CN213600727U - Clamping device and sample analyzer - Google Patents

Abstract

The utility model relates to a press from both sides and get device and sample analyzer. The method comprises the following steps: a gripping apparatus, comprising: a jaw frame; the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw which are connected with the clamping jaw frame; the clamping jaw elastic piece is connected with the first clamping jaw and the second clamping jaw; and the claw opening assembly comprises a driving mechanism and an executing mechanism, the driving mechanism is respectively connected with the clamping jaw frame and the executing mechanism to drive the executing mechanism to abut against the first clamping jaw and the second clamping jaw in the rotating process, the executing mechanism comprises a long shaft end and a short shaft end, so that when the driving mechanism drives the executing mechanism to rotate in the forward direction, the first clamping jaw and the second clamping jaw are in one of a state of being far away from or close to each other under the abutting action of the executing mechanism, and when the driving mechanism drives the executing mechanism to rotate in the reverse direction, the first clamping jaw and the second clamping jaw are in the other one of the state of being far away from or close to each other under the elastic action of the clamping jaw elastic piece. A sample analyzer includes a grasping device.

Description

Clamping device and sample analyzer

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a press from both sides and get device and sample analyzer.

Background

In a blood cell analyzer, a component to be measured needs to be sent to a sampling position of the analyzer for sampling, and then a sampling needle of the sampling position sends the collected component to an instrument host for relevant analysis.

The component to be measured is generally stored in a reagent tube. It is often necessary to grip the reagent tube by a gripper device to transfer the reagent tube at a different station. Traditional press from both sides and get device is cylinder drive clamping jaw with centre gripping reagent pipe usually, and the cylinder during operation, the impact force is big, noise at work is big, big to external air supply dependency, uses inconveniently.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a gripping device and a sample analyzer.

A gripping apparatus, comprising:

a jaw frame;

the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw which are connected with the clamping jaw frame;

a jaw spring connecting the first jaw and the second jaw; and

the claw opening assembly comprises a driving mechanism and an executing mechanism, wherein the driving mechanism is respectively connected with the claw clamping frame and the executing mechanism to drive the executing mechanism to abut against the first clamping claw and the second clamping claw in the rotating process, the executing mechanism comprises a long shaft end and a short shaft end, so that when the driving mechanism drives the executing mechanism to rotate in the forward direction, the first clamping claw and the second clamping claw are in one of a state of being far away from or close to each other under the abutting action of the executing mechanism, and when the driving mechanism drives the executing mechanism to rotate in the reverse direction, the first clamping claw and the second clamping claw are in the other one of the state of being far away from or close to each other under the elastic action of the clamping claw elastic piece.

A sample analyzer includes a grasping device.

Foretell press from both sides and get device, need not use the cylinder, but through opening claw subassembly and clamping jaw elastic component cooperation, exert the elastic force that draws close to first clamping jaw and second clamping jaw through clamping jaw elastic component promptly, then rotate through opening claw subassembly relative clamping jaw frame, make the both ends of the major axis of opening claw subassembly contradict respectively with first clamping jaw and second clamping jaw, made first clamping jaw and second clamping jaw keep away from, promptly, strut first clamping jaw and second clamping jaw, thereby can place the reagent pipe between first clamping jaw and the second clamping jaw. Then rotate for the clamping jaw frame through making the subassembly of opening the claw to make the axle of opening the claw subassembly contradict with first clamping jaw and second clamping jaw respectively, and draw together first clamping jaw and second clamping jaw through clamping jaw elastic component, with centre gripping reagent pipe. Thereby overcoming the problems of large impact force, large working noise, large dependence on an external air source and inconvenient use when the air cylinder is used.

Drawings

FIG. 1A is a schematic diagram of a sample analyzer in one embodiment;

FIG. 1B is a diagram of steps in a sampling method in one embodiment;

FIG. 2A is a schematic diagram of a sample injection device in one embodiment;

FIG. 2B is a top view of a sample introduction device in one embodiment;

FIG. 2C is an exploded view of the structure shown in FIG. 2A;

FIG. 2D is a schematic diagram of a sample injection device in an embodiment;

fig. 3A is a schematic structural view of the grasping apparatus in one embodiment;

FIG. 3B is a schematic diagram of the operation of the pawl opening assembly in one embodiment;

fig. 3C is a schematic structural view of the grasping apparatus in one embodiment;

fig. 3D is an exploded view of the grasping device shown in fig. 3A;

fig. 3E is a schematic structural view of the grasping apparatus in one embodiment;

FIG. 4A is a schematic perspective view of a blending apparatus according to an embodiment;

FIG. 4B is a side view of the homomixer apparatus of FIG. 4A;

fig. 5A is a schematic structural diagram of a cap pulling device in one embodiment.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Fig. 1A is a schematic structural diagram of a sample analyzer in one embodiment. The sample analyzer comprises a sample introduction device 10, a clamping device 20, a cap pulling device 40 and a sampling device 50.

The sample introduction device 10 is used to provide a sample tube X. In an embodiment of the present application, a sample tube X fed by the feeding device 10 may be covered with a tube cap Y, or may not be covered with the tube cap Y, and a feeding mode in which the tube cap Y is covered on the sample tube X and a feeding mode in which the tube cap Y is not covered on the sample tube X will be described below. For the sample introduction mode that the sample tube X is covered with the tube cap Y, the components in the sample tube X can be uniformly mixed in the subsequent steps. And (3) for the sample introduction mode without covering the tube cap Y on the sample tube X, in order to prevent the components in the sample tube X from being spilled out in the uniformly mixing process, and performing the subsequent step without uniformly mixing. First, an example of a sample introduction method in which the sample tube X is covered with the tube cap Y will be described, and an example of a sample introduction method in which the sample tube X is not covered with the tube cap Y will be described in detail later.

The gripping device 20 is used to move the sample tube X to the cap removing device 40. referring to fig. 5A, the cap removing device 40 has a sampling position 451 and a cap removing position 452, the cap removing device 40 includes a carrier assembly 42 and a cap removing assembly 43, the carrier assembly 42 is used to carry the sample tube X, the carrier assembly 42 is movable from the cap removing position 452 to the sampling position 451, and the cap removing assembly 43 is used to remove the cap Y from the sample tube X and to remount the cap Y on the sample tube X. When the sample tube X is at the cap pulling position 452, the cap pulling assembly 43 pulls the cap Y off the sample tube X, and then the carrier assembly 42 moves the sample tube X to the sampling position 451, so as to sample the sample tube X by the sampling device 50, i.e. to suck the components in the sample tube X; the carrier assembly 42 then carries the sample tube X back to the uncapping cap station 452, and the cap Y is reinstalled on the sample tube X by way of the uncapping cap assembly 43.

A method of sampling comprising the steps of:

s100, providing a sample tube X, wherein a tube cap Y is covered on the sample tube X;

s300, taking down the tube cap Y from the sample tube X;

s400, sampling the sample tube X;

s500, covering the tube cap Y on the sample tube X.

The sampling method can be completed by a sample analyzer.

In S100, a sample tube X is provided by the sample introduction device 10. In S300, the cap Y is removed from the sample tube X by pulling the cap-up device 40. In S400, the sampling device 50 samples the sample tube X, that is, the sampling device 50 suctions the components in the sample tube X. In S500, the cap Y is fitted over the sample tube X by pulling the cap-fitting device 40.

In one embodiment, the sampling method may further include, between steps S100 and S300, a step S200 of homogenizing the components within the sample tube X. The components in the sample tube X can be mixed by the mixing device 30.

As shown in fig. 1B, fig. 1B is a step diagram of a sampling method in an embodiment, and the sampling method may sample at least a first sample tube and a second sample tube through steps S100, S200, S300, S400, and S500. For example, a first sample tube is sampled in the sequence of steps S100, S200, S300, S400, and S500, and when the sampling of the first sample tube proceeds to step S400, the sampling of a second sample tube in the sequence of steps S100, S200, S300, S400, and S500 is started, that is, step S400 of sampling the first sample tube and step S100 of sampling the second sample tube are performed simultaneously. When other sample tubes X follow, the above-mentioned procedure may be followed, for example, the third sample tube X is sampled in the sequence of steps S100, S200, S300, S400 and S500, and when the sampling of the second sample tube is performed to step S400, the step S100 is started to be performed on the third sample tube X.

When the above-described sampling method is implemented by a sample analyzer, i.e. during sampling of a first sample tube, sampling of a second sample tube is started. Improved efficiency of sampling.

In one embodiment, the following sampling method is provided, comprising the steps of:

providing a first sample tube, wherein a tube cap covers the first sample tube;

uniformly mixing the components in the first sample tube;

taking the tube cap off the first sample tube;

sampling the first sample tube, and providing a second sample tube, wherein a tube cap covers the second sample tube;

covering the tube cap of the first sample tube on the first sample tube, and simultaneously mixing the components in the second sample tube uniformly;

removing the cap of the second sample tube from the second sample tube;

a second sample tube is sampled.

Of course, the above-described sampling method further includes the following steps that are continued:

and after the second sample tube is sampled, covering the tube cap of the second sample tube on the second sample tube.

The following embodiments describe the sample feeding device 10, the clamping device 20, the mixing device 30, and the cap removing device 40 in detail.

As shown in fig. 2A, fig. 2A shows a schematic structural diagram of the sample injection device 10 in an embodiment. The sample introduction device 10 is used to move the sample tube X. For example, at the first station 11, the sample tube X is placed on the sample injection device 10, the sample tube X is not shown in fig. 2A, the sample tube X may actually be placed in the first slot 1041 or the second slot 1042 in fig. 2A, and the sample injection device 10 is used to move the sample tube X to the second station 12. Specifically, the sample injection device 10 includes a fixing frame 101, a supporting block 102, and a second sample injection driving mechanism 103. The second sample driving mechanism 103 is connected to the fixed frame 101 and the supporting block 102 to drive the supporting block 102 to move between the first station 11 and the second station 12. The sample injection device 10 further comprises a carrier block 104, and the carrier block 104 is disposed on the support block 102, so that the support block 102 can move from the first station 11 to the second station 12 with the carrier block 104 and can also return to the first station 11 from the second station 12 with the carrier block 104. The bearing block 104 is provided with a first slot 1041 and a second slot 1042 for mounting the sample tube X. The sample tube X installed in the first slot 1041 is open to sample, and the sample tube X installed in the second slot 1042 is closed to sample.

It should be noted that, when the sample tube X is injected through the closed tube opening, the components in the sample tube X are usually required to be uniformly mixed by shaking. When the open pipe orifice of the sample tube X is used for sample injection, the components in the sample tube X do not need to be uniformly mixed to prevent the components in the sample tube X from being sprayed out during uniform mixing.

With continued reference to fig. 2A, the bearing block 104 is rotatably connected to the supporting block 102, so that the first slot 1041 and the second slot 1042 can be respectively rotated to the third station 13, the second slot 1042 in fig. 2A is located at the first station 11 and at the third station 13, if the bearing block 104 in fig. 2A is rotated clockwise by a certain angle, the second slot 1042 can be separated from the third station 13, and the first slot 1041 is rotated to the third station 13.

As shown in fig. 2B, fig. 2B illustrates a top view of the sample introduction device 10 in one embodiment. The sample injection device 10 includes a sensing element 105, and when the second slot 1042 is at the second station 12 and is located at the third station 13, the sensing element 105 generates the mixing signal, otherwise, the sensing element 105 does not generate the mixing signal. The sample introduction device 10 in this embodiment can work together with the gripping device 20 and the blending device 30. Since the sample tube X in the second slot 1042 is a closed sample, for example, when the second slot 1042 is at the second station 12 and located at the third station 13, the sensing component 105 generates a blending signal, and the clamping device 20 moves the sample tube X in the second slot 1042 to the blending device 30 to complete the blending process. Sample injection is carried out without a cover tube cap Y on the sample tube X in the first slot position 1041, and uniform mixing is not needed, so that the sensing component 105 does not generate a uniform mixing signal when the first slot position 1041 is at the third station 13, and uniform mixing can not be carried out on the sample tube X in the first slot position 1041. The sample introduction device 10 in this embodiment can realize that the sample tube X is covered with the tube cap Y and is not covered with the tube cap Y for sample introduction, and the sample introduction mode is various. Simultaneously, can prevent the wrong sample tube X that advances a kind with on the sample tube X not lid tube cap Y from carrying out the mixing, and the problem that the composition in the sample tube X spills out when leading to the mixing.

For example, the sensing element 105 may be a micro switch, the sidewall of the bearing block 104 is arc-shaped, and when the second slot 1042 is at the second station 12 and is located at the third station 13, the sidewall of the bearing block 104 may touch the micro switch, so that the micro switch generates the blending signal.

For another example, the sensing element 105 can be a sensor capable of generating the blending signal when the second slot 1042 is at the second station 12 and is at the third station 13.

For another example, the sensing assembly 105 may include a first sensor disposed on the fixing frame 101 and a second sensor disposed on the bearing block 104, and when the second slot 1042 is at the second station 12 and at the third station 13, the first sensor and the second sensor interact with each other to generate the blending signal.

As shown in fig. 2D, fig. 2D is a schematic structural diagram of the sample injection device 10 in an embodiment.

In one embodiment, sample introduction device 10 includes a first sample introduction assembly and a second sample introduction assembly. The first sample feeding assembly comprises a first sample feeding table 14 and a first sample feeding driving mechanism 16, wherein the first sample feeding table 14 is used for loading the sample rack, and the first sample feeding driving mechanism 16 is used for driving the sample rack to move to the position to be clamped in the first direction. The second sample feeding assembly comprises a second sample feeding table and a second sample feeding driving mechanism 103, the second sample feeding table is used for loading the sample tube X, and the second sample feeding driving mechanism 103 is connected with the second sample feeding table so as to drive the second sample feeding table to move the sample tube X to the position to be clamped in the second direction. The second sample injection platform comprises a supporting block 102 and a bearing block 104, the supporting block 102 is connected with the second sample injection driving mechanism 103, and the bearing block 104 is provided with at least two loading slots for loading the sample tubes X and is rotatably connected with the supporting block 102, so that the at least two loading slots can be respectively rotated to the movement track of the second sample injection driving mechanism. The loading slot may be, for example, the first slot 1041 and the second slot 1042 shown in fig. 2B.

As shown in fig. 1, the second sample injection assembly includes a sample injection compartment 107, and the second sample injection driving mechanism 103 is disposed inside the sample injection compartment 107 to drive the second sample injection stage to enter or exit the interior of the sample injection compartment 107. Specifically, the sample injection chamber 107 includes a chamber body 1071 and a chamber door 1072. The cabin 1071 and the hatch 1072 are elastically and rotatably connected so that the hatch 1072 closes the cabin 1071 by the elastic action. As shown in fig. 2D, a push wheel 108 is disposed on the second sample injection stage, so that when the second sample injection stage is driven by the second sample injection driving mechanism 103 to be transported out of the interior of the sample injection chamber 107, the push wheel 108 pushes the chamber door 1072 to open the chamber body 1071.

In one embodiment, the sample introduction device 10 further comprises an unloading assembly 15. The structure shown in fig. 2A is provided between the first sample stage 14 and the unloading assembly 15, that is, the holder 101 is provided between the first sample stage 14 and the unloading assembly 15. As shown in fig. 2D, the first sample injection driving mechanism 16 connects the first sample injection stage 14 and the unloading assembly 15. The first sample introduction stage 14 is configured to transfer a sample rack to the first sample introduction drive mechanism 16, and the sample rack is configured to carry the sample tube X. The first sample drive mechanism 16 is used to transfer the sample rack to the unloading assembly 15, and the unloading assembly 15 is used to store the sample rack. The path of the first sample drive mechanism 16 for transferring the sample rack is in a first direction as shown in figure 2D,

referring to fig. 2A, the path along which the second sample driving mechanism 103 drives the supporting block 102 to move is along the second direction, and referring to fig. 2D, the path along which the first sample driving mechanism 16 transfers the sample rack intersects with the path along which the second sample driving mechanism 103 drives the supporting block 102 to move, where the intersection is an intersection in a three-dimensional space, for example, the path along which the first sample driving mechanism 16 transfers the sample rack may be located above the path along which the second sample driving mechanism 103 drives the supporting block 102 to move, or below the path along which the second sample driving mechanism 103 drives the supporting block 102 to move. It will be appreciated that the location of the intersection of the two paths is the second station 12 in the above described embodiment. When the sample feeding device 10 works together with the clamping device 20, the clamping device 20 can move to a position right above the crossing position, so that the clamping device 20 can clamp the sample tube X on the bearing block 104 and also clamp the sample tube X on the sample rack.

It should be noted that the sample rack and carrier block 104 do not occur at the intersection at the same time. The sample rack in this embodiment may be multiple, multiple sample racks may be sequentially transferred between the first sample introduction stage 14, the first sample introduction drive mechanism 16, and the unloading assembly 15, and each sample rack may carry multiple sample tubes X thereon. Therefore, the sample introduction device 10 in this embodiment further enriches the sample introduction mode, not only can realize sample introduction with the structure shown in fig. 2A, but also can realize continuous large-scale sample introduction through the first sample introduction stage 14, the first sample introduction driving mechanism 16 and the unloading assembly 15, thereby improving the working efficiency.

In addition, in the process of realizing continuous sample injection through the first sample injection stage 14, the first sample injection driving mechanism 16 and the unloading assembly 15, for example, in an emergency, the continuous sample injection through the first sample injection stage 14, the first sample injection driving mechanism 16 and the unloading assembly 15 may be suspended, and the temporary sample injection may be realized through a mechanism composed of the fixed frame 101, the supporting block 102, the second sample injection driving mechanism 103 and the bearing block 104.

For example, when the sample introduction device 10 is applied to sample introduction of a blood sample in a hospital, in the process of realizing continuous sample introduction through the first sample introduction stage 14, the first sample introduction driving mechanism 16 and the unloading assembly 15, when a blood sample of an emergency patient needs to be temporarily inserted, the continuous sample introduction through the first sample introduction stage 14, the first sample introduction driving mechanism 16 and the unloading assembly 15 can be suspended, the blood sample of the emergency patient is placed on the bearing block 104, and the temporary sample introduction is realized through a mechanism composed of the fixing frame 101, the supporting block 102, the second sample introduction driving mechanism 103 and the bearing block 104.

Fig. 2C is an exploded view of the structure shown in fig. 2A. As shown in fig. 2C, the second sample driving mechanism 103 can drive the supporting block 102 and the carrying block 104 on the supporting block 102 to move in the second direction relative to the fixing frame 101, so that the carrying block 104 can move from the first station 11 to the second station 12 shown in fig. 2A and can also return from the second station 12 to the first station 11. As shown in fig. 2C, in particular, the second sample driving mechanism 103 includes a first guide 1031 and a second guide 1032, and the first guide 1031 and the second guide 1032 are slidably connected in the second direction. The first guide 1031 may be one of a rail and a guide block, and the second guide 1032 may be the other of the rail and the guide block. In the embodiment shown in fig. 2C, the first guide 1031 is a guide rail, the second guide 1032 is a guide block, the first guide 1031 is fixedly connected to the support block 102, and the second guide 1032 is fixedly connected to the fixing frame 101. It should be noted that the first guiding element 1031 may be directly connected to the supporting block 102, and in the embodiment shown in fig. 2C, the first guiding element 1031 is connected to the supporting block 102 via the bottom plate 1035, that is, the first guiding element 1031 is connected to the bottom plate 1035, and the bottom plate 1035 is connected to the supporting block 102.

As shown in fig. 2C, the second sample injection driving mechanism 103 further includes a sample injection driving motor 1033 and a first belt assembly 1034. The first belt assembly 1034 and the feeding driving motor 1033 are disposed on the fixing frame 101, and the first belt assembly 1034 connects the feeding driving motor 1033 and the supporting block 102. Specifically, first belt assembly 1034 includes a pulley 10341 and a belt 10342, where there may be two pulleys 10341 and belt 10342 is fitted over the two pulleys 10341. The pulley 10341 is provided on the fixed frame 101. The housing of the sample injection driving motor 1033 is disposed on the fixing frame 101, the rotation shaft of the sample injection driving motor 1033 is connected to one of the pulleys 10341, and the sample injection driving motor 1033 drives the belt 10342 to rotate around the pulley 10341 through the first belt assembly 1034. The belt 10342 is connected to the supporting block 102 or the bottom plate 1035, so that the feeding drive motor 1033 drives the supporting block 102 to slide through the belt drive assembly.

The following embodiments respectively describe the structures of the gripping device 20 and the kneading device 30.

Fig. 3A is a schematic structural view of the grasping apparatus 20 in one embodiment. The gripping device 20 includes a jaw frame 21, a jaw assembly 22, a jaw elastic member 23, and a jaw opening assembly 24. The jaw assembly 22 includes a first jaw 221 and a second jaw 222 connecting the jaw frame 21. The jaw spring 23 connects the first jaw 221 and the second jaw 222 so that the first jaw 221 and the second jaw 222 have a tendency to close together. For example, when the sample tube X is gripped by the first jaw 221 and the second jaw 222, the first jaw 221 and the second jaw 222 are first separated, the sample tube X is placed between the first jaw 221 and the second jaw 222, and then the first jaw 221 and the second jaw 222 are urged together by the jaw elastic member 23 to grip the sample tube X.

Fig. 3B is a schematic diagram of the operation of the open jaw assembly 24 in one embodiment, as shown in fig. 3B, wherein the upper diagram is a schematic diagram of the open jaw position, and the lower diagram is a schematic diagram of the closed jaw position. The jaw opening assembly 24 is rotatably connected to the jaw frame 21, and the jaw opening assembly 24 has a long axis and a short axis. When the jaw opening assembly 24 rotates to the jaw opening position around the jaw frame 21, the end of the jaw opening assembly 24 in the long axis direction moves the first jaw 221 and the second jaw 222 away, and the sample tube X can be placed between the first jaw 221 and the second jaw 222. When the jaw opening assembly 24 rotates to the jaw closing position around the jaw frame 21, the end portions of the jaw opening assembly 24 in the short axis direction correspond to the first jaw 221 and the second jaw 222, so that the first jaw 221 and the second jaw 222 are closed by the jaw elastic members 23, and the first jaw 221 and the second jaw 222 clamp the sample tube X.

In the conventional grasping apparatus 20, since the two jaws are required to be opened and closed to grasp the sample tube X, the two jaws are required to be driven to be opened and closed by the air cylinder.

In the clamping device 20 of the present embodiment, an air cylinder is not required, and the sample tube X can be placed between the first clamping jaw 221 and the second clamping jaw 222 by matching the jaw opening assembly 24 with the clamping jaw elastic member 23, that is, applying an elastic force to the first clamping jaw 221 and the second clamping jaw 222 to close the clamping jaw through the clamping jaw elastic member 23, and then rotating the jaw opening assembly 24 relative to the clamping jaw frame 21 to make both ends of the long axis of the jaw opening assembly 24 respectively abut against the first clamping jaw 221 and the second clamping jaw 222, so as to make the first clamping jaw 221 and the second clamping jaw 222 away from each other, that is, spreading the first clamping jaw 221 and the second clamping jaw 222 apart. The first jaw 221 and the second jaw 222 are then drawn together by the jaw clamp elastic members 23 by rotating the jaw opening assembly 24 with respect to the jaw frame 21 and causing the shaft of the jaw opening assembly 24 to interfere with the first jaw 221 and the second jaw 222, respectively, to clamp the sample tube X. Thereby overcoming the problems of large impact force, large working noise, large dependence on an external air source and inconvenient use when the air cylinder is used.

It should be noted that the jaw elastic member 23 in the above embodiment connects the first jaw 221 and the second jaw 222, so that the first jaw 221 and the second jaw 222 have a tendency to close, specifically, the positions of the first jaw 221 and the second jaw 222 for clamping the sample tube X close. Likewise, the first jaw 221 and the second jaw 222 are moved away to move away the portions of the first jaw 221 and the second jaw 222 used to grip the sample tube X.

For example, the first jaw 221 and the second jaw 222 may both be slidably connected to the jaw frame 21. That is, the jaw frame 21 is provided with a sliding slot, the first jaw 221 and the second jaw 222 are both provided with a sliding block, the sliding block of the first jaw 221 is slidably connected to the sliding slot of the jaw frame 21, and the sliding block of the second jaw 222 is also slidably connected to the sliding slot of the jaw frame 21.

For another example, fig. 3C is a schematic structural diagram of the gripping device 20 in an embodiment, and the first jaw 221 and the second jaw 222 may be both rotatably connected to the jaw frame 21. For example, the two ends of the first clamping jaw 221 are a rotating end 223 and a clamping end 224, respectively, and the rotating end 223 of the first clamping jaw 221 is rotatably connected to the clamping jaw frame 21; the two ends of the second clamping jaw 222 are a rotating end 223 and a clamping end 224, respectively, and the rotating end 223 of the second clamping jaw 222 is rotatably connected to the clamping jaw frame 21. The clamping ends 224 of the first jaw 221 and the second jaw 222 are each adapted to clamp a sample tube X. The jaw elastic member 23 may be a straight spring, and both ends of the straight spring are connected to the first jaw 221 and the second jaw 222, respectively. Both ends of the long axis of the jaw opening assembly 24 may simultaneously abut against the first jaw 221 and the second jaw 222, and both ends of the short axis of the jaw opening assembly 24 may simultaneously abut against the first jaw 221 and the second jaw 222. Of course, the jaw elastic member 23 may be a torsion spring or the like capable of providing an elastic restoring force.

Fig. 3D is an exploded view of the grasping apparatus 20 shown in fig. 3A. The pawl opening assembly 24 includes a drive mechanism and an actuator. The drive mechanism is connected to the jaw holder and the actuator, respectively, to drive the actuator against the first jaw 221 and the second jaw 222 during rotation. The actuator includes a long shaft end and an end shaft end, so that when the driving mechanism drives the actuator to rotate in a forward direction, which may be one of clockwise or counterclockwise, the first jaw 221 and the second jaw 222 move away from and close to each other under the abutting action of the actuator. When the actuator is driven by the driving mechanism to rotate in the opposite direction, the first jaw 221 and the second jaw 222 are moved away from and close to each other by the elastic force of the jaw elastic member 23.

In one embodiment, the actuator may include a supporting base 241 and at least two guiding wheels 242, the supporting base 241 is connected to the driving mechanism, and the at least two guiding wheels 242 are respectively connected to the supporting base 241 and arranged in a linear array, so that the at least two guiding wheels 242 form the long axis end in the arrangement direction and form the short axis end in the direction perpendicular to the arrangement direction. For example, the actuator may be a cam.

In one embodiment, the guide wheel 242 is rotatably coupled to the support base. The support base 241 is rotatably connected to the jaw frame 21. The jaw opening assembly 24 has a major axis and a minor axis, which may specifically mean that the support base 241 has a major axis and a minor axis. The major axis of the jaw opening assembly 24 is used to open the first jaw 221 and the second jaw 222, and the specific process of opening the first jaw 221 and the second jaw 222 may be that, two ends of the minor axis of the jaw opening assembly 24 support the first jaw 221 and the second jaw 222, when the supporting seat 241 rotates relative to the jaw frame 21, the state that the jaw opening assembly 24 supports the first jaw 221 and the second jaw 222 from two ends of the minor axis of the supporting seat 241 is changed into that the two ends of the major axis of the supporting seat 241 support the first jaw 221 and the second jaw 222. In order to facilitate the rotation process, a guide wheel 242 may be respectively disposed at both ends of the long axis of the support base 241, and the first clamping jaw 221 and/or the second clamping jaw 222 may be supported by the guide wheels 242. Specifically, when the two ends of the short axis of the support base 241 support the first clamping jaw 221 and the second clamping jaw 222, the two guide wheels 242 on the support base 241 support the first clamping jaw 221 and the second clamping jaw 222; when the two ends of the long axis of the supporting base 241 support the first clamping jaw 221 and the second clamping jaw 222, one of the guide wheels 242 supports one of the first clamping jaw 221 and the second clamping jaw 222, and the other guide wheel 242 supports the other one of the first clamping jaw 221 and the second clamping jaw 222. Of course, in other embodiments, four guide wheels 242 may be provided, for example, one guide wheel 242 may be provided at each end of the long shaft, and one guide wheel 242 may be provided at each end of the short shaft.

As shown in fig. 3D, the gripper frame 21 includes a gripper frame body 21A and a guide bar 21B, and the guide bar 21B is connected to the gripper frame body 21A. The first and second jaws 221 and 222 are slidably connected to the guide bar 21B, respectively, so as to be away from or close to each other in the guide direction of the guide bar 21B.

The driving mechanism of the connecting support base 241 may be a clamping jaw motor 243. As shown in fig. 3A, the jaw motor 243 rotates the support base 241. A housing of the jaw motor 243 is connected to the jaw holder 21, and a rotary shaft of the jaw motor 243 is connected to a support base 241 shown in fig. 3D.

In one embodiment, as shown in fig. 3A or 3D, the jaw frame 21 is provided with a position sensor 25 for detecting whether the first jaw 221 and the second jaw 222 are close to each other or away from each other. The gripping apparatus 20 further includes a controller for signal communication with the position sensor 25 and the jaw motor 243. For example, when the first clamping jaw 221 and the second clamping jaw 222 are in a separated state, the position sensor 25 can sense the first clamping jaw 221 or the second clamping jaw 222, and at this time, the position sensor 25 sends a signal to the controller, and the controller controls the clamping jaw motor 243 to stop rotating; when the first jaw 221 and the second jaw 222 need to be closed, the controller may control the jaw motor 243 to rotate by a set angle.

As shown in fig. 3B, the cross-section of the support base 241 may be elliptical. Of course, the cross-section of the support base 241 may have other shapes with a major axis and a minor axis.

Fig. 3E is a schematic structural view of the grasping apparatus 20 in one embodiment. The grasping apparatus 20 includes a first moving assembly 26. The first moving assembly 26 includes a first bearing frame 261, a first guide 262, a first power mechanism 263 and a first transmission member 264. The first guide 262 is provided on the first carrier 261, and the first guide 262 extends in the third direction. In fig. 3E, the third direction may be a vertical direction. The first power mechanism 263 and the first transmission member 264 are both disposed on the first carrier 261. For example, the first power mechanism 263 may be a motor, and the first transmission member 264 may be a belt and a pulley. The casing of motor is fixed on first bearing frame 261, and the belt pulley is rotated and is connected on first bearing frame 261, and the belt pulley can have two, and the belt cover is on two belt pulleys. The first transmission member 264 connects the output end of the first power mechanism 263 with the jaw frame 21, i.e. the pulley is connected with the rotation shaft of the motor, and the belt is connected with the jaw frame 21. The first power mechanism 263 drives the jaw frame 21 to slide along the third direction by the first transmission member 264 and is connected to the first guiding member 262. Wherein the first guide 262 may be a guide rail.

In one embodiment, as shown in fig. 3E, the grasping apparatus 20 includes a second moving assembly 27. The second moving assembly 27 includes a second carrier 271, a second guide 272, a second power mechanism 273, and a second transmission member 274. Wherein the second guide 272 is provided on the second carriage 271. The second guide 272 may be a guide rail, and the second guide 272 extends in a fourth direction, which is at an acute angle or a right angle to the third direction. In the embodiment shown in fig. 3E, the fourth direction is a horizontal direction. The second power mechanism 273 and the second transmission member 274 are both disposed on the second carrier 271. For example, the second power mechanism 273 may be a motor and the second transmission member 274 may be a belt and pulley. The casing of motor is fixed on second carrier 271, and the belt pulley is rotated and is connected on second carrier 271, and the belt pulley can have two, and the belt cover is on two belt pulleys. The second transmission 274 connects the output of the second power means 273 to the first carrier 261, i.e. a pulley connected to the rotational shaft of the motor and a belt connected to the first carrier 261. The second power mechanism 273 drives the first loading frame 261 to slide along the fourth direction and connect to the second guiding member 272 through the second transmission member 274. That is, the second power mechanism 273 is connected to the first carrier 261 to drive the jaw opening assembly 24 to move to the grippable position in the fourth direction. After the claw opening assembly 24 moves to the clamping position, the first power mechanism 263 can drive the claw opening assembly 24 to approach the clamping position for clamping in the third direction.

Fig. 4A is a schematic perspective view of the mixing device 30 in one embodiment, and fig. 4B is a side view of the mixing device 30 shown in fig. 4A.

As shown in fig. 4A and 4B, the blending apparatus 30 includes a blending assembly and a compacting assembly. Wherein, the blending component comprises a blending driving mechanism 32 and a blending frame 33. The mixing rack 33 is provided with a mixing groove 331 for placing the sample tube X. The fixed end of the blending driving mechanism 32 is connected with the supporting frame 31, and the output end of the blending driving mechanism 32 is connected with the blending frame 33. The kneading drive mechanism 32 is configured to drive the kneading frame 33 to swing to knead the components in the sample tube X. As shown in fig. 4B, the blending driving mechanism 32 may include a blending motor, a housing of the blending motor is fixedly connected to the supporting frame 31, and a blending rotating shaft of the blending motor is connected to the blending frame 33. The axial direction of the kneading rotating shaft is shown by a dotted line O-O in fig. 4B, and the kneading frame 33 can alternately move clockwise and counterclockwise around the axial direction of the kneading rotating shaft, that is, around the dotted line O-O, to form and swing the kneading frame 33. For example, the blending assembly further comprises a connecting member, and the connecting member is respectively connected with the blending rack 33 and the output end of the blending driving mechanism 32.

As shown in fig. 4A and 4B, the pressing assembly of the kneading apparatus 30 includes a pressing member 35, a kneading elastic member 36, and a stopper 37. Pressing member 35 swing joint in mixing frame 33, mixing elastic component 36 connects mixing frame 33 and pressing member 35 to make pressing member 35 compress tightly sample pipe X at the swing in-process of mixing frame 33, stop member 37 is used for stopping pressing member 35 on pressing member 35's the direction that compresses tightly, so that when mixing frame 33 rotated to preset the position, pressing member 35 released sample pipe X.

Further, the blending rack includes a blending rack body and a tensioning member 34 connected to the blending rack body. The pressing part 35 is connected to the mixing frame 33 in a rotatable manner, and the mixing spring 36 connects the pressing part 34 and the pressing part 35, i.e. the mixing spring 36 can drive the pressing part 35 to move towards the pressing part 34. The mixing groove 331 is located between the tension member 34 and the pressing member 35, and the mixing elastic member 36 can move the pressing member 35 toward the mixing groove 331. When installing sample tube X in mixing groove 331, compress tightly piece 35 and just can compress tightly on sample tube X's lateral wall to compress tightly sample tube X in mixing groove 331.

Further, as shown in fig. 4A and 4B, the kneading apparatus 30 further includes a stopper 37 connected to the support frame 31. When the blending driving mechanism 32 drives the blending rack 33 to swing to a certain position, the stop piece 37 can support the pressing piece 35, and make the pressing piece 35 far away from the blending groove 331, so as to release the sample tube X located in the blending groove 331. For example, by setting the rotation angle of the rotation shaft of the blending driving mechanism 32, when the blending device 30 is in the blending mode, the rotation shaft of the blending driving mechanism 32 rotates at a small angle to drive the blending rack 33 to swing at a small angle around the dotted line O-O, the stop member 37 does not hit the pressing member 35, and the pressing member 35 is kept pressed against the sample tube X in the blending groove 331 by the pulling force of the blending elastic member 36. Therefore, in the kneading mode, the sample tube X can be stably held in the kneading groove 331. When the blending device 30 is in the stop mode, the rotation shaft of the blending driving mechanism 32 rotates to a certain position at a large angle and stops, at this time, the stop member 37 supports the pressing member 35, and pushes the pressing member 35 in a direction away from the blending groove 331 or the tensioning member 34, at this time, the blending elastic member 36 is elongated, that is, the pressing member 35 does not press the side wall of the sample tube X in the blending groove 331, and at this time, the sample tube X can be easily taken out from the blending groove 331. Therefore, when the sample tube X is taken into and placed in the kneading groove 331, the sample tube X can be held with only one hand, which is convenient to use.

In one embodiment, the mixing device 30 may not be provided with the tensioning element 34, but instead the mixing spring 36 is connected directly to the mixing frame 33 and the pressing element 35. For example, the blend spring 36 may be a straight spring. In some embodiments, a straight spring may also be replaced with a torsion spring or the like.

In the embodiment with the tension member 34, it is specifically possible that, as shown in fig. 4B, the kneading frame 33 is provided with a first side 332, and as shown in fig. 4A, the tension member 34 is further provided with a second side 333 opposite to the first side 332. The tension member 34 is disposed on the first side 332 and the compression member 35 is disposed on the second side 333.

As shown in FIG. 4A, the second side 333 of the frames 33 is provided with mounting slots 334, and the pressing members 35 are disposed in the mounting slots 334. The mixing groove 331 communicates with the mounting groove 334 so that the sample tube X can be inserted into the mounting groove 334. Specifically, the axis of mixing groove 331 extends along vertical direction, compresses tightly a 35 rotation and connects in mounting groove 334, and compresses tightly a 35 and can follow the horizontal direction at the mounting groove 334 internal rotation. After the sample tube X is inserted downward into the mixing groove 331 from the top of the mixing rack 33, the bottom of the sample tube X can be inserted into the mounting groove 334. And because the pressing member 35 can rotate in the mounting groove 334 in the horizontal direction, when the blending elastic member 36 provides a contraction force, the pressing member 35 can press the side wall of the portion of the sample tube X extending into the mounting groove 334, so that the sample tube X is pressed in the blending groove 331.

In particular, the pressing member 35 may have a long bar shape. One end of the pressing member 35 is rotatably coupled in the mounting groove 334, and the other end of the pressing member 35 extends out of the mounting groove 334. And the portion of the pressing member 35 protruding out of the mounting groove 334 can interfere with the stopper 37. For example, when the sample tube X needs to be inserted into the blending groove 331, the blending driving part drives the blending frame 33 to rotate to the maximum deflection angle, it should be understood that the blending driving mechanism 32 can drive the blending frame 33 to rotate to the maximum deflection angle both clockwise and counterclockwise, where the maximum deflection angle is specifically that the end of the pressing part 35 abuts against the stop part 37, and the stop part 37 abuts against the end of the pressing part 35, so that the pressing part 35 stretches the blending elastic part 36, at this time, the pressing part 35 rotates towards the outside of the installation groove 334, the pressing part 35 does not enter the axially extending space of the blending groove 331 in the blending groove 331, at this time, when the sample tube X is inserted into the blending groove 331, the bottom of the sample tube X enters the installation groove 334, and the pressing part 35 does not contact with the part of the sample tube X inserted into the installation groove 334, so that the sample tube X can be easily inserted. When the blending driving mechanism 32 needs to drive the blending rack 33 to swing to blend components in the sample tube X, the blending driving mechanism 32 drives the blending rack 33 to leave the maximum swing angle, for example, the middle of the maximum swing angle of the blending rack 33 in the clockwise direction and the counterclockwise direction is a middle point, in the blending process, the blending driving mechanism 32 drives the blending rack 33 to swing in a small range of clockwise and counterclockwise reciprocating relative to the middle point, that is, in the blending process, the blending rack 33 does not move to the maximum swing angle, so the stop member 37 does not push the pressing member 35 away, and therefore, in the blending process, the pressing member 35 is always pressed on the side of the sample tube X to firmly press the sample tube X in the blending groove 331.

In one embodiment, as shown in FIG. 4B, a position sensing assembly 38 is provided on the support frame 31 for sensing the position of the homogenizing stand 33. Through setting up position sensing subassembly 38, can be accurate learn the swing angle of mixing frame 33, be convenient for control the swing angle of mixing frame 33. For example, the sensing assembly 105 includes a sensing transducer 382 and a sensing tile 381. The induction sensor 382 is arranged on one of the support frame 31 and the blending frame 33, and the induction sheet 381 is arranged on the other of the support frame 31 and the blending frame 33. The position sensing component 38 can be disposed at the middle point in the above embodiments, and the sensing piece 381 has a portion in the middle point in the counterclockwise direction that can be sensed by the sensing sensor 382, and the sensing piece 381 also has a portion in the middle point in the clockwise direction that can be sensed by the sensing sensor 382. During the blending process, the swing range of the blending rack 33 is limited to the range in which the sensing strip 381 can be sensed by the sensing sensor 382.

In one embodiment, to improve the control of the tilt angle of the blend rack 33 by the blend drive mechanism 32, the blend drive mechanism 32 may be a stepper motor or a servo motor.

The sample analyzer in one embodiment comprises the sample feeding device 10, the clamping device 20, and the mixing device 30 in the above embodiments, and may further comprise a cap pulling device 40. The sample feeding device 10 is used for feeding a sample to the sample tube X, the clamping device 20 clamps the sample tube X to the mixing device 30 for mixing, and after the mixing is completed, the clamping device 20 clamps the sample tube X to the cap pulling device 40 for pulling the cap Y.

Fig. 5A is a schematic structural diagram of the cap pulling device 40 in one embodiment. The cap pulling device 40 is used for pulling the cap Y of the sample tube X, and can also be used for reinstalling the pulled cap Y on the sample tube X.

The cap-removing device 40 comprises a base 41, a carrier assembly 42, a cap-removing assembly 43 and a cap-removing drive assembly 44. The carrier assembly 42 is disposed on the base 41. The carrier assembly 42 is used to hold the sample tube X. The uncapping cap assembly 43 includes a lower pressing block 431, an upper lifting block 432, and a connecting plate 433 that connects the lower pressing block 431 and the upper lifting block 432. The lower pressing block 431 and the upper pressing block 432 are respectively used for pressing the two axial ends of the pipe cap Y. The cap-removing driving assembly 44 is connected to the connecting plate 433 to drive the cap-removing driving assembly 43 toward or away from the sample tube X on the carrier assembly 42.

Specifically, the fifth direction shown in fig. 5A may be a vertical direction, and the cap-removing cap driving assembly 44 may drive the cap-removing cap assembly 43 to move upward or downward in the fifth direction. When the cap-pulling driving assembly 44 drives the cap-pulling assembly 43 to move upward in the fifth direction, the cap Y can be pulled off the sample tube X because the upper lifting block 432 abuts against the lower end of the cap Y and the carrying assembly 42 holds the sample tube X. When the cap-pulling driving assembly 44 drives the cap-pulling assembly 43 to move downwards along the fifth direction, the pressing block 431 abuts against the upper end of the cap Y, so that the cap Y can be pressed downwards onto the nozzle of the sample tube X, i.e. the cap Y is covered on the sample tube X again. Therefore, the cap removing device 40 in this embodiment can remove the cap Y from the sample tube X and reattach the cap Y to the sample tube X.

As shown in fig. 5A, the sixth direction may be a horizontal direction. The cap removing device 40 includes a transfer assembly 46, and the transfer assembly 46 connects the base 41 and the carrier assembly 42 to drive the carrier assembly 42 to move along the sixth direction. The transferring component 46 drives the bearing component 42 to slide along the base 41, and specifically, the bearing component 42 can be connected to the base 41 in a sixth direction in a sliding manner. The carrier assembly 42, when slid in the sixth direction, may be moved to the sampling site 451 and also to the uncapping cap site 452. The cap pull cap location 452 may be located directly below the cap pull cap assembly 43. The capped sample tube X may be mounted on the carrier assembly 42 when the carrier assembly 42 is at the sampling site 451, or when the carrier assembly 42 is at a position between the sampling site 451 and the uncapping cap site 452. The carrier assembly 42 is then moved in a sixth direction to the uncapping cap position 452, and when the carrier assembly 42 is moved to the uncapping cap position 452, the cap Y is positioned between the lower pressing block 431 and the upper pressing block 432.

As shown in fig. 5A, when the first limiting member 424 and the second limiting member 425 clamp the sample tube X together, the tube cap Y is located between the lower pressing block 431 and the upper lifting block 432, and is clamped by the lower pressing block 431 and the upper lifting block 432. When the lower pressing block 431 and the upper lifting block 432 move upwards in the fifth direction, the tube cap Y can be pulled off the sample tube X; when the lower pressing block 431 and the upper lifting block 432 move downward in the fifth direction, the cap Y can be closed to the sample tube X. The uncapping cap assembly 43 may be driven up or down in a fifth direction by the uncapping cap driving assembly 44. The cap removing driving assembly 44 includes a cap removing driving member 441 and a cap removing guide assembly 442, and the cap removing guide assembly 442 may include a guide rod extending along the fifth direction and a moving block slidably connected to the guide rod along the fifth direction. The guide bar may be coupled to one of the bases 41, the moving block may be coupled to the cap-removing assembly 43, and the guide block 426 may be coupled to a side plate 4331 of the cap-removing assembly 43. The cap-removing driving member 441 is coupled to one of the base 41 and the cap-removing assembly 43 to drive the cap-removing assembly 43 to slide in the fifth direction. The cap-pulling driving member 441 may be a motor and a screw rod connected to a rotation shaft of the motor, and a screw hole in which the screw rod is screwed may be disposed on the top plate 4332.

As shown in fig. 5A, after the sample tube X on the carrier assembly 42 is removed from the sample tube X at the cap removing position 452, the transfer assembly 46 moves the sample tube X on the carrier assembly 42 to the sampling position 451 to sample the components in the sample tube X, and after sampling, the transfer assembly 46 moves the sample tube X on the carrier assembly 42 back to the cap removing position 452 to remount the cap Y on the sample tube X.

As shown in fig. 5A, the cap pulling device 40 further includes a positioning assembly 47, the positioning assembly 47 includes a positioning block 471 connected to the base 41, and when the carrying assembly 42 is located at the sampling position 451, the positioning block 471 is supported on the sidewall of the sample tube X located on the carrying assembly 42. The positioning assembly 47 further includes a positioning elastic member 472 connecting the base 41 and the positioning block 471.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A gripping apparatus (20), comprising:

a jaw frame (21);

a jaw assembly (22), said jaw assembly (22) comprising a first jaw (221) and a second jaw (222) both connected to said jaw frame (21);

a jaw spring (23) connecting the first jaw (221) and the second jaw (222); and

the claw opening assembly (24) comprises a driving mechanism and an actuating mechanism, the driving mechanism is respectively connected with the claw frame (21) and the actuating mechanism to drive the actuating mechanism to abut against the first clamping claw (221) and the second clamping claw (222) in the rotating process, the actuating mechanism comprises a long shaft end and a short shaft end, so that when the driving mechanism drives the actuating mechanism to rotate in the forward direction, the first clamping claw (221) and the second clamping claw (222) are in one of a state of being far away from or close to each other under the abutting action of the actuating mechanism, and when the driving mechanism drives the actuating mechanism to rotate in the reverse direction, the first clamping claw (221) and the second clamping claw (222) are in the other one of the state of being far away from or close to each other under the elastic force of the clamping claw elastic pieces (23).

2. The grasping apparatus (20) according to claim 1, wherein the actuator includes a support base (241) and at least two guide wheels (242), the support base (241) being connected to the drive mechanism, the at least two guide wheels (242) being connected to the support base (241) and being arranged in a linear array, respectively, such that the at least two guide wheels (242) define the long axis end in an arrangement direction and the short axis end in a direction perpendicular to the arrangement direction.

3. Gripping device (20) according to claim 2, characterized in that said actuator is a cam.

4. Gripping device (20) according to claim 2, characterized in that said at least two guide wheels (242) are respectively rotatably connected to said support (241).

5. The gripping device (20) according to claim 1, wherein the gripper frame (21) comprises a gripper frame body (21A) and a guide bar (21B), the guide bar (21B) being connected to the gripper frame body (21A), the first jaw (221) and the second jaw (222) being slidably connected to the guide bar (21B) so as to be apart from or close to each other in a guiding direction of the guide bar (21B), respectively.

6. Gripping device (20) according to claim 1, characterized in that the first jaw (221) and the second jaw (222) are each rotatably connected to the jaw frame (21).

7. The gripping device (20) according to claim 1, characterized in that the gripper frame (21) is provided with a position sensor (25) for detecting whether the first gripper (221) and the second gripper (222) are in the closed state or in the open state.

8. The gripping apparatus (20) of claim 1, wherein the gripping apparatus (20) comprises a first moving assembly (26), the first moving assembly (26) comprising:

a first carrier (261);

the first power mechanism (263) is arranged on the first bearing frame (261), and the first power mechanism (263) is connected with the clamping jaw frame (21) so as to drive the clamping jaw opening assembly (24) to be close to or far away from a position to be clamped in the third direction.

9. The gripping device (20) according to claim 8, characterized in that said gripping device (20) comprises a second moving assembly (27), said second moving assembly (27) comprising:

a second carriage (271);

a second power mechanism (273) arranged on the second bearing frame (271), wherein the second power mechanism (273) is connected with the first bearing frame (261) so as to drive the claw opening assembly (24) to move to a clamping position in a fourth direction.

10. Sample analyzer, characterized in that it comprises a gripping device (20) according to any one of claims 1-9.

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