An automatic opening and closing device and a method for opening and closing the cover

Abstract

The present invention discloses an automatic bottle cap opening and closing device, comprising: a base, a test tube holding assembly and a bottle cap moving assembly located on the base, wherein the bottle cap moving assembly includes a planar moving module and a cap opening and closing module; the planar moving module includes a planar motor, an L-shaped chute, a slider and a connecting rod, the slider is located inside the L-shaped chute, the planar motor can drive the slider to move along the L-shaped chute, the connecting rod is connected to the slider, and the connecting rod is simultaneously connected to the cap opening and closing module. When the planar motor drives the slider to move along the L-shaped chute, the connecting rod drives the cap opening and closing module to move synchronously. The automatic bottle cap opening and closing device and the bottle cap opening and closing method provided by the present invention can realize bottle cap opening and closing, vertical movement and horizontal movement through two motors, have a compact structure, are convenient to install, and improve the efficiency of bottle cap opening and closing.

Description

Technical Field

[0001] The present invention relates to the field of switchable bottle caps, and particularly to an automatic cap opening and closing device and a method for opening and closing caps. Background Art

[0002] In the field of medicine and biology, the demand for automation is increasing, and equipment for automatically opening and closing test tube caps is required; in processes such as blood analysis, cell sample preparation, and nucleic acid sampling, the processes of opening and closing bottle caps are involved. Especially in the process of nucleic acid sampling, if it is mixed tube sampling, the same test tube will be capped after each sampling and opened during the next sampling, and the opening and closing operations need to be repeatedly and quickly and reliably realized.

[0003] Currently, the existing equipment on the market lacks functions. For example, there is only a cap opener with an opening function, or only a capper with a capping function; a small number of equipment with both opening and capping functions have high costs, high requirements for machining accuracy, and high requirements for the consistency of test tube cap sizes.

[0004] After the cap opening is completed, neither the cap opening mechanism nor the bottle cap can stay directly above the test tube to ensure that sample loading and sampling are not affected. At the same time, due to the need for informatization, barcodes will be attached to the test tubes, and in some scenarios, the test tubes need to be rotated to realize the function of scanning the barcodes on the test tubes.

[0005] To meet the above requirements, the equipment requires 6 motion mechanisms to meet vertical movement, horizontal movement in the horizontal plane, cap screwing, tube cap clamping, test tube clamping, and test tube rotation. On the one hand, the cost is high, on the other hand, the failure rate is also high, and the volume is large. Summary of the Invention

[0006] The present invention aims to solve at least one of the problems in the related art to some extent. For this purpose, the object of the present invention is to provide an automatic cap opening and closing device and a method for opening and closing caps, which can achieve cap opening and closing, vertical movement, and horizontal movement through two motors, with a compact structure, convenient installation, and improved efficiency of opening and closing caps.

[0007] To achieve the above object, the present application adopts the following technical solution: An automatic cap opening and closing device, comprising:

[0008] A base,

[0009] A test tube holding assembly and a cap moving assembly located on the base, and the cap moving assembly includes a planar moving module and a cap opening and closing module;

[0010] The planar movement module includes a planar motor, an L-shaped chute, a slider, and a connecting rod. The slider is located inside the L-shaped chute. The planar motor can drive the slider to move along the L-shaped chute. The connecting rod is connected to the slider and is also connected to the switch cover module. When the planar motor drives the slider to move along the L-shaped chute, the connecting rod drives the switch cover module to move synchronously.

[0011] Further, the L-shaped chute includes a horizontal chute and a vertical chute. The top end of the vertical chute communicates with the end of the horizontal chute. The slider is also located in a linear chute. One end of the linear chute is fixedly connected to the output end of the planar motor, and the other end can perform circular motion along the fixed end. When the planar motor drives the linear chute to perform circular motion, the slider slides inside both the linear chute and the L-shaped chute simultaneously.

[0012] Further, the smooth rail is fixed in the base. The vertical slide rail is slidably connected to the horizontal slide rail. When the slider slides along the horizontal chute, the connecting rod and the vertical slide rail move along the horizontal slide rail. When the slider slides along the vertical chute, the connecting rod moves along the vertical slide rail.

[0013] Further, the switch cover module includes a vertical bracket and a horizontal bracket. The vertical bracket is connected to the connecting rod. The end of the horizontal bracket communicates with the top end of the vertical bracket. A grasping portion and a pressing portion are provided in the horizontal bracket. The grasping portion is used for grasping the bottle cap, and the pressing portion is used for regulating the grasping force of the grasping portion for grasping the bottle cap.

[0014] Further, the pressing portion includes a rotary motor, a sleeve, and a claw. A rotary motor is provided at the upper end of the horizontal bracket. The output end of the rotary motor is connected to the sleeve. The sleeve is parallel to the vertical bracket. A sleeve groove is provided in the sleeve, and the sleeve groove penetrates the sleeve in the horizontal direction. The lower end of the sleeve is connected to the claw.

[0015] Further, the grasping portion includes a claw, a claw connecting rod, and a pin column. The pin column is located in the sleeve groove and is parallel to the horizontal bracket. The pin column is connected to the claw through the claw connecting rod. The claw is located inside the claw, and the dimension of the claw in the horizontal direction is smaller than that of the claw. A compression spring is nested outside the claw connecting rod. The upper end of the compression spring abuts against the claw, and the lower end abuts against the claw.

[0016] Further, two limiting strips are provided on the side wall of the vertical bracket at the same horizontal plane. The two limiting strips are respectively located on both sides of the sleeve groove. When the rotary motor drives the sleeve and the pin column to rotate to a position where they are disengaged from the limiting strips, the pin column can slide up and down along the sleeve groove. When the rotary motor drives the sleeve and the pin column to rotate to a position where the pin column is limited by the limiting strips, the pin column is limited below the limiting strips.

[0017] Further, an O-ring is nested on the inner side wall of the jaw; a thimble is provided on the side wall of the jaw, and a ball is provided outside the thimble. When the claw and the jaw are in the same plane, the ball abuts against the inner side wall of the claw.

[0018] An automatic bottle cap opening method includes the following steps:

[0019] S1: Place the test tube in the test tube holding assembly, and the test tube holding assembly fixes the test tube;

[0020] S2: The rotary motor drives the sleeve and the pin column to rotate to the position where the pin column is limited by the limiting strip. At this time, the pin column is located below the limiting strip;

[0021] S3: The planar motor drives the switch cap module to move above the test tube, and the planar motor drives the switch cap module to move down until the jaw sleeves the bottle cap;

[0022] S4: The rotary motor drives the sleeve and the pin column to rotate to the position where the pin column is disengaged from the limiting strip;

[0023] S5: The planar motor drives the switch cap module to continue moving down. The grasping part of the switch cap module cannot move down due to the blockage of the test tube, and the pressing part continues to move down. At this time, the pin column slides upward along the sleeve groove until the claw and the jaw are in the same plane, so that the clamping force of the jaw on the bottle cap increases;

[0024] S6: The rotary motor rotates to drive the sleeve and the jaw to rotate to open the bottle cap. During the process of opening the bottle cap, the pin column drives the jaw and the bottle cap to continue moving upward along the sleeve groove until the bottle cap is unscrewed.

[0025] An automatic bottle cap closing method includes the following steps:

[0026] S1: The planar motor drives the switch cap module and the bottle cap in the jaw to move above the test tube, and drives the switch cap module to move down until the bottle cap presses on the test tube;

[0027] S2: The planar motor drives the switch cap module to continue moving down. The grasping part cannot move down due to the blockage of the test tube, and the pressing part continues to move down until the claw and the jaw are in the same plane, so that the clamping force of the jaw on the bottle cap increases;

[0028] S3: The rotary motor rotates to drive the sleeve and the jaw to rotate to tighten the bottle cap. During the process of tightening the bottle cap, the pin column drives the jaw and the bottle cap to move downward along the sleeve groove until the bottle cap is tightened;

[0029] S4: The planar motor drives the switch cap module to move up until the jaw disengages from the claw, and the planar motor drives the switch cap module to move horizontally away from the test tube.

[0030] The above technical solution provided by the embodiments of the present application has the following advantages compared with the prior art: The present application uses a test tube holding assembly to fix the test tube and a bottle cap moving assembly to open and close the bottle cap; in the planar moving module, the planar motor drives the slider to move in the L-shaped chute, and the slider drives the connecting rod and the cap opening and closing module to move along the L-shaped track, so that the cap opening and closing module can move along the horizontal and vertical directions. Furthermore, after the cap opening and closing module opens or closes the bottle cap, the cap opening and closing module can move away from the test tube without affecting processes such as testing the test tube.

[0031] The rotating motor of the present application can drive the bottle cap to open or tighten, and the structure of the sleeve groove, pin column, claw and clamping jaw can adjust the clamping force of the claw on the bottle cap to ensure the smooth progress of the process of opening and tightening the bottle cap. The present application can achieve opening and closing the cap as well as vertical and horizontal movement with two motors, with a compact structure, convenient installation, and improved efficiency of opening and closing the cap. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present invention and, together with the specification, are used to explain the principles of the present invention.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] In the drawings:

[0035] Figure 1 is the overall schematic diagram of the automatic cap opening and closing device in the present application;

[0036] Figure 2 is the structural schematic diagram of the planar moving module in the present application;

[0037] Figure 3 is the schematic diagram of the cap opening and closing module when the clamping jaw acts on the claw;

[0038] Figure 4 is the schematic diagram of the cap opening and closing module when the clamping jaw does not act on the claw;

[0039] Reference numerals in the drawings: 1, base; 21, planar motor; 22, L-shaped chute; 23, slider; 24, connecting rod; 25, horizontal slide rail; 26, vertical slide rail; 27, linear groove; 31, vertical bracket; 32, horizontal bracket; 33, rotating motor; 34, sleeve; 37, sleeve groove; 38, pin column; 39, limiting strip; 40, limiting block; 41, clamping jaw; 42, claw; 43, claw connecting rod; 44, compression spring; 5, test tube holding assembly. Detailed implementation manners

[0040] For a clearer understanding of the technical features, objectives, and effects of the present invention, the detailed implementation manners of the present invention will now be described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientation or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation, solely for the convenience of describing the present technical solution, rather than indicating that the indicated mechanism or component must have a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0041] It should also be noted that, unless otherwise clearly specified and defined, terms such as "installation", "connection", "attachment", "fixation", "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located above the other element, or there may also be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined by "first", "second", "third", etc. may explicitly or implicitly include one or more of such features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, mechanisms, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0043] Please refer to the Figures 1-4 An automatic opening and closing device provided by the present application includes:

[0044] A base 1,

[0045] A test tube holding assembly 5 and a bottle cap moving assembly located on the base 1. The bottle cap moving assembly includes a planar moving module and a cap opening and closing module;

[0046] The planar movement module includes a planar motor 21, an L-shaped chute 22, a slider 23, and a connecting rod 24. The slider 23 is located inside the L-shaped chute 22. The planar motor 21 can drive the slider 23 to move along the L-shaped chute 22. The connecting rod 24 is connected to the slider 23 and simultaneously connected to the switch cover module. When the planar motor 21 drives the slider 23 to move along the L-shaped chute 22, the connecting rod 24 drives the switch cover module to move synchronously.

[0047] In this application, a test tube holding assembly 5 is used to fix the test tube, and a bottle cap moving assembly is used to open and close the bottle cap. In the planar movement module, the planar motor 21 drives the slider 23 to move within the L-shaped chute 22, and the slider 23 drives the connecting rod 24 and the switch cover module to move along an L-shaped trajectory, so that the switch cover module can move along the horizontal and vertical directions. Furthermore, after the switch cover module opens or closes the bottle cap, it can move away from the test tube without affecting processes such as testing the test tube. The device of this application has a compact structure and is easy to install, improving the efficiency of opening and closing the bottle cap.

[0048] As a specific embodiment, as shown in the appendix Figure 2 In this application, the L-shaped chute 22 includes a horizontal chute and a vertical chute. The top end of the vertical chute communicates with the end of the horizontal chute. The slider is also located in the linear chute 27. One end of the linear chute 27 is fixedly connected to the output end of the planar motor 21, and the other end can perform circular motion along the fixed end. When the planar motor 21 drives the linear chute 27 to perform circular motion, the slider 23 slides inside both the linear chute 27 and the L-shaped chute 22 simultaneously. The planar movement module further includes a horizontal slide rail 25 and a vertical slide rail 26. The horizontal slide rail 25 is fixed in the base 1, and the vertical slide rail 26 is slidably connected to the horizontal slide rail 25. The top end of the vertical slide rail 26 communicates with the end of the horizontal slide rail 25. When the slider 23 slides along the horizontal chute, the connecting rod 24 and the vertical slide rail 26 move along the horizontal slide rail 25. When the slider 23 slides along the vertical chute, the connecting rod 24 moves along the vertical slide rail 26. As shown in the appendix Figure 1 As shown, the vertical slide rail 26 is slidably connected to the horizontal slide rail 25, and the connecting rod 24 can move up and down along the vertical slide rail 26, and the vertical slide rail 26 can move horizontally along the horizontal slide rail 25.

[0049] Specifically, the slider 23 is located inside the L-shaped chute 22. One end of the slider 23 is connected to the output end of the planar motor 21, and the other end is connected to the upper end of the connecting rod 24. The connecting rod 24 is connected to the switch cover module. When the planar motor 21 drives the slider 23 to slide in the L-shaped chute 22, the connecting rod 24 drives the switch cover module to move synchronously, and its movement trajectory is the same as that of the slider 23. When the connecting rod 24 and the vertical slide rail 26 slide along the horizontal slide rail 25, the switch cover module is driven to move in the horizontal plane in a direction away from or towards the test tube holding assembly 5; when the connecting rod 24 slides along the vertical slide rail 26, the switch cover module is driven to move in the vertical plane in a direction away from or towards the test tube holding assembly 5.

[0050] As a specific embodiment, as shown in the attached Figures 3-4 figure, in the present application, the switch cover module includes a vertical bracket 31 and a horizontal bracket 32. The vertical bracket 31 is connected to the connecting rod 24, and the end of the horizontal bracket 32 communicates with the top end of the vertical bracket 31. A grasping part and a pressing part are provided in the horizontal bracket 32. The grasping part is used for grasping the bottle cap, and the pressing part is used for adjusting the grasping force of the grasping part for grasping the bottle cap.

[0051] Specifically, the pressing part includes a rotary motor 33, a sleeve 34, and a claw 41. The rotary motor 33 is provided at the upper end of the horizontal bracket 32, and the output end of the rotary motor 33 is connected to the sleeve 34. The sleeve 34 is parallel to the vertical bracket; a sleeve groove 37 is provided in the sleeve 34. The sleeve groove 37 penetrates the sleeve 34 in the horizontal direction, and the sleeve groove 37 has a certain length in the vertical direction, allowing the pin column 38 located inside the sleeve groove 37 to move up and down. The lower end of the sleeve 34 is connected to the claw 41.

[0052] The grasping part includes a clamping jaw 42, a clamping jaw connecting rod 43, and a pin column 38. The pin column 38 is located in the sleeve groove 37, and the pin column 38 is parallel to the horizontal bracket 32. The pin column 38 is connected to the clamping jaw 42 through the clamping jaw connecting rod 43. The clamping jaw 42 is located inside the claw 41, and the dimension of the clamping jaw 42 in the horizontal direction is smaller than that of the claw 41. A compression spring 44 is nested outside the clamping jaw connecting rod 43. The upper end of the compression spring 44 abuts against the claw 41, and the lower end abuts against the clamping jaw 42. The clamping jaw 42 is connected to the pin column 38 and can slide up and down in the sleeve groove 37 together with the pin column 38.

[0053] On the side wall of the vertical support 31, there are two limiting strips 39 located on the same horizontal plane, and the two limiting strips 39 are respectively located on both sides of the sleeve groove 37; when the rotating motor 33 drives the sleeve 34 and the pin column 38 to rotate to the position where the pin column 38 is parallel to the limiting strip 39, the pin column 38 can slide up and down along the sleeve groove 37; when the rotating motor 33 drives the sleeve 34 and the pin column 38 to rotate to the position where the pin column 38 is perpendicular to the limiting strip 39, the pin column 38 is limited below the limiting strip 39. The function of the limiting strip 39 is to limit the pin column 38 in specific situations, such as as attached Figure 3 As shown, when the pin column 38 is perpendicular to the limiting strip 39, the pin column 38 is located below the limiting strip 39. At this time, the pin column 38 cannot cross the limiting strip 39 and slide up and down in the sleeve groove 37, that is, the compression spring 44 is in an ineffective state; as attached Figure 4 As shown, when the pin column 38 is parallel to the limiting strip 39, the limiting strip 39 will not affect the pin column 38, and the pin column 38 can drive the jaw 42 to move up and down along the sleeve groove 37, that is, the compression spring 44 is in an effective state.

[0054] It should be noted that the pin column 38 does not necessarily have to be parallel or perpendicular to the limiting strip 39. As long as it rotates to a position not limited by the limiting strip 39 under the drive of the rotating motor 33, it can move up and down along the sleeve groove 37; when it rotates to a position limited by the limiting strip 39, it is limited by the limiting strip 39 and cannot move up further across the limiting strip 39. When the pin column 38 is limited below the limiting strip 39, the compression spring 44 is preferably in a compressed state. This compression is caused by the gravity of the jaw 42 and the jaw link 43 driving the pin column 38 to move downward. That is to say, when the switch cover module is in the initial static state, due to the gravity of the jaw 42 and the jaw link 43, the position where the pin column 38 is located is exactly below the limiting strip 39, so that the rotating motor 33 can drive the sleeve 34 and the pin column 38 to rotate subsequently.

[0055] An O-ring is nested on the inner side wall of the jaw 42; a thimble is provided on the side wall of the jaw 42, and a ball is provided outside the thimble. When the claw 41 and the jaw 42 are in the same plane, the ball abuts against the inner side wall of the claw 41. When the pin column 38 is not limited by the limiting strip 39, it can drive the jaw 42 to move up and down along the sleeve groove 37. At the same time, the planar motor 21 can drive the rotating motor 33 and the sleeve 34 to move up and down. When the sleeve 34 moves downward and the pin column 38 and the jaw 42 are limited by the test tube, it will cause the claw 41 to move downward relative to the jaw 42 until they are in the same plane. At this time, the inner side wall of the claw 41 acts on the ball, causing the thimble to act on the bottle cap inside the jaw 42, making the clamping force of the jaw 42 on the bottle cap larger.

[0056] In this application, a limit block 40 can also be provided on the side wall of the vertical bracket 31. The limit block 40 is fixedly connected to the claw 41, so that the up and down movements of the claw 41, the sleeve 34, and the rotating motor 33 are all consistent with the vertical bracket 31, that is, they are synchronously driven by the planar motor 21. When the pin column 38 is limited by the limit strip 39, the movements of the pin column 38 and the jaw 42 are also consistent with the planar motor 21. When the pin column 38 is not limited by the limit strip 39, the pin column 38, the jaw 42, and the bottle cap clamped by the jaw 42 are consistent and slide up and down relative to the sleeve 34 along the sleeve groove 37.

[0057] An automatic bottle-opening method provided by this application is shown in the attached Figures 1-4 , and includes the following steps:

[0058] S1: Place the test tube in the test tube holding assembly 5, and the test tube holding assembly 5 fixes the test tube;

[0059] S2: The rotating motor 33 drives the sleeve 34 and the pin column 38 to rotate until the pin column 38 is perpendicular to the direction of the limit strip 39. At this time, the pin column 38 is located below the limit strip 39; the compression spring 44 is in an ineffective state, and the movements of the pin column 38 and the sleeve 34 are consistent.

[0060] S3: The planar motor 21 drives the switch cover module to move above the test tube and drives the switch cover module to move down until the jaw 42 sleevs the bottle cap; when the planar motor 21 drives the slider 23 to move in the L-shaped chute 22, the connecting rod 24 synchronously drives the switch cover module to slide along the horizontal slide rail 25 and the vertical slide rail 26, and the sliding trajectory is the same as that of the slider 23.

[0061] S4: The rotating motor 33 drives the sleeve 34 and the pin column 38 to rotate until the pin column 38 is parallel to the direction of the limit strip 39. When the sleeve 34 rotates, the sleeve groove 37 and the pin column 38 located in the sleeve 34 rotate synchronously until the pin column 38 breaks away from the limit of the limit strip 39. At this time, the compression spring 44 is in an effective state.

[0062] S5: The planar motor 21 drives the switch cover module to continue moving down. The jaw 42, the jaw connecting rod 43, and the pin column 38 cannot move down due to the obstruction of the test tube. The planar motor 21 drives the rotating motor 33, the sleeve 34, and the claw 41 to continue moving down. At this time, the pin column 38 slides up along the sleeve groove 37 until the claw 41 and the jaw 42 are in the same plane. The inner side wall of the claw 41 acts on the ball, so that the thimble acts on the bottle cap inside the jaw 42, making the clamping force of the jaw 42 on the bottle cap larger.

[0063] S6: The rotating motor 33 rotates, driving the sleeve 34 and the jaw 42 to rotate and open the bottle cap. During the process of opening the bottle cap, the pin column 38 drives the jaw 42 and the bottle cap to continue moving upward along the sleeve groove 37 in the direction of opening the bottle cap until the bottle cap is unscrewed.

[0064] Before opening the bottle cap, since the pin column 38 is already above the limit bar 39, the rotating motor 33 drives the bottle cap and the test tube to rotate in the opposite direction of opening the bottle cap, which can rotate the barcode on the test tube and complete the scanning of the rotated barcode on the test tube.

[0065] S7: The planar motor 21 drives the switch cover module to continue moving upward until the claw 41 disengages from the jaw 42. When the claw 41 disengages from the jaw 42, the pin column 38 is located below the limit bar 39 under the gravity of the jaw 42, the jaw link 43 and the bottle cap. Although the jaw 42 disengages from the claw 41, the clamping force of the jaw 42 on the bottle cap ensures that the bottle cap is held inside the jaw 42.

[0066] S8: The planar motor 21 drives the switch cover module to move horizontally, so that the bottle cap and the switch cover module move away from the test tube, ensuring that operations such as testing and detecting the test tube are not affected.

[0067] An automatic capping method provided by the present application, please refer to the attached Figures 1-4 , including the following steps:

[0068] S1: The planar motor 21 drives the switch cover module and the bottle cap in the jaw 42 to move horizontally above the test tube, and drives the switch cover module to move downward until the bottle cap presses on the test tube; during this process, following the above-mentioned bottle opening step, the compression spring 44 is still in an effective state.

[0069] S2: The planar motor 21 drives the switch cover module to continue moving downward. The jaw 42, the jaw link 43 and the pin column 38 cannot move downward due to the obstruction of the test tube. The rotating motor 33, the sleeve 34 and the claw 41 continue to move downward until the claw 41 and the jaw 42 are in the same plane. The inner side wall of the claw 41 acts on the ball, so that the ejector pin acts on the bottle cap inside the jaw 42, increasing the clamping force of the jaw 42 on the bottle cap.

[0070] S3: The rotating motor 33 rotates, driving the sleeve 34 and the jaw 42 to rotate and tighten the bottle cap. During the process of tightening the bottle cap, the pin column 38 drives the jaw 42 and the bottle cap to move downward along the sleeve groove 37 in accordance with the bottle cap until the bottle cap is tightened;

[0071] S4: The planar motor 21 drives the switch cover module to move upward until the jaw 42 disengages from the claw 41, and the planar motor 21 drives the switch cover module to move horizontally to a position away from the test tube.

[0072] The rotating electric machine 33 of the present application can drive the bottle cap to be opened or tightened, and the structures of the sleeve groove 37, the pin post 38, the clamping jaw 42 and the claw 41 can regulate the clamping force of the clamping jaw 42 on the bottle cap, ensuring the smooth progress of the processes of opening and tightening the bottle cap. The present application can achieve opening and closing of the cap as well as vertical and horizontal movements with two electric machines, with a compact structure and convenient installation, improving the efficiency of opening and closing the cap.

[0073] It can be understood that the above embodiments only represent the preferred embodiments of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention; it should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can also be made, which all belong to the protection scope of the present invention; therefore, all equivalent transformations and modifications made to the scope of the claims of the present invention should fall within the scope covered by the claims of the present invention.

Claims

1. An automatic opening and closing device, characterized in that, Comprising: A base, A test tube holding assembly and a bottle cap moving assembly located on the base, wherein the bottle cap moving assembly includes a planar moving module and a cap opening / closing module; The planar moving module includes a planar motor, an L-shaped chute, a slider, and a connecting rod. The slider is located inside the L-shaped chute. The planar motor can drive the slider to move along the L-shaped chute. The connecting rod is connected to the slider and is also connected to the cap opening / closing module. When the planar motor drives the slider to move along the L-shaped chute, the connecting rod drives the cap opening / closing module to move synchronously; The cap opening / closing module includes a vertical bracket and a horizontal bracket. A grasping portion and a pressing portion are provided in the horizontal bracket. The pressing portion includes a rotating motor, a sleeve, and a claw. The sleeve is parallel to the vertical bracket, and a sleeve groove is provided in the sleeve. The sleeve groove penetrates the sleeve in the horizontal direction. The grasping portion includes a claw, a claw connecting rod, and a pin column. The pin column is located in the sleeve groove and is parallel to the horizontal bracket. Two limiting strips located on the same horizontal plane are provided on the side wall of the vertical bracket, and the two limiting strips are respectively located on both sides of the sleeve groove. When the rotating motor drives the sleeve and the pin column to rotate to a position where they are disengaged from the limiting strips, the pin column can slide up and down along the sleeve groove. When the rotating motor drives the sleeve and the pin column to rotate to a position where the pin column is limited by the limiting strips, the pin column is limited below the limiting strips.

2. The automatic opening and closing device according to claim 1, characterized in that, The L-shaped chute includes a horizontal groove and a vertical groove. The top end of the vertical groove communicates with the end of the horizontal groove. The slider is also located in a linear groove. One end of the linear groove is fixedly connected to the output end of the planar motor, and the other end can perform circular motion along the fixed end. When the planar motor drives the linear groove to perform circular motion, the slider slides inside both the linear groove and the L-shaped chute simultaneously.

3. The automatic opening and closing device according to claim 2, wherein The planar moving module further includes a horizontal slide rail and a vertical slide rail. The horizontal slide rail is fixed in the base, and the vertical slide rail is slidably connected to the horizontal slide rail. When the slider slides along the horizontal groove, the connecting rod and the vertical slide rail move along the horizontal slide rail. When the slider slides along the vertical groove, the connecting rod moves along the vertical slide rail.

4. The automatic opening and closing device according to claim 1, characterized in that, The vertical bracket is connected to the connecting rod. The end of the horizontal bracket communicates with the top end of the vertical bracket. The grasping portion is used for grasping the bottle cap, and the pressing portion is used for regulating the grasping force of the grasping portion for grasping the bottle cap.

5. The automatic opening and closing device according to claim 4, characterized in that, A rotating motor is provided at the upper end of the horizontal bracket. The output end of the rotating motor is connected to the sleeve, and the lower end of the sleeve is connected to the claw.

6. An automatic opening and closing device according to claim 5, characterized in that, The pin column is connected to the claw through a claw connecting rod. The claw is located inside the claw, and the dimension of the claw in the horizontal direction is smaller than that of the claw. A compression spring is nested outside the claw connecting rod. The upper end of the compression spring abuts against the claw, and the lower end abuts against the claw.

7. An automatic opening and closing device according to claim 6, characterized in that, An O-ring is nested on the inner side wall of the claw. A thimble is provided on the side wall of the claw, and a ball is provided outside the thimble. When the claw and the claw are in the same plane, the ball abuts against the inner side wall of the claw.

8. A method for automatically opening the lid, applied to the automatic lid opening and closing device according to any one of claims 1 to 7, characterized in that, Including the following steps: S1: Place the test tube in the test tube holding assembly, and the test tube holding assembly fixes the test tube; S2: The rotary motor drives the sleeve and the pin column to rotate to the position where the pin column is limited by the limiting strip. At this time, the pin column is located below the limiting strip; S3: The planar motor drives the switch cover module to move above the test tube, and the planar motor drives the switch cover module to move down until the claw holds the bottle cap; S4: The rotary motor drives the sleeve and the pin column to rotate to the position where the pin column disengages from the limiting strip; S5: The planar motor drives the switch cover module to continue moving down. The grasping part of the switch cover module cannot move down due to the blockage of the test tube, and the pressing part continues to move down. At this time, the pin column slides upward along the sleeve groove until the claw and the gripper are in the same plane, increasing the clamping force of the gripper on the bottle cap; S6: The rotary motor rotates, driving the sleeve and the claw to rotate to open the bottle cap. During the process of opening the bottle cap, the pin column drives the claw and the bottle cap to continue moving upward along the sleeve groove until the bottle cap is unscrewed.

9. A method for automatically closing the lid, applied to the automatic opening and closing device according to any one of claims 1 to 7, characterized in that, It includes the following steps: S1: The planar motor drives the switch cover module and the bottle cap in the claw to move above the test tube, and drives the switch cover module to move down until the bottle cap presses on the test tube; S2: The planar motor drives the switch cover module to continue moving down. The grasping part cannot move down due to the blockage of the test tube, and the pressing part continues to move down until the claw and the gripper are in the same plane, increasing the clamping force of the gripper on the bottle cap; S3: The rotary motor rotates, driving the sleeve and the claw to rotate to tighten the bottle cap. During the process of tightening the bottle cap, the pin column drives the claw and the bottle cap to move downward along the sleeve groove until the bottle cap is tightened; S4: The planar motor drives the switch cover module to move up until the claw disengages from the gripper, and the planar motor drives the switch cover module to move horizontally away from the test tube.

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