Cover gripping device, cover closing mechanism and cover closing method

Abstract

This invention relates to a capping mechanism, and more particularly to a cap gripping device, a capping mechanism, and a capping method thereof. The cap gripping device includes: an adsorption component, a lifting drive component, and a vacuum component. The adsorption component has several adsorption zones, and any one of the adsorption zones can generate adsorption force. The lifting drive component can drive each adsorption component to move relative to the worktable of the capping mechanism according to instructions, so that when the worktable moves to a first preset position, the adsorption component picks up the cap positioned in a first station on the worktable, or when the worktable moves to a second preset position, the adsorption component places the picked-up cap onto a perforated plate positioned in a second station on the worktable. The vacuum component is connected to the adsorption component, and the vacuum component can provide negative pressure to at least one adsorption zone of the adsorption component according to instructions, so that the adsorption component generates adsorption force. Compared with the prior art, this invention can meet the capping requirements of a large batch of reagent bottles and effectively improve the capping efficiency of reagent bottles.

Description

Technical Field

[0001] The embodiments of the present invention relate to a lid closing mechanism, and more particularly to a lid gripping device, a lid closing mechanism, and a lid closing method thereof. Background Technology

[0002] The capping mechanism is mainly responsible for capping the reagent bottles distributed in the well plate after the pipetting process is completed, so as to seal the sample reagents in the reagent bottles and effectively prevent the reagents from leaking.

[0003] However, the inventors discovered that existing capping mechanisms, when placing the cap on the orifice plate, can only cap reagent bottles one by one. This inevitably prolongs the capping time when a large number of reagent bottles need to be capped, thus affecting the capping efficiency. Summary of the Invention

[0004] The purpose of this invention is to design a cap gripping device, a cap closing mechanism, and a cap closing method, which can meet the cap closing requirements of a large number of reagent bottles and effectively improve the cap closing efficiency of reagent bottles.

[0005] To achieve the above objectives, embodiments of the present invention provide a cover plate gripping device, the cover plate gripping device comprising:

[0006] An adsorption component has several adsorption zones, and any one of the adsorption zones can generate adsorption force;

[0007] A lifting drive assembly is used to drive each of the adsorption components to move relative to the worktable of the closing mechanism according to an instruction, so that when the worktable moves to a first preset position, the adsorption component picks up the cover plate located in the first working position of the worktable, or when the worktable moves to a second preset position, the adsorption component covers the picked-up cover plate on the perforated plate located in the second working position of the worktable.

[0008] An air extraction component, connected to the adsorption component, is used to provide negative pressure to at least one of the adsorption zones of the adsorption component according to an instruction, so that the adsorption component generates adsorption force.

[0009] In addition, embodiments of the present invention also provide a lid closing mechanism, comprising:

[0010] The gripping device described above;

[0011] The workbench is arranged opposite to the adsorption component and has an upper surface arranged relative to the adsorption component and a lower surface arranged away from the adsorption component; wherein, the upper surface is provided with a first station for positioning a top cover on which flexible plugs are distributed and a second station for positioning a perforated plate on which reagent bottles are distributed, and the second station is used for exposing the bottle mouths of each reagent bottle on the perforated plate to the upper surface.

[0012] A translation drive device, connected to the worktable, is used to drive the worktable to move in a direction parallel to the adsorption component; wherein, when the worktable moves to a first preset position, the first position and the adsorption component are opposite to each other, and when the worktable moves to a second preset position, the second position and the adsorption component are opposite to each other;

[0013] The main control module is communicatively connected to the lifting drive assembly, the air extraction assembly, and the translation drive device, respectively, and is used to send commands to the lifting drive assembly, the air extraction assembly, and the translation drive device, respectively.

[0014] When the worktable moves to the second preset position, the positions of each reagent bottle on the perforated plate and each flexible plug on the cover plate are uniquely corresponding. When the adsorption component covers the perforated plate with the adsorbed contents, a portion of any flexible plug is squeezed into the reagent bottle from the mouth of the reagent bottle that is uniquely corresponding to its position.

[0015] In addition, embodiments of the present invention also provide a method for closing the lid of the lid-closing mechanism, the method comprising the following steps:

[0016] The position of the worktable of the closing mechanism is obtained, and it is determined whether the worktable is in a first preset position where the cover can be picked up by the adsorption component of the closing mechanism; wherein, when the worktable is in the first preset position, the first position of the worktable for positioning the cover is opposite to the adsorption component.

[0017] If the determination result is yes, then drive the adsorption component to move towards the worktable;

[0018] When the adsorption component moves toward the workbench to the cover plate gripping position, negative pressure is applied to at least one adsorption area of ​​the adsorption component, so that the adsorption component generates adsorption force and picks up the cover plate positioned in the first work station.

[0019] The worktable is driven to move toward a second preset position away from the first preset position; when the worktable is in the second preset position, the second station of the worktable for positioning the perforated plate is opposite to the adsorption component.

[0020] When the workbench moves to the second preset position, the adsorption component is driven to move toward the workbench, so that the cover plate adsorbed on the adsorption component closes to the perforated plate positioned in the second work position.

[0021] Flexible plugs are distributed on the cover plate located in the first work station, and reagent bottles are distributed on the perforated plate located in the second work station. When the worktable moves to the second preset position, the positions of each reagent bottle on the perforated plate and each flexible plug on the cover plate are uniquely corresponding. When the adsorption component covers the perforated plate with the adsorbed contents, a portion of each flexible plug is squeezed into the reagent bottle from the mouth of the uniquely corresponding reagent bottle.

[0022] Compared with the prior art, the embodiments of the present invention provide negative pressure to at least one adsorption area of ​​the adsorption component when the cap is closed, so that the adsorption component can generate adsorption force. When the worktable moves to the first preset position, the adsorption component is driven by the lifting drive component, so that the adsorption component can pick up the cap plate located in the first station of the worktable. When the worktable moves to the second preset position, the adsorption component is driven by the lifting drive component, so that the adsorption component can cover the picked-up cap plate on the perforated plate located in the second station of the worktable. By covering the perforated plate with the cap plate, multiple reagent bottles can be capped at one time, thereby meeting the capping needs of a large number of reagent bottles and effectively improving the capping efficiency of reagent bottles. Attached Figure Description

[0023] One or more embodiments are illustrated by way of example with the corresponding pictures in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0024] Figure 1 This is an axial side view of the lid closing mechanism from a frontal perspective in some embodiments of the present invention;

[0025] Figure 2 This is an axial side view of the closing mechanism from the perspective of a partial embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the lid closing mechanism after the frame has been removed, according to some embodiments of the present invention.

[0027] Figure 4 for Figure 1 Front view diagram;

[0028] Figure 5 for Figure 4 Enlarged view of part A in the middle;

[0029] Figure 6 This is an isometric view of the cover plate gripping device when it picks up the cover plate in some embodiments of the present invention.

[0030] Figure 7 This is a schematic diagram of the assembly of the partition plate and the adsorption plate in some embodiments of the present invention;

[0031] Figure 8 This is a system module block diagram of the lid closing mechanism in some embodiments of the present invention;

[0032] Figure 9 This is a schematic diagram showing the state when the cover plate has finished covering the perforated plate in some embodiments of the present invention;

[0033] Figure 10 This is a schematic diagram illustrating the state when the cover plate has not completely closed the orifice plate in some embodiments of the present invention;

[0034] Figure 11 This is a schematic diagram showing the state of the adsorption component when it has absorbed the perforated plate in some embodiments of the present invention;

[0035] Figure 12 This is a schematic diagram illustrating the state of the adsorption component when it fails to pick up the perforated plate in some embodiments of the present invention;

[0036] Figure 13 This is a schematic diagram of the assembly of the translation drive device, the second drive assembly, the worktable and the support plate in some embodiments of the present invention;

[0037] Figure 14 This is a flowchart illustrating the closing method of the closing mechanism in some embodiments of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to facilitate a better understanding of this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. Example

[0039] Embodiment 1 of the present invention relates to a cover plate gripping device, such as... Figure 1 and Figure 8 As shown, the cover plate gripping device 1 includes: an adsorption component 11, a lifting drive component 12, and an air extraction component 13.

[0040] In some embodiments, combined with Figure 7As shown, the adsorption component 11 has several adsorption zones 111, and any one of the adsorption zones 111 can generate adsorption force. Secondly, as... Figure 1 and Figure 6 As shown, the lifting drive assembly 12 can be used to drive each adsorption assembly 11 to move relative to the worktable 2 of the closing mechanism according to the instruction, so that when the worktable 2 moves to the first preset position, the adsorption assembly 11 picks up the cover plate 200 located in the first station 21 of the worktable 2, or when the worktable 2 moves to the second preset position, the adsorption assembly 11 covers the picked-up cover plate 200 on the perforated plate 100 located in the second station 22 of the worktable 2.

[0041] Additionally, in some embodiments, such as Figure 6 , Figure 7 and Figure 8 As shown, the suction component 13 is connected to the adsorption component 11. The suction component 13 can be used to provide negative pressure to at least one adsorption zone 111 of the adsorption component 11 according to the instruction, so that the adsorption component 11 generates adsorption force.

[0042] As can be seen from the above, when the cap is closed, the suction component 13 can provide negative pressure to at least one adsorption area 111 of the adsorption component 11, so that the adsorption component 11 can generate adsorption force. When the worktable 2 moves to the first preset position, the adsorption component 11 is driven by the lifting drive component 12, so that the adsorption component 11 can pick up the cap 100 located in the first station 21 of the worktable 2. When the worktable 2 moves to the second preset position, the adsorption component 11 is driven by the lifting drive component 12, so that the adsorption component 11 can cover the picked-up cap 200 onto the perforated plate 100 located in the second station 22 of the worktable 2. By covering the perforated plate 100 with the cap 200, multiple reagent bottles can be capped at one time, thereby meeting the capping needs of a large number of reagent bottles and effectively improving the capping efficiency of reagent bottles.

[0043] Specifically, in some embodiments, such as Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the adsorption assembly 11 includes: an adsorption plate 112, a partition plate 113, and an air inlet plate 116. Among them, combined with... Figure 7 As shown, the adsorption plate 112 has a plurality of adsorption holes 114, and the partition plate 113 is stacked on the adsorption plate 112. The partition plate 113 also has a plurality of adsorption regions 111, and each adsorption region 111 is connected to at least one adsorption hole 114. Furthermore, in some embodiments, such as... Figure 5 and Figure 6As shown, the air inlet plate 116 is stacked on the side of the partition plate 113 facing away from the adsorption plate 112, and each air inlet plate 116 is provided with several air inlet zones (not shown in the figure). Each air inlet zone also has an air outlet 115 on the air inlet plate 116. The number of air inlet zones and adsorption zones 111 are the same and uniquely correspond, and each air inlet zone is connected to a unique adsorption zone 111. In application, each air outlet 115 can be connected to the suction assembly 13, so that the suction assembly 13 can provide negative pressure to the uniquely corresponding adsorption zone 111 through any air outlet 115 and the air inlet zone connected to that air outlet 115. This causes the adsorption holes 114 connected to the adsorption zone 111 to generate adsorption force, so as to meet the adsorption requirements of the adsorption plate 112 on the cover plate 200.

[0044] For example, in some embodiments, such as Figure 7 As shown, the partition 113 has four adsorption zones 111, which are arranged in an array on the partition 113. Each adsorption zone 111 is a through hole that penetrates the entire partition 113. The adsorption plate 112 is provided with a plurality of adsorption holes 114 corresponding to each adsorption zone 111. For example, in some embodiments, such as Figure 7 As shown, the adsorption plate 112 has the same number of adsorption holes 114 distributed in each adsorption area 113, so that the adsorption plate 112 can generate the same adsorption force in each part of the partition 113, so as to ensure that the cover plate 200 can adhere well to the adsorption plate 112 when the adsorption plate 112 absorbs the cover plate 200.

[0045] Additionally, in order to enable the suction assembly 13 to provide negative pressure to any one or more adsorption zones 111 of the partition 113 according to instructions, in some embodiments, such as Figure 6 As shown, the vacuum assembly 13 includes a vacuum pump element 131 and several valve modules 132. The vacuum pump element 131 can be a vacuum pump, while the valve modules 132 can be solenoid valves. The number of valve modules 132 is the same as the number of adsorption zones 111 and they correspond uniquely. Furthermore, in conjunction with... Figure 8 As shown, each valve module 132 is connected to the outlet 115 of the uniquely corresponding adsorption zone 111 and the vacuum element 131, so that any valve module 132 can connect the uniquely corresponding adsorption zone 111 to the vacuum element 131 or disconnect the uniquely corresponding adsorption zone 111 from the vacuum element 131 according to the command, thereby enabling the vacuum assembly 13 to provide negative pressure to any one or more adsorption zones 111. For example, when multiple cover plates 22 are provided in the first station of the workbench 2, and only some reagent bottles 101 distributed in the perforated plate 100 need to be capped, combined with Figure 2As shown, the suction component 13 can provide negative pressure to one or more adsorption zones 111 according to the instruction, so that the adsorption component 11 can absorb any one or more cover plates 200 located in the first station 21.

[0046] Furthermore, it is worth mentioning that, in order to enable the lifting drive assembly 12 to drive the adsorption assembly 11 to move relative to the worktable 2 according to instructions, in some embodiments, such as Figure 3 As shown, the lifting drive assembly 12 includes: a cylinder 121 and a pressure plate module 122 connected to the push rod of the cylinder 121. The pressure plate module 122 can be connected to the air inlet plate 116 of the adsorption assembly 11 through a number of positioning pins 123. Therefore, by driving the pressure plate module 122 through the cylinder 121, the pressure plate module 122 can drive the adsorption assembly 11 to move relative to the operating table 2. Example

[0047] Embodiment 2 of the present invention relates to a lid closing mechanism, such as... Figure 1 and Figure 8 As shown, it includes: a gripping device 1, a worktable 2, a translation drive device 3, and a main control module 4, as described in Embodiment 1.

[0048] Among them, such as Figure 1 , Figure 2 and Figure 3 As shown, the workbench 2 and the adsorption assembly 11 are arranged opposite to each other, and at the same time, combined with Figure 3 and Figure 4 As shown, the workbench 2 has an upper surface 23 disposed relative to the adsorption assembly 11 and a lower surface 24 disposed away from the adsorption assembly 11. The upper surface 23 is provided with a first station 21 on which a top cover 200 with flexible plugs 201 can be positioned and distributed, and a second station 22 on which a perforated plate 100 with reagent bottles 101 can be positioned and distributed. The second station 22 is used to expose the bottle mouths of each reagent bottle 101 on the perforated plate 100 to the upper surface 23 of the workbench 2.

[0049] In addition, combined Figure 2 As shown, the translation drive device 3 is connected to the worktable 2, and the translation drive device 3 is used to drive the worktable 2 to move in a direction parallel to the adsorption component 11. When the worktable 2 moves to the first preset position, the first station 21 of the worktable 2 is opposite to the adsorption component 11, and when the worktable 2 moves to the second preset position, the second station 22 of the worktable 2 is opposite to the adsorption component 11.

[0050] Finally, combining Figure 8 As shown, the main control module 4 is communicatively connected to the lifting drive assembly 12, the air extraction assembly 13, and the translation drive device 3, respectively, and is used to send commands to the lifting drive assembly 12, the air extraction assembly 13, and the translation drive device 3, respectively.

[0051] When workbench 2 moves to the second preset position, such as Figure 9 and Figure 10 As shown, each reagent bottle 101 on the orifice plate 100 corresponds uniquely to each flexible plug 201 on the cover plate 200, so that when the adsorption assembly 11 covers the orifice plate 100 with the adsorbed cover plate 200, a portion of any flexible plug 201 can be squeezed into the reagent bottle 101 from the mouth of the uniquely corresponding reagent bottle 101.

[0052] As can be seen from the above, when the lid is closed, the main control module 4 sends a command to the translation drive device 3, which drives the worktable 2 to move between the first preset position and the second preset position. When the worktable 2 moves to the first preset position, the first station 21 of the worktable 2 is opposite to the adsorption component 11. At this time, the main control module 4 can send commands to the lifting drive component 12 and the suction component 13 respectively, so that the lifting drive component 12 can drive the adsorption component 11 to move closer to the worktable 2. When the adsorption component 11 reaches the cover plate gripping position, the suction component 13 can pick up the cover plate 100 located in the first station 21. After the suction component 13 completes the picking up of the cover plate 200, the worktable 2 can be driven by the translation drive device 3. The device moves to the second preset position, so that the second station 22 of the workbench 2 can be opposite to the adsorption component 11. At this time, the main control module 11 can send instructions to the lifting drive component 12 and the vacuum component 13 respectively, so that the adsorption component 11 can move towards the workbench 2 under the drive of the lifting drive component 12, thereby covering the capped cover 200 on the perforated plate 100 located in the second station 22. After the cover 200 has finished covering the perforated plate 100, the vacuum component 13 can cancel the adsorption force of the adsorption component 11 according to the instruction sent by the main control module 4. Therefore, by covering the perforated plate 100 with the cover 200, multiple reagent bottles can be capped at one time, thereby meeting the capping needs of a large number of reagent bottles and effectively improving the capping efficiency of reagent bottles.

[0053] Specifically, in some embodiments, in order to enable the translation drive device 3 to drive the worktable 2 to move along the direction of the parallel adsorption assembly 11, such as Figure 3 , Figure 4 and Figure 5 As shown, the translation drive device 3 includes two tracks 31 arranged opposite to each other, with the length direction of the two tracks 31 being the moving direction of the worktable 2. The worktable 2 is slidably mounted on the two tracks 31 via a slider 25. Furthermore, the translation drive device 3 also includes a drive assembly, for example, in some embodiments, combined with... Figure 2 As shown, the drive assembly can be a lead screw drive assembly 33, specifically, as follows: Figure 13As shown, the lead screw drive assembly 33 includes: a lead screw 331, a lead screw sleeve 332 sleeved on the lead screw 331, and a motor 333 connected to the lead screw 331. A portion of the lead screw 331 can pass through one of the tracks 31 along its length, while the remaining portion of the lead screw 331 is exposed outside the track 31 and connected to the motor 33. Furthermore, a groove 32 is provided along the length of the track 31. A portion of the slider 25 on the worktable 2 can extend into the groove 32 and connect to the lead screw sleeve 332, allowing the lead screw 331 to rotate under the drive of the motor 33. The lead screw sleeve 332, under the rotational motion of the lead screw 331, converts the rotational motion of the lead screw 331 into linear motion of sliding along the length of the track 31, thereby realizing the sliding of the worktable 2.

[0054] Furthermore, as a preferred embodiment, in some embodiments, such as Figure 3 and Figure 4 As shown, the closing mechanism also includes: a first detection module 5, and, combined with Figure 8 As shown, the first detection module 5 is communicatively connected to the main control module 4. The first detection module 5 can be used to detect the state of the adsorption component 11 when it picks up the cover plate 200 positioned in the first work station 21 when the worktable 2 moves to the first preset position, and send the detection result to the main control module 4. The main control module 4 can be used to determine whether the adsorption component 11 has picked up the cover plate 200 based on the detection result sent by the first detection module 5. When it is determined that the adsorption component 11 has picked up the cover plate 200, the main control module 4 sends a command to the translation drive device 3 so that the translation drive device 3 can drive the worktable 2 to move towards the second preset position.

[0055] In order for the first detection module 5 to detect the state of the adsorption component 11 when it absorbs the cover plate 200, in some embodiments, the first detection module 5 can be a photoelectric sensor, for example, such as... Figure 4 and Figure 8 As shown, the first detection module 5 includes: a light signal transmitter 51, a light signal receiver 52, and a controller 53 electrically connected to the light signal transmitter 51 and the light signal receiver 52, respectively. The controller 53 is also communicatively connected to the main control module 4, and can send a first electrical signal to the main control module 4 indicating that the adsorption component 11 has completed adsorption of the cover plate 200, and a second electrical signal indicating that the adsorption component 11 has not completed adsorption of the cover plate 200. In application, such as... Figure 4As shown, the optical signal transmitter 51 and the optical signal receiver 52 can be arranged opposite each other, and the directions in which the optical signal transmitter 51 and the optical signal receiver 52 are opposite each other are perpendicular to the moving direction of the worktable 2 in the two-dimensional plane. At the same time, the vertical height of the optical signal transmitter 51 and the optical signal receiver 52 relative to the upper surface 23 of the worktable 2 should be slightly higher than the height of the cover plate 200 positioned in the first work station 21. Therefore, when the lifting drive assembly 12 drives the adsorption assembly 11 to move towards the worktable 2 to the cover plate gripping position, if the adsorption assembly 11 completes the adsorption of the cover plate 200, at this time, combined with Figure 11 As shown, the light signal emitted by the light signal transmitter 51 will be completely blocked by the cover plate 200, causing the light signal receiver 52 to be unable to receive the light signal emitted by the light signal transmitter 51. At this time, the controller 53 can output a first electrical signal to the main control module 4. When the main control module 4 receives the first electrical signal output by the controller 53, it can determine that the adsorption component 11 has absorbed the cover plate 200. Conversely, if the adsorption component 11 has not completed the absorption of the cover plate 200, then the combination... Figure 12 As shown, the light signal emitted by the light signal transmitter 51 will be directly received by the light signal receiver 52 without being blocked by the cover plate 200. At this time, the controller 53 can output a second electrical signal to the main control module 4. When the main control module 4 receives the second electrical signal output by the controller 53, it can determine that the adsorption component 11 has not absorbed the cover plate 200.

[0056] Additionally, as a preferred embodiment, in other embodiments, such as Figure 2 As shown, the second station 22 is also used to expose the bottoms of the reagent bottles distributed on the orifice plate 100 to the lower surface 24 of the workbench 2, for example, in combination with Figure 3 As shown, the second workstation 22 may include: a positioning groove 221 disposed on the workbench 2, and a through hole 222 disposed at the bottom of the positioning groove 221. The positioning groove 221 can be used to position the perforated plate 100, while the through hole 222, after the positioning groove 221 has positioned the perforated plate 100, can be penetrated by the bottle body portion of each reagent bottle 101 distributed on the perforated plate 100, so that the bottom of each reagent bottle 101 can be exposed on the lower surface 24 of the workbench 2. Furthermore, in some embodiments, the positioning groove 221 may be a rectangular structure or approximately rectangular. Figure 1 and Figure 2 The cross-shaped structure shown, namely the positioning groove 221 of the cross-shaped structure, can not only vertically position the perforated plate 100, but also horizontally position the perforated plate 100, thereby meeting the positioning requirements of the perforated plate 100 in different directions.

[0057] Secondly, corresponding to the structure of the second workstation 22, in some embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the closing mechanism 1 further includes a pressing device 6, which is disposed relative to the lower surface 24 of the worktable 2, and simultaneously... Figure 8 As shown, the pressing device 6 is also connected to the main control module 4. When the adsorption assembly 11 covers the cover plate 200 on the perforated plate 100 located in the second work station 22, the main control module 4 can send a command to the pressing device 6. After receiving the command from the main control module 4, the pressing device 6 can apply pressure to the bottom of at least one reagent bottle 101 on the perforated plate 100 in the direction relative to the lower surface 24 of the worktable 2. This ensures that any flexible plug 201 distributed on the cover plate 200 can be squeezed into the reagent bottle 101 from the mouth of the uniquely corresponding reagent bottle 101, so that the cover plate 200 can fit tightly with the perforated plate 100.

[0058] Furthermore, in order to enable the pressing device 6 to apply pressure to at least one reagent bottle 101 in a direction relative to the lower surface 24 of the worktable 2, in some embodiments, such as Figure 1 , Figure 2 and Figure 3 As shown, the pressing device 6 includes: a support assembly 61, a first drive assembly 62, and a second drive assembly 63. The support assembly 61 is positioned relative to the lower surface 24 of the worktable 2, and simultaneously... Figure 8 As shown, both the first drive assembly 62 and the second drive assembly 63 are communicatively connected to the main control module 4. The first drive assembly 62 can be used to drive the support assembly 61 to move relative to the lower surface 24 of the worktable 2 according to the instructions sent by the main control module 4, so that the support assembly 61 can abut against the bottom of at least one reagent bottle 101 located on the perforated plate 100 in the second station 22 and apply pressure to at least one reagent bottle 101. The second drive assembly 63 can be used to drive the support assembly 61 to move in a direction parallel to the worktable 2 according to the instructions, so that the support assembly 61 can be accurately aligned with the reagent bottles 101 distributed on the perforated plate 100, so as to ensure that each support assembly 61 can accurately abut against the bottom of at least one reagent bottle 101 located on the perforated plate 100 in the second station 22 when it moves towards the lower surface 24 of the worktable 2.

[0059] Specifically, in some embodiments, such as Figure 3 and Figure 4 As shown, the support assembly 61 includes: a base 611 and at least one pressure rod 612 distributed on the base 611. Wherein, as... Figure 3As shown, the base 611 can be connected to the first drive assembly 62, and each pressure rod 612 extends vertically towards the worktable 2. The center distance between any two adjacent pressure rods 612 is equal to the center distance between any two adjacent reagent bottles 101. Therefore, when the base 611 is driven by the first drive assembly 62, the pressure rods 612 can accurately abut against the bottom of each reagent bottle 101 and apply pressure to each reagent bottle 101.

[0060] Furthermore, in some embodiments, such as Figure 3 and Figure 4 As shown, the first driving assembly 62 includes: a support plate 621 and a cylinder 622 disposed on the support plate 621. The push rod of the cylinder 622 is connected to the base 611. By driving the base 611 through the cylinder 622, each pressure rod 612 can apply pressure to the bottom of each reagent bottle 101. The second driving assembly 63 can adopt the same structure as the translation driving device 3, specifically, as follows: Figure 3 and Figure 4 As shown, the second drive assembly 63 includes: a plurality of parallel tracks 631 arranged sequentially, with the length direction of each track 631 being the moving direction of the support plate 621. The support plate 621 is slidably mounted on each track 631 via a slider 623. Secondly, in conjunction with... Figure 2 As shown, the second drive component 63 further includes: a drive module, for example, such as Figure 2 As shown, the drive module can be a lead screw drive module 633, and, combined with Figure 13 As shown, the lead screw drive assembly 633 includes: a lead screw 6331, a lead screw sleeve 6332 fitted onto the lead screw 6331, and a motor 6333 connected to the lead screw 6331. A portion of the lead screw 6331 is inserted into one of the tracks 631 along its length, while the remaining portion of the lead screw 6331 is exposed outside the track 631 and connected to the motor 6333. Furthermore, as... Figure 13 As shown, the track 631 is also provided with a groove 632 along its length. A portion of the slider 623 on the support plate 621 can extend into the groove 632 and connect with the lead screw sleeve 6332. This allows the lead screw 6331 to rotate under the drive of the motor 6333. The lead screw sleeve 6332, under the rotational movement of the lead screw 6331, transforms the rotational movement of the lead screw 6331 into a linear motion of sliding along the length of the track 631, thus realizing the sliding of the support plate 621. It is easy to see that since the support assembly 61 can move along the length of the two tracks 631 under the drive of the second drive assembly 63, the pressure rods 612 of the support assembly 61 can be accurately aligned with the bottom of the reagent bottle 101 that needs to be capped, thus ensuring the smooth capping of the reagent bottle.

[0061] Additionally, as a preferred embodiment, in other embodiments, such as Figure 1 and Figure 4 As shown, the closing mechanism also includes: a second detection module 7, and, combined with Figure 8 As shown, the second detection module 7 is also communicatively connected to the main control module 4. The second detection module 7 can be used to detect the state when the workbench 2 moves to the second preset position and the adsorption component 11 covers the cap 200 that has been absorbed with the orifice plate 100 positioned in the second work station 22. The second detection module 7 can also send the detection results to the main control module 4. The main control module 4 can use the received detection results sent by the second detection module 7 to determine whether the cap 200 is covered with the orifice plate 100. When it is determined that the cap 200 is not covered with the orifice plate 100, the main control module sends a command to the pressing device 6 so that the pressing device 6 can apply pressure to the bottom of at least one reagent bottle 101 on the orifice plate 100 in the direction relative to the lower surface 24 of the workbench 2.

[0062] In order for the second detection module 7 to detect the state of the cover plate 200 when it is closed on the perforated plate 100, in some embodiments, such as Figure 4 As shown, the second detection module 7 can be of the same type as the first detection module 5, that is, the second detection module 7 can also use a photoelectric sensor, for example, such as... Figure 4 and Figure 8 As shown, the second detection module 7 includes: an optical signal transmitter 71, an optical signal receiver 72, and a controller 73 electrically connected to both the optical signal transmitter 71 and the optical signal receiver 72. The controller 73 is also communicatively connected to the main control module 4, and can send a first electrical signal to the main control module 4 indicating that the cover plate 200 has completed closing the perforated plate 100, and a second electrical signal indicating that the cover plate 200 has not completed closing the perforated plate 100. In application, such as... Figure 4 As shown, the optical signal transmitter 71 and the optical signal receiver 72 can be arranged opposite each other, and the directions in which the optical signal transmitter 71 and the optical signal receiver 72 are opposite each other are perpendicular to the direction of movement of the worktable 2 in the two-dimensional plane. At the same time, the vertical height of the optical signal transmitter 71 and the optical signal receiver 72 relative to the upper surface 23 of the worktable 2 should be slightly higher than the height of the perforated plate 100 positioned in the second work position 22. Therefore, when the lifting drive assembly 12 drives the adsorption assembly 11 to close the already adsorbed cover plate 200 onto the perforated plate 100 positioned in the second hole position 22, if the cover plate 200 completes to close the perforated plate 100, at this time, combined with Figure 11As shown, there is no gap between the cover plate 200 and the orifice plate 100, causing the light signal emitted from the light signal transmitter 71 to be completely blocked by the cover plate 200. This prevents the light signal receiver 72 from receiving the light signal emitted from the light signal transmitter 71. At this time, the controller 73 can output a first electrical signal to the main control module 4. When the main control module 4 receives the first electrical signal output by the controller 73, it can determine that the cover plate 200 has completed the closing of the orifice plate 100. Conversely, if the cover plate 200 fails to close the orifice plate 100, for example, when any flexible stopper 201 is not completely squeezed into the corresponding reagent bottle 101, a certain gap will be generated between the cover plate 200 and the orifice plate 100. In this case, combined with Figure 12 In the state shown, the light signal emitted by the light signal transmitter 71 will be directly received by the light signal receiver 72 without being blocked by the cover plate 200. At this time, the controller 73 can output a second electrical signal to the main control module 4. When the main control module 4 receives the second electrical signal output by the controller 73, it can determine that the cover plate 200 has not completed the closing of the perforated plate 100. Example

[0063] Embodiment 3 of the present invention relates to a method for closing a lid using a lid-closing mechanism, such as... Figure 14 As shown, the method for closing the lid includes the following steps:

[0064] Step 1410: Obtain the position of the worktable 2 of the closing mechanism, and determine whether the worktable 2 is in the first preset position where the cover plate 200 can be picked up by the adsorption component 11 of the closing mechanism. When the worktable 2 is in the first preset position, the first station 21 of the worktable 2 for positioning the cover plate 200 is opposite to the adsorption component 11.

[0065] Step 1420: If the determination result is yes, then drive the adsorption component 11 to move towards the worktable 2.

[0066] Step 1430: When the adsorption component 11 moves toward the cover plate gripping position in the direction close to the worktable 2, negative pressure is provided to at least one adsorption area 111 of the adsorption component 11, so that the adsorption component 11 generates adsorption force and picks up the cover plate 200 positioned in the first work station 21.

[0067] Step 1440: Drive the worktable 2 to move towards a second preset position away from the first preset position. When the worktable 2 is in the second preset position, the second station 22 of the worktable 2 for positioning the perforated plate 100 is opposite to the adsorption component 11.

[0068] Step 1450: When the workbench 2 moves to the second preset position, drive the adsorption component 11 to move towards the workbench 2, so that the cover plate 200 adsorbed on the adsorption component 11 covers the perforated plate 100 positioned in the second work station 22.

[0069] Flexible plugs 201 are distributed on the cover plate 200 located in the first station 21, and reagent bottles 101 are distributed on the perforated plate 100 located in the second station 22. When the worktable 2 moves to the second preset position, the positions of each reagent bottle 101 on the perforated plate 100 and each flexible plug 201 on the cover plate 200 are uniquely corresponding. When the adsorption assembly 11 covers the perforated plate 100 with the adsorbed cover plate 200, a portion of any flexible plug 201 is squeezed into the reagent bottle 101 from the mouth of the uniquely corresponding reagent bottle 101.

[0070] As can be seen from the above, when the cap is closed, by providing negative pressure to at least one adsorption area 111 of the adsorption component 11, the adsorption component 11 can generate adsorption force. When the worktable 2 moves to the first preset position, the adsorption component 11 is driven to move towards the worktable 2 to the cap gripping position, so that the adsorption component 11 can pick up the cap 100 located in the first station 21 of the worktable 2. When the worktable 2 moves to the second preset position, the lifting drive component 12 drives the adsorption component 11 to move towards the worktable 2 again, so that the adsorption component 11 can cover the picked-up cap 200 onto the perforated plate 100 located in the second station 22 of the worktable 2. By covering the perforated plate 100 with the cap 200, multiple reagent bottles can be capped at one time, thereby meeting the capping needs of a large number of reagent bottles and effectively improving the capping efficiency of reagent bottles.

[0071] Furthermore, after determining whether the worktable 2 is in the first preset position where the cover plate 200 can be picked up by the adsorption component 11 of the closing mechanism, i.e. after step 1410, the box closing method further includes the following sub-steps:

[0072] Step 1411: If the determination result is negative, drive the worktable 2 to move towards the first preset position, and when the worktable moves to the first preset position, continue to execute step 1420.

[0073] Furthermore, after providing negative pressure to at least one adsorption zone 111 of the adsorption assembly 11, causing the adsorption assembly 11 to generate adsorption force and pick up the cover plate 200 positioned in the first station 21, i.e. after step 1430, and before the drive table 2 moves in a direction away from the first preset position to the second preset position, i.e. before step 1440, such as Figure 10 As shown, the method for closing the lid also includes the following steps:

[0074] Step 1431: Determine whether the adsorption force generated by the adsorption component 11 is absorbed by the cover plate 200.

[0075] If the determination result is yes, then step 1440 is executed, that is, the worktable 200 is driven to move in a direction away from the first preset position to the second preset position.

[0076] Step 1432: If the determination result is negative, increase the negative pressure of the adsorption component 11 when it absorbs the cover plate 200, and return to step 1431.

[0077] By controlling the negative pressure of the adsorption component 11, it can be ensured that the adsorption component 11 can successfully absorb the cover plate 200 when the worktable 2 moves to the first preset position.

[0078] Furthermore, in order to accurately determine whether the adsorption component 11 has absorbed the cover plate 200, the first detection module 5 mentioned in Embodiment 2 can be used to detect whether the adsorption component 11 has absorbed the cover plate 200. When the first detection module 5 detects that the adsorption component 11 has absorbed the cover plate 200, the first detection module 5 can output a first electrical signal to the main control module 4 of the closing mechanism. When the first detection module 5 detects that the adsorption component 11 has not absorbed the cover plate 200, the first detection module 5 can output a second electrical signal to the main control module 5 of the closing mechanism. Therefore, the step of determining whether the adsorption force generated by the adsorption component 11 has absorbed the cover plate 200, i.e., step 1431, specifically includes:

[0079] Receives the electrical signal output by the first detection module.

[0080] If the received electrical signal is the first electrical signal, it is determined that the adsorption force generated by the adsorption component 11 has been absorbed by the cover plate 200. If the received electrical signal is the second electrical signal, it is determined that the adsorption force generated by the adsorption component 11 has not been absorbed by the cover plate 200.

[0081] Additionally, in some embodiments, in order to ensure that the adsorption assembly 11 can smoothly close the already adsorbed cover plate 200 onto the perforated plate 100 positioned in the second work station 22 when the worktable 2 moves to the second preset position, after driving the adsorption assembly 11 to move towards the worktable 2, so that the cover plate 200 adsorbed on the adsorption assembly 11 closes onto the perforated plate 100 positioned in the second work station 22, i.e. after step 1450, such as Figure 14 As shown, the method for closing the lid also includes the following steps:

[0082] Step 1460: Determine whether the cover plate 200 covers the orifice plate 100.

[0083] Step 1470: If the determination result is yes, then stop providing negative pressure to the adsorption component 11 and drive the adsorption component 11 to move to the initial position.

[0084] In step 1480, if the determination result is negative, the pressing device 6 of the capping mechanism is controlled to apply pressure to the bottom of at least one reagent bottle 101 on the orifice plate 100 in the direction relative to the lower surface 24 of the worktable 2, and the process returns to step 1460.

[0085] Furthermore, in order to accurately determine whether the cover plate 200 is closed to the perforated plate 100, the second detection module 7 mentioned in Embodiment 2 can be used to detect whether the cover plate 200 is closed to the perforated plate 199. When the second detection module 7 detects that the cover plate 200 is closed to the perforated plate 100, the second detection module 7 can output a first electrical signal to the main control module 5 of the closing mechanism. When the second detection module 7 detects that the cover plate 200 is not closed to the perforated plate 100, the second detection module 7 can output a second electrical signal to the main control module 5 of the closing mechanism. Therefore, the step of determining whether the cover plate 200 is closed to the perforated plate 100, i.e., step 1460, specifically includes:

[0086] Receives the electrical signal output by the second detection module 7.

[0087] If the received electrical signal is the first electrical signal, it is determined that the cover plate 200 is closed on the orifice plate 100. If the received electrical signal is the second electrical signal, it is determined that the cover plate 200 is not closed on the orifice plate 100.

[0088] It is clear from the above that this embodiment is an example of the closing method of the closing mechanism corresponding to Embodiment 2, and this embodiment can be implemented in conjunction with Embodiment 2. The relevant technical details mentioned in Embodiment 2 are still valid in this embodiment, and will not be repeated here to avoid repetition. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to Embodiment 2.

[0089] Those skilled in the art will understand that the above embodiments are specific implementations of the present invention, and in practical applications, various changes can be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A lid closing mechanism, characterized by, The cover plate grabbing device comprises: An adsorption assembly having a plurality of adsorption areas, and any one of the adsorption areas can generate adsorption force; the adsorption assembly comprises an adsorption plate, a partition plate and an air inlet plate; the adsorption plate is distributed with a plurality of adsorption holes; the partition plate is stacked on the adsorption plate and has a plurality of adsorption areas, each of which is communicated with at least one adsorption hole; the air inlet plate is stacked on the side of the partition plate away from the adsorption plate; the air inlet plate is provided with a plurality of air inlet areas, each of which further has an air outlet end on the air inlet plate, and the number of air inlet areas and adsorption areas is the same and uniquely corresponds to each other, and each air inlet area is communicated with a unique adsorption area; A lifting driving assembly for driving the adsorption assembly to move relative to the workbench of the cover combining mechanism according to instructions, so that the adsorption assembly sucks the cover plate positioned in the first work position of the workbench when the workbench moves to the first preset position, or the adsorption assembly covers the cover plate on the hole plate positioned in the second work position of the workbench when the workbench moves to the second preset position; An air extraction assembly connected with the adsorption assembly for providing negative pressure to at least one adsorption area of the adsorption assembly according to instructions to generate adsorption force; the air extraction assembly comprises a vacuum extraction element and a plurality of valve modules; the number of valve modules and adsorption areas is the same and uniquely corresponds to each other, and each valve module is connected with the air outlet end of a unique air inlet area and the vacuum extraction element; wherein any one of the valve modules is used to communicate the unique adsorption area with the vacuum extraction element according to instructions, or disconnect the unique adsorption area from the vacuum extraction element; Wherein, each air outlet end is connected with the corresponding valve module of the air extraction assembly one by one; A workbench arranged opposite to the adsorption assembly and having an upper surface arranged opposite to the adsorption assembly and a lower surface arranged away from the adsorption assembly; wherein the upper surface is provided with a first work position capable of positioning a cover plate distributed with flexible plugs and a second work position capable of positioning a hole plate distributed with reagent bottles, the second work position is used for exposing the bottle mouths of the reagent bottles on the hole plate to the upper surface; the second work position is also used for exposing the bottle bottoms of the reagent bottles to the lower surface of the workbench; A translation driving device connected with the workbench for driving the workbench to move in a direction parallel to the adsorption assembly; wherein when the workbench moves to the first preset position, the first work position and the adsorption assembly are opposite to each other, and when the workbench moves to the second preset position, the second work position and the adsorption assembly are opposite to each other; A main control module communicatively connected with the lifting driving assembly, the air extraction assembly and the translation driving device for sending instructions to the lifting driving assembly, the air extraction assembly and the translation driving device, respectively. ​ When the workbench moves to the second preset position, each reagent bottle on the hole plate corresponds to a flexible plug on the cover plate in position, and when the adsorption assembly covers the hole plate on the hole plate, part of the flexible plug is extruded into the reagent bottle from the bottle opening of the reagent bottle corresponding in position; The first detection module is in communication connection with the main control module, and is used for detecting the state of the adsorption assembly when the adsorption assembly sucks the cover plate positioned in the first station when the workbench moves to the first preset position, and sending the detection result to the main control module; The main control module is used for judging whether the adsorption assembly sucks the cover plate according to the detection result sent by the first detection module, and sending an instruction to the translation driving device to drive the workbench to move to the second preset position when it is determined that the adsorption assembly sucks the cover plate. The pressing device is arranged relative to the lower surface of the workbench and is in communication connection with the main control module, and is used for receiving the instruction sent by the main control module. The main control module is used for sending an instruction to the pressing device to press the bottom of at least one reagent bottle on the hole plate in the direction relative to the lower surface of the workbench when the adsorption assembly covers the cover plate on the hole plate positioned in the second station. The pressing device comprises a support assembly, a first driving assembly and a second driving assembly. The support assembly is arranged relative to the lower surface of the workbench, and comprises a base and at least one pressing rod distributed on the base. The pressing rod vertically extends in the direction of the workbench and forms a center distance between every two adjacent pressing rods equal to the center distance between every two adjacent reagent bottles on the hole plate. The first driving assembly is used for driving the support assembly to move relative to the lower surface of the workbench according to the instruction, so that the support assembly can press the bottom of at least one reagent bottle on the hole plate positioned in the second station. The second driving assembly is used for driving the support assembly to move in the direction parallel to the workbench according to the instruction. The second detection module is in communication connection with the main control module, and is used for detecting the state of the adsorption assembly when the adsorption assembly covers the cover plate on the hole plate positioned in the second station when the workbench moves to the second preset position, and sending the detection result to the main control module. The main control module is used for judging whether the cover plate covers the hole plate according to the detection result sent by the second detection module, and sending an instruction to the pressing device to press the bottom of at least one reagent bottle on the hole plate in the direction relative to the lower surface of the workbench when it is determined that the cover plate does not cover the hole plate.

2. A lid closing method of a lid closing mechanism, characterized by, The cover closing mechanism comprises a workbench, a cover plate, a plurality of reagent bottles, a plurality of flexible plugs, an adsorption assembly, a first detection module, a main control module, a translation driving device, a pressing device and a second detection module. Obtaining the position of the worktable of the cover combination mechanism, judging whether the worktable is in the first preset position which can be attracted by the suction assembly of the cover combination mechanism; wherein, when the worktable is in the first preset position, the first work position of the worktable for positioning the cover plate and the suction assembly are opposite to each other; If the determination result is yes, driving the suction assembly to move towards the worktable; When the suction assembly moves towards the worktable to the cover plate grabbing position, providing negative pressure to at least one suction area of the suction assembly to make the suction assembly generate suction force and attract the cover plate positioned in the first work position; After providing negative pressure to at least one suction area of the suction assembly to make the suction assembly generate suction force and attract the cover plate positioned in the first work position, and before driving the worktable to move away from the first preset position to the second preset position, the cover combination method further comprises the following steps: Judging whether the suction force generated by the suction assembly attracts the cover plate; If the determination result is yes, driving the worktable to move away from the first preset position to the second preset position; if the determination result is no, increasing the negative pressure when the suction assembly attracts the cover plate; When the worktable is in the second preset position, the second work position of the worktable for positioning the hole plate and the suction assembly are opposite to each other; After the worktable moves to the second preset position, driving the suction assembly to move towards the worktable to make the cover plate adsorbed on the suction assembly cover the hole plate positioned in the second work position; After driving the suction assembly to move towards the worktable to make the cover plate adsorbed on the suction assembly cover the hole plate positioned in the second work position, the cover combination method further comprises the following steps: Judging whether the cover plate covers the hole plate; If the determination result is yes, stopping providing negative pressure to the suction assembly and driving the suction assembly to move to the initial position; if the determination result is no, controlling the pressing device of the cover combination mechanism to press the bottle bottom of at least one reagent bottle on the hole plate towards the lower surface of the worktable; Wherein, the cover plate positioned in the first work position is distributed with flexible plugs, the hole plate positioned in the second work position is distributed with reagent bottles, and when the worktable moves to the second preset position, the positions of each reagent bottle on the hole plate and each flexible plug on the cover plate uniquely correspond, so that when the suction assembly covers the hole plate with the cover plate it has attracted, any flexible plug has part of it extruded into the reagent bottle from the bottle opening of the reagent bottle with unique position correspondence.

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