CN117901161A - Parallel-opening and parallel-closing sample clamping detection device and picking and placing device - Google Patents

Abstract

The application discloses a parallel-opening and parallel-closing sample clamping detection device and a picking and placing device, which comprise: the gripper clamping jaw is provided with a pair of wedge-shaped inclined planes and is used for clamping or placing a sample tube; the gripper guide shaft is connected with the two gripper clamping jaws; the driving device is used for being connected with the moving device, and the moving device is used for driving the driving device to move to a preset position for grabbing the sample tube; the telescopic clamping mechanism is connected to the output end of the driving device, and the output end of the driving device is used for driving the telescopic clamping mechanism to move in the direction facing the gripper clamping jaw or the direction facing the driving device, and the rolling pinch roller of the telescopic clamping mechanism is attached to the wedge-shaped inclined surface of the gripper clamping jaw; the groove type sensor is used for detecting whether the gripper clamping jaw successfully clamps the sample tube or not; and a control system. The parallel-opening and parallel-closing sample clamping detection device and the picking and placing device provided by the application have the advantages of higher adaptability and compatibility and more reliable detection result.

Description

Parallel-opening and parallel-closing sample clamping detection device and picking and placing device

Technical Field

The invention relates to the technical field of in-vitro diagnostic instruments, in particular to a parallel opening and closing sample clamping detection device. In addition, the invention also relates to a picking and placing device comprising the parallel opening and closing sample clamping detection device.

Background

With the rapid development of in-vitro diagnostic techniques, more and more kinds of in-vitro diagnostic instruments are developed and put into use, and the working pressure of hospital inspectors is reduced.

The common containers used in hospitals for containing samples to be detected are cup-shaped or bottle-shaped bodies; after the detector drops the sample device and places the sample device at the instrument sample injection position, the sample device needs to be transported between detection procedures such as scanning, rotation, uniform mixing and the like in the instrument, and special clamping mechanisms are needed to be completed, so that the sample tube can reliably run back and forth between procedures in the instrument, the situation that the sample tube falls off in the running process or cannot be captured at a station or is placed unsuccessfully is avoided, and the sample tube taking and placing device in the instrument is required to have more stable and reliable service performance. At the same time, the limited space determines that the gripping device is as small as possible.

The prior art has the defects of complex structure and large occupied space, the structure has the defect of overlarge movable clearance in the use process, the requirement on the state of clamping the sample tube is higher, the same requirement on the size of the sample tube is higher, the sample tube is generally limited to limited size, the relatively simpler grabbing structure does not have the detection function, and some of the grabbing structure possibly has the detection function, but is easy to touch by mistake, so that the detection reliability cannot be effectively ensured.

In summary, how to improve the adaptability and compatibility of the clamping device and improve the reliability of the detection result is a problem to be solved by those skilled in the art.

Disclosure of Invention

In view of the above, the present invention is directed to a parallel-open sample clamping and detecting device, which has high adaptability and compatibility and reliable detection result.

Another object of the present invention is to provide a pick-and-place device including the above parallel-open and close sample clamping detection device.

In order to achieve the above object, the present invention provides the following technical solutions:

a parallel-open sample-hold detection device, comprising:

the gripper clamping jaw is provided with a pair of gripper clamping jaws and is used for clamping or placing a sample tube, and the gripper clamping jaws are provided with wedge-shaped inclined planes;

the gripper guide shafts are connected with two gripper clamping jaws, and the gripper clamping jaws can do reciprocating motion along the gripper guide shafts;

The driving device is connected with the moving device and used for driving the driving device to move to a preset position for grabbing the sample tube, and the driving device is connected with the gripper guide shaft through the gripper side plate;

The telescopic clamping mechanism is connected to the output end of the driving device, the output end of the driving device is used for driving the telescopic clamping mechanism to move in the direction facing the gripper clamping jaw or the direction facing the driving device, and a rolling pinch roller of the telescopic clamping mechanism is attached to a wedge-shaped inclined plane of the gripper clamping jaw;

the groove type sensor is arranged on the telescopic clamping mechanism and the gripper clamping jaw and used for detecting whether the gripper clamping jaw successfully clamps the sample tube or not;

the control system is connected with the driving device and the groove type sensor, and is used for controlling the starting or stopping of the driving device and receiving the detection result of the groove type sensor.

Preferably, the telescopic clamping mechanism further comprises a telescopic guide shaft, a first elastic piece, a fixed block, a clamping piece and a fixed shaft, wherein the telescopic guide shaft is connected to the output end of the driving device, the first end of the telescopic guide shaft is a big head end, the fixed block is a U-shaped piece, a through hole is formed in the middle of the fixed block, the second end of the telescopic guide shaft penetrates through the through hole and is clamped with the fixed block through the clamping piece, the big head end of the telescopic guide shaft and the fixed block are provided with the first elastic piece, and the two ends of the fixed block are both fixed with the fixed shaft through the fixed shaft to rotate the rolling pinch roller.

Preferably, the groove sensor comprises a sample tube sensing piece, a sample tube sensing piece guide block, a sample tube sensing piece compression elastic piece and a sample tube detection sensor, wherein the sample tube sensing piece is arranged on the sample tube sensing piece guide block, the sample tube sensing piece guide block is fixed on the gripper side plate, the sample tube sensing piece compression elastic piece is arranged on the telescopic guide shaft, and the sample tube detection sensor is arranged on one side of the gripper side plate, which is away from the sample tube sensing piece guide block.

Preferably, the telescopic guide shaft is further provided with a gripper motor origin sensing piece, the gripper motor origin sensing piece is connected to the sample tube sensing piece compression elastic piece, the gripper side plate is further provided with a gripper motor origin sensor, and the gripper motor origin sensor is in butt connection with the sample tube with or without a detection sensor.

Preferably, the four gripper guiding shafts are arranged, the four gripper clamping jaws are provided with four through holes, the four through holes are arranged along a rectangle, bearings are arranged between the gripper guiding shafts and the gripper clamping jaws, and the bearings can slide along the gripper guiding shafts.

Preferably, a second elastic piece is arranged between the two gripper jaws, and two end parts of the second elastic piece are respectively connected with the two gripper jaws.

Preferably, a plurality of buffer assemblies are arranged on the end surfaces of the two gripper clamping jaws which are oppositely arranged.

Preferably, the driving device comprises a gripper motor and a gripper motor fixing plate, the gripper side plate comprises a first gripper side plate and a second gripper side plate, and the first gripper side plate and the second gripper side plate are connected to the gripper motor fixing plate.

Preferably, friction guide blocks are arranged on the first gripper side plate and the second gripper side plate.

The sampling and placing device comprises a parallel-opening and closing sample clamping detection device, wherein the parallel-opening and closing sample clamping detection device is any one of the parallel-opening and closing sample clamping detection devices.

According to the parallel-opening and closing sample clamping detection device, the two gripper jaws are connected through the gripper guide shafts, the gripper jaws can move along the gripper guide shafts, the wedge-shaped inclined planes are arranged on each gripper jaw, the driving device is connected to the gripper guide shafts through the gripper side plates, the output end of the driving device is connected to the telescopic clamping mechanism and can drive the telescopic clamping mechanism to move towards the gripper jaws or towards the driving device, the telescopic clamping mechanism comprises the rolling pinch roller, the rolling pinch roller is attached to the wedge-shaped inclined planes on the gripper jaws, when the driving device pushes the telescopic clamping mechanism to move towards the gripper jaws, the rolling pinch roller can move along the wedge-shaped section and squeeze the gripper jaws, so that the distance between the two gripper jaws is reduced, clamping of a sample tube is completed, when the driving device pulls the telescopic clamping mechanism to move towards the driving device, the sample tube along the wedge-shaped section, the gripper jaws can not apply clamping acting force to the sample tube any more, the sample tube falls freely under the action of gravity, the sample tube is placed, the parallel-opening and closing of the device can be more suitable for detecting the sample tube, the error-opening and closing of the sample tube is more accurate, the sample tube can be more successfully detected, the error-sensing device can be more successfully sensed, and the sample can be more successfully touched, and the sample tube can be more easily and detected, and the sample tube can be more easily and more easily, and more easily sensed, and can be well, and more easily, and more accurate can be easily and more easily and easily detected by a and can be used and more easily.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a parallel open/close sample clamping and detecting device according to the present invention;

FIG. 2 is an exploded view of the parallel open-close sample clamping detection device provided by the invention;

FIG. 3 is a partial cross-sectional view of a parallel open and close sample grip detection device according to the present invention;

FIG. 4 is a schematic diagram illustrating an internal structure of a parallel-open sample clamping and detecting device according to the present invention;

fig. 5 is a schematic structural diagram of a telescopic clamping mechanism provided by the present invention;

Fig. 6 is a schematic structural view of a gripper jaw according to the present invention.

In fig. 1 to 6, reference numerals include:

1 is a gripper jaw, 2 is a gripper guide shaft;

3 is a telescopic clamping mechanism, 3-1 is a rolling pinch roller, 3-2 is a telescopic guide shaft, 3-3 is a first elastic piece, 3-4 is a fixed block, 3-5 is a clamping piece, and 3-6 is a fixed shaft;

The device comprises a gripper side plate 4, a groove-type sensor 5, a sample tube sensing piece 5-1, a sample tube sensing piece guide block 5-2, a sample tube sensing piece compression elastic piece 5-3 and a sample tube presence or absence detection sensor 5-4;

the sensor 6 is a gripper motor sensor, the sensor 6-1 is a gripper motor origin sensing piece, and the sensor 6-2 is a gripper motor origin sensor;

7 is a second elastic piece, 8 is a gripper motor, 9 is a gripper motor fixing plate, 10 is a friction guide block, and 11 is a buffer component.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The core of the invention is to provide a parallel-opening and parallel-closing sample clamping detection device, which has higher adaptability and compatibility and more reliable detection result.

Another core of the present invention is to provide a pick-and-place device including the above parallel-open and-close sample clamping detection device.

It should be noted that the directions or positional relationships indicated by "upper", "lower", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present application.

The application provides a parallel-opening and parallel-closing sample clamping detection device, which comprises: the device comprises a gripper clamping jaw 1, a gripper guide shaft 2, a driving device, a telescopic clamping mechanism 3, a groove type sensor 5 and a control system;

the gripper clamping jaw 1 is provided with a pair of wedge-shaped inclined planes and is used for clamping or placing a sample tube;

the gripper guiding shaft 2 is connected with two gripper clamping jaws 1, and the gripper clamping jaws 1 can do reciprocating motion along the gripper guiding shaft 2;

the driving device is used for being connected with the moving device, the moving device is used for driving the driving device to move to a preset position for grabbing the sample tube, and the driving device is connected with the gripper guide shaft 2 through the gripper side plate 4;

The telescopic clamping mechanism 3 is connected to the output end of the driving device, and the output end of the driving device is used for driving the telescopic clamping mechanism 3 to move in the direction facing the gripper clamping jaw 1 or in the direction facing the driving device, and the rolling pinch roller 3-1 of the telescopic clamping mechanism 3 is attached to the wedge-shaped inclined surface of the gripper clamping jaw 1;

the groove type sensor 5 is arranged on the telescopic clamping mechanism 3 and the gripper clamping jaw 1 and is used for detecting whether the gripper clamping jaw 1 successfully clamps a sample tube or not;

The control system is connected to the driving device and the groove sensor 5, and is used for controlling the starting or stopping of the driving device and receiving the detection result of the groove sensor 5.

Specifically, referring to fig. 1, 2, 4 and 6, the gripper jaw 1 is provided with a pair of gripper jaws and is oppositely arranged, the two gripper jaws 1 are connected through a gripper guiding shaft 2, the gripper guiding shaft 2 passes through the gripper jaw 1, the two gripper jaws 1 can reciprocate along the gripper guiding shaft 2, a driving device is connected to the gripper guiding shaft 2 through a gripper side plate 4, the output end of the driving device is arranged towards the gripper jaw 1, the output end of the driving device is connected with a telescopic clamping mechanism 3, when the driving device is started, the telescopic clamping mechanism 3 can be pushed to move towards the gripper jaw 1, the telescopic clamping mechanism 3 can be pulled to return towards the direction of the driving device, the process is realized through a control system, the telescopic clamping mechanism 3 comprises a rolling pinch roller 3-1, the rolling pinch roller 3-1 is attached to a wedge-shaped inclined plane at the upper end part of the gripper jaw 1, when the driving device pushes the telescopic clamping mechanism 3 to move towards the gripper jaw 1, the rolling pinch roller 3-1 applies an acting force to the gripper jaw 1, so that the gripper jaw 1 can move towards the other gripper jaw 1 along the gripper guide shaft 2, and therefore the clamping action of a sample tube can be completed, otherwise, after the rolling pinch roller 3-1 breaks away from the wedge-shaped inclined plane, the gripper jaw 1 does not apply an acting force to the sample tube any more, the sample tube freely falls under the action of gravity, the placing action of the sample tube is realized, and the groove-shaped sensors 5 are arranged on the telescopic clamping mechanism 3 and the gripper jaw 1, and can more accurately detect whether the gripper jaw 1 successfully clamps the sample tube or not, and can prevent the occurrence of false touch phenomenon to a greater extent, and the signal transmission is more stable and reliable, the gripper clamping jaw 1 moves in parallel on the gripper guide shaft 2, and the parallel opening and closing structure can be suitable for sample tubes with more sizes and models, so that the adaptability and compatibility of the device are improved.

On the basis of the embodiment, the telescopic clamping mechanism 3 further comprises a telescopic guide shaft 3-2, a first elastic piece 3-3, a fixed block 3-4, a clamping piece 3-5 and a fixed shaft 3-6, wherein the telescopic guide shaft 3-2 is connected to the output end of the driving device, the first end of the telescopic guide shaft 3-2 is a big head end, the fixed block 3-4 is a U-shaped piece, a through hole is formed in the middle of the telescopic guide shaft, the second end of the telescopic guide shaft 3-2 penetrates through the through hole and is clamped with the fixed block 3-4 through the clamping piece 3-5, the first elastic piece 3-3 is arranged between the big head end of the telescopic guide shaft 3-2 and the fixed block 3-4, and the two end parts of the fixed block 3-4 are both fixed with the rolling pinch roller 3-1 capable of rotating in a fixed shaft through the fixed shaft 3-6.

Specifically, please refer to fig. 4 and fig. 5, the section of the telescopic guiding shaft 3-2 is a T-shaped component, one end with smaller diameter passes through the fixed block 3-4 and is clamped by the clamping piece 3-5, a first elastic piece 3-3 is arranged between the telescopic guiding shaft 3-2 and the upper end face of the fixed block 3-4, the first elastic piece 3-3 can push the fixed block 3-4 to move and play a certain buffering role when the telescopic guiding shaft 3-2 moves towards the fixed block 3-4, the two ends of the fixed block 3-4 are connected with a rolling pinch roller 3-1 through the fixed shaft 3-6, when the fixed block 3-4 moves towards the gripper jaw 1, the two rolling pinch rollers 3-1 slide along the wedge-shaped section of the gripper jaw 1 and exert stress on the gripper jaw 1, so that the gripper jaw 1 can approach each other along the middle of the gripper guiding shaft 2, and thus the clamping of a sample tube is completed, when the telescopic guiding shaft 3-2 moves towards the driving device, the first elastic piece 3-4 can push the fixed block 3-4 to move and exert a certain buffering effect on the fixed block 3-4, and the stress on the gripper jaw 1 can not gradually reduce the sample tube, and the stress on the gripper jaw 1 can not be reduced.

Alternatively, the clamping piece 3-5 can be a pin shaft or a pin.

Based on the above embodiment, the groove sensor 5 includes a sample tube sensing piece 5-1, a sample tube sensing piece guide block 5-2, a sample tube sensing piece compression elastic member 5-3, and a sample tube presence or absence detection sensor 5-4, the sample tube sensing piece 5-1 is disposed on the sample tube sensing piece guide block 5-2, the sample tube sensing piece guide block 5-2 is fixed on the gripper side plate 4, the sample tube sensing piece compression elastic member 5-3 is disposed on the telescopic guide shaft 3-2, and the sample tube presence or absence detection sensor 5-4 is disposed on one side of the gripper side plate 4 facing away from the sample tube sensing piece guide block 5-2.

Specifically, referring to fig. 1 and 2, the working principle of the groove sensor 5 is that only when the sensing piece 5-1 of the sample tube moves to the middle of the sensor 5-4 for detecting whether the sample tube exists, the signal transmission can be realized only by blocking the emission of the opposite light source. The sensor light source is shielded and emits signals through the inlet and outlet of the sample tube sensing piece 5-1 in the groove, the sample tube is fixedly provided with the detection sensor 5-4, the sample tube sensing piece 5-1 moves along with the moving part, the signal transmission is more reliable, the risk of false touch is reduced, and the movement of the sample tube sensing piece 5-1 is realized by the sample tube. When the sample tube is grabbed, the sample tube is matched with the movement in the XY directions to be in place, the sample tube jacks up the sample tube sensing piece 5-1 in the gripper to enter the sensor, the emission of the light source is blocked, and the signal transmission is realized; when the sample tube is opened, the sample tube sensing piece 5-1 does not block the sample tube, and simultaneously moves downwards under the action of the compression force of the compression elastic piece 5-3 of the upper sample tube sensing piece to exit the sensor sensing groove; therefore, the method is more direct and reliable for testing whether the sample tube exists in the grip or not.

On the basis of the embodiment, the telescopic guide shaft 3-2 is further provided with a gripper motor origin sensing piece 6-1, the gripper motor origin sensing piece 6-1 is connected to the sample tube sensing piece compression elastic piece 5-3, the gripper side plate 4 is further provided with a gripper motor origin sensor 6-2, and the gripper motor origin sensor 6-2 is in abutting connection with the sample tube presence or absence detection sensor 5-4.

Specifically, for the gripper jaw 1, a gripper motor sensor 6 is also provided, and the gripper motor sensor 6 is also a groove sensor, and is used for detecting the position of the gripper jaw 1, and the working principle is the same as that described above, and will not be repeated here.

In some embodiments, the gripper guiding shaft 2 is provided with four through holes, the gripper clamping jaw 1 is provided with four through holes, the four through holes are arranged along a rectangle, a bearing is arranged between the gripper guiding shaft 2 and the gripper clamping jaw 1, and the bearing can slide along the gripper guiding shaft 2.

Specifically, please refer to fig. 3 and fig. 4, four through holes are provided at the upper end of the gripper jaw 1, the number of gripper guide shafts 2 is the same as the number of the through holes and the gripper jaw 1 is provided through the through holes, preferably four bearings are provided between the gripper guide shafts 2 and the gripper jaw 1 to keep stable structure, the bearings are preferably wear-resistant plastic bearings, and are used in cooperation with the through holes on the gripper jaw 1 and the gripper guide shafts 2, so that the gripper guide shafts 2 are prevented from directly contacting with the gripper through holes, abrasion and chip dropping caused by multiple relative sliding contact between metals are prevented, and the situation that the gripper jaw 1 is smoothly opened and closed is affected is prevented

In some embodiments, a second elastic member 7 is provided between the two gripper jaws 1, and both ends of the second elastic member 7 are connected to the two gripper jaws 1, respectively.

Specifically, referring to fig. 3, the second elastic member 7 is used for keeping the two gripper jaws 1 separated, that is, the sample tube is placed, and the second elastic member 7 can also play a role in buffering when the telescopic clamping mechanism 3 moves toward the gripper jaws 1 to clamp the sample tube by the gripper jaws 1.

Optionally, the first elastic piece 3-3 and the second elastic piece 7 can be springs, so that the cost performance is high.

On the basis of the above embodiment, a plurality of buffer assemblies 11 are arranged on the end surfaces of the two gripper jaws 1 which are oppositely arranged.

Specifically, the buffer component 11 is assembled on the gripper jaw 1 and protrudes from the matching surface of the gripper jaw 1, so that elastic buffer can be provided when a sample tube is gripped, and the sample tube is prevented from being damaged when being gripped.

Alternatively, the cushioning assembly 11 may be a rubber cushion.

On the basis of the above embodiment, the driving device includes the gripper motor 8 and the gripper motor fixing plate 9, the gripper side plate 4 includes a first gripper side plate and a second gripper side plate, the first gripper side plate and the second gripper side plate are connected to the gripper motor fixing plate 9, and a plurality of through holes are respectively formed in the first gripper side plate and the second gripper side plate for allowing the gripper guide shaft 2 to pass through.

Specifically, the first and second hand grip side plates are respectively disposed at two sides of the hand grip motor 8 and are fixed to the hand grip motor 8 by means of bolting, and the hand grip motor fixing plate 9 is disposed between the first and second hand grip side plates.

On the basis of the above embodiment, the friction guide blocks 10 are disposed on both the first and second gripper side plates.

Specifically, the friction guide block 10 is made of wear-resistant materials, when the telescopic clamping mechanism 3 runs up and down, the fixed blocks 3-4 can move downwards along the friction guide block 10 to limit the swing of the telescopic clamping mechanism in the descending process, so that the gripper can finish the opening and closing action more stably, and the sliding friction is adopted in the process because the gripper is in surface-to-surface contact, so that the friction force is increased compared with the rolling friction, and the friction guide block 10 is made of materials which are relatively wear-resistant.

In addition to the above-mentioned parallel open-close sample clamping detection device, the present invention further provides a pick-and-place device including the parallel open-close sample clamping detection device disclosed in the above-mentioned embodiment, and the structure of other parts of the pick-and-place device is referred to the prior art, and will not be described herein.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The sample clamping detection device capable of being opened and closed in parallel and the picking and placing device provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims (10)

1. A parallel-open sample-hold detection device, comprising:

the gripper clamping jaw (1) is provided with a pair of gripper clamping jaws and is used for clamping or placing a sample tube, and the gripper clamping jaw (1) is provided with a wedge-shaped inclined plane;

The gripper guide shafts (2) are connected with the two gripper clamping jaws (1), and the gripper clamping jaws (1) can do reciprocating motion along the gripper guide shafts (2);

the driving device is connected with the moving device and used for driving the driving device to move to a preset position for grabbing the sample tube, and the driving device is connected with the gripper guide shaft (2) through the gripper side plate (4);

The telescopic clamping mechanism (3) is connected to the output end of the driving device, the output end of the driving device is used for driving the telescopic clamping mechanism (3) to move in the direction facing the gripper clamping jaw (1) or in the direction facing the driving device, and a rolling pinch roller (3-1) of the telescopic clamping mechanism (3) is attached to a wedge-shaped inclined surface of the gripper clamping jaw (1);

the groove type sensor (5) is arranged between the telescopic clamping mechanism (3) and the gripper clamping jaw (1) and is used for detecting whether the gripper clamping jaw (1) successfully clamps the sample tube or not;

and the control system is connected with the driving device and the groove-shaped sensor (5), and is used for controlling the starting or stopping of the driving device and receiving the detection result of the groove-shaped sensor (5).

2. The parallel opening and closing sample clamping detection device according to claim 1, wherein the telescopic clamping mechanism (3) further comprises a telescopic guide shaft (3-2), a first elastic piece (3-3), a fixed block (3-4), a clamping piece (3-5) and a fixed shaft (3-6), the telescopic guide shaft (3-2) is connected to the output end of the driving device, the first end of the telescopic guide shaft (3-2) is a big head end, the fixed block (3-4) is a U-shaped piece, a through hole is formed in the middle of the telescopic guide shaft, the second end of the telescopic guide shaft (3-2) penetrates through the through hole and is clamped with the fixed block (3-4) through the clamping piece (3-5), the first elastic piece (3-3) is arranged between the big head end of the telescopic guide shaft (3-2) and the fixed block (3-4), and two ends of the fixed block (3-4) can both fix the fixed pinch roller (3-1) which can rotate through the fixed shaft (3-6).

3. The parallel opening and closing sample clamping detection device according to claim 2, wherein the groove-shaped sensor (5) comprises a sample tube sensing piece (5-1), a sample tube sensing piece guide block (5-2), a sample tube sensing piece compression elastic piece (5-3) and a sample tube presence or absence detection sensor (5-4), the sample tube sensing piece (5-1) is arranged on the sample tube sensing piece guide block (5-2), the sample tube sensing piece guide block (5-2) is fixed on the gripper side plate (4), the sample tube sensing piece compression elastic piece (5-3) is arranged on the telescopic guide shaft (3-2), and the sample tube presence or absence detection sensor (5-4) is arranged on one side, deviating from the sample tube sensing piece guide block (5-2), of the gripper side plate (4).

4. The parallel opening and closing sample clamping detection device according to claim 3, wherein a gripper motor origin sensing piece (6-1) is further arranged on the telescopic guide shaft (3-2), the gripper motor origin sensing piece (6-1) is connected to the sample tube sensing piece compression elastic piece (5-3), a gripper motor origin sensor (6-2) is further arranged on the gripper side plate (4), and the gripper motor origin sensor (6-2) is in butt joint with the sample tube detection sensor (5-4).

5. The parallel opening and closing sample clamping detection device according to claim 1, wherein four gripper guiding shafts (2) are arranged, four through holes are formed in the gripper clamping jaws (1), the four through holes are arranged in a rectangular mode, bearings are arranged between the gripper guiding shafts (2) and the gripper clamping jaws (1), and the bearings can slide along the gripper guiding shafts (2).

6. The parallel opening and closing sample clamping detection device according to claim 1, wherein a second elastic piece (7) is arranged between the two gripper jaws (1), and two end parts of the second elastic piece (7) are respectively connected with the two gripper jaws (1).

7. The parallel-opening and closing sample clamping detection device according to claim 6, wherein a plurality of buffer assemblies (11) are arranged on the end surfaces of the two gripper jaws (1) which are oppositely arranged.

8. The parallel-open sample holding detection device according to any one of claims 1 to 7, wherein the driving means comprises a gripper motor (8) and a gripper motor fixing plate (9), the gripper side plate (4) comprises a first gripper side plate and a second gripper side plate, and the first gripper side plate and the second gripper side plate are connected to the gripper motor fixing plate (9).

9. The parallel opening and closing sample clamping detection device according to claim 8, wherein friction guide blocks (10) are arranged on the first gripper side plate and the second gripper side plate.

10. A pick-and-place device comprising a parallel-open sample-grip detection device, wherein the parallel-open sample-grip detection device is a parallel-open sample-grip detection device according to any one of claims 1 to 9.