A decapping apparatus

Abstract

The application discloses a decapping device, comprising a frame, a plurality of decappers, each of the decappers comprising two opposite separated sub-decapppers, the sub-decapppers being installed on the frame; a mechanical hand for clamping a culture plate with a culture cover into a pair of the sub-decapppers to complete a decapping and closing process of the culture plate; the decapper is a pure mechanical component, free of radiation and electrical circuit, and convenient for use in various scenes; the decapping device is operated through the mechanical hand, decapping efficiency is improved, manual participation is not needed, and pollution is reduced.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, and in particular relates to a cap removal device. Background Technology

[0002] Microplates, deep-well plates, cell culture plates, and ELISA plates (collectively referred to as cell culture plates) are widely used in hospitals, research institutes, and biochemistry fields. The process of closing and removing the cap is a rigid industry requirement in certain cell biology research, drug development, and synthetic biology product development processes.

[0003] Currently, there are several methods for closing and removing the caps on various cell culture plates: Manually opening the well plates poses a risk of sample and reagent leakage, potentially contaminating the biological samples within. Furthermore, the large number of wells increases the susceptibility to human error, manual operation is inefficient, and it is not well-integrated with automated systems.

[0004] This method of using automatic grippers to pick up lids requires highly automated grippers, has low stability, and is difficult to adapt to lids of various widths and materials simultaneously.

[0005] The lid can be lifted by a vacuum suction cup (refer to CN113943657A). The lid can be directly lifted to a designated position by a vacuum suction cup. The disadvantage is that the structure is complicated, additional moving parts are required, and the lid may fall off if it is not flat, which poses a high risk of cross-contamination. Summary of the Invention

[0006] This invention aims to solve the problems mentioned in the background art above, and provides a cap removal device that is labor-free, pollution-free, and radiation-free, and is convenient for removing caps.

[0007] The present invention provides a cap removal device, comprising: frame, Multiple cap removers, each of which includes two relatively separate cap removers mounted on the frame; A robotic arm is used to grip a culture plate with a culture cap and move it between a pair of cap removers to complete the cap removal and cap closing processes of the culture plate.

[0008] Preferably, each of the said cap removers includes: The base is mounted on the frame. A bracket is disposed on one side of the base and is movably connected to it. The roller assembly is located on the side of the bracket opposite to the base and is rotatably mounted on the bracket. An elastic component is disposed between the base and the bracket, and applies an elastic preload to the bracket and the base. The two cap removers are arranged opposite each other on one side of the roller assembly.

[0009] Preferably, the roller assembly includes rollers with axial through holes and a spindle; Each of the brackets is provided with a bracket through groove that opens to one side. The upper and lower wings of the bracket through groove are provided with opposing spindle mounting holes. The roller is sleeved on the spindle and disposed in the bracket through groove. The spindle is detachably connected to the bracket through the spindle mounting hole.

[0010] Preferably, the roller assembly further includes a pressure bar; The mandrel is disposed in the mandrel mounting hole, and the upper end of the mandrel extends out of the bracket; One end of the pressure rod is fixed to the bracket, and the other end presses against the top of the mandrel to restrict the horizontal rotation and vertical movement of the mandrel relative to the bracket.

[0011] Preferably, the top of the mandrel is provided with a slot, and the outer periphery of the pressure rod base is provided with an outwardly extending rod. The pressure rod base is detachably connected to the bracket, and the rod is disposed in the slot.

[0012] Preferably, an annular groove is provided on the outer surface of the roller, and an elastic element protruding from the outer surface of the roller is provided in the annular groove.

[0013] Preferably, the outer surface of the roller is provided with an elastic element.

[0014] A bracket blind hole is provided on the bracket on the opposite side of the bracket through slot; The base has a through hole on its vertical plate; An elastic baffle is fixedly installed at the rear of the vertical plate. The elastic component is disposed in the blind hole of the bracket and the through hole of the base, and one end is fixedly connected to the elastic baffle.

[0015] Preferably, the cap removal device further includes a limiting block. The base also includes a horizontal plate that is perpendicularly connected to the vertical plate; A bracket groove with an opening facing downwards is provided on the bracket at the lower part of the bracket blind hole, and the length direction of the bracket groove is perpendicular to the axis of the bracket blind hole; The limiting block is fixedly connected to the bottom of the horizontal plate and is disposed in the groove of the bracket.

[0016] Preferably, each of the cap removers further includes a slide rail assembly disposed on the base, the bracket sliding relative to the base via the slide rail assembly.

[0017] Preferably, each of the cap removers further includes a guide wheel assembly, disposed on one side of the roller assembly; The guide wheel assembly includes guide wheels, the diameter of which is larger than the outer diameter of the elastic element.

[0018] The guide wheel assembly includes guide wheels, the diameter of which is larger than the diameter of the rollers.

[0019] Preferably, the frame includes a left support plate and a right support plate forming a square frame structure, an upper connecting plate and a lower connecting plate, and a plurality of connecting crossbars disposed between the upper connecting plate and the lower connecting plate and connected to the left support plate and the right support plate, and each pair of the cover removers is respectively disposed on the inner side of the left support plate and the right support plate.

[0020] Preferably, the frame further includes a left decorative panel and a right decorative panel disposed between and parallel to the left support panel and the right support panel, as well as two left decorative panels and two left decorative panels; the left support panel, the left decorative panel, and the two left decorative panels form a left square frame structure, which encloses the cap remover component disposed on the left support panel; the right support panel, the right decorative panel, and the front and rear right decorative panels form a right square frame structure, which encloses the cap remover component disposed on the right support panel.

[0021] Preferably, a culture cap baffle is horizontally disposed above each of the cap removers between the left decorative upright plate and the right decorative upright plate.

[0022] Preferably, a culture cap baffle is obliquely disposed on top of each of the cap removers between the left decorative upright plate and the right decorative upright plate.

[0023] By adopting the above technical solution, the present invention has the following beneficial effects: 1. The present invention installs a cap remover on a frame, and uses a robotic arm to grip the culture plate with the culture cap and put it into the cap remover to remove or add the cap, which is highly efficient.

[0024] 2. The present invention installs a culture cover baffle on the frame to prevent falling culture covers from affecting the culture covers below.

[0025] 3. In this invention, a guide wheel assembly is provided in front of the roller assembly. The diameter of the guide wheel is larger than the maximum outer diameter of the roller assembly, which can reduce the resistance of the cell culture plate entering the decapping device and reduce the wear on the rubber rings on the rollers. When an elastic element is provided on the rollers of the roller assembly, the diameter of the guide wheel is larger than the outer diameter of the elastic element; when no elastic element is provided on the rollers, the diameter of the guide wheel is larger than the diameter of the rollers.

[0026] 4. The guide wheels guide the culture plate smoothly into the cap remover and protect the rubber ring on the rollers. When the culture cap enters the cap remover, it first contacts the guide wheel. The propulsive force causes the guide wheel to open along the normal direction of the propulsive force, while the guide wheel rotates to guide the culture cap in. This prevents the culture cap from directly contacting the roller rubber ring immediately, thus avoiding the risk of the plate falling off due to jerking force. At the same time, the culture plate opens the guide wheel before contacting the roller, which also avoids wear and tear on the roller rubber ring.

[0027] 5. The guide wheel assembly and the roller assembly work together. When a wide culture cap enters the cap remover, the guide wheel assembly, under the action of the culture cap, drives the roller assembly to move to both sides of the normal direction of the feeding force, so that the culture cap can smoothly enter the clamping area of ​​the anti-slip wheel assembly. The whole process does not require a large thrust and will not squeeze the cap to cause deformation. 6. The cap remover equipped with guide wheels can effectively accommodate caps with a width difference of 4mm, preventing deformation, misalignment, or excessive resistance that could cause the entire cell culture plate to fall off when inserted into the cap. It can also keep the cell culture plate in the same position after insertion, making it easy to fit the cell culture plate and the cap together. It is also compatible with metal caps.

[0028] 7. The roller and mandrel of the present invention are clearance-fitted, and the top of the mandrel extends out of the bracket and is provided above the bracket. A slot is provided on the top of the mandrel. The pressure rod has an outwardly extending rod portion, which is provided in the slot. The base of the pressure rod is fixed to the bracket by screws. This configuration makes it convenient and quick to install and replace the roller.

[0029] 8. The slide rail assembly, with its elastic springs applying elastic force to the scaffold and the scaffold being squeezed by the cell culture plate, forces the scaffold to move relative to the base. The slide rail assembly increases the stability and smoothness of the scaffold's movement, allowing the spring force to be fully utilized, thus enabling the rollers mounted on the scaffold to stably clamp the culture cap.

[0030] 9. The outer surface of the roller has multiple annular grooves, and a wear-resistant nitrile rubber sleeve is fitted inside the annular grooves to achieve multi-point contact and increase friction to clamp the culture cap.

[0031] 10. Except for the electrical control part of the robotic arm, the cap removal device of the present invention is entirely composed of mechanical structures, which is simple in structure, maintenance-free, and easy to repair.

[0032] 11. The cap removal device of the present invention is easy to install and can be installed arbitrarily according to process requirements; it improves work efficiency; it requires no manual intervention and is conducive to automated integration; it prevents pollution; and it has a cap storage function, saving space.

[0033] These and other features, aspects, and advantages of this application will become more readily understood with reference to the following description. The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. Attached Figure Description

[0034] This specification sets forth the complete and illustrative disclosure of this application, including its best practices, to those skilled in the art. Reference is made to the accompanying drawings, in which: Figure 1 This is a schematic diagram of a cap removal device provided in an embodiment of the present invention; Figure 2 This is one of the front structural schematic diagrams of a cap removal device provided in an embodiment of the present invention; Figure 3 This is a second front structural schematic diagram of a cap removal device provided in an embodiment of the present invention; Figure 4 This is one of the reverse structural diagrams of a bracket for a cap removal device provided in an embodiment of the present invention; Figure 5 This is a second schematic diagram of the reverse structure of a bracket for a cap removal device provided in an embodiment of the present invention; Figure 6 A front view of the elastic component and slide rail of a cap removal device provided in an embodiment of the present invention; Figure 7 This is a front structural diagram of the base of a cap removal device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the reverse side structure of the base of a cover removal device provided in an embodiment of the present invention.

[0035] Figure label: 1-Framework; 11-Left support plate; 12-Right support plate; 13-Upper connecting horizontal plate; 14-Lower connecting horizontal plate; 15-Connecting crossbar; 16-Left decorative upright; 17-Right decorative upright; 18-Cultivation cover baffle; 191-Left decorative panel; 192-Right decorative panel; 2-Cap remover; 21-Guide wheel; 22-Roller; 23-Mandrel; 25-Screw; 27-Slide rail assembly; 24-Pressure bar; 241-Pressure bar base; 242-Bar section; 26-Bracket; 261-Bracket through slot; 262-Bracket groove; 263-Blind hole; 264-Mandrel mounting hole; 28-Base; 281-Vertical plate; 282-Horizontal plate; 283-Base through hole; 284-Step; 285-Limiting groove; 286-Limiting block; 29-Elastic component; 291-Spring sleeve; 292-Spring; 293-Elastic baffle; 3-Cell culture plate. Detailed Implementation

[0036] The embodiments of this application will now be described in detail with reference to the figures, including one or more examples of embodiments of this application. Each example is provided for the purpose of explaining this application and not for limiting it. In fact, those skilled in the art will appreciate that various modifications and variations can be made to this application without departing from the scope or spirit of this application. For example, a feature illustrated or described as part of one embodiment may be used with another embodiment to produce yet another embodiment. Therefore, it is intended that this application cover such modifications and variations, which are within the scope of the appended claims and their equivalents. As used in this specification, the terms “first,” “second,” etc., are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of the components. As used in this specification, unless the context clearly indicates otherwise, the terms “a,” “an,” “the,” and “the” are intended to indicate the presence of one or more elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be other elements in addition to those listed.

[0037] Referring now to the accompanying drawings, in which the same numbers in all the drawings denote the same elements, the present invention will be further explained and described below in conjunction with specific embodiments.

[0038] This invention provides a cap removal device, such as... Figure 1 As shown, the device includes a frame 1, multiple cap removers horizontally mounted on the frame 1, each cap remover including a pair of relatively separated cap removers 2, and multiple robotic arms (not shown) that hold cell culture plates with culture caps between the two cap removers 2 to complete the cap removal and cap closing processes.

[0039] As each robotic arm, holding a cell culture plate 3 with a culture cap, passes between a pair of cap removers 2, the cap removers 2 hold the culture cap on the cell culture plate 3 in place. The robotic arm then moves downwards, separating the cell culture plate 3 from the culture cap, completing the cap removal process. The robotic arm transfers the cell culture medium or sample from the cell culture plate 3 to a dedicated culture dish, then returns to the pair of cap removers 2. The robotic arm moves upwards, pressing the cell culture plate 3 tightly against the culture cap. Using the adhesion between the cell culture plate 3 and the culture cap, the robotic arm moves horizontally outwards, completely detaching the cell culture plate 3 and the culture cap from the cap removers 2, completing the cap closing process.

[0040] like Figures 2 to 3 As shown, each cap remover 2 includes a bracket 26. Three roller sets are vertically arranged in a row on one side of the bracket 26. A base 28 is movably connected to the bracket 26 on the other side. An elastic component 29 is provided between the bracket 26 and the base 28. When the roller sets are squeezed by an external force, a clamping force is applied to the bracket 26. The elastic component 29 applies an elastic preload force to the bracket 26. The direction of the elastic preload force is perpendicular to the central axis plane of the roller sets. In use, the base 28 is fixedly installed.

[0041] In some embodiments, the number of roller sets described above can be set to two, or at least one, depending on the length of the culture cover of the cell culture plate 3.

[0042] In some embodiments, the cell culture plate may be trapezoidal, circular, or other irregular shapes in addition to square plates. In this case, the direction of the elastic preload may not be perpendicular to the central axis plane of the roller assembly, but it must be perpendicular to the direction in which the cell culture plate enters between the two separators 2. Roller assembly

[0043] At least one set of rollers should be provided on a bracket 26, preferably 2-3 sets, because the cap removers are used in pairs. Two sets of rollers are provided on two opposite brackets 26, forming 2-3 pairs.

[0044] like Figure 2 and Figure 3 As shown, the roller assembly includes a spindle 23 mounted on a bracket 26, a roller 22 having an axial through hole and sleeved on the spindle 23, a pressure rod 24 restricting the spindle 23 from moving up and down relative to the bracket 26 and preventing it from rotating in the horizontal plane, and a screw 25 fixing the pressure rod 24 to the bracket 26.

[0045] Specifically, the bracket 26 is provided with a bracket through groove 261 that opens to one side, specifically, the opening of the bracket through groove 261 faces the opposite sides of the two brackets 26. Figure 3 In the embodiment shown, the bracket through slot 261 is arranged to the right, and the bracket 26 is provided with multiple sets of spindle mounting holes 264 that penetrate vertically downward through the bracket through slot 261. That is, the upper and lower wings of the bracket through slot 261 are provided with opposite spindle mounting holes 264. The spindle mounting holes 264 on the upper wing are through holes, and the spindle mounting holes 264 on the lower wing can be through holes or blind holes of the bracket.

[0046] The roller 22 is disposed in the through groove 261 of the bracket, and the spindle 23 passes through the spindle mounting hole 264 on the bracket 26. Because the roller 22 and the spindle 23 are clearance-fitted, the roller 22 can rotate around the spindle 23.

[0047] exist Figure 3 In the embodiment shown, the mandrel 23 is an optical axis bolt. The mandrel 23 passes through the mandrel mounting hole 264 on the bracket 26, and its upper end is restricted to vertical displacement by the pressure rod 24.

[0048] To prevent the spindle 23 from rotating relative to the bracket 26, a slot 231 is provided on the top of the spindle 23, and an outwardly extending rod 242 is provided on the outer periphery of the pressure rod base 241. The pressure rod base 241 is connected to the bracket 26 by screws 25, and the rod 242 is set in the slot 231, thereby limiting the vertical displacement of the spindle mounting hole 264 relative to the bracket 26 and the rotational displacement in the horizontal plane.

[0049] like Figure 2 and Figure 3 As shown, the outer surface of the roller 22 has multiple spaced grooves, and elastic elements, such as rubber rings, protrude from the outer surface of the roller 22 and are fitted inside the grooves. Compared with rollers that do not have multiple grooves on their outer surface but have rubber rings directly fitted or bonded, this roller can increase the friction with the culture cap. When the culture cap of the cell culture plate 3 passes through the two rollers 22 arranged opposite each other, the protruding rubber rings on the rollers 22 hold the culture cap, and the robotic arm holds the cell culture plate 3 and moves it down, separating the cell culture plate 3 from the culture cap, completing the cap removal process.

[0050] In some embodiments, the outer surface of the roller 22 does not have a groove, but a rubber ring with an elastic element is directly sleeved or bonded on its outer surface. The roller can also clamp the culture cap. Guide wheel assembly

[0051] To accommodate cell culture plates 3 of different sizes and materials entering the cap remover, for example, if a larger cell culture plate 3 is not equipped with guide wheels and enters directly into the roller assembly, the resistance will increase. If a cell culture plate 3 made of a harder material is entered directly into the roller assembly without guide wheels, the rubber rings on the rollers 22 will wear out severely, requiring frequent replacements, which will increase costs and reduce efficiency. Of course, cell culture plates 3 of standard sizes and made of plastic can also be processed without guide wheels.

[0052] Specifically, the guide wheel sets must also be used in pairs. Only one pair of guide wheel sets is needed to guide the culture cap smoothly into the cap remover and to protect the rubber ring on the roller 22 from severe wear. They are positioned in front of the roller set on the entry side of the cell culture plate 3, meaning that the cell culture plate 3 first encounters the guide wheel set when it enters between the two cap removers 2.

[0053] The guide wheel assembly differs from the roller assembly mentioned above in that the guide wheel 21 is the same in all other respects. Here, we will only describe the structure of the guide wheel 21.

[0054] The guide wheel 21 is made of stainless steel such as 304 or 316, and the outer surface is fitted with or bonded with an anti-slip rubber ring. The guide wheel 21 made of stainless steel is mainly used to guide the culture cap smoothly into the cap remover and to protect the anti-slip rubber ring on the roller 22.

[0055] To prevent severe wear of the rubber rings on rollers 22, the diameter of guide rollers 21 needs to be larger than that of rollers 22. When an elastic element is provided outside rollers 22, the diameter of guide rollers 21 also needs to be larger than the outer diameter of the elastic element. However, the central axes of all rollers 22 and guide rollers 21 should be on the same plane. When a large or hard cell culture plate enters between two oppositely positioned decappers 2, the two opposite guide rollers 21 are separated by the feeding force of the cell culture plate 3. This makes the distance between the two opposite rollers 22 on the support 26 greater than the distance between the two opposite guide rollers 21. The capped cell culture plate 3 enters the roller assembly without resistance and without friction with the rollers 22. Under the action of the elastic component 29, the two opposite rollers instantly hold the culture cap together, thereby reducing the resistance to entering the decapper roller assembly and reducing wear on the rubber sleeves of the rollers. Bracket 26

[0056] like Figure 4 and Figure 5 As shown, the bracket 26 has a bracket through groove 261 with an opening to one side along its length direction. A bracket blind hole 263 for mounting an elastic component 29 is provided on the back of the bracket 26 along the opening direction of the bracket through groove 261. A bracket groove 262 with an opening facing downward is provided at its bottom for installing a limiting block 286 to prevent the bracket 26 from slipping off the base 28 due to the spring force inertia. Base 28

[0057] like Figure 7 and Figure 8 As shown, the base 28 has a T-shaped structure, comprising a vertical plate 281 and a horizontal plate 282 perpendicularly connected to the vertical plate 281. The vertical plate 281 has a through hole 283 extending through its thickness for engagement with the elastic component 29. The horizontal plate 282 has a step 284 on each side of the through hole 283 to assist in positioning the slide rail assembly 27. The bottom of the horizontal plate 282 also has a limiting groove 285, in which a limiting block 286 is fixed. The limiting block 286 is also positioned within a bracket groove 262, and is clearance-fitted with the bracket groove 262. Elastic component 29

[0058] like Figure 6As shown, the elastic component 29 includes a spring sleeve 291, a spring 292 disposed in the spring sleeve 291, and an elastic baffle 293 disposed on and fixedly connected to the back of the vertical plate 281. One end of the spring sleeve 291 and the spring 292 pass through the base through hole 283 and are connected to the elastic baffle 293. The other end of the spring sleeve 291 and the spring 292 are disposed in the bracket blind hole 263 of the bracket 26 and fixedly connected to it.

[0059] The spring 292 described above is installed in the spring sleeve 291 to prevent the spring centerline from deviating. Of course, if the diameter of the base through hole 283 and the bracket blind hole 263 on the base is too small, the spring sleeve 291 may not be installed. Slide rail assembly 27

[0060] like Figure 6 As shown, each decapping device also includes two slide rail assemblies 27, which are disposed on the step 284 of the horizontal plate 282 of the base 28 and fixedly connected to the horizontal plate 282. The support 26 slides relative to the base 28 via the two slide rail assemblies 27, increasing the stability of movement when the elastic component 29 applies an elastic force to the support 26, or when the support 26 moves under the pressure of the cell culture plate. Framework 1

[0061] Frame 1 includes a vertical left support plate 11 and a right support plate 12 forming a square frame, and a horizontally arranged upper connecting plate 13 and a lower connecting plate 14. To strengthen the square frame, several connecting crossbars 15 are arranged between the upper connecting plate 13 and the lower connecting plate 14 and connected to the left and right support plates 11 and 12. Multiple pairs of cap removers 2, arranged relatively separately, are respectively installed on the left and right support plates 11 and 12, with the cap removers 2 having rollers 22 positioned opposite each other on one side.

[0062] To enhance the visual appeal, the components between the bracket 26 and the base 28 of each cap remover 2 need to be concealed. Therefore, a decorative panel parallel to the left and right support plates 11 and 12 is provided: a left decorative panel 16 and a right decorative panel 17, along with two left decorative panels 191 and two right decorative panels 192. The left support plate 11, the left decorative panel 16, and the two front and rear left decorative panels 191 form a left square frame structure, concealing all components of the cap remover 2 on the left support plate 11 except for the rollers 22, guide wheels 21, and brackets 26 within this frame structure. Similarly, the right support plate 12, the right decorative panel 17, and the two front and rear right decorative panels 192 form a right square frame structure, concealing all components of the cap remover 2 on the right support plate 12 except for the rollers 22, guide wheels 21, and brackets 26 within this frame structure.

[0063] During the process of removing the caps from the cell culture plate, in order to prevent the upper caps from falling down and hitting the lower caps, causing all the lower caps to fall, a cap baffle 18 is horizontally installed above each pair of cap removers 2 between the left and right decorative uprights 16 and 17. If a cap falls onto the cap baffle 18, manual intervention is required to remove the cap.

[0064] The aforementioned culture cover baffle 18 can also be tilted in the opposite direction to the cell culture plate entry, so that if the culture cover accidentally falls off, the cover removal device can be automatically slid off.

[0065] To prevent the spring 292 from popping out of the spring sleeve 291, one end of the spring sleeve 291 is fixedly connected to the vertical plate 281, and the other end is set in the blind hole 263 and slides in the blind hole 263. To prevent the spring sleeve 291 from detaching from the constraint of the blind hole 263, a limiting block 286 is set and fixedly connected to the bottom of the horizontal plate 282. At the same time, the limiting block 286 is stuck in the bracket groove 262. The spring 292 is compressed or rebounded. The bracket 26 is constrained by the limiting block 286 and can only move in the bracket groove 262 along the width direction of the bracket groove 262.

[0066] As described above, the cap removers 2 are used in pairs and are set apart. When the culture cap of the cell culture plate 3 passes between the two cap removers 2 that are set apart, the two guide wheels 21 or two rollers 22 are forced to separate relative to each other in a direction perpendicular to the feeding direction of the culture cap by the feeding force of the robot arm. The spring 292 is compressed and contracted by the support 26, and the distance between the two opposite rollers 22 or guide wheels 21 increases. When the culture cap enters between the two opposite rollers 22 after passing the guide wheel 21, the spring 292 rebounds and holds the culture cap by the rubber sleeve on the roller 22.

[0067] Compared with the prior art, the present invention has the following advantages: 1. The present invention installs a cap remover on a frame, and uses a robotic arm to grip the culture plate with the culture cap and put it into the cap remover to remove or add the cap, which has high cap removal efficiency.

[0068] 2. The present invention installs a culture cover baffle on the frame to prevent falling culture covers from affecting the culture covers below.

[0069] 3. In this invention, a guide wheel assembly is provided in front of the roller assembly. The diameter of the guide wheel is larger than the maximum outer diameter of the roller assembly, which can reduce the resistance of the cell culture plate entering the decapping device and reduce the wear on the rubber rings on the rollers. When an elastic element is provided on the rollers of the roller assembly, the diameter of the guide wheel is larger than the outer diameter of the elastic element; when no elastic element is provided on the rollers, the diameter of the guide wheel is larger than the diameter of the rollers.

[0070] 4. The guide wheels guide the culture plate smoothly into the cap remover and protect the rubber ring on the rollers. When the culture cap enters the cap remover, it first contacts the guide wheel. The propulsive force causes the guide wheel to open along the normal direction of the propulsive force, while the guide wheel rotates to guide the culture cap in. This prevents the culture cap from directly contacting the roller rubber ring immediately, thus avoiding the risk of the plate falling off due to jerking force. At the same time, the culture plate opens the guide wheel before contacting the roller, which also avoids wear and tear on the roller rubber ring.

[0071] 5. The guide wheel assembly and the roller assembly work together. When a wide culture cap enters the cap remover, the guide wheel assembly, under the action of the culture cap, drives the roller assembly to move to both sides of the normal direction of the feeding force, so that the culture cap can smoothly enter the clamping area of ​​the anti-slip wheel assembly. The whole process does not require a large thrust and will not squeeze the cap to cause deformation. 6. The cap remover equipped with guide wheels can effectively accommodate caps with a width difference of 4mm, preventing deformation, misalignment, or excessive resistance that could cause the entire cell culture plate to fall off when inserted into the cap. It can also keep the cell culture plate in the same position after insertion, making it easy to fit the cell culture plate and the cap together. It is also compatible with metal caps.

[0072] 7. The roller and mandrel of the present invention are clearance-fitted, and the top of the mandrel extends out of the bracket and is provided above the bracket. A slot is provided on the top of the mandrel. The pressure rod has an outwardly extending rod portion, which is provided in the slot. The base of the pressure rod is fixed to the bracket by screws. This configuration makes it convenient and quick to install and replace the roller.

[0073] 8. The slide rail assembly, with its elastic springs applying elastic force to the scaffold and the scaffold being squeezed by the cell culture plate, forces the scaffold to move relative to the base. The slide rail assembly increases the stability and smoothness of the scaffold's movement, allowing the spring force to be fully utilized, thus enabling the rollers mounted on the scaffold to stably clamp the culture cap.

[0074] 9. The outer surface of the roller has multiple annular grooves, and a wear-resistant nitrile rubber sleeve is fitted inside the annular grooves to achieve multi-point contact and increase friction to clamp the culture cap.

[0075] 10. Except for the electrical control part of the robotic arm, the cap removal device of the present invention is entirely composed of mechanical structures, which is simple in structure, maintenance-free, and easy to repair.

[0076] 11. The cap removal device of the present invention is easy to install and can be installed arbitrarily according to process requirements; it improves work efficiency; it requires no manual intervention and is conducive to automated integration; it prevents pollution; and it has a cap storage function, saving space.

[0077] This specification uses examples to disclose this application, including preferred embodiments, and also enables those skilled in the art to practice this application, including making and using any apparatus or system and performing any incorporated methods. The patentable scope of this application is defined by the claims and may include other embodiments conceived by those skilled in the art. Such other embodiments are deemed to be within the scope of the claims if they include structural elements that are not different from the literal language of the claims, or if they include equivalent structural elements that are not substantially different from the literal language of the claims.

Claims

1. A cap removal device, characterized in that, It includes: Framework (1), Multiple cap removers, each of which includes two relatively separate cap removers (2), the cap removers (2) being mounted on the frame (1); A robotic arm is used to grip a culture plate with a culture cap and move it between a pair of cap removers (2) to complete the cap removal and cap closing process of the culture plate; Each of the said cap removers includes: The base (28) is mounted on the frame (1). A bracket (26) is disposed on one side of the base (28) and movably connected thereto. The roller assembly is disposed on the side of the bracket (26) opposite to the base (28) and is rotatably mounted on the bracket (26). An elastic component (29) is disposed between the base (28) and the support (26) and applies an elastic preload to the support (26) and the base (28), wherein the direction of the elastic preload is perpendicular to the direction in which the cell culture plate enters between the two cap removers (2). The two cap removers have one side of the roller assembly that is separated from each other; The roller assembly includes a roller (22) with an axial through hole and a spindle (23). Each of the brackets (26) is provided with a bracket through groove (261) that opens to one side. The upper and lower wings of the bracket through groove (261) are provided with opposing spindle mounting holes (264). The roller (22) is sleeved on the spindle (23) and disposed in the bracket through groove (261). The spindle (23) is detachably connected to the bracket (26) through the spindle mounting hole (264). An annular groove is provided on the outer surface of the roller (22), and an elastic element protruding from the outer surface of the roller (22) is provided in the annular groove; Each of the cap removers also includes a guide wheel assembly, which is disposed on one side of the roller assembly; The guide wheel assembly includes a guide wheel (21), the diameter of which is greater than the outer diameter of the elastic element.

2. The cap removal device according to claim 1, characterized in that, The roller assembly also includes a pressure bar (24); The mandrel (23) is disposed in the mandrel mounting hole (264), and the upper end of the mandrel (23) extends out of the bracket (26); One end of the pressure rod (24) is fixed to the bracket (26), and the other end presses against the spindle (23) to restrict the horizontal rotation and vertical movement of the spindle (23) relative to the bracket (26).

3. The cap removal device according to claim 2, characterized in that, One end of the spindle (23) is provided with a slot (231), and the outer periphery of the pressure rod base (241) is provided with an outwardly extending rod (242). The pressure rod base (241) is detachably connected to the bracket (26), and the rod (242) is located in the slot (231).

4. The cap removal device according to any one of claims 1 to 3, characterized in that, The outer surface of the roller (22) is provided with an elastic element.

5. The cap removal device according to any one of claims 1 to 3, characterized in that, A bracket blind hole (263) is provided on the bracket (26) on the opposite side of the bracket through slot (261). The base (28) has a base through hole (283) on its vertical plate (281). An elastic baffle (293) is fixedly installed at the rear of the vertical plate (281). The elastic component is disposed in the blind hole (263) of the bracket and the through hole (283) of the base, and one end is fixedly connected to the elastic baffle (293).

6. The cap removal device according to claim 5, characterized in that, The cap removal device also includes a limiting block (286). The base (28) also includes a horizontal plate (282) that is vertically connected to the vertical plate (281); A bracket groove (262) with an opening facing downward is provided on the bracket (26) at the lower part of the bracket blind hole (263), and the length direction of the bracket groove (262) is perpendicular to the axial direction of the bracket blind hole (263); The limiting block (286) is fixedly connected to the bottom of the horizontal plate (282) and is disposed in the bracket groove (262).

7. The cap removal device according to any one of claims 1 to 3, characterized in that, Each of the cap removers also includes a slide rail assembly (27) disposed on the base (28), and the bracket (26) slides relative to the base (28) via the slide rail assembly (27).

8. The cap removal device according to claim 1, characterized in that, The frame (1) includes a left support plate (11) and a right support plate (12) forming a square frame structure, as well as an upper connecting plate (13) and a lower connecting plate (14), and a plurality of connecting crossbars (15) arranged between the upper connecting plate (13) and the lower connecting plate (14) and connected to the left support plate (11) and the right support plate (12). Each pair of the cover removers (2) is respectively arranged on the inner side of the left support plate (11) and the right support plate (12).

9. The cap removal device according to claim 8, characterized in that, The frame (1) also includes a left decorative panel (16) and a right decorative panel (17) disposed between and parallel to the left support panel (11) and the right support panel (12), as well as two left decorative panels (191) and two right decorative panels (192); the left support panel (11), the left decorative panel (16), and the two left decorative panels (191) form a left square frame structure, which encloses part of the cover remover (2) disposed on the left support panel (11); the right support panel (12), the right decorative panel (17), and the two front and rear right decorative panels (192) form a right square frame structure, which encloses part of the cover remover (2) disposed on the right support panel (12).

10. The cap removal device according to claim 9, characterized in that, A culture cap baffle (18) is horizontally disposed above each of the cap removers (2) between the left decorative plate (16) and the right decorative plate (17).

11. The cap removal device according to claim 9, characterized in that, A culture cap baffle (18) is obliquely disposed on top of each of the cap removers (2) between the left decorative plate (16) and the right decorative plate (17).

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