A rotary capping mechanism

Abstract

The present invention discloses a rotary capping mechanism, comprising a capping base plate, the capping base plate being supported and positioned by a capping base plate mounting column, a rotary capping component being provided on the capping base plate, the capping base plate supporting and positioning the rotary capping component, the rotary capping component comprising a connecting shaft motor, which is activated to generate a rotational step angle to drive a bearing to press a test tube, a reduction motor being provided to act on a drive wheel, and the drive wheel driving the test tube to rotate under the action of rotational friction; the rotary capping mechanism comprising a manipulator, the manipulator grasping or placing a test tube cap of the test tube during rotation. The present invention rotates the test tube in advance before automatic capping, thereby converting the original sliding friction into rolling friction, reducing the friction between the test tube body and the cap body, and thus being able to effectively cap different test tubes.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a rotary cover-pulling mechanism. Background Art

[0002] A microfluidic reagent disc is a system that manipulates the flow of tiny volumes of fluid through microchannels. It enables sample and reagent preparation, reactions, and separations through capillary action and centrifugation. Immunofluorescence cytochemistry is based on the principle of antigen-antibody reactions. A known antigen or antibody is first labeled with fluorescein to create a fluorescent marker. This fluorescent antibody (or antigen) is then used as a molecular probe to detect the corresponding antigen (or antibody) within cells or tissues. The antigen-antibody complex formed within the cell or tissue contains fluorescein. When illuminated with excitation light, the fluorescein emits a bright yellow-green or orange-red fluorescence. The fluorescent cells or tissues can be visualized, allowing the nature and location of the antigen or antibody to be determined. Quantitative techniques can also be used to measure the fluorescence intensity to determine the concentration of the substance being tested. During the reaction process, the microfluidic reagent disc requires incubation and a constant temperature to ensure consistent reactions. The microfluidic reagent disc must be tested and run according to a specific process, requiring centrifugation at 5500 rpm and liquid distribution at 3000 rpm. The test process involves the stepper motor rotating to a specific position, followed by the forward and backward movement of the in-and-out motor and the flashing of the light path lights for testing. In the prior art, during automated testing of mixed test solutions, the soft plug in the test tube lid and the outer plastic shell may not fit securely, and during automatic lid removal, the soft plug and outer plastic shell may occasionally separate. Furthermore, the process of closing and removing the test tube lid involves sliding friction, resulting in high friction between the test tube body and the lid, which can easily lead to errors in closing and removing the lid.

[0003] Patent application number CN201710336634.8 discloses an automatic mixing and capping device for sample bottles. The device comprises a test tube rack and at least two parallel support columns. The test tube rack is provided with mounting holes that extend through the test tube rack. The mounting holes are provided with fixed claws for securing the sample bottles. The bottom of the fixed claws is connected to a motor, which is connected to a load-bearing plate. The bottom of the load-bearing plate is connected to a lifting device. The support columns are provided with through-holes located at their upper portions. A vent plate is provided between the support columns, with both ends of the vent plate being connected to the through-holes for rolling engagement. The vent plate is located directly above the test tube rack. The bottom surface of the vent plate is provided with suction holes corresponding to the mounting holes. An air pipe is connected to the center hole of one end of the vent plate. An air duct is provided within the vent plate, communicating with the suction holes and the air pipe. The other end of the air pipe is connected to a vacuum system. By arranging the test tube rack, fixed claws, and motor, and by the interaction of these components, the device achieves one-time mixing and capping of large quantities of sample bottles. However, during the uncapping process of this solution, the friction between the test tube body and the cover body is still sliding friction, which is not conducive to the test operation of automated test tube uncapping. Summary of the Invention

[0004] The present invention aims to solve the above-mentioned problems and provide a rotary capping mechanism, comprising a capping base plate, the capping base plate being supported and positioned by a capping base plate mounting column, a rotary capping component being provided on the capping base plate, the capping base plate supporting and positioning the rotary capping component, the rotary capping component comprising a connecting shaft motor, the connecting shaft motor being started to generate a rotational step angle to drive a bearing to press the test tube, a reduction motor being provided to act on a drive wheel, the drive wheel driving the test tube to rotate under the action of rotational friction; the rotary capping mechanism comprising a manipulator, the manipulator grasping or placing the test tube cap of the test tube during rotation. The present invention rotates the test tube in advance before automatic capping, converting the original sliding friction into rolling friction, thereby reducing the friction between the test tube body and the cap body, thereby effectively capping different test tubes.

[0005] The technical solution adopted in the present invention is as follows:

[0006] The present invention discloses a method for using a rotary capping mechanism, which includes a test tube positioning mechanism and a test tube rotating mechanism. The test tube positioning mechanism and the test tube rotating mechanism cooperate with a manipulator to complete the capping or covering operation of the test tube, including the following steps:

[0007] S1: The test tube positioning mechanism includes a connecting shaft motor, a clamping advance and retreat baffle, a first slot-type optical coupler, a second slot-type optical coupler, and a diffuse reflection optical coupler. The rotary cover removal mechanism is started, and the connecting shaft motor moves back twice to detect whether there are test tubes in the test tube fixing block and the lower space where the test tubes are placed. The first slot-type optical coupler and the diffuse reflection optical coupler are triggered twice by clamping the advance and retreat baffle. If the first slot-type optical coupler and the diffuse reflection optical coupler detect no information feedback, it is determined that there is no test tube at the test tube fixing block, and the next action is performed. If the first slot-type optical coupler and the diffuse reflection optical coupler detect information feedback, it is determined that there is a test tube at the test tube fixing block, the test tube positioning mechanism alarms, and the detection process is terminated.

[0008] S2: The test tube positioning mechanism determines that there is no test tube at the test tube fixing block, and the connecting shaft motor resets. The advance and retreat baffle is tightened to trigger the successful reset of the second slot-type optical coupler. The manipulator grabs the test tube on the test tube rack and mixes the test liquid in the test tube. The mixed test tube is placed into the hole of the test tube fixing block. The connecting shaft motor starts to rotate in an advance position to form an angular step, driving the bearing to press the test tube into position. After that, the connecting shaft motor stops advancing.

[0009] S3: The test tube rotation mechanism includes a reduction motor that drives the driving wheel to rotate, which drives the test tube to rotate under the action of the rotational friction force. During the test tube rotation process, the robot grabs the test tube cap of the mixed test tube and completes the cap removal operation;

[0010] S4: The uncapping operation is completed. The robot component absorbs the test liquid in the test tube. The reduction motor drives the drive wheel to rotate. The rotation of the drive wheel generates friction that drives the test tube to rotate. During the rotation of the test tube, the test tube cap is grabbed and placed back on the test tube. Then the test tube is grabbed by the robot and placed back on the test tube rack.

[0011] The present invention discloses a device comprising a decapping base plate, which is supported and positioned by a decapping base plate mounting column; a rotary decapping component is provided on the decapping base plate, which supports and positions the rotary decapping component; the rotary decapping component comprises a connecting shaft motor, which is started to generate a rotation step angle to drive a bearing to press a test tube; a reduction motor is provided to act on a driving wheel, and the driving wheel drives the test tube to rotate under the action of a rotational friction force; the rotary decapping mechanism comprises a manipulator, which grabs or places a test tube cap of the test tube during rotation.

[0012] Furthermore, the connecting shaft motor adopts a through-screw shaft motor, and the reduction motor controls the rotation speed of the test tube, converting the sliding friction of the test tube cover connecting or detaching into rolling friction; the bearing adopts a rubber-coated bearing to press-fit and locate the test tube position, and the driving wheel adopts a rubber-coated wheel.

[0013] Furthermore, the rotary capping components include a test tube motor fixing plate, a shoulder guide shaft, a test tube motor connecting plate, a compression spring, a pressure wheel mounting plate, a spring washer, a driving wheel, a bearing, a driven shaft, a clamping block mounting plate, a test tube rack support plate and a clamping advance and retreat baffle. The connecting shaft motor pushes the test tube motor fixing plate, the shoulder guide shaft, the test tube motor connecting plate, the compression spring, the pressure wheel mounting plate, the spring washer, the driving wheel, the bearing, the driven shaft, the clamping block mounting plate, the test tube rack support plate and the clamping advance and retreat baffle to advance and fasten the test tube.

[0014] Furthermore, a test tube motor fixing plate is provided on the cover removing base plate, and the connecting shaft motor is fixed by the test tube motor fixing plate; a first slot-type optical coupler, a second slot-type optical coupler and a diffuse reflection optical coupler are provided on the cover removing base plate, the first slot-type optical coupler is a reset photoelectric, the second slot-type optical coupler and the diffuse reflection optical coupler are photoelectric for detecting whether there is a test tube, the clamping advance and retreat baffle resets and triggers the first slot-type optical coupler, the clamping advance and retreat baffle stops and retreats to the origin position of the rotary cover removing mechanism; when the equipment is powered on for self-test, the connecting shaft motor drives the clamping advance and retreat baffle to reciprocate twice, and detects twice that there is no trigger signal from the second slot-type optical coupler and the diffuse reflection optical coupler, and feedback is fed back that there is no test tube in the rotary cover removing mechanism, and the connecting shaft motor stops after resetting to the origin position, and performs the next action.

[0015] Furthermore, a shoulder guide shaft, a test tube motor connecting plate and a compression spring are provided on one side of the test tube motor fixing plate. The test tube motor connecting plate and the compression spring connect the shoulder guide shaft and the clamping block mounting plate, converting the action of the connecting shaft motor into spring force to compress the test tube.

[0016] Furthermore, a pressure wheel mounting plate is provided on one side of the compression spring, and the pressure wheel mounting plate is a connecting piece for adjacent rotating cover-pulling components; a spring washer is provided on one side of the pressure wheel mounting plate, and a bearing is provided below the spring washer. The bearing presses the test tube and rotates synchronously with the test tube, thereby limiting the dry friction generated when the test tube rotates.

[0017] Furthermore, a driven shaft is provided below the bearing to fix the bearing, and a reduction motor, a coupling, a bearing and a bearing sleeve for fixing the bearing are provided on one side of the bearing; the reduction motor is installed and fixed through a motor mounting plate, driving the wheel to rotate, and transmitting the force of the reduction motor through the coupling.

[0018] Furthermore, the test tube includes a long test tube and a short test tube, which are positioned and guided by a test tube fixing block. A test tube support block is provided under the test tube to prevent the test tube from falling. A test tube fixing clamp is provided on one side of the test tube support block to fix the driving wheel of the rotating cover-pulling component. A driven shaft and a clamping block mounting plate are provided on one side of the test tube fixing clamp, and the first slot-type optical coupler and the second slot-type optical coupler are installed on the clamping block mounting plate.

[0019] Furthermore, the rotary capping mechanism includes a test tube rack support plate connected to the rotary capping component, and a clamping advance and retreat blocking piece is provided to sense the second slot-type optical coupler as the reset position of the rotary capping mechanism, and sense the first slot-type optical coupler to feedback the test tube position.

[0020] Furthermore, the connecting shaft motor pushes the rotating cover-pulling component through a linear guide rail to limit the running trajectory of the connecting shaft motor; a cylindrical pin is provided to position the connecting shaft motor to provide lateral force to the motor; and an oil-free bushing is provided to form a running guide for the connecting shaft motor.

[0021] Furthermore, the rotary cover-pulling mechanism is started, the connecting shaft motor reciprocates twice, and the advance and retreat blocking piece is tightened to trigger the first slot-type optical coupler and the diffuse reflection optical coupler twice to detect whether there is a test tube in the test tube fixing block and the lower space.

[0022] The technical effects of the present invention are as follows:

[0023] The invention discloses a rotary capping mechanism, which effectively optimizes the automated capping process, converts the sliding friction generated by capping into rolling friction, and reduces the friction between the test tube body and the cap body.

[0024] The details are as follows:

[0025] 1. The present invention has a simple structure and realizes the rotation of the object through friction, which greatly saves the structure;

[0026] 2. The present invention is relatively simple in fixing method. It adopts non-tightening method to clamp the cover body, which changes sliding friction into rolling friction, reducing the friction between the test tube body and the cover body, so that it can effectively remove the cover of different test tubes.

[0027] 3. The present invention adopts a double driven bearing structure with automatic correction and centering functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a side sectional view of the present invention;

[0029] Figure 2 is a top view of the present invention;

[0030] Figure 3 is an axonometric drawing of the present invention;

[0031] Markings in the figure: 1-removal base plate, 2-removal base plate mounting column, 3-connecting shaft motor, 4-test tube motor fixing plate, 5-shoulder guide shaft, 6-test tube motor connecting plate, 7-compression spring, 8-pressure wheel mounting plate, 9-spring washer, 10-reduction motor, 11-coupling, 12-driving wheel, 13-bearing, 14-bearing, 15-bearing sleeve, 16-gasket, 17-test tube support block, 18- Test tube fixing clamp, 19-driven shaft, 20-holding block mounting plate, 21-holding optical coupler mounting plate, 22-test tube rack support plate, 23-holding advance and retreat baffle, 24-linear guide, 25-cylindrical pin, 26-oil-free bushing, 27-diffuse reflection optical coupler, 28-test tube fixing block, 29-motor mounting plate, 30-first slot type optical coupler, 31-second slot type optical coupler, 32-long test tube, 33-short test tube. DETAILED DESCRIPTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings.

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0034] In this embodiment, the data used are preferred solutions, but are not intended to limit the present invention;

[0035] Example 1

[0036] like Figure 1-3 As shown, this embodiment provides a device including a decapping base plate, which is supported and positioned by a decapping base plate mounting column, a rotary decapping component is provided on the decapping base plate, and the decapping base plate supports and positions the rotary decapping component, the rotary decapping component includes a connecting shaft motor, which is started to generate a rotation step angle to drive the bearing to press the test tube, and a reduction motor is provided to act on a driving wheel, and the driving wheel drives the test tube to rotate under the action of rotational friction; the rotary decapping mechanism includes a manipulator, which grabs or places the test tube cap of the test tube during rotation.

[0037] In this embodiment, the rotary cover-pulling components include a test tube motor fixing plate, a shoulder guide shaft, a test tube motor connecting plate, a compression spring, a pressure wheel mounting plate, a spring washer, a driving wheel, a bearing, a driven shaft, a clamping block mounting plate, a test tube rack support plate and a clamping advance and retreat baffle. The connecting shaft motor pushes the test tube motor fixing plate, the shoulder guide shaft, the test tube motor connecting plate, the compression spring, the pressure wheel mounting plate, the spring washer, the driving wheel, the bearing, the driven shaft, the clamping block mounting plate, the test tube rack support plate and the clamping advance and retreat baffle to advance and fasten the test tube.

[0038] In this embodiment, a shouldered guide shaft, a test tube motor connecting plate and a compression spring are provided on one side of the test tube motor fixing plate. The test tube motor connecting plate and the compression spring connect the shouldered guide shaft and the clamping block mounting plate, converting the force of the connecting shaft motor, that is, the direct pressing force of the motor, into a spring force to compress the test tube.

[0039] In this embodiment, a pressure wheel mounting plate is provided on one side of the compression spring, and the pressure wheel mounting plate is a connecting piece for adjacent rotating cover-pulling components; a spring washer is provided on one side of the pressure wheel mounting plate. Preferably, the spring washer adopts a standard spring washer, and a bearing is provided below the spring washer. The bearing presses the test tube and rotates synchronously with the test tube, thereby limiting the dry friction generated when the test tube rotates.

[0040] In this embodiment, a driven shaft is provided below the bearing to fix the bearing, and a reduction motor, a coupling, a bearing and a bearing sleeve for fixing the bearing are provided on one side of the bearing; the lower end of the coupling sleeve is sleeved in the bearing, and the reduction motor is installed and fixed through the motor mounting plate to drive the wheel to rotate, and the force of the reduction motor is transmitted through the coupling.

[0041] In this embodiment, the test tube includes a long test tube and a short test tube. In this embodiment, preferably, the long test tube and the short test tube do not need to be used together. In order to illustrate that both the long test tube and the short test tube can be used in this mechanism, the test tube is positioned and guided by a test tube fixing block. A test tube support block is provided under the test tube to prevent the test tube from falling. A test tube fixing clamp is provided on one side of the test tube support block to fix the active wheel of the rotating cover-pulling component. A driven shaft and a clamping block mounting plate are provided on one side of the test tube fixing clamp. The first slot-type optical coupler and the second slot-type optical coupler are installed on the clamping block mounting plate.

[0042] In this embodiment, further, the connecting shaft motor pushes the rotating cover-pulling component through a linear guide rail to limit the running trajectory of the connecting shaft motor; a cylindrical pin is set to position the connecting shaft motor, preferably, a φ4×12 cylindrical pin is used to increase the motor's lateral force and motor positioning accuracy; an oil-free bushing is set to form a running guide for the connecting shaft motor.

[0043] Example 2

[0044] The present embodiment provides a rotary capping mechanism, comprising a capping base plate, which is supported and positioned by a capping base plate mounting column; a rotary capping component is provided on the capping base plate, which supports and positions the rotary capping component; the rotary capping component comprises a connecting shaft motor, which is started to generate a rotational step angle to drive a bearing to press the test tube; a reduction motor is provided to act on a drive wheel, which drives the test tube to rotate under the action of rotational friction; the rotary capping mechanism comprises a manipulator, which grabs or places a test tube cap of the test tube during rotation.

[0045] In this embodiment, a test tube motor fixing plate is provided on the decapping base plate, through which the connecting shaft motor is fixed; a first slot-type optical coupler, a second slot-type optical coupler, and a diffuse reflection optical coupler are provided on the decapping base plate; the first slot-type optical coupler is a reset photoelectric device, while the second slot-type optical coupler and the diffuse reflection optical coupler are used to detect the presence of a test tube. The clamping advance and retreat block resets and triggers the first slot-type optical coupler, and the clamping advance and retreat block stops and retreats to the origin position of the rotary decapping mechanism; during the device power-on self-test, the connecting shaft motor drives the clamping advance and retreat block to reciprocate twice, twice detecting that the second slot-type optical coupler and the diffuse reflection optical coupler have no trigger signals, and feedback is given that there is no test tube in the rotary decapping mechanism. The connecting shaft motor resets to the origin position, stops, and proceeds to the next action. Furthermore, the origin position is the position where the clamping advance and retreat block triggers the first slot-type optical coupler, and the next action is for the robot arm to grab the test tube and place it into the rotary decapping mechanism.

[0046] In this embodiment, when the mechanism is activated, the connecting shaft motor moves back and forth twice to detect the presence of a test tube in the test tube holder and the space below it. If the first slotted optical coupler and the diffuse reflection optical coupler are not triggered after the advance and retreat block is tightened twice, the device determines that there is no test tube and can proceed to the next step. Otherwise, the device will alarm and the detection stops.

[0047] Furthermore, after the mechanism determines that there is no test tube, the connecting shaft motor moves backward, holding the advance and retreat block tightly and triggering the successful reset of the second slot-type optical coupler. The grabbing and mixing assembly clamp in the robotic arm then places the test tube into the hole of the test tube fixing block. The connecting shaft motor starts to rotate at a certain step angle, driving the bearing to press the test tube, and then the connecting shaft motor stops. Furthermore, the reduction motor drives the drive wheel to rotate, and the rolling friction generated drives the test tube assembly to rotate. During the rotation of the test tube assembly, the grabbing and mixing assembly clamp removes the rubber stopper from the test tube assembly. After the cap is removed, the sample arm assembly in the robotic arm absorbs the sample from the test tube glass tube. The reduction motor drives the drive wheel to rotate, and the drive wheel synchronously drives the glass test tube in the test tube assembly to rotate. During the rotation of the glass test tube, the grabbing and mixing assembly clamp replaces the previously removed cap into the glass test tube. After capping, the clamp returns the test tube assembly to its original position in the test tube rack.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for using a rotary cap removal mechanism, characterized in that: It includes a test tube positioning mechanism and a test tube rotation mechanism, which cooperate with the manipulator to complete the test tube cap removal or capping operation, including the following steps: S1: The test tube positioning mechanism includes a connecting shaft motor (3), a clamping advance and retreat blocking piece (23), a first slot-type optical coupler (30), a second slot-type optical coupler (31) and a diffuse reflection optical coupler (27). The rotary cover removal mechanism is started, and the connecting shaft motor (3) reciprocates to detect whether there is a test tube in the test tube fixing block (28) and the lower space where the test tube is placed. The second slot-type optical coupler (31) and the diffuse reflection optical coupler (27) are triggered by the clamping advance and retreat blocking piece (23). The second slot-type optical coupler (31) and the diffuse reflection optical coupler (27) detect no information feedback, and it is determined that there is no test tube at the test tube fixing block (28), and the next step is performed; the second slot-type optical coupler (31) and the diffuse reflection optical coupler (27) detect information feedback, and it is determined that there is a test tube at the test tube fixing block (28). The test tube positioning mechanism alarms and the detection process is terminated. S2: The test tube positioning mechanism determines that there is no test tube at the test tube fixing block (28), the connecting shaft motor (3) resets, and the advance and retreat block (23) is tightly held to trigger the second slotted optical coupler (31) to reset successfully. The manipulator grabs the test tube on the test tube rack and performs a mixing operation. The test tube after the mixing operation is placed into the hole of the test tube fixing block (28). The connecting shaft motor (3) starts to rotate in an advance position to form an angular step, and drives the first bearing (13) to press the test tube to position it. The connecting shaft motor (3) stops the advance movement. S3: The test tube rotation mechanism includes a reduction motor (10), which drives the driving wheel (12) to rotate, and drives the test tube to rotate under the action of the rotational friction force. During the test tube rotation process, the manipulator grabs the test tube cap of the mixed test tube to complete the cap removal operation; S4: The uncapping operation is completed, and the components of the manipulator absorb the test liquid in the test tube. The reduction motor (10) drives the driving wheel (12) to rotate. The rotation of the driving wheel (12) generates friction force that drives the test tube to rotate. During the rotation of the test tube, the test tube cover is grabbed and placed on the test tube. Then the manipulator grabs the test tube and puts the test tube back on the test tube rack.

2. A rotary cap-pulling mechanism, using the method for using the rotary cap-pulling mechanism according to claim 1, comprising a cap-pulling base plate (1), the cap-pulling base plate (1) being supported and positioned by a cap-pulling base plate mounting column (2), the cap-pulling base plate (1) being provided with a rotary cap-pulling component, the cap-pulling base plate (1) supporting and positioning the rotary cap-pulling component, characterized in that: The rotary capping parts include a connecting shaft motor (3), a test tube motor fixing plate (4), a shouldered guide shaft (5), a test tube motor connecting plate (6), a compression spring (7), a pressure wheel mounting plate (8), a spring washer (9), a driving wheel (12), a bearing (13), a driven shaft (19), a clamping block mounting plate (20), a test tube rack support plate (22) and a clamping advance and retreat baffle (23). The connecting shaft motor (3) is started to generate a rotation step angle to drive the first bearing (13) to press the test tube. A reduction motor (10) is provided to act on the driving wheel (12). Under the action of the rotational friction force, the driving wheel (12) drives the test tube to rotate. The rotary capping mechanism includes a manipulator, which grabs or places the test tube cap of the test tube during rotation. The connecting shaft motor (3) pushes the shoulder guide shaft (5), the test tube motor connecting plate (6), the compression spring (7), the pressure wheel mounting plate (8), the spring washer (9), the first bearing (13), the driven shaft (19), the clamping block mounting plate (20), the test tube rack support plate (22) and the clamping advance and retreat baffle (23) to move forward to position and tighten the test tube; The decapping bottom plate (1) is provided with a test tube motor fixing plate (4), and the connecting shaft motor (3) is fixed by the test tube motor fixing plate (4); the decapping bottom plate (1) is provided with a first slot-type optical coupler (30), a second slot-type optical coupler (31) and a diffuse reflection optical coupler (27), the first slot-type optical coupler (30) is a reset photoelectric, the second slot-type optical coupler (31) and the diffuse reflection optical coupler (27) are used to detect whether the test tube has photoelectricity, the holding advance and retreat baffle (23) resets and triggers the first slot-type optical coupler (30), the holding advance and retreat baffle (23) stops and retreats to the origin position of the rotary decapping mechanism; when the equipment is powered on and self-tested, the connecting shaft motor (3) drives the holding advance and retreat baffle (23) to reciprocate twice, and detects twice that there is no trigger signal from the second slot-type optical coupler (31) and the diffuse reflection optical coupler (27), and feedback is fed back that there is no test tube in the rotary decapping mechanism, the connecting shaft motor (3) moves to the origin position and stops, and then performs the next action; A shouldered guide shaft (5), a test tube motor connecting plate (6) and a compression spring (7) are provided on one side of the test tube motor fixing plate (4). The test tube motor connecting plate (6) and the compression spring (7) connect the shouldered guide shaft (5) and the clamping block mounting plate (20), converting the force of the connecting shaft motor (3) into a spring force to press the test tube; a pressure wheel mounting plate (8) is provided on one side of the compression spring (7), and the pressure wheel mounting plate (8) is a connecting piece for adjacent rotating capping components; a spring washer (9) is provided on one side of the pressure wheel mounting plate (8), and a first bearing (13) is provided below the spring washer (9). The first bearing (13) presses the test tube and rotates synchronously with the test tube, thereby limiting dry friction generated when the test tube rotates.

3. The rotary cover pulling mechanism according to claim 2, characterized in that: A driven shaft (19) is provided below the first bearing (13) to fix the first bearing (13), and a reduction motor (10), a coupling (11), a second bearing (14), and a bearing sleeve for fixing the second bearing (14) are provided on one side of the first bearing (13); the reduction motor (10) is installed and fixed through a motor mounting plate (29), drives the wheel to rotate, and transmits the force of the reduction motor (10) through the coupling (11).

4. The rotary cover pulling mechanism according to claim 3, characterized in that: The test tube comprises a long test tube (32) and a short test tube (33), and the long test tube (32) and the short test tube (33) are positioned and guided by a test tube fixing block (28). A test tube support block (17) is provided below the test tube to prevent the test tube from falling. A test tube fixing clamp (18) is provided on one side of the test tube support block (17) to fix the driving wheel of the rotating capping component. A driven shaft (19) and a clamping block mounting plate (20) are provided on one side of the test tube fixing clamp (18). The first slot-type optical coupler (30) and the second slot-type optical coupler (31) are mounted on the clamping block mounting plate (20).

5. The rotary cover pulling mechanism according to claim 4, characterized in that: The rotary capping mechanism includes a test tube rack support plate (22) connected to the rotary capping component, and a clamping advance and retreat blocking piece (23) is provided to sense the first slot-type optical coupler (30) as the reset position of the rotary capping mechanism, and sense the second slot-type optical coupler (31) to feedback the test tube position.

6. The rotary cover-pulling mechanism according to claim 5, wherein: The connecting shaft motor (3) drives the rotating cover-pulling component through a linear guide rail (24) to limit the running track of the connecting shaft motor (3); a cylindrical pin (25) is provided to position the connecting shaft motor (3) to provide a lateral force for the motor; and an oil-free bushing (26) is provided to form a running guide for the connecting shaft motor (3).

7. The rotary cover-pulling mechanism according to claim 6, wherein: The rotary capping mechanism is started, the connecting shaft motor (3) moves back and forth twice, and the advance and retreat blocking piece (23) is tightly held to trigger the first slotted optical coupler (30) and the diffuse reflection optical coupler (27) twice to detect whether there is a test tube in the space in and below the test tube fixing block (28).

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