers.

[0003] Currently, biological sample tubes are manually stored in liquid nitrogen tanks. The process of picking up the sample tubes is not stable enough, which can easily cause sample damage and safety hazards to operators. In addition, during the actual tube picking process, sample tubes around the selected sample tube are easily pulled out, causing sample tubes to fall off.

[0004] Therefore, there is an urgent need for a sample tube picking mechanism to reduce the safety hazards and other problems caused by manual operation. Utility Model Content

[0005] 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.

[0006] In view of the problems existing in the above or prior art, this utility model is proposed.

[0007] Therefore, the purpose of this utility model is to provide a sample tube picking mechanism that can grasp and pick up sample tubes, abandoning the existing vacuum suction or pin lifting + top three-claw gripping. This device directly adopts direct gripping, thus greatly reducing the size of the tube picking mechanism, reducing costs, and improving efficiency. In addition, during operation, the limiting component prevents surrounding sample tubes from being pulled out, improving the gripping efficiency and reducing the risk of sample tubes falling off.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a sample tube picking mechanism, which includes a gripping component and a limiting component; the gripping component is provided with a limiting component, and at least one set of limiting components is provided; the gripping component can grip the sample tube, and the limiting component can hold and limit the sample tube on the side of the gripped sample tube.

[0009] As a preferred embodiment of the sample tube picking mechanism of this utility model, the gripping component includes a pushing component, a frame component, and a clamping part; the frame component is provided with a pushing component, the lower end of the pushing component is connected to the clamping part, the frame component can guide the pushing component, and the pushing component can drive the clamping part to clamp the sample tube.

[0010] As a preferred embodiment of the sample tube picking mechanism of this utility model, the pushing component includes a pushing member and a sliding member; the pushing member can drive multiple sets of sliding members to approach or move away from the center position of the frame component, and the sliding members can drive the clamping part to move.

[0011] As a preferred embodiment of the sample tube picking mechanism of this utility model, the pushing component includes a pushing rod, a pushing block is connected below the pushing rod, at least one set of pushing slopes is provided on the side of the pushing block, and multiple sets of locking rails are provided on the pushing block, the pushing slopes and locking rails can cooperate with the sliding component.

[0012] As a preferred embodiment of the sample tube picking mechanism of this utility model, the pushing slope is inclined and gradually tilts from the outside of the frame component to the inside from the top to the bottom.

[0013] As a preferred embodiment of the sample tube picking mechanism of this utility model, the sliding component includes a moving block, an inclined groove is provided at the upper end of the moving block, a snap-fit ​​plate is provided in the inclined groove, a pushing slope is provided in the inclined groove, and the snap-fit ​​plate can guide and limit the snap-fit ​​track.

[0014] As a preferred embodiment of the sample tube picking mechanism of this utility model, the frame assembly includes a frame body, on which multiple sets of moving block guide grooves are provided, which can guide and limit the sliding member; a pushing block guide groove is provided at the upper end of the frame body, which allows the pushing member to pass through.

[0015] As a preferred embodiment of the sample tube picking mechanism of this utility model, the limiting component includes a frame body, an elastic element is provided inside the frame body, a limiting rod is also provided inside the frame body, an elastic element is provided at the upper end of the limiting rod, and a push rod groove is provided at the bottom of the frame body. The limiting rod holds and limits the sample tube through the push rod groove.

[0016] As a preferred embodiment of the sample tube picking mechanism of this utility model, the limiting rod includes an upper connecting rod and a picking push rod; the lower end of the upper connecting rod is connected to the picking push rod, and an elastic element is provided inside the upper connecting rod, so that the picking push rod can hold and limit the sample tube.

[0017] In a preferred embodiment of the sample tube picking mechanism of this utility model, the diameter of the upper connecting rod is larger than the diameter of the picking push rod; the push rod groove can limit the upper connecting rod.

[0018] As a preferred embodiment of the sample tube picking mechanism of this utility model, it further includes a drive module, a support module, and a buffer push module; the upper and lower ends of the buffer push module are respectively connected to the drive module and the gripping component, the support module is supported and connected to the drive module, the support module, and the buffer push module, the drive module can drive the buffer push module, and the buffer push module can drive the gripping component to work.

[0019] As a preferred embodiment of the sample tube picking mechanism of this utility model, the buffer pushing module includes a buffer support plate, an elastic pushing component, and a snap-fit ​​fixing plate; the buffer support plate is connected to the support module, the elastic pushing component is provided on the buffer support plate, the snap-fit ​​fixing plate is provided below the buffer support plate, the elastic pushing component is connected to the snap-fit ​​fixing plate through the buffer support plate, the snap-fit ​​fixing plate is connected to the gripping component, the elastic pushing component can drive the snap-fit ​​fixing plate to move up and down, and the elastic pushing component can provide elastic buffering.

[0020] As a preferred embodiment of the sample tube picking mechanism of this utility model, the elastic pushing component includes a first pushing rod, a second pushing rod, a first elastic element, and a pushing rod connecting plate; the upper and lower ends of the first pushing rod are respectively connected to the drive module and the pushing rod connecting plate, the lower end of the pushing rod connecting plate is connected to the second pushing rod, and the second pushing rod can slide vertically on the buffer support plate; a first elastic element is provided between the pushing rod connecting plate and the buffer support plate, and the first elastic element is sleeved on the second pushing rod; the first elastic element can provide a certain buffer for the gripping component.

[0021] The beneficial effects of this invention are as follows: By setting up a gripping part, this invention can directly grasp the sample tube from the top. The four sets of grippers on the gripping part can precisely grasp the cryopreservation tube from the four gaps around it, which greatly reduces the size of the gripping mechanism, reduces costs, and improves efficiency. The setting of the limiting component prevents surrounding sample tubes from being pulled out, improves the gripping efficiency, and reduces the risk of sample tubes falling over. The intelligent single sample tube picking greatly improves the work efficiency of laboratory personnel in storing and retrieving samples. This device, together with the XYZ axis drive mechanism, can realize three-axis movement, thereby selecting cryopreservation tubes from multiple directions. Attached Figure Description

[0022] 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:

[0023] Figure 1 This is a schematic diagram of the sample tube picking mechanism.

[0024] Figure 2 This is an exploded schematic diagram of the sample tube picking mechanism.

[0025] Figure 3 This is an exploded view of the gripping components of the sample tube picking mechanism.

[0026] Figure 4 This is a schematic diagram of the explosion of the pushing component of the sample tube picking mechanism.

[0027] Reference numerals: 1. Grasping component; 2. Limiting component; 11. Pushing component; 12. Frame component; 13. Clamping part; 111. Pushing element; 112. Sliding element; 1111. Pushing rod; 1112. Pushing block; 1113. Pushing ramp; 1114. Snap-fit ​​track; 1121. Moving block; 1122. Snap-fit ​​plate; 1123. Inclined groove; 121. Frame body; 122. Moving block guide groove; 123. Pushing block guide groove; 21. Elastic element; 22. Limiting rod; 23. Push rod groove; 221. Pipe-lifting push rod; 222. Drive module; 3. Support module; 4. Buffer pushing module; 5. Buffer support plate; 51. Elastic pushing element; 52. Snap-fit ​​fixing plate; 53. First pushing rod; 521. Second pushing rod; 522. First elastic element; 523. Push rod connecting plate; 524. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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

[0031] Reference Figures 1-3This is the first embodiment of the present invention. This embodiment provides a sample tube picking mechanism, which includes a gripping component 1 and a limiting component 2. By providing the limiting component 2 on the gripping component 1, when the gripping component 1 grips the target sample tube, the limiting component 2 can restrain and limit the sample tubes around the target sample tube, which can prevent other sample tubes that do not need to be picked from being brought out.

[0032] Specifically, it includes a gripping component 1 and a limiting component 2; the gripping component 1 is provided with a limiting component 2, and at least one set of limiting components 2 is provided. The gripping component 1 can grip the sample tube, and the limiting component 2 can hold and limit the sample tube on the side of the gripped sample tube.

[0033] In summary, this invention uses the gripping component 1 to grip the target sample tube, and the limiting component 2 to hold and limit the sample tubes around the target sample tube, thus preventing other sample tubes that do not need to be picked out from being mistakenly taken out. This device abandons the existing vacuum suction or pin lifting + top three-claw gripping, and adopts direct gripping. With four claws, it can grab the cryopreservation tube from the four gaps around it, which greatly reduces the size of the gripping mechanism, reduces costs, and improves efficiency. Example 2

[0034] Reference Figures 1-4 This is the second embodiment of the present invention. In the previous embodiment, the sample tube picking mechanism includes a gripping component 1 and a limiting component 2. By providing the limiting component 2 on the gripping component 1, when the gripping component 1 grips the target sample tube, the limiting component 2 can restrain and limit the sample tubes around the target sample tube, thus preventing other sample tubes that do not need to be picked from being brought out.

[0035] Specifically, it includes a gripping component 1 and a limiting component 2; the gripping component 1 is provided with a limiting component 2, and at least one set of limiting components 2 is provided. The gripping component 1 can grip the sample tube, and the limiting component 2 can hold and limit the sample tube on the side of the gripped sample tube.

[0036] Furthermore, the gripping component 1 includes a pushing component 11, a frame component 12, and a clamping part 13; the frame component 12 is provided with the pushing component 11, the lower end of the pushing component 11 is connected to the clamping part 13, the frame component 12 can guide the pushing component 11, and the pushing component 11 can drive the clamping part 13 to clamp the sample tube.

[0037] Preferably, the gripping part 13 can be driven by the pushing component 11 to grasp the sample tube.

[0038] Preferably, the gripping part 13 includes multiple sets of grippers, which can grip the sample tube; the grippers can be configured to have four sets.

[0039] It should be noted that existing cryopreservation tube picking technology generally uses vacuum suction or a pin lifting + top three-claw gripping, which cannot directly grab the sample tube. The four-claw gripping technology can grab the cryopreservation tube from the four gaps around it, which greatly reduces the size of the picking mechanism, reduces costs, and improves efficiency.

[0040] Furthermore, the pushing component 11 includes a pushing member 111 and a sliding member 112; the pushing member 111 can drive multiple sets of sliding members 112 to approach or move away from the center position of the frame component 12, and the sliding members 112 can drive the gripping part 13 to move.

[0041] Preferably, the pusher 111 can move multiple sets of sliders 112 horizontally, and the multiple sets of sliders 112 can move toward or away from the center point.

[0042] Preferably, the slider 112 moves horizontally on the frame assembly 12, and the frame assembly 12 can limit and guide the slider 112.

[0043] Preferably, the downward movement of the pusher 111 can cause multiple sets of sliding members 112 to move away from the center point of the frame assembly 12, and the sliding members 112 can cause multiple sets of grippers on the gripping part 13 to expand outward, thereby releasing the gripping of the sample tube and placing the sample tube.

[0044] Preferably, by pushing the member 111 upward, multiple sets of sliding members 112 can be driven to move toward the center point of the frame assembly 12, and the sliding members 112 can drive multiple sets of grippers on the gripping part 13 to clamp the sample tube.

[0045] Furthermore, the pusher 111 includes a push rod 1111, the push rod 1111 is connected to the lower part of the push block 1112, the push block 1112 has at least one set of push slopes 1113 on its side, and the push block 1112 has multiple sets of locking rails 1114, the push slopes 1113 and the locking rails 1114 can cooperate with the slider 112.

[0046] Preferably, the push block 1112 is provided with four sets of push ramps 1113. The push ramps 1113 can push the moving block 1121 to move. The locking rail 1114 can cooperate with the locking plate 1122. During the upward process, the push ramp 1113 can drive the moving block 1121 to move through the locking rail 1114 and the locking plate 1122.

[0047] Furthermore, the slope 1113 is tilted, and the slope 1113 gradually tilts from the outside of the frame component 12 to the inside from the top to the bottom.

[0048] Preferably, since the push slope 1113 is inclined, it can squeeze multiple sets of moving blocks 1121 during the descent, so that all moving blocks 1121 expand outward.

[0049] Furthermore, the sliding member 112 includes a moving block 1121, the upper end of the moving block 1121 is provided with an inclined groove 1123, a snap-fit ​​plate 1122 is provided in the inclined groove 1123, and a pushing slope 1113 is provided in the inclined groove 1123. The snap-fit ​​plate 1122 can guide and limit the snap-fit ​​track 1114.

[0050] Preferably, the inclined groove 1123 is configured to match the shape of the inclined push slope 1113.

[0051] Furthermore, the frame assembly 12 includes a frame body 121, on which multiple sets of moving block guide grooves 122 are provided, which can guide and limit the sliding member 112; a push block guide groove 123 is provided at the upper end of the frame body 121, which allows the push member 111 to pass through.

[0052] Preferably, by setting multiple sets of moving block guide grooves 122, the moving block 1121 can move through. When the moving block 1121 moves in the moving block guide groove 122, the moving block 1121 can be limited and guided to ensure that the moving block 1121 will not deviate during the movement, thereby ensuring that the gripping part 13 moves horizontally.

[0053] Furthermore, the limiting component 2 includes a frame body 121, an elastic element 21 is provided inside the frame body 121, and a limiting rod 22 is also provided inside the frame body 121. The upper end of the limiting rod 22 is provided with an elastic element 21, and a push rod groove 23 is opened at the bottom of the frame body 121. The limiting rod 22 holds and limits the sample tube through the push rod groove 23.

[0054] Preferably, the elastic element 21 can be a spring, or other existing elastic device.

[0055] Preferably, the elastic element 21 can drive the limiting rod 22 to hold and fix the sample tubes around the target sample tube along the push rod groove 23, ensuring that after the clamping is completed, the limiting rod 22 holds and fixes the sample tubes around the target during the upward process, preventing the surrounding sample tubes from being pulled out.

[0056] Furthermore, the limiting rod 22 includes an upper connecting rod 221 and a tube-picking push rod 222; the lower end of the upper connecting rod 221 is connected to the tube-picking push rod 222, and an elastic element 21 is provided inside the upper connecting rod 221. The tube-picking push rod 222 can hold and limit the sample tube.

[0057] Furthermore, the diameter of the upper connecting rod 221 is larger than the diameter of the tube-lifting push rod 222; the push rod groove 23 can limit the upper connecting rod 221.

[0058] Preferably, the diameter of the upper connecting rod 221 is larger than the diameter of the pipe-picking push rod 222, and the diameter of the upper connecting rod 221 is also larger than the diameter of the push rod groove 23, which can limit the movement distance of the upper connecting rod 221 and prevent the pipe-picking push rod 222 from detaching from the frame body 121.

[0059] Furthermore, it also includes a drive module 3, a support module 4, and a buffer push module 5; the upper and lower ends of the buffer push module 5 are respectively connected to the drive module 3 and the gripping component 1, the support module 4 is supported and connected to the drive module 3, the support module 4, and the buffer push module 5, the drive module 3 can drive the buffer push module 5, and the buffer push module 5 can drive the gripping component 1 to work.

[0060] Preferably, the support module 4 can connect and fix the drive module 3, the frame body 121, and the buffer support plate 51.

[0061] Furthermore, the buffer push module 5 includes a buffer support plate 51, an elastic pusher 52, and a snap-fit ​​fixing plate 53; the buffer support plate 51 is connected to the support module 4, the elastic pusher 52 is provided on the buffer support plate 51, and the snap-fit ​​fixing plate 53 is provided below the buffer support plate 51. The elastic pusher 52 is connected to the snap-fit ​​fixing plate 53 through the buffer support plate 51, and the snap-fit ​​fixing plate 53 is connected to the gripping member 1. The elastic pusher 52 can drive the snap-fit ​​fixing plate 53 to move up and down, and the elastic pusher 52 can provide elastic buffering.

[0062] Furthermore, the elastic pusher 52 includes a first push rod 521, a second push rod 522, a first elastic element 523, and a push rod connecting plate 524; the upper and lower ends of the first push rod 521 are respectively connected to the drive module 3 and the push rod connecting plate 524, the lower end of the push rod connecting plate 524 is connected to the second push rod 522, and the second push rod 522 can slide vertically on the buffer support plate 51. The first elastic element 523 is provided between the push rod connecting plate 524 and the buffer support plate 51, and the first elastic element 523 is sleeved on the second push rod 522. The first elastic element 523 can provide a certain buffer for the gripping member 1.

[0063] Preferably, by setting up the buffer push module 5, it can be avoided that the clamping part 13 will contact the sample tube with a large impact force when it moves up and down, thereby causing a certain degree of damage to the sample tube.

[0064] 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 rearranged 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.

[0065] 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.

[0066] 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.

[0067] 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 sample tube picking mechanism, characterized in that: It includes a gripping component (1) and a limiting component (2); the gripping component (1) is provided with a limiting component (2), and at least one limiting component (2) is provided. The gripping component (1) can grip the sample tube, and the limiting component (2) can hold and limit the sample tube on the side of the gripped sample tube.

2. The sample tube picking mechanism as described in claim 1, characterized in that: The gripping component (1) includes a pushing component (11), a frame component (12), and a clamping part (13); the frame component (12) is provided with the pushing component (11), the lower end of the pushing component (11) is connected to the clamping part (13), the frame component (12) can guide the pushing component (11), and the pushing component (11) can drive the clamping part (13) to clamp the sample tube.

3. The sample tube picking mechanism as described in claim 2, characterized in that: The pushing component (11) includes a pushing member (111) and a sliding member (112); the pushing member (111) can drive multiple sets of sliding members (112) to approach or move away from the center position of the frame component (12), and the sliding member (112) can drive the clamping part (13) to move.

4. The sample tube picking mechanism as described in claim 3, characterized in that: The pusher (111) includes a push rod (1111), and a push block (1112) is connected below the push rod (1111). At least one set of push slopes (1113) is provided on the side of the push block (1112), and multiple sets of locking rails (1114) are provided on the push block (1112). The push slopes (1113) and locking rails (1114) can cooperate with the slider (112).

5. The sample tube picking mechanism as described in claim 4, characterized in that: The push slope (1113) is inclined, and the push slope (1113) gradually slopes from the outside of the frame assembly (12) to the inside from the top to the bottom.

6. The sample tube picking mechanism as described in claim 4, characterized in that: The sliding member (112) includes a moving block (1121), the upper end of which is provided with an inclined groove (1123), a snap-fit ​​plate (1122) is provided in the inclined groove (1123), the pushing slope (1113) is provided in the inclined groove (1123), and the snap-fit ​​plate (1122) can guide and limit the snap-fit ​​track (1114).

7. The sample tube picking mechanism as described in claim 2, characterized in that: The frame assembly (12) includes a frame body (121), on which multiple sets of moving block guide grooves (122) are provided. The moving block guide grooves (122) can guide and limit the sliding member (112). The upper end of the frame body (121) is provided with a push block guide groove (123), which allows the push member (111) to pass through.

8. The sample tube picking mechanism as described in any one of claims 1 to 7, characterized in that: The limiting component (2) includes a frame body (121), an elastic element (21) is provided inside the frame body (121), and a limiting rod (22) is also provided inside the frame body (121). An elastic element (21) is provided at the upper end of the limiting rod (22), and a push rod groove (23) is provided at the bottom of the frame body (121). The limiting rod (22) holds and limits the sample tube through the push rod groove (23).

9. The sample tube picking mechanism as described in claim 8, characterized in that: The limiting rod (22) includes an upper connecting rod (221) and a tube-picking push rod (222); the lower end of the upper connecting rod (221) is connected to the tube-picking push rod (222), and an elastic element (21) is provided inside the upper connecting rod (221). The tube-picking push rod (222) can hold and limit the sample tube.

10. The sample tube picking mechanism as described in claim 9, characterized in that: The diameter of the upper connecting rod (221) is larger than the diameter of the tube push rod (222); the push rod groove (23) can limit the upper connecting rod (221).

11. The sample tube picking mechanism as described in any one of claims 1 to 7, characterized in that: It also includes a drive module (3), a support module (4), and a buffer push module (5); the upper and lower ends of the buffer push module (5) are respectively connected to the drive module (3) and the gripping component (1), the support module (4) is supported and connected to the drive module (3), the support module (4), and the buffer push module (5), the drive module (3) can drive the buffer push module (5), and the buffer push module (5) can drive the gripping component (1) to work.

12. The sample tube picking mechanism as described in claim 11, characterized in that: The buffer push module (5) includes a buffer support plate (51), an elastic pusher (52), and a snap-fit ​​fixing plate (53); the buffer support plate (51) is connected to the support module (4), the buffer support plate (51) is provided with an elastic pusher (52), the buffer support plate (51) is provided with a snap-fit ​​fixing plate (53) below the buffer support plate (51), the elastic pusher (52) is connected to the snap-fit ​​fixing plate (53) through the buffer support plate (51), the snap-fit ​​fixing plate (53) is connected to the gripping member (1), the elastic pusher (52) can drive the snap-fit ​​fixing plate (53) to move up and down, and the elastic pusher (52) can provide elastic buffering.

13. The sample tube picking mechanism as described in claim 12, characterized in that: The elastic pusher (52) includes a first push rod (521), a second push rod (522), a first elastic element (523), and a push rod connecting plate (524). The upper and lower ends of the first push rod (521) are respectively connected to the drive module (3) and the push rod connecting plate (524). The lower end of the push rod connecting plate (524) is connected to the second push rod (522), and the second push rod (522) can slide vertically on the buffer support plate (51). The first elastic element (523) is provided between the push rod connecting plate (524) and the buffer support plate (51), and the first elastic element (523) is sleeved on the second push rod (522). The first elastic element (523) can provide a certain buffer for the gripping member (1).

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