Pipe cap removing device

Abstract

According to the pipe cap removing device, work of a clamping driving assembly and work of a rotating driving assembly do not interfere with each other, and the pipe cap removing device comprises the clamping driving assembly and a rotating driving assembly, the clamping assembly comprises a main shaft, a thrust bearing, a shifting fork connecting rod connected to the thrust bearing, two shifting forks rotationally connected to the main shaft respectively, and two guide rails arranged in a sliding mode relative to the main shaft in the radial direction of the main shaft, and the two guide rails are connected with fingers and clamping jaw cap kicking supports respectively; the thrust bearing is in transmission connection with a motor shaft of the driving motor and can be driven by the motor shaft to move in the axial direction of the main shaft, the shifting forks are in transmission connection with the shifting fork connecting rods and the guide rails, and when the thrust bearing moves in the axial direction of the main shaft, the two shifting forks rotate in the opposite directions so as to drive the two guide rails to be relatively close to or away from each other; and the rotary driving assembly comprises a rotary base and a power mechanism, and the power mechanism is in transmission connection with the main shaft.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a tube cap removal device. Background Art

[0002] In the current field of immunoassay equipment, hospitals mostly use vacuum blood collection tubes. When testing clinical samples, the tube cap needs to be opened to make it easier for the blood drawing needle of a biochemical instrument or other instrument to be inserted into the vacuum blood collection tube.

[0003] At present, most of the cap removal processes are clamping-rotating-pulling. The clamping mechanism and rotating mechanism of the tube cap removal device interfere with each other, and the motor of the clamping mechanism is prone to winding problems. When the tube cap is removed, it is easy to stick to the fingers of the clamping mechanism, affecting the next cap removal. Summary of the invention

[0004] Based on this, it is necessary to propose a tube cap removal device to address the problem that the clamping mechanism and the rotating mechanism interfere with each other and the tube cap easily sticks to the fingers when being removed.

[0005] According to one aspect of the present application, a pipe cap removal device includes: a clamping drive assembly, the clamping drive assembly includes a motor mounting plate and a drive motor; a clamping assembly, the clamping assembly includes a main shaft, a thrust bearing arranged in the main shaft, a fork connecting rod connected to the thrust bearing, two forks rotatably connected to the main shaft, and two guide rails slidably arranged relative to the main shaft along the radial direction of the main shaft, each of the two guide rails is connected with a finger and a clamping claw cap kicking bracket, the clamping claw cap kicking bracket is arranged on the side of the finger close to the thrust bearing, and in the radial direction of the main shaft, the spacing between the two clamping claw cap kicking brackets is always smaller than the spacing between the two fingers. The distance between the two guide rails is 200 mm / s; wherein the thrust bearing is drivingly connected to the motor shaft of the drive motor and can move axially along the main shaft under the drive of the motor shaft, each of the shift forks is drivingly connected to the shift fork connecting rod and one of the guide rails, and when the thrust bearing moves axially along the main shaft, the two shift forks rotate in opposite directions to drive the two guide rails to move relatively closer or farther away; and a rotation drive assembly, the rotation drive assembly includes a rotating base and a power mechanism, the rotating base is fixedly connected to the motor mounting plate, the rotating base is relatively rotatably matched with the main shaft, and the power mechanism is drivingly connected to the main shaft.

[0006] In some embodiments, the clamping drive assembly also includes a transmission mechanism, which includes a connecting member, a compression spring, a compression spring pre-stressed nut, and a first pull rod; the connecting member can be axially slidably sleeved on the motor shaft within a preset range, and the connecting member has a receiving groove; the compression spring pre-stressed nut is located in the receiving groove and is fixed to the motor shaft, the compression spring is located in the receiving groove and its two ends respectively abut against the connecting member and the compression spring pre-stressed nut; the first pull rod connects the connecting member to the thrust bearing; wherein, when the motor shaft moves away from the main shaft, the compression spring pre-stressed nut moves away from the main shaft and compresses the compression spring, so that the connecting member moves away from the main shaft and drives the two guide rails to be relatively close; when the motor shaft moves close to the main shaft, the connecting member moves close to the main shaft and drives the two guide rails to be relatively close.

[0007] In some embodiments, the motor shaft is provided with upper and lower step surfaces for limiting the axial movement range of the connecting piece; the connecting piece is sleeved between the upper and lower step surfaces; the clamping drive assembly also includes a guide block, which is connected to the motor mounting plate and slidably cooperates with the connecting piece.

[0008] In some embodiments, the clamping drive assembly also includes a first position sensor connected to the connecting member, and the first position sensor is configured to trigger the first position sensor when the compression spring pre-compression nut moves away from the main shaft to a first position, so that the industrial control computer can control the drive motor to make the compression spring pre-compression nut stay at a preset position.

[0009] In some embodiments, the clamping drive assembly also includes a first baffle connected to the connecting member and a second position sensor connected to the motor mounting plate, and the second position sensor is configured as follows: when the first baffle moves close to the main shaft to a second position, the second position sensor is triggered, so that the industrial control computer can control the drive motor to make the connecting member stay in a preset position.

[0010] In some embodiments, the clamping assembly also includes a pull rod adapter sleeve and a second pull rod, the pull rod adapter sleeve is axially slidably arranged in the main shaft, one end of the second pull rod extends into and is fixed in the pull rod adapter sleeve, and the other end is connected to the fork connecting rod; the thrust bearing is fixed in the pull rod adapter sleeve.

[0011] In some embodiments, a groove is provided on the guide rail, and the shift fork has a driving portion extending into the groove.

[0012] In some embodiments, a cap-opening ejector pin is further provided on the finger, and the cap-opening ejector pin is provided on the inner side of the finger.

[0013] In some embodiments, a bearing hole is provided on the rotating base, a rotating bearing is installed in the bearing hole, the main shaft is supported by the rotating bearing, a limiting nut and a passive pulley are fixed on the main shaft, and the limiting nut is snap-connected with the inner ring of the rotating bearing; the power mechanism includes a rotating motor and a driving pulley, and the driving pulley is connected to the passive pulley through a transmission belt.

[0014] In some embodiments, a second baffle is connected to the passive pulley, and a third position sensor is also provided on the rotating base. The third position sensor is configured as follows: when the second baffle rotates to the third position, the third position sensor is triggered so that the industrial control computer can control the rotating motor to make the clamping assembly stay at a preset position.

[0015] When the cap is removed by the above-mentioned pipe cap removal device, the driving motor drives the thrust bearing to move, and when the two guide rails move relative to each other, a pair of fingers approach each other to clamp the pipe cap, and the clamping claw kicking bracket is inserted into the groove at the top of the pipe cap; the rotating driving assembly drives the clamping assembly to rotate to loosen the pipe cap. When the driving motor drives the thrust bearing to move in the opposite direction, the two fingers move away from each other and loosen the pipe cap, and the two clamping claw kicking brackets move away from and respectively abut against the groove wall of the groove at the top of the pipe cap to prevent the pipe cap from sticking to the fingers, thereby not affecting the next removal of the cap. In addition, in the present application, the clamping assembly is connected to the motor shaft of the driving motor through the thrust bearing, so that the clamping assembly can rotate relative to the clamping drive assembly. Therefore, in the cap removal process of the above-mentioned pipe cap removal device, the operations of the clamping drive assembly and the rotating drive assembly do not interfere with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG. 1 is an assembly diagram of a tube cap removal device according to an embodiment of the present application.

[0017] FIG. 2 is an axial cross-sectional view of the tube cap removal device according to an embodiment of the present application.

[0018] FIG. 3 is a schematic structural diagram of a clamping drive assembly according to an embodiment of the present application.

[0019] FIG. 4 is a schematic cross-sectional structure diagram of a clamping assembly according to an embodiment of the present application.

[0020] FIG. 5 is a schematic diagram of the structure of a rotation drive assembly according to an embodiment of the present application.

[0021] Reference numerals:

[0022] 100, pipe cap removal device; 1, clamping drive assembly; 11, motor mounting plate; 12, drive motor; 121, motor shaft; 13, connecting piece; 14, compression spring; 15, compression spring preload nut; 16, first pull rod; 17, sliding sleeve; 18, guide block; 191, first position sensor; 192, first optical coupling support plate; 193, first baffle; 194, second position sensor; 2, clamping assembly; 21, main shaft; 211, sleeve; 212, limit nut; 213, passive pulley; 214, second baffle; 22, thrust bearing; 23, shift fork connection Connecting rod; 24, fork; 241, connecting part; 242, pivot part; 243, driving part; 244, supporting rod; 25, guide rail; 251, groove; 26, finger; 261, finger connecting member; 262, cap opening ejector; 27, clamping claw cap kicking bracket; 28, pull rod adapter sleeve; 29, second pull rod; 3, rotating drive assembly; 31, rotating base; 311, column; 312, rotating bearing; 32, power mechanism; 321, rotating motor; 322, driving pulley; 323, transmission belt; 33, third position sensor; 34, third optical coupling support plate. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0024] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0025] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0026] As shown in FIGS. 1 to 5 , an embodiment of the present application provides a pipe cap removal device 100. The pipe cap removal device 100 comprises a clamping drive assembly 1, a clamping assembly 2 and a rotation drive assembly 3. The clamping drive assembly 1 is used to drive the clamping assembly 2 to clamp the pipe cap (not shown), and the rotation drive assembly 3 is used to allow the pipe cap to have rotational freedom after the clamping assembly 2 clamps the pipe cap.

[0027] As shown in Figures 1 to 3, the clamping drive assembly 1 includes a motor mounting plate 11 and a drive motor 12. The motor mounting plate 11 is used to be fixed to the rotation drive assembly 3, and the motor shaft 121 of the drive motor 12 can perform linear reciprocating motion.

[0028] As shown in Fig. 1, Fig. 3 and Fig. 4, the clamping assembly 2 comprises a main shaft 21, a thrust bearing 22 disposed in the main shaft 21, a fork connecting rod 23 connected to the thrust bearing 22, two forks 24 rotatably connected to the main shaft 21, and two guide rails 25 slidably disposed relative to the main shaft 21 along the radial direction of the main shaft 21. The two guide rails 25 are respectively connected with a finger 26 and a clamping claw kicking cap bracket 27, and the clamping claw kicking cap bracket 27 is disposed on the side of the finger 26 close to the thrust bearing 22; in the radial direction of the main shaft 21, the spacing between the two clamping claw kicking cap brackets 27 is always smaller than the spacing between the two fingers 26. The thrust bearing 22 is transmission-connected to the motor shaft 121 of the driving motor 12 and can move axially along the main shaft 21 under the drive of the motor shaft 121. Each shift fork 24 is transmission-connected to the shift fork connecting rod 23 and a guide rail 25. When the thrust bearing 22 moves axially along the main shaft 21, the two shift forks 24 rotate in opposite directions to drive the two guide rails 25 to move relatively closer or farther away.

[0029] In this embodiment, the driving motor 12 is specifically a linear motor, and the clamping assembly 2 is connected to the motor shaft 121 of the driving motor 12 through the thrust bearing 22, so that when the clamping assembly 2 rotates under the drive of the rotary drive assembly 3, the clamping assembly 2 and the clamping drive assembly 1 rotate relative to each other, and the two do not conflict with each other. In other embodiments, the driving motor 12 can also be a rotary motor, and its motor shaft is connected to the clamping assembly 2 through a linear motion conversion mechanism. The linear motion conversion mechanism is, for example, a crank-connecting rod mechanism.

[0030] Specifically, the main shaft 21 is hollow and arranged in the vertical direction, and is located below the drive motor 12. The thrust bearing 22 is located inside the main shaft 21 near the top of the main shaft 21. The fork 24 includes a connecting portion 241, a pivoting portion 242 and a driving portion 243. The pivoting portion 242 is located in the middle of the fork 24, and the connecting portion 241 and the driving portion 243 are located at both ends of the fork 24. The connecting portion 241 is provided with an opening (unnumbered), and the opening is engaged with the fork connecting rod 23. The pivoting portion 242 is rotatably connected to the main shaft 21 through a support rod 244. The driving portion 243 is connected to the guide rail 25. The two guide rails 25 are slidably arranged at the lower end of the main shaft 21, and are specifically symmetrically arranged about the axis of the main shaft 21.

[0031] When the thrust bearing 22 moves, the fork 24 is driven to rotate through the fork connecting rod 23, so that the fork 24 can drive the guide rail 25 to slide. As shown in FIG2 , when the thrust bearing 22 moves upward, the two forks 24 will drive the two guide rails 25 to move relative to each other, so that they are close to each other and the distance between them is reduced. When the thrust bearing 22 moves downward, the two forks 24 drive the two guide rails 25 to move relative to each other, so that they are away from each other.

[0032] The finger 26 and the clamping jaw kicking cap bracket 27 are both fixedly connected to the guide rail 25. Optionally, the bottom of the guide rail 25 is connected to a finger connecting member 261 by screws, and the finger connecting member 261 is connected to the finger 26 by screws. The finger connecting member 261 is connected to the clamping jaw kicking cap bracket 27 by screws.

[0033] In the present application, in the radial direction of the main shaft 21, the spacing between the two clamping jaws and the cap-kicking brackets 27 is always smaller than the spacing between the two fingers 26. That is, no matter whether a pair of fingers 26 is in a clamping state or an open state, the spacing between the two clamping jaws and the cap-kicking brackets 27 is always smaller than the spacing between the two fingers 26. When the two fingers 26 clamp the pipe cap, the two clamping jaws and the cap-kicking brackets 27 can extend into the groove at the top of the pipe cap. It is easy to understand that the difference between the spacing between the two clamping jaws and the cap-kicking brackets 27 and the spacing between the two fingers 26 is set according to the wall thickness of the groove at the top of the pipe cap. The spacing between the two clamping jaws and the cap-kicking brackets 27 is twice the wall thickness of the groove at the top of the pipe cap than the spacing between the two fingers 26.

[0034] As shown in Fig. 1 and Fig. 5, the rotary drive assembly 3 includes a rotary base 31 and a power mechanism 32. The rotary base 31 is fixedly connected to the motor mounting plate 11 through a column 311, the rotary base 31 is relatively rotatably matched with the main shaft 21, and the power mechanism 32 is drivingly connected with the main shaft 21. The rotary base 31 supports the clamping drive assembly 1 and the clamping assembly 2. The power mechanism 32 rotates the entire clamping assembly 2 by driving the main shaft 21 to rotate.

[0035] When the cap is removed by the above-mentioned pipe cap removal device 100, the driving motor 12 drives the thrust bearing 22 to move, and when the two guide rails 25 move relative to each other, a pair of fingers 26 approach each other, thereby clamping the pipe cap, and the clamping claw cap kicking bracket 27 is inserted into the groove at the top of the pipe cap; the rotating driving component 3 drives the clamping component 2 to rotate to loosen the pipe cap. When the driving motor 12 drives the thrust bearing 22 to move in the opposite direction, the two fingers 26 move away from each other and loosen the pipe cap. At this time, the two clamping claw cap kicking brackets 27 move away from and respectively abut against the groove wall of the groove at the top of the pipe cap to prevent the pipe cap from sticking to the fingers 26, so as not to affect the next time the cap is removed.

[0036] In addition, in the present application, the clamping assembly 2 is connected to the motor shaft 121 of the driving motor 12 through the thrust bearing 22, so that the clamping assembly 2 can rotate relative to the clamping drive assembly 1. Therefore, during the cap removal process of the above-mentioned pipe cap removal device 100, the operations of the clamping drive assembly 1 and the rotation drive assembly 3 do not interfere with each other.

[0037] In some embodiments, as shown in FIG. 2 and FIG. 3 , the clamping drive assembly 1 further includes a transmission mechanism. The transmission mechanism includes a connecting member 13, a compression spring 14, a compression spring pre-load nut 15, and a first pull rod 16. The connecting member 13 can be axially slidably sleeved on the motor shaft 121 within a preset range, and the connecting member 13 has a receiving groove (not numbered). The compression spring pre-load nut 15 is located in the receiving groove and fixed to the motor shaft 121. The compression spring 14 is located in the receiving groove and its two ends respectively abut against the connecting member 13 and the compression spring pre-load nut 15. The first pull rod 16 connects the connecting member 13 to the thrust bearing 22. When the motor shaft 121 moves away from the main shaft 21, the compression spring pre-load nut 15 moves away from the main shaft 21 and compresses the compression spring 14, and the connecting member 13 moves away from the main shaft 21, so that the two guide rails 25 are relatively close; when the motor shaft 121 moves close to the main shaft 21, the connecting member 13 moves close to the main shaft 21, so that the two guide rails 25 are relatively far away.

[0038] In this embodiment, the upper portion of the connecting member 13 can be axially slidably sleeved on the motor shaft 121. A sleeve 17 fixed to the motor shaft 121 is also provided between the connecting member 13 and the motor shaft 121. The sleeve 17 allows the connecting member 13 to slide smoothly relative to the motor shaft 121 and reduces the requirements for the surface accuracy of the motor shaft 121. The lower portion of the connecting member 13 is U-shaped and forms the above-mentioned receiving groove. The compression spring pre-compression nut 15 is fixed to the end of the motor shaft 121. The compression spring 14 can be specifically sleeved on the motor shaft 121.

[0039] When the motor shaft 121 moves away from the main shaft 21 (specifically, the motor shaft 121 moves upward), the compression spring preload nut 15 moves upward with the motor shaft 121 and continuously compresses the compression spring 14. The compression spring 14 causes the connecting member 13 to move upward, and then drives the thrust bearing 22 to move upward, and finally causes the two fingers 26 to move relative to each other until the pipe cap is clamped. Afterwards, when the compression amount of the compression spring 14 increases, the clamping force of the two fingers 26 on the pipe cap increases.

[0040] In this embodiment, when the motor shaft 121 moves away from the main shaft 21, the upward driving force is transmitted to the connecting member 13 through the compression spring 14, so that the clamping action of the finger 26 has a certain flexibility.

[0041] In some embodiments, the motor shaft 121 is provided with upper and lower step surfaces that limit the axial movement range of the connecting member 13; the connecting member 13 is sleeved between the upper and lower step surfaces; the clamping drive assembly 1 also includes a guide block 18, which is connected to the motor mounting plate 11 and slides with the connecting member 13.

[0042] In this embodiment, the upper and lower stepped surfaces (not shown) are provided on the motor shaft 121 to limit the up and down movement range of the connecting member 13. This can be achieved by setting the motor shaft 121 as a stepped shaft. The solution is simple and reliable. Furthermore, the clamping drive assembly 1 also uses the guide block 18 to limit the connecting member 13, thereby preventing the connecting member 13 from rotating with the clamping assembly 2 when the clamping assembly 2 rotates, thereby ensuring the stable clamping of the clamping assembly 2.

[0043] In some embodiments, as shown in FIG3 , the clamping drive assembly 1 further includes a first position sensor 191 connected to the connecting member 13, and the first position sensor 191 is configured as follows: when the compression spring pre-load nut 15 moves away from the main shaft 21 to the first position, the first position sensor 191 is triggered, so that the industrial computer (not shown) can control the drive motor 12 to make the compression spring pre-load nut 15 stay at a preset position. The first position sensor 191 is specifically a slot-type optical coupler, which is installed on the connecting member 13 through a first optical coupler support plate 192. The first position sensor 191 is used to detect the vertical displacement of the compression spring pre-load nut 15, and then control the compression amount of the compression spring 14, so as to realize the control of the clamping force of the pipe cap by the finger 26.

[0044] Specifically, when the first position sensor 191 is triggered by the compression spring pre-compression nut 15, the industrial computer obtains the initial position of the compression spring pre-compression nut 15 to start compressing the compression spring 14; then the industrial computer can control the compression amount of the compression spring 14 by controlling the number of rotations of the motor shaft 121 of the drive motor 121 or the linear advancement distance.

[0045] It is easy to understand that by controlling the number of rotations of the motor shaft 121 of the driving motor 121 or the different linear advancement distances, it is possible to clamp pipe caps of different specifications. The type of the first position sensor 191 is not limited to a slot-type optical coupler, but can also be a micro switch or other type of device capable of detecting the position of an object. The first position sensor 191 can be a contact or non-contact sensor.

[0046] In some embodiments, as shown in Figure 3, the clamping drive assembly 1 also includes a first baffle 193 connected to the connecting member 13 and a second position sensor 194 connected to the motor mounting plate 11. The second position sensor 194 is configured as follows: when the first baffle 193 moves close to the main shaft 21 to the second position, the second position sensor 194 is triggered, so that the industrial control computer can control the drive motor 12 to make the connecting member 13 stay at a preset position.

[0047] Specifically, the second position sensor 194 is a slot-type optical coupler, which is connected to the motor mounting plate 11 through a second optical coupler support plate. When the first baffle 193 follows the connector 13 and moves past the slot-type optical coupler, the slot-type optical coupler is triggered by the first baffle 193 and sends a signal to the industrial computer, which obtains the initial position of the connector 13; then the industrial computer controls the downward movement distance of the connector 13 by controlling the number of rotations of the motor shaft 121 of the drive motor 121 or the linear advancement distance, thereby controlling the opening degree of the finger 26.

[0048] It is understood that the type of the second position sensor 194 is not limited to the slot-type optical coupler, and may also be other types of devices capable of detecting the position of an object, such as a micro switch. The second position sensor 194 may be a contact or non-contact sensor.

[0049] In some embodiments, a second position sensor 194 and a second position sensor 194 are provided at the same time. In the initial state of the pipe cap removal device 100 of the present application, a pair of fingers 26 are relatively far apart, and the pipe cap can be accommodated between the two. At this time, the compression spring pre-compression nut 15 is located below the first position sensor 191, and the first baffle 193 is located at the second position or above the second position. When the compression spring pre-compression nut 15 moves upward, the connecting member 13 starts to move upward. When the compression spring pre-compression nut 15 triggers the first position sensor 191, the first baffle 193 is located above the second position. When the connecting member 13 starts to move downward, the first baffle 193 will gradually move to the second position and trigger the second position sensor 194.

[0050] In some embodiments, as shown in FIG. 2 and FIG. 4 , the clamping assembly 2 further includes a tie rod adapter sleeve 28 and a second tie rod 29. The tie rod adapter sleeve 28 is axially slidably disposed in the main shaft 21. One end of the second tie rod 29 extends into and is fixed in the tie rod adapter sleeve 28, and the other end is connected to the shift fork connecting rod 23. The thrust bearing 22 is fixed in the tie rod adapter sleeve 28. A sleeve 211 is fixed in the main shaft 21, and the tie rod adapter sleeve 28 is disposed in the sleeve 211.

[0051] One end of the second tie rod 29 can be connected to the tie rod adapter sleeve 28, for example, by means of a screw, and the other end of the second tie rod 29 is connected to the fork connecting rod 23. Specifically, the fork connecting rod 23 is inserted through the second tie rod 29, and both ends of the fork connecting rod 23 extend out of the second tie rod 29 and are respectively clamped on the connecting portions 241 of the two forks 24.

[0052] In some embodiments, as shown in FIG. 4 , a groove 251 is provided on the guide rail 25, and the shift fork 24 has a driving portion 243 extending into the groove 251. The driving portion 243 can be inserted into the groove 251 to complete the transmission connection between the two, which is simple and reliable. When the shift fork 24 shifts gears, the driving portion 243 abuts against the groove wall of the groove 251, thereby driving the guide rail 25 to move.

[0053] In some embodiments, as shown in FIG4 , a cap-opening ejector pin 262 is further provided on the finger 26, and the cap-opening ejector pin 262 is provided on the inner side of the finger 26. The inner side of the finger 26 refers to the side of the finger 26 facing the other finger 26. The cap-opening ejector pin 262 has a pointed tip, which can support the tube cap, so that the finger 26 can hold the tube cap more stably.

[0054] In some embodiments, as shown in Figure 5, a bearing hole (unnumbered) is provided on the rotating base 31, a rotating bearing 312 is installed in the bearing hole, the main shaft 21 is supported on the rotating bearing 312, a limiting nut 212 and a passive pulley 213 are fixed on the main shaft 21, and the limiting nut 212 is snap-connected with the inner ring of the rotating bearing 312; the power mechanism 32 includes a rotating motor 321 and a driving pulley 322, and the driving pulley 322 is connected to the passive pulley 213 through a transmission belt 323.

[0055] In this embodiment, after the main shaft 21 is supported by the rotating bearing 312, the main shaft 21 is axially limited by the limiting nut 212. To realize the rotation of the main shaft 21, a belt transmission scheme is adopted between the rotating motor 321 and the main shaft 21, which is low in cost.

[0056] In some embodiments, as shown in Figures 2 and 5, a second baffle 214 is connected to the passive pulley 213, and a third position sensor 33 is also provided on the rotating base 31. The third position sensor 33 is configured as follows: when the second baffle 214 rotates to the third position, the third position sensor 33 is triggered, so that the industrial control computer can control the rotating motor 321 to make the clamping assembly 2 stay at a preset position.

[0057] Specifically, the third position sensor 33 is a slot-type optical coupler, which is fixed on the rotating base 31 through a third optical coupler support plate 34 and is located on one side of the passive pulley 213. When the edge of the second baffle 214 rotates to pass through the slot-type optical coupler, the slot-type optical coupler sends a signal to the industrial computer, and the industrial computer detects the position of the passive pulley 213, thereby also detecting the position of the clamping assembly 2.

[0058] Thus, by acquiring the signal of the third position sensor 33, the industrial computer can obtain the initial relative position of the passive pulley 213. Then, the industrial computer can control the movement of the rotary motor 321 so that the passive pulley 213 rotates a predetermined number of times or stops at a specified rotation angle position.

[0059] Optionally, before each use, the passive pulley 213 is reset to the edge of the second baffle 214 in the slotted optical coupler, so that each time the industrial computer subsequently obtains a signal from the third position sensor 33, it can record a rotation of the passive pulley 213. In this way, after the industrial computer obtains the signal from the third position sensor 33 for the first time, the industrial computer controls different numbers of turns of the passive pulley 213 according to the different specifications of the clamped pipe cap.

[0060] It is understood that the type of the third position sensor 33 is not limited to the slot-type optical coupler, and may also be other types of devices capable of detecting the position of an object, such as a micro switch. The third position sensor 33 may be a contact or non-contact sensor.

[0061] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0062] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0063] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0064] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A pipe cap removal device, characterized in that: include: A clamping drive assembly, the clamping drive assembly comprising a motor mounting plate and a drive motor; A clamping assembly, the clamping assembly comprising a main shaft, a thrust bearing arranged in the main shaft, a shift fork connecting rod connected to the thrust bearing, two shift forks rotatably connected to the main shaft, and two guide rails slidably arranged relative to the main shaft along the radial direction of the main shaft, each of the two guide rails being connected with a finger and a clamping claw kicking cap bracket, the clamping claw kicking cap bracket being arranged on the side of the finger close to the thrust bearing, and in the radial direction of the main shaft, the spacing between the two clamping claw kicking cap brackets is always smaller than the spacing between the two fingers; wherein, the thrust bearing is transmission-connected to the motor shaft of the driving motor and can move axially along the main shaft under the drive of the motor shaft, each of the shift forks is transmission-connected to the shift fork connecting rod and one of the guide rails, and when the thrust bearing moves axially along the main shaft, the two shift forks rotate in opposite directions to drive the two guide rails to be relatively close or apart; and The rotary drive assembly comprises a rotary base and a power mechanism. The rotary base is fixedly connected to the motor mounting plate, the rotary base is rotatably matched with the main shaft, and the power mechanism is drivingly connected to the main shaft.

2. The pipe cap removal device according to claim 1, characterized in that: The clamping drive assembly also includes a transmission mechanism, which includes a connecting piece, a compression spring, a compression spring pre-compression nut, and a first pull rod; the connecting piece can be axially slidably sleeved on the motor shaft within a preset range, and the connecting piece has a receiving groove; the compression spring pre-compression nut is located in the receiving groove and is fixed to the motor shaft, the compression spring is located in the receiving groove and its two ends respectively abut against the connecting piece and the compression spring pre-compression nut; the first pull rod connects the connecting piece to the thrust bearing; When the motor shaft moves away from the main shaft, the compression spring pre-compression nut moves away from the main shaft and compresses the compression spring, so that the connecting member moves away from the main shaft and drives the two guide rails to be relatively close; when the motor shaft moves closer to the main shaft, the connecting member moves closer to the main shaft and drives the two guide rails to be relatively far apart.

3. The pipe cap removal device according to claim 2, characterized in that: The motor shaft is provided with upper and lower step surfaces for limiting the axial movement range of the connecting piece; the connecting piece is sleeved between the upper and lower step surfaces; the clamping drive assembly also includes a guide block, which is connected to the motor mounting plate and slidably cooperates with the connecting piece.

4. The pipe cap removal device according to claim 2, characterized in that: The clamping drive assembly also includes a first position sensor connected to the connecting member, and the first position sensor is configured as follows: when the compression spring pre-compression nut moves away from the main shaft to a first position, the first position sensor is triggered so that the industrial control computer can control the drive motor to make the compression spring pre-compression nut stay at a preset position.

5. The pipe cap removal device according to claim 2, characterized in that: The clamping drive assembly also includes a first baffle connected to the connecting member and a second position sensor connected to the motor mounting plate. The second position sensor is configured as follows: when the first baffle moves close to the spindle to a second position, the second position sensor is triggered so that the industrial control computer can control the drive motor to make the connecting member stay in a preset position.

6. The pipe cap removal device according to claim 1, characterized in that: The clamping assembly also includes a pull rod adapter sleeve and a second pull rod. The pull rod adapter sleeve can be axially slidably arranged in the main shaft, one end of the second pull rod extends into and is fixed in the pull rod adapter sleeve, and the other end is connected to the fork connecting rod; the thrust bearing is fixed in the pull rod adapter sleeve.

7. The pipe cap removal device according to claim 1, characterized in that: The guide rail is provided with a groove, and the shift fork has a driving portion extending into the groove.

8. The pipe cap removal device according to claim 1, characterized in that: The finger is also provided with a cap-opening ejector pin, and the cap-opening ejector pin is arranged on the inner side of the finger.

9. The pipe cap removal device according to claim 1, characterized in that: A bearing hole is provided on the rotating base, a rotating bearing is installed in the bearing hole, the main shaft is supported by the rotating bearing, a limiting nut and a passive pulley are fixed on the main shaft, and the limiting nut is snap-connected with the inner ring of the rotating bearing; the power mechanism includes a rotating motor and a driving pulley, and the driving pulley is connected to the passive pulley through a transmission belt.

10. The pipe cap removal device according to claim 9, characterized in that: A second baffle is connected to the passive pulley, and a third position sensor is also provided on the rotating base. The third position sensor is configured as follows: when the second baffle rotates to the third position, the third position sensor is triggered so that the industrial control computer can control the rotating motor to make the clamping assembly stay at a preset position.

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