Test tube clamping device and automatic equipment
By designing elastic clamping and anti-rotation structures for the tube holder and tube support, the problems of complex structure and large size of existing test tube clamping devices are solved, realizing efficient opening and closing operations of test tubes and tube caps, and improving the working efficiency of automated equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-16
- Publication Date
- 2026-03-03
AI Technical Summary
Existing test tube clamping devices are complex in structure and large in size, making it difficult to achieve efficient opening and closing of test tubes and caps.
A test tube clamping device was designed, including a tube seat and a tube support. The device achieves elastic clamping and anti-rotation of the test tube through elastic elements and anti-rotation structure. It works in conjunction with a robotic arm to perform opening and closing operations. The elastic elements and guide grooves ensure the stability and flexibility of the test tube during the opening and closing process.
The test tube clamping device has a simple structure and small size, and can efficiently complete the opening, adding and closing operations of test tubes, thus improving the working efficiency of automated equipment.
Smart Images
Figure CN223959690U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of instrument technology, and in particular to a test tube clamping device and automated equipment. Background Technology
[0002] In research fields such as medicine, bioengineering, chemistry, and pharmaceuticals, test tubes are commonly used to hold various samples, reagents, and solutions. When processing samples, reagents, and solutions in test tubes in batches, test tube clamping devices are required. These devices, in conjunction with automated instruments, enable operations such as opening, adding, and closing the caps on the test tubes. During the opening and closing of the caps, not only must the test tube and cap rotate relative to each other, but they must also be able to move relative to each other along their length. Currently, clamping mechanisms that achieve these functions have disadvantages such as complex structures and large sizes. Utility Model Content
[0003] In a first aspect, this application provides a test tube clamping device, which includes: a tube seat and a tube support for elastically clamping test tubes; wherein,
[0004] The tube seat is provided with a first receiving cavity with one end open; the tube support is slidably assembled in the first receiving cavity and can slide along the axis of the first receiving cavity.
[0005] An elastic element is provided in the first receiving cavity, one end of which abuts against the tube seat and the other end of which abuts against the tube support;
[0006] The sidewall of the first receiving cavity is provided with an anti-rotation structure to prevent the test tube from rotating.
[0007] In one possible implementation, the tube holder has a second receiving cavity for accommodating the test tube, one end of the second receiving cavity is open, and the open end of the second receiving cavity is provided with a plurality of elastic retaining arms, the plurality of elastic retaining arms being arranged at intervals around the axis of the second receiving cavity.
[0008] In one possible implementation, the bottom of the second receiving cavity is a conical surface.
[0009] In one possible implementation, the anti-rotation structure is a guide groove disposed on the side wall of the first receiving cavity.
[0010] In one possible implementation, the first receiving cavity includes a first cavity and a second cavity that communicate with each other, with the opening end of the first receiving cavity located in the first cavity; wherein the diameter of the first cavity is smaller than the diameter of the second cavity, and a stepped surface is formed between the first cavity and the second cavity;
[0011] The tube support has a stepped structure that is matched with the stepped surface of the first receiving cavity.
[0012] In one possible implementation, the tube seat includes a seat body and a support block detachably and fixedly connected to the seat body;
[0013] The first cavity is located in the seat, and the second cavity is located in the support block.
[0014] In one possible implementation, the elastic element is a compression spring;
[0015] The bottom surface of the first receiving cavity is provided with a guide post that cooperates with one end of the compression spring;
[0016] The tube support is provided with an annular groove that mates with the other end of the compression spring.
[0017] In one possible implementation, a motion mechanism is also included, which drives the tube seat to move.
[0018] In one possible implementation, the motion mechanism includes a crossbeam and a slide rail disposed on the crossbeam; the tube seat is slidably mounted on the slide rail; the motion mechanism further includes a drive member for driving the tube seat to slide.
[0019] In one possible implementation, the drive unit includes a conveyor belt assembly and a drive motor that drives the conveyor belt assembly to rotate; wherein the tube seat is fixedly connected to the conveyor belt in the conveyor belt assembly.
[0020] Secondly, this application provides an automated device, which includes the test tube clamping device described in any of the above claims and a robotic arm for loosening or tightening the cap of the test tube. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the fitting structure between the pipe seat and the pipe support in an embodiment of this application;
[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the pipe support in the embodiments of this application;
[0023] Figure 3 This is a three-dimensional structural diagram of the test tube clamping device according to an embodiment of this application;
[0024] Figure 4 This is a schematic diagram of the test tube clamping device in an embodiment of this application. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of this application clearer, the application will now be described in further detail with reference to the accompanying drawings.
[0026] It should be noted that, unless otherwise defined, the technical or scientific terms used in one or more embodiments of this specification should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar words used in one or more embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0027] To facilitate understanding of the test tube clamping device provided in this application embodiment, its application scenario is first described. The test tube clamping device in this application is mainly used to clamp test tubes. Test tube clamping devices are commonly used mechanisms in automated instruments for batch processing of various samples, reagents, and solutions within test tubes in biological laboratories. When processing reagents within test tubes, automated equipment is needed to open, add, and close the test tubes. However, the portion of current test tube clamping devices that directly clamps the test tubes has disadvantages such as complex structure and large size.
[0028] To address the aforementioned issues, this application provides a test tube clamping device that is simple in structure and small in size, facilitating automated equipment in performing operations such as opening, adding liquid, and closing test tubes.
[0029] The test tube clamping device provided in this application embodiment can be applied to automated equipment. This automated equipment can be used for quality inspection and other operations on nucleic acid extracts carried in test tubes. The test tubes can be clamped by the clamping device, and the caps can be unscrewed by a robotic arm. A reagent that binds to the nucleic acid and generates fluorescence can be added, and then the caps can be tightened by the robotic arm, thus achieving automation. The added reagent binds to the nucleic acid to generate fluorescence, and the nucleic acid concentration can be detected by a fluorescence quantitative PCR instrument.
[0030] See Figure 1 , Figure 1This is a schematic diagram of the tube holder and tube support mating structure according to an embodiment of this application. In this embodiment, the test tube clamping device includes a tube holder 310 and a tube support 110 for elastically clamping the test tube 410. The tube support 110 is used to directly and elastically clamp the test tube 410. Elastic clamping means that the part of the tube support 110 that clamps the test tube 410 has a certain elasticity. When the test tube 410 is inserted into the tube support 110, the tube support 110 can be stretched open and generate a rebound force. This rebound force clamps the outer wall of the test tube 410, thereby fixing the test tube 410 inside the tube support 110. Elastic clamping can be achieved in various ways. For example… Figure 2 As shown, the portion of the tube holder 110 that clamps the test tube 410 is circumferentially separated and made of elastic material. When the test tube 410 is inserted into the tube holder 110, the elastic material is stretched by the supporting force provided by the outer wall of the test tube 410. At this time, the tube holder 110 undergoes elastic deformation, generating a contraction force in the axial direction of the test tube 410, thereby elastically clamping the test tube 410. Elastic elements can also be provided circumferentially along the tube holder 110, directly or indirectly abutting against the outer wall of the test tube 410, thereby forming an elastic clamp on the test tube 410.
[0031] In this application, the tube holder 310 is used to install the tube support 110. The tube holder 310 has a first receiving cavity 314 with one end open. The tube support 110 is slidably fitted into the first receiving cavity 314 and can slide along the axis of the first receiving cavity 314. To enable the tube support 110 to slide within the first receiving cavity 314, the diameter of the first receiving cavity 314 is slightly larger than the outer diameter of the tube support 110; the length of the cavity 314 is greater than the length of the tube support 110, so that the tube support 110 can slide along the axis of the first receiving cavity 314 during the opening and closing of the test tube 410. It should be understood that in this embodiment, the height position of the cap 411 of the test tube 410 remains unchanged during the opening and closing of the cap. Since the cap 411 and the test tube 410 are connected by threads, the cap 411 will rotate during the opening and closing of the cap, and the test tube 410 will slide along the axis of the first receiving cavity 314 under the drive of the threads, with the sliding distance being the length of the thread of the test tube 410.
[0032] To ensure effective contact between the test tube 410 and the cap 411 during opening and closing, an elastic element is specifically provided within the first receiving cavity 314. One end of the elastic element abuts against the tube seat 310, and the other end abuts against the tube support 110. The elastic element provides an elastic connection between the tube support 110 and the tube seat 310 along the axis of the tube seat 310. During the opening of the test tube 410, the robotic arm grasps the cap 411 and rotates it. At this time, the test tube 410 slides away from the cap 411 along the first receiving cavity 314 under the influence of the threaded mechanism. The tube support 110, under pressure, slides towards the bottom of the first receiving cavity 314 along the axis of the tube seat 310, compressing the elastic element. Under the action of the elastic element, after opening, the test tube 410 returns to its original height. During the closing of the test tube 410, the robotic arm grasps the cap 411 and stops at the open position. During this process, the test tube 410 is first compressed, and the elastic element returns to its compressed state. As the elastic element supporting the tube holder 110 provides a supporting force towards the tube cap 411, the test tube 410 tends to move closer to the tube cap 411, causing the test tube 410 to press tightly against the tube cap 411. When the robotic arm grasps the tube cap 411 and rotates it, the test tube 410 and the tube cap 411 are screwed together by the thread. At this time, the test tube 410 adaptively moves closer to the tube cap 411 with the thread, and the elastic element is released.
[0033] To facilitate the opening and closing of the test tube 410 by the robotic arm, this embodiment includes an anti-rotation structure on the side wall of the first receiving cavity 314 to prevent the test tube 410 from rotating. Since the robotic arm rotates the cap 411 during opening and closing, the test tube 410 needs to be kept in a non-rotating state to achieve this. The anti-rotation structure can be a concave-convex structure that engages with the shape of the test tube 410 on the side wall of the first receiving cavity 314, aiming to prevent the test tube 410 from rotating during opening and closing.
[0034] As can be seen from the above description, in the embodiments disclosed in this application, a tube support 110 is slidably disposed within the tube holder 310, and the bottom of the tube support 110 is elastically connected to the tube holder 310 via an elastic element. The test tube 410 is elastically held by the tube support 110, and the tube support 110 can adaptively slide within the tube holder 310 during the opening and closing of the test tube 410. This design has the advantages of small size and simple structure.
[0035] As an optional implementation method, refer to Figure 2 , Figure 2This is a three-dimensional structural diagram of the tube holder 110 of this application. The tube holder 110 has a second receiving cavity 116 for accommodating test tubes 410, with one end open. When inserting the test tube 410, the test tube 410 is inserted into the second receiving cavity 116 through the open end. The shape of the second receiving cavity 116 matches the shape of the test tube 410, and is generally circular. To fix the test tube 410 inserted into the second receiving cavity 116, this embodiment provides multiple elastic retaining arms 111 at the open end of the second receiving cavity 116. These elastic retaining arms 111 surround the outer wall of the test tube 410, thus fixing the test tube 410.
[0036] It should be understood that, in this embodiment, the diameter of the inscribed circle of the multiple elastic clamping arms 111 in their natural state is smaller than the diameter of the outer wall of the test tube 410. When the test tube 410 is inserted into the second receiving cavity 116, the multiple elastic clamping arms 111 are spread open by the outer wall of the test tube 410. At the same time as being spread open, the multiple elastic clamping arms 111 will also generate a rebound force toward the outer wall of the test tube 410, which elastically clamps the outer wall of the test tube 410.
[0037] To provide a uniform clamping force on the outer wall of the test tube 410, in this embodiment, multiple elastic clamping arms 111 are arranged at intervals around the axis of the second receiving cavity 116. The elastic clamping arms 111 can be arranged by creating slots 112 through the cavity wall of the second receiving cavity 116, such as a straight, herringbone, or cross-shaped slot, dividing the cavity wall of the second receiving cavity 116 into multiple elastic clamping arms 111. In this case, two adjacent elastic clamping arms 111 are not connected at the opening end of the second receiving cavity 116. When the test tube 410 is inserted, the multiple elastic clamping arms 111 elastically deform at the end face of the slot 112 and simultaneously generate a rebound force, elastically clamping the test tube 410. This application achieves elastic clamping of the test tube 410 by setting elastic clamping arms 111 on the tube support 110, resulting in a small size and simple structure.
[0038] Continue to refer to Figure 1 The bottom of the second receiving cavity 116 is a conical surface 113. At this time, the bottom surface of the test tube 410 is also set as a conical surface that matches the conical surface 113 at the bottom of the second receiving cavity 116. The two conical surfaces cooperate to position the test tube 410 and prevent the test tube 410 from being tilted in the second receiving cavity 116, which facilitates subsequent operations such as opening the cap, adding liquid, and closing the cap on the test tube 410.
[0039] As an optional implementation method, refer to Figure 1 and Figure 3When the anti-rotation structure is a guide groove 123 located on the side wall of the first receiving cavity 314, the length direction of the guide groove 123 is along the axis of the first receiving cavity 314. Side ears 412 are provided on both sides of the test tube 410. After the test tube 410 is inserted into the tube support 110, the side ears 412 on both sides of the test tube 410 are embedded in the guide groove 123. During the opening and closing of the test tube 410, since the height of the cap 411 remains constant, as the cap 411 rotates, the side ears 412 on both sides of the test tube 410 cooperate with the guide groove 123 to prevent the test tube 410 from rotating. The test tube 410 slides along the guide groove 123 within the first receiving cavity 314 under the influence of the thread, and simultaneously, the side ears 412 also slide along the axis of the first receiving cavity 314 within the guide groove 123. The anti-rotation structure in this embodiment is simple and occupies little space.
[0040] In order to confine the tube support 110 within the first receiving cavity 314 of the tube seat 310, this application specifically configures the first receiving cavity 314 as a connected first cavity 314a and a second cavity 314b. The diameter of the first cavity 314a is smaller than the diameter of the second cavity 314b, forming a stepped surface 122 between the first cavity 314a and the second cavity 314b. The stepped surface 122 confines the tube support 110 within the first receiving cavity 314.
[0041] When the tube support 110 is confined within the first receiving cavity 314 by the stepped surface 122, the open end of the first receiving cavity 314 is located in the first cavity 314a, making the first receiving cavity 314 as a whole inverted "T" shape. At this time, the tube support 110 and the stepped surface 122 in the first receiving cavity 314 are respectively provided with stepped structures 114. As an example, refer to Figure 1 The lower diameter of the tube support 110 is larger than its upper diameter, corresponding to the stepped surface 122 between the first cavity 314a and the second cavity 314b, forming a stepped structure 114. The stepped structure 114 engages with the stepped surface 122, confining the tube support 110 within the second cavity 314b. The gap between the lower part of the tube support 110 and the cavity wall of the second cavity 314b can be set to 0.1-0.5 mm, such as 0.1 mm, 0.2 mm, 0.3 mm, or 0.4 mm. This allows the tube support 110 to slide within the first receiving cavity 314 while preventing radial oscillation.
[0042] When the first receiving cavity 314 is specifically configured as a first cavity 314a and a second cavity 314b, in order to facilitate the installation of the pipe support 110 within the first receiving cavity 314, this embodiment sets the pipe seat 310 as a split structure. Specifically, the seat body 311 is detachably and fixedly connected to the support block 312. The seat body 311 is installed above the support block 312 and connected by bolts or other components. The first cavity 314a is placed inside the seat body 311, and the second cavity 314b is placed inside the support block 312. The first cavity 314a and the second cavity 314b are coaxially arranged, and the stepped surface 122 of the first receiving cavity 314 is located at the mating surface between the seat body 311 and the support block 312. When installing the pipe support 110, the lower large-diameter part of the pipe support 110 can be first embedded into the second cavity 314b of the support block 312, and then the seat body 311 is fitted onto the outside of the pipe support 110 through the first cavity 314a, which has the advantage of convenient installation. To ensure that the first cavity 314a and the second cavity 314b are coaxial after installation, pin holes can be provided on the base 311 and the support block 312 respectively, and positioning pins can be inserted into the pin holes for positioning.
[0043] In one optional embodiment, the elastic element is a compression spring 610. One end of the compression spring 610 abuts against the bottom surface of the tube support 110, and the other end abuts against the bottom surface of the first receiving cavity 314. The compression spring 610 is in a compressed state, providing support for the tube support 110. During the process of using a robotic arm to close the cap on the test tube 410, the test tube 410 and the cap 411 are kept in an elastic contact state, so that the threads between the test tube 410 and the cap 411 can be smoothly tightened.
[0044] To prevent instability in the movement of the tube support 110 during operations such as opening and closing the test tube 410, this embodiment provides a guide post 313 on the bottom surface of the first receiving cavity 314, which engages with one end of the compression spring 610, and an annular groove 115 on the tube support 110, which engages with the other end of the compression spring 610. Specifically, one end of the compression spring 610 is fitted outside the guide post 313, and the other end is embedded in the annular groove 115. The guide post 313 and the annular groove 115 respectively provide radial positioning for the two ends of the elasticity, preventing the compression spring 610 from shifting within the first receiving cavity 314 under force when the tube support 110 moves along the axis of the first receiving cavity 314, thus preventing the tube support 110 supported by the compression spring 610 from shifting position.
[0045] To facilitate the use of the aforementioned test tube clamping device in the laboratory, this application also includes a motion mechanism that drives the tube holder 310 to move. See [link to application]. Figure 3 , Figure 4The tube holder 310 is detachably and fixedly connected to the motion mechanism. The motion mechanism drives the tube holder 310 to move, thereby moving the test tube 410 inside the tube holder 310. Since laboratory operations require batch processing of test tubes 410, such as opening, adding liquid, and closing caps, this application uses a motion mechanism to drive the tube holder 310 to achieve high-efficiency operation in conjunction with a robotic arm. The movement of the tube holder 310 under the drive of the motion mechanism can be linear translation, curved translation, or reciprocating motion, etc. Any movement that meets the laboratory's operational needs is acceptable and will not be elaborated upon here.
[0046] See also Figure 3 , Figure 4 When the tube seat 310 is displaced by the motion mechanism, in order to ensure the stable operation of the test tube 410 inside the tube seat 310, the motion mechanism of this application includes a crossbeam 511, and a slide rail 512 is provided on the crossbeam 511. The tube seat 310 is slidably mounted on the slide rail 512, and the tube seat 310 is driven to slide along the slide rail 512 by a driving component. When the tube seat 310 is displaced under the drive of the motion mechanism, the tube seat 310 moves along the slide rail 512, which can ensure the stability of the operation of the test tube 410 inside the tube seat 310. In this embodiment, the shape of the crossbeam 511 is not specifically limited. The main function of the crossbeam 511 is to support the slide rail 512, and the slide rail 512 limits the displacement trajectory of the tube seat 310 and improves the stability of the test tube 410 during the displacement process.
[0047] When the tube seat 310 is slidably connected to the slide rail 512, the tube seat 310 can be configured with a structure that matches the slide rail 512 to achieve the slidable connection. Alternatively, a slider can be fixedly connected to the tube seat 310, and then the slider can be slidably connected to the slide rail 512 to achieve the slidable connection between the tube seat 310 and the slide rail 512.
[0048] As an example, see Figure 3 , Figure 4The driving components include a conveyor belt assembly and a drive motor 515 that drives the conveyor belt assembly. Specifically, a support frame 517 can be provided at the lower part of one end of the crossbeam 511, and the drive motor 515 is fixedly connected below or above the support frame 517. A pulley 516 is connected to the output end of the drive motor 515. An idler wheel 514 is provided at the other end of the crossbeam 511 opposite to the drive motor 515. The idler wheel 514 is rotatably mounted on the crossbeam 511 via a mounting plate 513. The pulley 516 and the idler wheel 514 are connected by a conveyor belt 518. At this time, the tube seat 310 is fixedly connected to the conveyor belt 518 in the conveyor belt assembly. The specific connection method between the tube seat 310 and the conveyor belt 518 can adopt any connection method in the prior art, as long as the tube seat 310 can move synchronously with the conveyor belt 518. When the drive motor 515 rotates, the output end of the drive motor 515 synchronously drives the pulley 516 to rotate. Driven by the pulley 516, the conveyor belt 518 runs between the pulley 516 and the idler wheel 514, and the tube seat 310 is displaced through the conveyor belt 518.
[0049] To improve work efficiency, in this embodiment, slide rails 512 are provided on both sides of the crossbeam 511, and pipe seats 310 are slidably connected to the slide rails 512 on both sides of the crossbeam 511. When the drive unit is running, it can synchronously drive the pipe seats 310 on both sides of the crossbeam 511 to run synchronously, thereby improving efficiency.
[0050] To facilitate understanding of the technical solution of this application, in this embodiment, the position of the tube seat 310 on the crossbeam 511 near the drive motor 515 is designated as the first position, and the position of the tube seat 310 on the crossbeam 511 near the idler wheel 514 is designated as the second position. The following is a combination of... Figure 4 A detailed description is provided of one working scenario of the test tube clamping device of this application:
[0051] 1. When the tube holder 310 is in the second position, the test tube 410 is placed into the tube holder 310. The robotic arm grasps the cap 411 of the test tube 410 and rotates it to open the cap of the test tube 410;
[0052] 2. After the test tube 410 is opened, the drive motor 515 rotates and drives the tube seat 310 to the first position through the conveyor belt 518. At this time, the test tube 410 is in the first position along with the tube seat 310.
[0053] 3. Add reagents to the test tube 410, which is located in the first position and has been opened, using a single-channel pump or similar equipment;
[0054] 4. After the reagent is added, the drive motor 515 rotates in the opposite direction to that in step 2, and the conveyor belt 518 drives the tube holder 310 back to the second position. The mechanical hand-held tube cap 411 performs the capping action on the test tube 410;
[0055] 5. The robotic arm removes the closed test tube 410 and places a new test tube 410 into the tube holder 310 in the second position, and the cycle continues.
[0056] The above-described working method is only one of the working methods of the test tube clamping device of this application. As can be seen from the above working scenario, by using the test tube clamping device of this application in conjunction with a robotic arm, the opening, closing, and liquid addition of test tubes 410 in batch samples are automated, thereby improving work efficiency. Moreover, the test tube clamping device of this application has the advantages of small size, simple structure, and convenient operation.
[0057] This application also provides an automated device, which includes the test tube clamping device of any of the above and a robotic arm for loosening or tightening the cap of the test tube.
[0058] As can be seen from the above description, in the embodiments disclosed in this application, a tube support 110 is slidably disposed within the tube holder 310, and the bottom of the tube support 110 is elastically connected to the tube holder 310 via an elastic element. The test tube 410 is elastically held by the tube support 110, and the tube support 110 can adaptively slide within the tube holder 310 during the opening and closing of the test tube 410. This design has the advantages of small size and simple structure.
[0059] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. Test tube clamping device, characterized in that The application relates to a test tube clamping device. The test tube clamping device comprises a test tube seat and a test tube holder for elastically clamping a test tube; wherein The test tube seat is provided with a first accommodating cavity with an open end; the test tube holder is slidably arranged in the first accommodating cavity and can slide along the axial direction of the first accommodating cavity; An elastic element is arranged in the first accommodating cavity, one end of the elastic element abuts against the test tube seat, and the other end of the elastic element abuts against the test tube holder; The side wall of the first accommodating cavity is provided with an anti-rotation structure for preventing the test tube from rotating.
2. The test tube clamping device according to claim 1, characterized in that The test tube holder is provided with a second accommodating cavity for accommodating the test tube, the second accommodating cavity has an open end, and the open end of the second accommodating cavity is provided with a plurality of elastic clamping arms which are arranged at intervals around the axis of the second accommodating cavity.
3. The test tube clamping device according to claim 2, characterized in that The bottom of the second accommodating cavity is a conical surface.
4. The test tube clamping device according to claim 1, characterized in that The anti-rotation structure is a guide groove arranged on the side wall of the first accommodating cavity.
5. The test tube clamping device according to claim 4, characterized in that The first accommodating cavity comprises a first cavity and a second cavity which are communicated, and the open end of the first accommodating cavity is located in the first cavity; wherein the diameter of the first cavity is smaller than the diameter of the second cavity, and a stepped surface is formed between the first cavity and the second cavity; The test tube holder is provided with a stepped structure which is limitedly matched with the stepped surface of the first accommodating cavity.
6. The test tube clamping device according to claim 5, characterized in that The test tube seat comprises a seat body and a supporting block which is detachably and fixedly connected with the seat body; The first cavity is located in the seat body, and the second cavity is located in the supporting block.
7. The test tube clamping device according to claim 1, characterized in that The elastic element is a compression spring; The bottom surface of the first accommodating cavity is provided with a guide column which is matched with one end of the compression spring; The test tube holder is provided with a ring groove which is matched with the other end of the compression spring.
8. The test tube holder according to any one of claims 1 to 7, characterized in that The test tube clamping device further comprises a motion mechanism for driving the test tube seat to move.
9. The test tube clamping device according to claim 8, characterized in that The motion mechanism comprises a cross beam and a slide rail arranged on the cross beam; the test tube seat is slidably arranged in the slide rail; the motion mechanism further comprises a driving member for driving the test tube seat to slide.
10. The test tube clamping device according to claim 9, characterized in that The driving member comprises a conveying belt assembly and a driving motor for driving the conveying belt assembly to rotate; wherein the test tube seat is fixedly connected with a conveying belt in the conveying belt assembly.
11. An automated apparatus, characterized by, The application further relates to a mechanical hand for unscrewing or screwing a cap of the test tube.