Clamping device and clamping method

Abstract

A clamping device and a clamping method applied to the upper cover of a container, the clamping device comprising a first toothed disc with a first track hole, a second toothed disc with a second track hole, a guide disc, a first motor, a second motor and a jaw assembly, the guide disc is arranged between the first toothed disc and the second toothed disc and has a guide hole, the first motor is coupled to the first toothed disc and used to drive the first toothed disc to rotate, the second motor is coupled to the second toothed disc and used to drive the second toothed disc to rotate, the jaw element of the jaw assembly is arranged in the first track hole, the second track hole and the guide hole and used to contact the upper cover of the container, the first motor and the second motor drive the first toothed disc and the second toothed disc to rotate in opposite directions respectively and drive the jaw element to move inward along the guide hole through the first track hole and the second track hole, so that the jaw element clamps the upper cover of the container, thereby, the present application can improve the efficiency, reduce the cost of artificial equipment, realize smooth and smooth linear motion, and improve the stability of clamping.

Description

Technical Field

[0001] This invention relates to a clamping device and method, and more particularly, to a clamping device and method capable of automatically sealing or detaching a lid from a container. Background Technology

[0002] In the biological and medical fields, biological sampling is frequently performed for various tests, and the collected biological samples are stored in containers (such as test tubes, culture flasks, etc.). To prevent contamination of biological samples, containers with lids are usually used. Furthermore, since some biological samples may require centrifugation, screw-cap containers are typically used to prevent leakage or spillage caused by the lid separating from the container.

[0003] However, when biological samples need to be removed after testing or when additional samples need to be added, the testing personnel must manually unscrew the container lid. Furthermore, after the tested biological samples are removed or added, the testing personnel must manually tighten the container lid again. When testing large numbers of biological samples, this not only reduces efficiency and operational stability but also increases labor costs. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a clamping device and clamping method to solve the problems of the prior art, which can improve efficiency, reduce labor costs and equipment costs, achieve smooth and stable linear motion, and improve clamping stability.

[0005] To achieve the above objectives, the present invention discloses a clamping device applied to a top cover of a container, for sealing or detaching the top cover from the container, characterized in that the clamping device comprises:

[0006] A first gear plate has a first shaft and at least two first track holes, the first track holes being arc-shaped and disposed on one side of the first shaft;

[0007] A second gear plate has a second shaft and at least two second track holes. The second shaft is collinear with the first shaft. The second track holes are arc-shaped and located on one side of the second shaft. The second track holes are intersected with the first track holes.

[0008] A guide plate is disposed between the first gear plate and the second gear plate and has a third axis and at least two guide holes. The third axis is collinear with the first axis. The guide holes are in the shape of a line and are radially disposed on one side of the third axis. The guide holes are respectively intersected by the first track holes and the second track holes.

[0009] A first motor is coupled to the first gear and is used to drive the first gear to rotate about the first axis.

[0010] A second motor, coupled to the second geared disc and used to drive the second geared disc to rotate about the second axis; and

[0011] A gripper assembly includes at least two gripper elements, each gripper element having a connecting portion and a contact portion. The connecting portions of the gripper elements are respectively disposed in the first track hole, the second track hole and the guide hole, and the contact portion is used to contact the top cover of the container.

[0012] When the first motor and the second motor drive the first gear disk and the second gear disk to rotate in opposite directions or in the same direction at different speeds, the first gear disk and the second gear disk drive the gripper elements to move along the guide holes toward the first axis through the first track holes and the second track holes, so that the gripper assembly clamps the top cover of the container.

[0013] When the gripper assembly holds the top cover of the container and the first motor and the second motor drive the first gear plate and the second gear plate to rotate in the same direction at the same speed, the first gear plate and the second gear plate drive the gripper element to rotate around the first axis, so that the top cover seals or detaches from the container.

[0014] The gripper element is a round rod.

[0015] The connecting part of the gripper element is a round rod, and the shape of the contact part corresponds to the shape of the top cover of the container.

[0016] The device further includes at least two sliders, which are respectively disposed in the guide holes and used to move in the guide holes. Each slider includes a mounting hole, and the connecting portion of the gripper elements is simultaneously disposed in the first track hole, the second track hole, and the mounting hole.

[0017] The gripper assembly includes three gripper elements. The first gear plate has three first track holes, the second gear plate has three second track holes, and the guide plate has three guide holes. The gripper elements are respectively disposed in the first track holes, the second track holes, and the guide holes. When the first motor and the second motor drive the first gear plate and the second gear plate to rotate in opposite directions or in the same direction at different speeds, the gripper elements simultaneously move toward the first axis to grip the top cover of the container.

[0018] A clamping method is also disclosed for sealing or detaching a lid from a container, characterized in that the clamping method includes the following steps:

[0019] A container is disposed in a clamping device and a top cover of the container corresponds to a jaw assembly of the clamping device, wherein the clamping device includes a first toothed disc, a second toothed disc and a guide disc, and at least two jaw elements of the jaw assembly are simultaneously disposed in at least two first track holes of the first toothed disc, at least two second track holes of the second toothed disc and at least two guide holes of the guide disc, and the first track holes, the second track holes and the guide holes are interleaved with each other;

[0020] A first motor and a second motor of the clamping device respectively drive the first gear disk and the second gear disk to rotate in opposite directions and at different speeds. The first gear disk and the second gear disk, through the first track holes and the second track holes respectively, drive the gripper elements to move inward along the guide holes, so that the gripper assembly clamps the top cover of the container; and

[0021] The first motor and the second motor drive the first gear plate and the second gear plate to rotate in the same direction at the same speed, so that the top cover seals or detaches from the container.

[0022] This further includes the following steps:

[0023] The first motor and the second motor respectively drive the first gear plate and the second gear plate to rotate in opposite directions or in the same direction at different speeds. The first gear plate and the second gear plate respectively drive the gripper element to move outward along the guide hole through the first track hole and the second track hole, so that the gripper element disengages from the top cover of the container.

[0024] The gripper element is a round rod.

[0025] The gripper element includes a connecting part and a contact part. The connecting part is a round rod and is simultaneously disposed in the first track hole, the second track hole and the guide hole. The shape of the contact part corresponds to the shape of the top cover of the container.

[0026] In summary, the clamping device and method of the present invention can drive the gear plate to rotate in the same or opposite directions through two motors, and control the opening and closing of the gripper assembly through the track holes on the gear plate. This allows for automatic opening and closing of the cover without manual tightening, thereby improving efficiency and reducing labor and equipment costs. Furthermore, the gripper element of the clamping device of the present invention can move smoothly and linearly through the slider, thereby improving clamping stability. Attached Figure Description

[0027] Figure 1 A schematic diagram of a clamping device according to a specific embodiment of the present invention is shown.

[0028] Figure 2Showing Figure 1 The clamping device does not include a structural assembly diagram of the housing.

[0029] Figure 3 Showing Figure 2 An exploded view of the clamping device.

[0030] Figures 4A to 4C The diagram shows a clamping device according to a specific embodiment of the present invention in different operating conditions.

[0031] Figure 5A This diagram shows a clamping device according to a specific embodiment of the present invention clamping a container.

[0032] Figure 5B This diagram shows a specific embodiment of the clamping device of the present invention when it is detached from the container.

[0033] Figure 6 A flowchart illustrating the steps of a clamping method according to a specific embodiment of the present invention is shown.

[0034] Figure 7 A schematic diagram of the clamping device according to another specific embodiment of the present invention is shown. Detailed Implementation

[0035] To make the advantages, spirit, and features of the present invention more easily and clearly understood, detailed descriptions and discussions will follow with reference to specific embodiments and the accompanying drawings. It is important to note that these specific embodiments are merely representative examples of the present invention, and the specific methods, apparatuses, conditions, materials, etc., exemplified are not intended to limit the present invention or the corresponding specific embodiments. Furthermore, the devices in the figures are only used to illustrate their relative positions and are not drawn to scale; this is to be stated beforehand.

[0036] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "up," "down," "front," "back," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate that the device or element described must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0037] Please see Figure 1 , Figure 2 and Figure 3 . Figure 1 A schematic diagram of the clamping device 1 according to a specific embodiment of the present invention is shown. Figure 2 Showing Figure 1 The clamping device 1 does not include the structural assembly diagram of the housing 10. Figure 3 Showing Figure 2An exploded view of the clamping device 1. (See attached diagram.) Figures 1 to 3 As shown, in this specific embodiment, the clamping device 1 includes a housing 10, a first toothed disc 11, a second toothed disc 12, a guide disc 13, a first motor 14A, a second motor 14B, and a gripper assembly 15. The second toothed disc 12 is located on one side of the first toothed disc 11, and the guide disc 13 is located between the first toothed disc 11 and the second toothed disc 12. The first motor 14A is coupled to the first toothed disc 11, and the second motor 14B is coupled to the second toothed disc 12. One end of the gripper assembly 15 passes through the first toothed disc 11, the second toothed disc 12, and the guide disc 13, and the other end of the gripper assembly 15 protrudes outside the housing 10. The clamping device of the present invention is applied to the top cover of a container and is used to seal or detach the top cover from the container. In practice, the container may be a screw-capped test tube, a screw-capped centrifuge tube, a tissue culture flask, a serum bottle, or other screw-capped containers.

[0038] In this specific embodiment, the first gear disk 11 has a first shaft 110 and a first track hole 111. The first track hole 111 is disposed on the disk surface of the first gear disk 11 and located on one side of the first shaft 110. Further, the first track hole 111 is arc-shaped and is a through hole. In this specific embodiment, the first gear disk 11 has three first track holes 111, and the first track holes 111 are evenly arranged around the disk surface.

[0039] In this specific embodiment, the second gear disk 12 has a second axis 120 and a second track hole 121. The second track hole 121 is disposed on the disk surface of the second gear disk 12 and located on one side of the second axis 120. The second track hole 121 is arc-shaped and is a through hole. In this specific embodiment, the second gear disk 12 has three second track holes 121, and the second track holes 121 are evenly arranged around the disk surface. Further, the second axis 120 of the second gear disk 12 is collinear with the first axis 110 of the first gear disk 11, and the second track holes 121 of the second gear disk 12 intersect with the first track holes 111 of the first gear disk 11. In practice, when the first gear disk 11 and the second gear disk 12 are superimposed, each first track hole 111 corresponds to a second track hole 121, and a through hole is formed at the intersection of the first track hole 111 and the second track hole 121.

[0040] In this specific embodiment, the guide disk 13 has a third axis 130 and guide holes 131. The guide holes 131 are disposed on the disk surface of the guide disk 13 and located on one side of the third axis 130. The guide holes 131 are linear in shape and are through holes. In this specific embodiment, the guide disk 13 has three guide holes 131, and the guide holes 131 are evenly arranged radially around the disk surface. Further, the third axis 130 of the guide holes 131 is collinear with the first axis 110 of the first gear disk 11, and the guide holes 131 of the guide disk 13 intersect with the second track hole 121 of the second gear disk 12 and the first track hole 111 of the first gear disk 11. In practice, the clamping device 1 may include a fixed shaft 101, and the first gear disk 11, the second gear disk 12, and the guide disk 13 may be disposed on the fixed shaft 101. The first axis 110, the second axis 120, and the third axis 130 are collinear and are the axes of the fixed shaft 101. The dimensions of the first gear disk 11, the second gear disk 12, and the guide disk 13 may be the same, but are not limited thereto; the size of the guide disk 13 may also be slightly smaller than the dimensions of the first gear disk 11 and the second gear disk 12. When the first gear disk 11, the second gear disk 12, and the guide disk 13 overlap, each first track hole 111 corresponds to a second track hole 121 and a guide hole 131, and a through hole is formed at the intersection of the first track hole 111, the second track hole 121, and the guide hole 131. That is to say, in this specific embodiment, the clamping device 1 includes three sets of tracks.

[0041] In this specific embodiment, the first motor 14A drives the first geared disk 11 to rotate around the first axis 110, and the second motor 14B drives the second geared disk 12 to rotate around the second axis 120. That is, both the first geared disk 11 and the second geared disk 12 rotate around the fixed shaft 101. Further, the clamping device 1 includes a first drive disk 141 and a second drive disk 142. The shaft of the first motor 14A is connected to the center of the first drive disk 141, and the first drive disk 141 engages with the first geared disk 11. The shaft of the second motor 14B is connected to the center of the second drive disk 142, and the second drive disk 142 engages with the second geared disk 12. Therefore, the first motor 14A can drive the first drive disk 141 to rotate, thereby causing the first geared disk 11 to rotate, and the second motor 14B can drive the second drive disk 142 to rotate, thereby causing the second geared disk 12 to rotate. Furthermore, the first motor 14A and the second motor 14B can respectively control the rotation direction of the first gear disk 11 and the second gear disk 12. The first motor 14A and the second motor 14B can control the first gear disk 11 and the second gear disk 12 to rotate in the same direction, or they can control the first gear disk 11 and the second gear disk 12 to rotate in opposite directions. For example, the first motor 14A controls the first gear disk 11 to rotate clockwise, and the second motor 14B controls the second gear disk 12 to rotate counterclockwise. In addition, the first motor 14A and the second motor 14B can respectively control the first gear disk 11 and the second gear disk 12 to rotate at different speeds. Therefore, the first gear disk 11 and the second gear disk 12 of the clamping device 1 of the present invention can rotate relative to each other in the following ways: opposite speeds at the same speed, opposite speeds at different speeds, same speeds at the same speed, or same speeds at different speeds.

[0042] It is worth noting that the first motor 14A and the second motor 14B of the clamping device 1 are fixed in the housing and drive the first gear plate 11 and the second gear plate 12 to rotate only through the first drive plate 141 and the second drive plate 142, respectively. Therefore, when the first motor 14A drives the first gear plate 11 to rotate, the second motor 14B and the second gear plate 12 will not rotate with the rotation of the first gear plate 11.

[0043] In this specific embodiment, the gripper assembly 15 includes three gripper elements 151, and each gripper element 151 corresponds to a first track hole 111, a second track hole 121, and a guide hole 131, that is, each gripper element 151 corresponds to a set of tracks. Further, the gripper element 151 has a connecting portion 152 and a contact portion 153. The connecting portion 152 of the gripper element 151 passes through and is disposed in a through hole formed at the intersection of the first track hole 111, the second track hole 121, and the guide hole 131, while the contact portion 153 protrudes from the outside of the outer casing 10 and contacts the top cover of the container. In this specific embodiment, the gripper element 151 is a round rod, and the size of the round rod can correspond to the size of the first track hole 111, the second track hole 121, and the guide hole 131.

[0044] Please refer to the following: Figure 2 , Figure 3 , Figures 4A to 4C . Figures 4A to 4C The diagram shows a clamping device according to a specific embodiment of the present invention in different operating conditions. Figures 4A to 4C This is a top view of the assembly of the first gear disk 11, the second gear disk 12, the guide disk 13, and the gripper assembly 15. In practical applications, such as... Figure 4A As shown, the first track hole 111 of the first gear disk 11 and the second track hole 121 of the second gear disk 12 are arranged symmetrically to each other, and the guide hole 131 of the guide disk 13 is located in the middle of the first track hole 111 and the second track hole 121. At this time, the gripper element 151, which is provided in the through hole formed at the intersection of the first track hole 111, the second track hole 121 and the guide hole 131, is located near the outer side of the first gear disk 11. Figure 4B and Figure 4C As shown, when the first motor 14A drives the first gear 11 to rotate clockwise and the second motor 14B drives the second gear 12 to rotate counterclockwise (i.e., the first gear 11 and the second gear 12 rotate in opposite directions), the first gear 11 pushes the gripper element 151 to move through the inner wall of the first track hole 111, while the second gear 12 also pushes the gripper element 151 to move through the inner wall of the second track hole 121. Since the first track hole 111 and the second track hole 121 are symmetrically arranged, the gripper element 151 will move linearly along the guide hole 131 towards the first axis and move to a position close to the axis of the first gear 11. Figures 4A to 4C During operation, the positions of the three gripper elements 151 of the gripper assembly 15 all move from the end of the guide hole 131 near the outer edge to the end of the guide hole 131 near the axis. At this time, the gripper assembly 15 is in a clamping state.

[0045] It is worth noting that, Figure 4B and Figure 4CThe diagram illustrates that when the shafts of the first motor 14A and the second motor 14B rotate at a constant speed, they drive the first gear 11 and the second gear 12 to rotate at the same speed in opposite directions. This allows the first track hole 111 and the second track hole 121 to move symmetrically and relative to each other, thus moving the gripper element 151 toward the first axis. In practice, the first motor 14A and the second motor 14B can also drive the first gear 11 and the second gear 12 to rotate at unequal speeds in opposite directions. In this case, the first track hole 111 and the second track hole 121 still move relative to each other, enabling the gripper element 151 to move toward the first axis, thus putting the gripper assembly 15 into a clamping state. Furthermore, the first motor 14A and the second motor 14B can also drive the first gear 11 and the second gear 12 to rotate in clockwise unequal speeds (unequal speeds in the same direction), and the rotational speed of the first gear 11 can be greater than the rotational speed of the second gear 12, but this is not a limitation. Because the first toothed disc 11 rotates at a relatively high speed, the gripper element 151 moves at a relatively high speed in the first track hole 111. In other words, the inner wall of the first track hole 111 will push the first axis of the gripper element 151 to move, which will also enable the gripper assembly 15 to be in a clamping state.

[0046] When the first motor 14A and the second motor 14B respectively drive the first gear 11 to rotate counterclockwise and the second gear 12 to rotate clockwise at a constant or non-consecutive speed (i.e., from... Figures 4C to 4A During operation, or when the first gear 11 and the second gear 12 rotate in a counter-clockwise non-uniform speed (same-direction non-uniform speed) direction, the positions of the three gripper elements 151 of the gripper assembly 15 all move from the end of the guide hole 131 near the axis to the end of the guide hole 131 near the outer edge. At this time, the gripper assembly 15 is in the open state. In addition, when the first motor 14A and the second motor 14B drive the first gear 11 and the second gear 12 to rotate in the same direction at the same speed, the three gripper elements 151 of the gripper assembly 15 can be maintained in a fixed position and the gripper assembly 15 will rotate around the first axis.

[0047] Please refer to this as well. Figure 1 , Figures 4A to 4C , Figure 5A and Figure 5B . Figure 5A This diagram shows a clamping device 1 clamping a container 6 according to a specific embodiment of the present invention. Figure 5B This diagram shows a specific embodiment of the clamping device 1 when it is detached from the container 6. In practical applications, such as... Figure 4A and Figure 5AAs shown, the initial state of the gripper assembly 15 of the clamping device 1 is the open state. When the container 6 is to be opened, the upper cover 61 of the container 6 first moves to the middle position of the gripper assembly 15 protruding from the outer shell 10, and the position of the upper cover 61 corresponds to the position of the contact portion 153 of the gripper element 151 of the gripper assembly 15. Then, as... Figure 4C and Figure 5B As shown, the first motor 14A and the second motor 14B drive the first gear disk 11 and the second gear disk 12 to rotate in opposite directions, so that the three gripper elements 151 contact and clamp the upper cover 61 of the container 6. At this time, the upper cover 61 is fixed on the gripper assembly 15, and the gripper assembly 15 can drive the upper cover 61 to move. Further, the first motor 14A and the second motor 14B drive the first gear disk 11 and the second gear disk 12 to rotate in the same direction at the same speed (e.g., counterclockwise), so that the upper cover 61 rotates with the gripper assembly 15 and then disengages from the container 6.

[0048] When container 6 is to be closed and the gripper assembly 15 has already gripped the top cover 61, container 6 can first move to the position corresponding to the top cover 61. Then, the first motor 14A and the second motor 14B respectively drive the first gear plate 11 and the second gear plate 12 to rotate in the same direction at the same speed (e.g., clockwise), so that the top cover 61 rotates with the gripper assembly 15 and thus seals container 6. Finally, the first motor 14A and the second motor 14B respectively drive the first gear plate 11 and the second gear plate 12 to rotate in opposite directions, so that the three gripper elements 151 disengage from the top cover 61. Therefore, the gripping device of the present invention can automatically open and close the top cover without manual tightening by two motors driving the gear plates to rotate in the same or opposite directions and control the opening and closing of the gripper assembly through the track holes on the gear plates, thereby improving efficiency and reducing labor and equipment costs.

[0049] Furthermore, since the three gripper elements 151 of the gripper assembly 15 are respectively disposed in three sets of tracks and there is no direct contact between the three gripper elements 151, the opening and closing degree of the three gripper elements 151 is not limited by the structure of the gripper assembly 15 itself, and can be opened and clamped extensively according to the length of the guide hole 131. Therefore, the gripper assembly 15 of the clamping device 1 of the present invention can clamp various containers with caps of different diameters.

[0050] Please refer to it again. Figure 3In this specific embodiment, three sliders 16 are further disposed in the guide holes 131 of the three guide disks 13, and the sliders 16 are used to move within the guide holes 131. Each slider 16 includes a mounting hole 161, and the connecting portion 152 of the gripper element 151 is disposed in the mounting hole 161. In practice, the size of the slider 16 corresponds to the size of the guide hole 131. When the gripper element 151 of the gripper assembly 15 is pushed by the inner walls of the first track hole 111 and the second track hole 121, the gripper element 151 can smoothly and easily perform linear motion through the sliders 16, thereby improving the stability of the gripping.

[0051] In this specific embodiment, the clamping device 1 includes a controller (not shown) for controlling the first motor 14A and the second motor 14B to output a first current value and a second current value respectively to drive the first drive disk 141 and the second drive disk 142 to rotate. The first current value and the second current value can be the same or different to control the first drive disk 141 and the second drive disk 142 to rotate at equal or unequal speeds. Further, the controller pre-stores a stall current threshold, and the stall current threshold is three times the first current value and the second current value, but it is not limited to this; the stall current threshold can also be determined according to the safe value of the motor's output current. When the first current value or the second current value is greater than the stall current threshold, the controller controls the first motor 14A and the second motor 14B to stop operating. In practice, when the gripper assembly 15 of the clamping device 1 clamps the top cover of the container, the gripper elements 151 will contact and abut against the top cover. At this time, the first motor 14A and the second motor 14B will be unable to continue driving the gripper element 151 to move towards the first axis, causing the first current value and the second current value to rise, thus forming a stall current. When the first current value or the second current value is greater than the stall current threshold, it indicates that the gripper assembly 15 has clamped the top cover of the container. At this time, the controller controls the first motor 14A and the second motor 14B to stop operating to avoid damage to the motors, gears, and gripper elements.

[0052] Similarly, when the clamping device 1 opens the gripper assembly 15, the gripper elements 151 of the gripper assembly 15 will continuously move away from the first axis and abut against the end of the guide hole 131. At this time, the first motor 14A and the second motor 14B will be unable to continue driving the gripper elements 151 to move outward, resulting in an increase in the first current value and the second current value, forming a stall current. When the first current value or the second current value is greater than the stall current threshold, it indicates that the gripper assembly 15 has been opened to its maximum state. At this time, the controller controls the first motor 14A and the second motor 14B to stop operating. Further, when the clamping device 1 clamps the top cover and seals it on the container, the first motor 14A and the second motor 14B will be unable to continue driving the clamping device 1 to rotate, resulting in an increase in the first current value and the second current value, forming a stall current. At this time, the controller can also control the first motor 14A and the second motor 14B to stop operating based on the first current value, the second current value, and the stall current threshold.

[0053] Furthermore, the controller can pre-store a number of rotations for opening the lid, and the number of rotations for opening the lid can be determined according to the number of threads on the container and the lid. In practice, when the clamping device 1 clamps the lid and intends to remove the lid from the container, the controller can control the first motor 14A and the second motor 14B to simultaneously drive the first gear plate 11 and the second gear plate 12 to rotate in the same direction according to the number of rotations for opening the lid, thereby opening the lid of the container.

[0054] Please see Figure 6 . Figure 6 A flowchart illustrating the steps of a clamping method according to a specific embodiment of the present invention is shown. Figure 6 The steps of the clamping method can be seen through Figure 1 This is achieved through the clamping device 1 shown in Figure 5. Figure 6As shown, the clamping method of the present invention includes the following steps: Step S1: The container 6 is placed into the clamping device 1, and the upper cover 61 of the container 6 corresponds to the gripper assembly 15 of the clamping device 1. The clamping device 1 includes a first toothed disc 11, a second toothed disc 12, and a guide disc 13. The gripper elements 151 of the gripper assembly 15 are simultaneously disposed in the first track hole 111 of the first gear disk 11, the second track hole 121 of the second gear disk 12, and the guide hole 131 of the guide disk 13, and the first track hole 111, the second track hole 121, and the guide hole 131 are interleaved; Step S2: The first motor 14A and the second motor 14B of the clamping device 1 drive the first gear disk 11 and the second gear disk 12 to rotate at different speeds in opposite directions or in the same direction, and the first gear disk 11 and the second gear disk 12 drive the gripper elements 151 to move inward along the guide hole 131 through the first track hole 111 and the second track hole 121, so that the gripper assembly 15 clamps the upper cover 61 of the container 6; and Step S3: The first motor 14A and the second motor 14B drive the first gear disk 11 and the second gear disk 12 to rotate at the same speed in the same direction, so that the upper cover 61 seals or detaches from the container 6.

[0055] Furthermore, the clamping method of the present invention further includes the following steps: Step S4: The first motor 14A and the second motor 14B drive the first gear disk 11 and the second gear disk 12 to rotate at different speeds in opposite directions or in the same direction, and the first gear disk 11 and the second gear disk 12 drive the gripper element 151 to move outward along the guide hole 131 through the first track hole 111 and the second track hole 121, so that the gripper element 151 is disengaged from the upper cover 61 of the container 6.

[0056] The clamping device of the present invention can be in other forms besides the specific embodiments described above. Please refer to... Figure 7 . Figure 7 A schematic diagram of the clamping device 2 according to another specific embodiment of the present invention is shown. Figure 7As shown, the difference between this specific embodiment and the aforementioned specific embodiments lies in that the first gear plate 21 of the clamping device 2 in this specific embodiment has two first track holes 211, the second gear plate 22 has two second track holes 221, the guide plate 23 has two guide holes 231, and the gripper assembly 25 includes two gripper elements 251. Further, the connecting portion 252 of the gripper element 251 is a round rod, and the shape of the contact portion 253 corresponds to the shape of the container's top cover. In practice, the first track holes 211, the second track holes 221, the two guide holes 231, and the gripper elements 251 can be arranged symmetrically relative to each other. When the first motor 24A and the second motor 24B drive the first gear plate 21 and the second gear plate 22 to rotate in opposite directions respectively, the gripper elements 251 of the gripper assembly 25 can move relatively close together, thereby gripping the container's top cover. Furthermore, the surface of the contact portion 253 of the gripper element 251 facing the top cover can have a ratchet-like structure. When the gripper assembly 25 grips the top cover of the container, the gripper element 251 can increase the friction between the contact portion 253 and the top cover through a ratchet structure, thereby improving the gripping effect and preventing the top cover from slipping off the gripper element 251. In one specific embodiment, the contact portion of the gripper element is a detachable element mounted on the connecting portion, and the contact portion can be an elastic element made of a high-friction material. When the gripper assembly grips the top cover of the container, the contact portion of the gripper element will temporarily be molded into the shape corresponding to the top cover due to the gripping force, thereby improving the gripping effect.

[0057] In summary, the clamping device of the present invention can drive the gear plate to rotate in the same or opposite directions through two motors, and control the opening and closing of the gripper assembly through the track holes on the gear plate. This allows for automatic opening and closing of the cover without manual tightening, thereby improving efficiency and reducing labor and equipment costs. Furthermore, the gripper element of the clamping device of the present invention can move smoothly and linearly via a slider, thereby improving clamping stability.

[0058] The detailed description of the preferred embodiments above is intended to more clearly illustrate the features and spirit of the present invention, and is not intended to limit the scope of the invention to the preferred embodiments disclosed above. Rather, the aim is to cover various modifications and equivalent arrangements within the scope of the patent claims made by this invention. Therefore, the scope of the patent claims made by this invention should be interpreted in the broadest possible sense based on the foregoing description, so as to cover all possible modifications and equivalent arrangements.

Claims

1. A clamping device applied to a top cover of a container, for sealing or detaching the top cover from the container, characterized in that... The clamping device includes: A first gear plate has a first shaft and at least two first track holes, the first track holes being arc-shaped and disposed on one side of the first shaft; A second gear plate has a second shaft and at least two second track holes. The second shaft is collinear with the first shaft. The second track holes are arc-shaped and located on one side of the second shaft. The second track holes are intersected with the first track holes. A guide plate is disposed between the first gear plate and the second gear plate and has a third axis and at least two guide holes. The third axis is collinear with the first axis. The guide holes are in the shape of a line and are radially disposed on one side of the third axis. The guide holes are respectively intersected by the first track holes and the second track holes. A first motor is coupled to the first gear and is used to drive the first gear to rotate about the first axis. A second motor is coupled to the second gear and is used to drive the second gear to rotate about the second axis. as well as A gripper assembly includes at least two gripper elements, each gripper element having a connecting portion and a contact portion. The connecting portions of the gripper elements are respectively disposed in the first track hole, the second track hole and the guide hole, and the contact portion is used to contact the top cover of the container. When the first motor and the second motor drive the first gear disk and the second gear disk to rotate in opposite directions or in the same direction at different speeds, the first gear disk and the second gear disk drive the gripper elements to move along the guide holes toward the first axis through the first track holes and the second track holes, so that the gripper assembly clamps the top cover of the container.

2. The clamping device as described in claim 1, characterized in that, When the gripper assembly clamps the top cover of the container and the first motor and the second motor drive the first gear plate and the second gear plate to rotate in the same direction at the same speed, the first gear plate and the second gear plate drive the gripper element to rotate around the first axis, so that the top cover seals or detaches from the container.

3. The clamping device as described in claim 1, characterized in that, The gripper element is a round rod.

4. The clamping device as described in claim 1, characterized in that, The connecting part of the gripper element is a round rod, and the shape of the contact part corresponds to the shape of the top cover of the container.

5. The clamping device as described in claim 1, characterized in that, It further includes at least two sliders, which are respectively disposed in the guide holes and used to move in the guide holes. Each slider includes a mounting hole, and the connecting portion of the gripper elements is simultaneously disposed in the first track hole, the second track hole and the mounting hole.

6. The clamping device as described in claim 1, characterized in that, The gripper assembly includes three gripper elements. The first gear plate has three first track holes, the second gear plate has three second track holes, and the guide plate has three guide holes. The gripper elements are respectively disposed in the first track holes, the second track holes, and the guide holes. When the first motor and the second motor drive the first gear plate and the second gear plate to rotate in one of two different speeds (either opposite or in the same direction), the gripper elements simultaneously move toward the first axis to grip the top cover of the container.

7. A clamping method for sealing or detaching a top cover of a container, characterized in that... The clamping method includes the following steps: A container is disposed in a clamping device and a top cover of the container corresponds to a jaw assembly of the clamping device, wherein the clamping device includes a first toothed disc, a second toothed disc and a guide disc, and at least two jaw elements of the jaw assembly are simultaneously disposed in at least two first track holes of the first toothed disc, at least two second track holes of the second toothed disc and at least two guide holes of the guide disc, and the first track holes, the second track holes and the guide holes are interleaved with each other; A first motor and a second motor of the clamping device respectively drive the first gear disk and the second gear disk to rotate in opposite directions and at different speeds. The first gear disk and the second gear disk, through the first track holes and the second track holes respectively, drive the gripper elements to move inward along the guide holes, so that the gripper assembly clamps the top cover of the container; and The first motor and the second motor drive the first gear plate and the second gear plate to rotate in the same direction at the same speed, so that the top cover seals or detaches from the container.

8. The clamping method as described in claim 7, characterized in that, Further steps include: The first motor and the second motor respectively drive the first gear plate and the second gear plate to rotate in opposite directions or in the same direction at different speeds. The first gear plate and the second gear plate respectively drive the gripper element to move outward along the guide hole through the first track hole and the second track hole, so that the gripper element disengages from the top cover of the container.

9. The clamping method as described in claim 7, characterized in that, The gripper element is a round rod.

10. The clamping method as described in claim 7, characterized in that, The gripper element includes a connecting portion and a contact portion. The connecting portion is a round rod and is simultaneously disposed in the first track hole, the second track hole and the guide hole, and the shape of the contact portion corresponds to the shape of the top cover of the container.

Images