Uncapping device and uncapping method

Abstract

The invention relates to an uncapping device and an uncapping method. The uncapping device comprises a clamping mechanism, the clamping mechanism comprises a clamping assembly and a first driving assembly, the clamping assembly is connected to the first driving assembly, and the clamping assembly is arranged to be capable of moving in the Z direction under the driving action of the first driving assembly and clamping a sample tube; the cap removing mechanism comprises a cap removing assembly and a driving module, the cap removing assembly is connected to the driving module, the driving module is used for driving the cap removing assembly to move relative to the clamping assembly, and the cap removing assembly is arranged to be capable of driving a pipe cap of the sample pipe to rotate so that the pipe cap can be separated from the sample pipe. According to the cap removing device, the pipe caps and the sample pipes can be separated through mutual cooperation of the clamping mechanism and the cap removing mechanism, the cap removing speed is high, the cap removing success rate is high, the cap removing device is compatible with the sample pipes of different sizes and types, and the cap removing device can be suitable for cap removing, cap throwing and sample pipe transferring of the sample pipes of different heights.

Description

Technical Field

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

[0002] In the field of biomedicine, samples of various reagents are often involved, and these samples need to be stored in sample tubes of different sizes. During the sample pretreatment process, in order to automatically remove the sample tube caps on the sample tubes, the sample pretreatment equipment is designed with a cap removal device.

[0003] In the related art, before removing the cap, the sample tube needs to be raised to a certain height so that the sample tube can match the cap removal device, so that the cap removal operation can be performed by the cap removal device. Especially when facing different types of sample tubes, the cap removal device is difficult to adapt to sample tubes of different heights, resulting in low cap removal efficiency and low cap removal success rate. Summary of the invention

[0004] Based on this, it is necessary to provide a capping device and a capping method to address the problems of low capping efficiency and low capping success rate of sample tubes.

[0005] A capping device, comprising: a clamping mechanism, comprising a clamping component and a first driving component, the clamping component is connected to the first driving component, and the clamping component is configured to move along the Z direction and clamp a sample tube under the driving action of the first driving component; and a capping mechanism, comprising a capping component and a driving module, the capping component is connected to the driving module, the driving module is used to drive the capping component to move relative to the clamping component, and the capping component is configured to drive the tube cap of the sample tube to rotate so that the tube cap is detached from the sample tube.

[0006] In one embodiment, the clamping assembly includes a first clamping member and a second clamping member, and the first clamping member and the second clamping member are respectively connected to the first driving assembly; the first driving assembly is configured to drive the first clamping member and the second clamping member to move along the Z direction, and is configured to drive the first clamping member and the second clamping member to move toward each other to clamp the sample tube or move away from each other to release the sample tube.

[0007] In one embodiment, a surface of the first clamping member facing the second clamping member is configured as an arcuate surface; and / or a surface of the second clamping member facing the first clamping member is configured as an arcuate surface.

[0008] In one embodiment, the first driving component includes a first driving member and a second driving member; the first clamping member and the second clamping member are respectively connected to the output end of the second driving member; the second driving member is connected to the output end of the first driving member, and the second driving member is used to drive the first clamping member and the second clamping member to move towards each other or away from each other; the first driving member is used to drive the second driving member, the first clamping member and the second clamping member to move along the Z direction.

[0009] In one embodiment, the clamping mechanism also includes a connecting assembly, which is used to connect the clamping assembly and the first driving assembly; wherein the connecting assembly includes a first connecting member and a second connecting member, the first connecting member is connected between the first clamping member and the first driving assembly, and the second connecting member is connected between the second clamping member and the first driving assembly.

[0010] In one embodiment, the first connecting member includes a first connecting portion and a first extending portion, the first connecting portion is connected to the output end of the first driving component and extends along the Z direction, one end of the first extending portion is connected to the first connecting portion, and the other end of the first extending portion is extended along the X direction and connected to the first clamping member; and / or the second connecting member includes a second connecting portion and a second extending portion, the second connecting portion is connected to the output end of the first driving component and extends along the Z direction, one end of the second extending portion is connected to the second connecting portion, and the other end of the second extending portion is extended along the X direction and connected to the second clamping member.

[0011] In one embodiment, the cap removal assembly includes a jaw assembly and a second drive assembly, the jaw assembly is connected to the second drive assembly, the jaw assembly includes a plurality of jaws, and the second drive assembly is configured to drive the plurality of jaws to clamp the cap of the sample tube and drive the cap to rotate around the Z axis.

[0012] In one embodiment, the second driving assembly includes a third driving member and a fourth driving member; the clamp is connected to the output ends of the third driving member and the fourth driving member; the third driving member is used to drive a plurality of the clamps to clamp the caps of the sample tubes, and the fourth driving member is used to drive the clamps to rotate around the Z axis.

[0013] In one embodiment, the driving module includes a Y-axis driving module and a Z-axis driving module, the cap removing assembly is connected to the Z-axis driving module, the Z-axis driving module is used to drive the cap removing assembly to move along the Z-axis, the Z-axis driving module is connected to the Y-axis driving module, the Y-axis driving module is used to drive the cap removing assembly to move along the Y-axis; and / or the cap removing device also includes a control unit, which is electrically connected to the first driving assembly, the second driving assembly and the driving module.

[0014] A capping method includes the following steps: controlling a first driving component to drive a clamping component to move along the Z direction and clamp a sample tube; controlling a driving module to drive the capping component to move relative to the clamping component, so that the capping component can drive the tube cap of the sample tube to rotate and detach from the sample tube; controlling the driving module to drive the capping component to move to transfer the detached tube cap.

[0015] The above-mentioned uncapping device and uncapping method, the uncapping device includes a clamping mechanism for fixing the sample tube and a uncapping mechanism for removing the tube cap. When the uncapping device is used to uncap sample tubes of different heights, the first driving component first drives the clamping component to move in the vertical direction until the height of the clamping component matches the sample tube, so that the clamping component can accurately clamp the corresponding part of the sample tube; then the driving module drives the uncapping component to move until the height of the uncapping component matches the sample tube, so that the uncapping component can contact the tube cap of the sample tube and drive the tube cap to rotate, so that the tube cap is separated from the sample tube, thereby realizing the uncapping operation. Therefore, the separation of the tube cap and the sample tube can be realized through the cooperation of the clamping mechanism and the uncapping mechanism, the uncapping speed is fast, the uncapping success rate is high, it is compatible with sample tubes of different sizes and types, and can be applicable to the functions of uncapping, throwing and transferring sample tubes of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a cap removal device provided in an embodiment of the present application.

[0017] Figure 2 A schematic diagram of the structure of the clamping mechanism of the cap removal device provided in an embodiment of the present application.

[0018] Figure 3 A schematic structural diagram of the cap-removing mechanism of the cap-removing device provided in an embodiment of the present application.

[0019] Figure 4 A schematic diagram of the overall structure of the cap removal assembly provided in an embodiment of the present application.

[0020] Figure 5 A schematic diagram of the internal structure of the cap removal assembly provided in an embodiment of the present application.

[0021] Figure 6A schematic diagram of the structure of a sample tube provided in an embodiment of the present application.

[0022] Figure 7 A schematic diagram of the cap-removing operation of the cap-removing device provided in an embodiment of the present application.

[0023] Figure 8 A schematic diagram of the process of the decapping method provided in an embodiment of the present application.

[0024] Figure Number:

[0025] 10. Cap removal device;

[0026] 100, clamping mechanism; 110, clamping assembly; 111, first clamping member; 112, second clamping member; 120, first driving assembly; 121, first driving member; 122, second driving member; 130, connecting assembly; 131, first connecting member; 131a, first connecting portion; 131b, first extending portion; 132, second connecting member; 132a, second connecting portion; 132b, second extending portion;

[0027] 200, cap-removing mechanism; 210, cap-removing assembly; 211, clamping claw assembly; 211a, adapter sleeve; 211b, shift fork; 211c, clamping claw; 212, second drive assembly; 212a, third drive member; 212b, fourth drive member; 212c, output shaft; 220, drive module; 221, Y-direction drive module; 222, Z-direction drive module;

[0028] 20. Sample tube; 21. Tube holder; 22. Tube body; 23. Tube cap;

[0029] M, cap removal area; N, cap throwing area; P, loading area. DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] In the field of biomedicine, samples of various reagents are often involved, and various types of samples need to be stored in sample tubes. In the process of sample pretreatment, in order to automatically remove the sample tube caps on the sample tubes, the sample pretreatment equipment is designed with a cap removal device. In the related art, before removing the caps, it is necessary to manually raise the height of the sample tube or to raise the height of the sample tube through corresponding equipment, so that the sample tube matches the cap removal device for the cap removal operation, resulting in low cap removal efficiency and low success rate of cap removal.

[0037] In order to solve at least part of the above technical problems, the embodiments of the present application provide a cap removing device and a cap removing method.

[0038] It should be noted that in the embodiment of the present application, the Z direction refers to the gravity direction of the cap removal device, that is, the vertical direction of the cap removal device in the installed state. The X direction and the Y direction both refer to the direction perpendicular to the gravity direction of the cap removal device, that is, the horizontal direction of the cap removal device in the installed state, and the X direction and the Y direction are perpendicular to each other. The description of the directions in this article can be understood with reference to the interpretation here.

[0039] Figure 1 A schematic diagram of a cap removal device provided in an embodiment of the present application is shown. Figure 2 A schematic structural diagram of a clamping mechanism of a cap removal device provided in an embodiment of the present application is shown. Figure 3 A structural schematic diagram of a cap-removing mechanism of a cap-removing device provided in an embodiment of the present application is shown.

[0040] See also Figures 1 to 3 As shown, the decapping device 10 provided in the embodiment of the present application includes a clamping mechanism 100 and a decapping mechanism 200 for performing decapping operations on the sample tube 20 .

[0041] For example, Figure 6 FIG. 2 shows a schematic diagram of the structure of a sample tube 20 provided in an embodiment of the present application. Figure 6As shown, the sample tube 20 includes a tube seat 21, a tube body 22 and a tube cap 23. A cavity for accommodating a sample reagent is formed in the tube body 22. The tube seat 21 is connected to the bottom of the tube body 22. The tube seat 21 can be used to fix the tube body 22 and to indicate the type of sample reagent contained in the tube body 22. The tube cap 23 is connected to the top of the tube body 22 to seal the cavity in the tube body 22. When the sample reagent needs to be loaded into the tube body 22 or taken out, the tube cap 23 needs to be removed from the tube body 22, that is, the cap removal operation is performed.

[0042] The clamping mechanism 100 is used to clamp the sample tube 20 to fix the sample tube 20. For example, the clamping mechanism 100 can be configured to clamp the tube body 22 of the sample tube 20, so as to facilitate the removal of the tube cap 23 from the tube body 22 of the sample tube 20. The clamping mechanism 100 includes a clamping assembly 110 and a first driving assembly 120. The clamping assembly 110 is connected to the first driving assembly 120. The clamping assembly 110 is configured to move along the Z direction and clamp the sample tube 20 under the driving action of the first driving assembly 120. Specifically, the output end of the first driving assembly 120 is connected to the clamping assembly 110, and the clamping assembly 110 can be driven to move in the vertical direction by the first driving assembly 120, so that the clamping assembly 110 can flexibly clamp sample tubes 20 of different heights. Illustratively, when the height of the sample tube 20 is relatively high, the first driving assembly 120 can be used to drive the clamping assembly 110 to move upward in the vertical direction, so that the clamping assembly 110 can accurately clamp the corresponding portion of the sample tube 20; when the height of the sample tube 20 is relatively low, the first driving assembly 120 can be used to drive the clamping assembly 110 to move downward in the vertical direction, so that the clamping assembly 110 can accurately clamp the corresponding portion of the sample tube 20.

[0043] The cap-removing mechanism 200 is used to remove and transfer the tube cap 23 from the sample tube 20. Of course, the cap-removing mechanism 200 can also be used to transfer the sample tube 20. The cap-removing mechanism 200 includes a cap-removing assembly 210 and a driving module 220. The cap-removing assembly 210 is connected to the driving module 220. The driving module 220 is used to drive the cap-removing assembly 210 to move relative to the clamping assembly 110. The cap-removing assembly 210 is configured to drive the tube cap 23 of the sample tube 20 to rotate so that the tube cap 23 is separated from the sample tube 20. Specifically, after the clamping mechanism 100 firmly clamps the sample tube 20, the driving module 220 can drive the cap-removing assembly 210 to move to the vicinity of the clamping assembly 110, so that the cap-removing assembly 210 can contact the sample tube 20 clamped by the clamping assembly 110 and remove the tube cap 23 to achieve the cap-removing operation.

[0044] Through the above structural design, the cap removal device 10 of the embodiment of the present application can realize flexible cap removal operation through the cooperation of the clamping mechanism 100 and the cap removal mechanism 200. Specifically, when the cap removal device 10 is used to remove the cap of a sample tube 20 with a high height, the first driving component 120 first drives the clamping component 110 to move upward in the vertical direction until the height of the clamping component 110 matches the sample tube 20, so that the clamping component 110 can accurately clamp the corresponding part of the sample tube 20; then the driving module 220 drives the cap removal component 210 to move until the height of the cap removal component 210 matches the sample tube 20, so that the cap removal component 210 can contact the tube cap 23 of the sample tube 20 and drive the tube cap 23 to rotate, so that the tube cap 23 is separated from the sample tube 20, thereby realizing the cap removal operation. When the decapping device 10 is used to decap a sample tube 20 of a relatively low height, the first driving component 120 first drives the clamping component 110 to move downward in the vertical direction until the height of the clamping component 110 matches that of the sample tube 20, so that the clamping component 110 can accurately clamp the corresponding part of the sample tube 20; then the driving module 220 drives the decapping component 210 to move until the height of the decapping component 210 matches that of the sample tube 20, so that the decapping component 210 can contact the tube cap 23 of the sample tube 20 and drive the tube cap 23 to rotate, so that the tube cap 23 is separated from the sample tube 20, thereby realizing the decapping operation.

[0045] Also, see Figure 1 As shown, when the clamping assembly 110 fixes the sample tube 20 in the capping area M, and the capping assembly 210 is used to remove the tube cap 23 in the capping area M, the driving module 220 can then drive the capping assembly 210 to move and transfer the removed tube cap 23 to the cap throwing area N, thereby realizing the function of transferring the tube cap 23. In addition, when it is necessary to transfer the sample tube 20, for example, when it is necessary to transfer the sample tube 20 after the cap is removed to the sample rack of the loading area P, the driving module 220 can drive the capping assembly 210 to drive the sample tube 20 to move, thereby transferring the sample tube 20 to the loading area P, thereby realizing the function of transferring the sample tube 20.

[0046] Therefore, the decapping device 10 of the embodiment of the present application includes a clamping mechanism 100 for fixing the sample tube 20 and a decapping mechanism 200 for removing the tube cap 23. The tube cap 23 can be separated from the sample tube 20 by cooperating with the clamping mechanism 100 and the decapping mechanism 200. The decapping speed is fast and the decapping success rate is high. It is compatible with sample tubes 20 of different sizes and types and can be used for the functions of decapping, throwing and transferring sample tubes 20 of different heights.

[0047] In some embodiments, the clamping assembly 110 includes a first clamping member 111 and a second clamping member 112, and the first clamping member 111 and the second clamping member 112 are respectively connected to the first driving assembly 120; the first driving assembly 120 is configured to drive the first clamping member 111 and the second clamping member 112 to move along the Z direction, and is configured to drive the first clamping member 111 and the second clamping member 112 to move toward each other to clamp the sample tube 20 or move away from each other to release the sample tube 20. In the case of moving toward each other, the first clamping member 111 and the second clamping member 112 are close to each other; in the case of moving away from each other, the first clamping member 111 and the second clamping member 112 are away from each other.

[0048] When performing the capping operation, the first driving component 120 is first used to drive the first clamping member 111 and the second clamping member 112 to move backwards so that the distance between the first clamping member 111 and the second clamping member 112 is large enough to accommodate the sample tube 20; then, the first driving member 121 is used to drive the first clamping member 111 and the second clamping member 112 to move along the Z direction to a height corresponding to the sample tube 20, thereby driving the first clamping member 111 and the second clamping member 112 to the opposite sides of the sample tube 20 respectively; then, the first driving component 120 is used to drive the first clamping member 111 and the second clamping member 112 to move toward each other so that the first clamping member 111 and the second clamping member 112 clamp the sample tube 20; after the capping mechanism 200 completes the capping, the first driving component 120 is used to drive the first clamping member 111 and the second clamping member 112 to move backwards to release the sample tube 20, so that the sample tube 20 can be taken away and the capping operation of the next batch of sample tubes 20 can be performed. Therefore, by controlling the opening and closing of the first clamping member 111 and the second clamping member 112, the sample tube 20 can be firmly clamped to ensure that the sample tube 20 can successfully complete the uncapping operation, and can adapt to the uncapping requirements of sample tubes 20 of different heights.

[0049] In some embodiments, a surface of the first clamping member 111 facing the second clamping member 112 is configured as an arc-shaped surface. Figure 2 As shown, the first clamping member 111 is an arc-shaped structure, the opening of the arc-shaped structure faces the second clamping member 112, and the surface of the first clamping member 111 facing the second clamping member 112 is an arc-shaped surface. When the first clamping member 111 and the second clamping member 112 cooperate to clamp the sample tube 20, the arc-shaped surface of the first clamping member 111 can fit tightly with the outer surface of the sample tube 20, which is conducive to firmly clamping the sample tube 20 and ensuring that the sample tube 20 remains fixed during the cap removal process.

[0050] In some embodiments, a surface of the second clamping member 112 facing the first clamping member 111 is configured as an arc-shaped surface. Figure 2 As shown, the second clamping member 112 is configured to have a mirror-symmetrical structure with the first clamping member 111 , which further facilitates the stable clamping of the sample tube 20 .

[0051] In some embodiments, the first driving assembly 120 includes a first driving member 121 and a second driving member 122; the first clamping member 111 and the second clamping member 112 are respectively connected to the output end of the second driving member 122; the second driving member 122 is connected to the output end of the first driving member 121, and the second driving member 122 is used to drive the first clamping member 111 and the second clamping member 112 to move toward or away from each other; the first driving member 121 is used to drive the second driving member 122, the first clamping member 111 and the second clamping member 112 to move along the Z direction. In the embodiment of the present application, the first driving member 121 drives the first clamping member 111 and the second clamping member 112 to move along the Z direction so as to adapt to sample tubes 20 of different heights, and the second driving member 122 drives the first clamping member 111 and the second clamping member 112 to move toward or away from each other so as to clamp or release the sample tube 20, thereby effectively clamping and fixing sample tubes 20 of different heights.

[0052] Exemplarily, the first driving member 121 may include a linear motor, and the first clamping member 111 and the second clamping member 112 are connected to the output end of the linear motor through the second driving member 122. The output end of the linear motor is extended along the Z direction, so that the first clamping member 111 and the second clamping member 112 can be driven by the linear motor to move freely along the Z direction.

[0053] Exemplarily, the second driving member 122 may include a servo motor, and the first clamping member 111 and the second clamping member 112 are connected to the servo motor in a structure similar to an electric clamp, so that the servo motor drives the first clamping member 111 and the second clamping member 112 to achieve clamping or loosening.

[0054] In some embodiments, the clamping mechanism 100 further includes a connecting assembly 130, which is used to connect the clamping assembly 110 and the first driving assembly 120; wherein the connecting assembly 130 includes a first connecting member 131 and a second connecting member 132, wherein the first connecting member 131 is connected between the first clamping member 111 and the first driving assembly 120, and the second connecting member 132 is connected between the second clamping member 112 and the first driving assembly 120. Specifically, referring to Figure 2As shown, one end of the first connecting member 131 is connected to the first clamping member 111, and the other end of the first connecting member 131 is connected to the output end of the second driving member 122 and connected to the first driving member 121 through the second driving member 122. One end of the second connecting member 132 is connected to the second clamping member 112, and the other end of the second connecting member 132 is connected to the output end of the second driving member 122 and connected to the first driving member 121 through the second driving member 122. Thus, the first clamping member 111 and the second clamping member 112 are connected respectively through the first connecting member 131 and the second connecting member 132, so that the first clamping member 111 and the second clamping member 112 are driven to move respectively by the second driving member 122, and the disassembly and assembly operations between the components of the clamping mechanism 100 are facilitated.

[0055] In some embodiments, the first connecting member 131 includes a first connecting portion 131a and a first extending portion 131b, wherein the first connecting portion 131a is connected to the output end of the first driving assembly 120 and extends along the Z direction, one end of the first extending portion 131b is connected to the first connecting portion 131a, and the other end of the first extending portion 131b is extended along the X direction and connected to the first clamping member 111, wherein the Z direction is perpendicular to the X direction. Since the first extending portion 131b protrudes from the first connecting portion 131a along the X direction, and the first clamping member 111 is connected to the first connecting portion 131a through the first extending portion 131b, the first clamping member 111 is spaced from the first connecting portion 131a and the first driving assembly 120 in the X direction, thereby preventing the first clamping member 111 from interfering with the first driving assembly 120 when used to clamp the sample tube 20.

[0056] See also Figure 2 As shown, illustratively, the first driving member 121 and the second driving member 122 are sequentially arranged along the Z direction, and the first driving member 121 can drive the second driving member 122 to move along the Z direction. The first connecting portion 131a extends along the Z direction, i.e., the vertical direction, and is connected to the second driving member 122, and the first extending portion 131b extends along the X direction, i.e., the horizontal direction, and is connected to the second driving member 122, and the first connecting portion 131a and the first extending portion 131b are connected to form an L-shaped structure. Thus, the first extending portion 131b protrudes from the first connecting portion 131a in the horizontal direction, so that the first clamping member 111 and the second clamping member 112 connected at both ends of the first extending portion 131b can be prevented from interfering with each other, and then the first clamping member 111 can be extended into a relatively narrow space through the first extending portion 131b to clamp the sample tube 20, which is conducive to using the cap removal device 10 in places with smaller spaces, saving space, low cost, and a wider range of applications.

[0057] In some embodiments, the second connecting member 132 includes a second connecting portion 132a and a second extending portion 132b, wherein the second connecting portion 132a is connected to the output end of the first driving assembly 120 and extends along the Z direction, one end of the second extending portion 132b is connected to the second connecting portion 132a, and the other end of the second extending portion 132b is extended along the X direction and connected to the second clamping member 112. Since the second extending portion 132b protrudes from the second connecting portion 132a along the X direction, and the second clamping member 112 is connected to the second connecting portion 132a through the second extending portion 132b, there is a gap between the second clamping member 112 and the second connecting portion 132a and the first driving assembly 120 in the X direction, so that the second clamping member 112 can be prevented from interfering with the first driving assembly 120 when being used to clamp the sample tube 20.

[0058] See also Figure 2 As shown, exemplarily, the second connecting member 132 and the first connecting member 131 are spaced apart in the Y direction, and the second connecting member 132 is arranged in a mirror-symmetrical structure with the first connecting member 131 to play the same above-mentioned role as the first connecting member 131.

[0059] In some embodiments, the cap removal assembly 210 includes a clamping jaw assembly 211 and a second driving assembly 212, the clamping jaw assembly 211 is connected to the second driving assembly 212, the clamping jaw assembly 211 includes a plurality of clamping jaws 211c, and the second driving assembly 212 is configured to drive the plurality of clamping jaws 211c to clamp the tube cap 23 of the sample tube 20 and drive the tube cap 23 to rotate around the Z axis. Figure 3 As shown, the second driving assembly 212 is connected to the driving module 220, and the clamping jaw assembly 211 is arranged at the bottom of the second driving assembly 212, so that the second driving assembly 212 and the clamping jaw assembly 211 can be driven by the driving module 220 to move from top to bottom together to clamp the tube cap 23 of the sample tube 20. In addition, the plurality of clamping jaws 211c are evenly distributed around the Z axis, and the opening and closing of the plurality of clamping jaws 211c can be controlled by the second driving assembly 212 to effectively clamp the tube cap 23. After the plurality of clamping jaws 211c clamp the tube cap 23, the tube cap 23 of the sample tube 20 can be separated from the tube body 22 by controlling the plurality of clamping jaws 211c to rotate around the Z axis by the second driving assembly 212, thereby realizing the cap removal operation.

[0060] In order to facilitate understanding of the function of the cap removal device 10 of the embodiment of the present application, the following Figure 7 The following is an exemplary description of the cap removal operation process of the cap removal device 10. Figure 7 In the state shown in (1), the first driving assembly 120 drives the clamping assembly 110 to move to clamp the tube body 22 of the sample tube 20, thereby fixing the sample tube 20, and the driving module 220 drives the second driving assembly 212 and the clamping jaw assembly 211 to move from top to bottom toward the sample tube 20. Figure 7In the state shown in (2), the clamping assembly 110 firmly clamps the sample tube 20, and the driving module 220 drives the second driving assembly 212 and the clamping jaw assembly 211 to move to a position where the clamping jaw assembly 211 cooperates with the tube cap 23 of the sample tube 20. Figure 7 In the state shown in (3), the clamping assembly 110 firmly clamps the sample tube 20, and the second driving assembly 212 drives the clamping jaw assembly 211 to move to clamp and rotate the tube cap 23. At the same time, during the process of rotating the tube cap 23, the driving module 220 drives the second driving assembly 212 and the clamping jaw assembly 211 to gradually move upward, so that the tube cap 23 gradually separates from the tube body 22 of the sample tube 20. Figure 7 In the state shown in (4), the clamping assembly 110 firmly clamps the sample tube 20, and the driving module 220 drives the second driving assembly 212 and the clamping jaw assembly 211 to continue to move to achieve the cap removal function.

[0061] It should be noted that in the embodiment of the present application, there is no specific limitation on the number of jaws 211c included in the jaw assembly 211. For example, the jaw assembly 211 may include two jaws 211c, three jaws 211c, four jaws 211c, etc.

[0062] In some embodiments, the second driving assembly 212 includes a third driving member 212a and a fourth driving member 212b; the clamping jaw 211c is connected to the output ends of the third driving member 212a and the fourth driving member 212b; the third driving member 212a is used to drive the plurality of clamping jaws 211c to clamp the tube cap 23 of the sample tube 20, and the fourth driving member 212b is used to drive the clamping jaw 211c to rotate around the Z axis. Figure 3 As shown, the third driving member 212a, the fourth driving member 212b and the clamping jaw assembly 211 are sequentially arranged from top to bottom, and the output end of the third driving member 212a is connected to the clamping jaw assembly 211, and the third driving member 212a can drive the plurality of clamping jaws 211c to open and close to clamp or loosen the tube cap 23 of the sample tube 20. The output end of the fourth driving member 212b is connected to the clamping jaw assembly 211, and the fourth driving member 212b can drive the plurality of clamping jaws 211c to rotate around the Z axis to separate the tube cap 23 from the tube body 22 of the sample tube 20, thereby effectively realizing the cap removal operation.

[0063] For example, in some embodiments, referring to Figure 4 and Figure 5As shown, the third driving member 212a can be a through-axis stepper motor, and the fourth driving member 212b is a servo motor. The clamping jaw assembly 211 includes an adapter sleeve 211a, a shift fork 211b and a clamping jaw 211c. The top end of the adapter sleeve 211a is arranged outside the output shaft 212c of the third driving member 212a through a bearing sleeve, and the bottom end of the adapter sleeve 211a is connected to the clamping jaw 211c through the shift fork 211b. When the third driving member 212a drives its own output shaft 212c to move up and down, it can drive the adapter sleeve 211a to move up and down. At this time, the adapter sleeve 211a can drive the shift fork 211b to rotate, thereby driving the clamping jaw 211c to open and close to clamp the tube cap 23 of the sample tube 20. The fourth driving member 212b is connected to the adapter sleeve 211a via a belt so as to drive the adapter sleeve 211a to rotate relative to the output shaft 212c of the third driving member 212a. At this time, the adapter sleeve 211a can drive the clamping claw 211c to rotate via the fork 211b, thereby realizing the cap removal function.

[0064] In some embodiments, the driving module 220 includes a Y-direction driving module 221 and a Z-direction driving module 222. The cap removing assembly 210 is connected to the Z-direction driving module 222. The Z-direction driving module 222 is used to drive the cap removing assembly 210 to move along the Z direction. The Z-direction driving module 222 is connected to the Y-direction driving module 221. The Y-direction driving module 221 is used to drive the cap removing assembly 210 to move along the Y direction. Figures 1 to 3 As shown, the Z-direction driving module 222 is used to drive the cap removal assembly 210 to move in the vertical direction, so as to cooperate with the cap removal assembly 210 to remove the tube cap 23 from the tube body 22, thereby realizing the cap removal function. The Y-direction driving module 221 is used to drive the cap removal assembly 210 to move in the horizontal direction, so as to send the cap removal assembly 210 to the top of the sample tube 20 or remove it from the top of the sample tube 20, thereby realizing the functions of throwing the cap and transferring the sample tube 20.

[0065] In some embodiments, the cap removal device 10 further includes a control unit, which is electrically connected to the first drive assembly 120, the second drive assembly 212, and the drive module 220. Exemplarily, the control unit may include a controller for receiving control instructions to control the first drive assembly 120, the second drive assembly 212, and the drive module 220 to stop, start, or perform corresponding actions, which is beneficial to improving the working efficiency of the cap removal device 10.

[0066] See also Figure 8 As shown, a schematic flow chart of the decapping method in an embodiment of the present application is shown. The decapping method is implemented based on the decapping device 10 in the above embodiment, and specifically includes the following steps:

[0067] S1. Control the first driving assembly 120 to drive the clamping assembly 110 to move along the Z direction and clamp the sample tube 20.

[0068] S2. Control the driving module 220 to drive the cap removing assembly 210 to move relative to the clamping assembly 110, so that the cap removing assembly 210 can drive the tube cap 23 of the sample tube 20 to rotate and detach from the sample tube 20.

[0069] S3, controlling the driving module 220 to drive the cap removing assembly 210 to move so as to transfer the removed tube cap 23.

[0070] According to the decapping method provided in the embodiment of the present application, in the process of separating the sample tube 20 from the tube cap 23, the first driving component 120 is first used to drive the clamping component 110 to move along the Z direction so that the height of the clamping component 110 is adapted to the height of the sample tube 20, so that the clamping component 110 is convenient for clamping the sample tube 20 of the corresponding height. Then, the driving module 220 is used to drive the decapping component 210 to move so that the decapping component 210 reaches the top of the sample tube 20, so that the decapping component 210 drives the tube cap 23 of the sample tube 20 to rotate and detach. Then, the driving module 220 is used to drive the decapping component 210 to move so that the decapping component 210 is removed from the top of the sample tube 20, thereby realizing the decapping function. Moreover, after decapping, the driving module 220 can be used to drive the decapping component 210 to move so that the decapping component 210 sends the tube cap 23 to the cap throwing area N to realize the cap throwing function. In addition, the driving module 220 can be used to drive the cap removal assembly 210 to move so that the cap removal assembly 210 can clamp the sample tube 20, thereby realizing the function of transferring the sample tube 20. Therefore, the cap removal method of the embodiment of the present application can realize the functions of cap removal, cap throwing and transfer of the sample tube 20 by controlling the coordination of the clamping mechanism 100 and the cap removal mechanism 200, and can be compatible with sample tubes 20 of different heights, with a fast cap removal speed and a high cap removal success rate.

[0071] Exemplarily, in a specific embodiment, the decapping method is as follows:

[0072] Combination Figures 1 to 7 As shown, before removing the cap, the sample tube 20 is first transported to the capping area M. When the optical coupler configured in the capping area M detects the tube holder 21 of the sample tube 20, the information of the tube holder 21 is read by the RFID (Radio Frequency Identification) board to determine whether the sample in the sample tube 20 is a sample that has passed the serum quality test. If the test is qualified, the capping process is executed.

[0073] When removing the cap, the sample tube 20 is clamped by the clamping mechanism 100 to ensure that the sample tube 20 does not move in the vertical direction during the removal process, and is precisely positioned in the horizontal direction to ensure that the sample tube 20 does not shift. At the same time, the cap removal assembly 210 is driven to move to the cap removal area M and reaches the starting height of the sample tube 20 to remove the cap, and the cap 23 is removed from the sample tube 20 by the cap removal assembly 210.

[0074] After the cap is removed, the cap removal assembly 210 is driven to move to the cap throwing area N, so that the pipe cap 23 is transferred to the cap throwing area N, and then the cap removal assembly 210 is controlled to return to the cap removal area M for the next step.

[0075] When the sample tube 20 needs to be transferred, the capping assembly 210 is driven to move to the sample tube 20 grasping height, and the sample tube 20 is clamped by the capping assembly 210, and then the capping assembly 210 is driven to move to the loading area P, so as to transfer the sample tube 20 to the sample rack, and then the capping assembly 210 is controlled to return to the capping area M to carry out the next sample tube 20 capping process.

[0076] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0077] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed 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 cap removal device, characterized in that: The cap removal device comprises: A clamping mechanism, comprising a clamping assembly and a first driving assembly, wherein the clamping assembly is connected to the first driving assembly, and the clamping assembly is configured to move along the Z direction and clamp the sample tube under the driving action of the first driving assembly; and The capping mechanism includes a capping assembly and a driving module, wherein the capping assembly is connected to the driving module, and the driving module is used to drive the capping assembly to move relative to the clamping assembly. The capping assembly is configured to drive the tube cap of the sample tube to rotate so that the tube cap is detached from the sample tube.

2. The cap removal device according to claim 1, characterized in that: The clamping assembly comprises a first clamping member and a second clamping member, wherein the first clamping member and the second clamping member are respectively connected to the first driving assembly; The first driving assembly is configured to drive the first clamping member and the second clamping member to move along the Z direction, and is configured to drive the first clamping member and the second clamping member to move toward each other to clamp the sample tube or move away from each other to release the sample tube.

3. The cap removal device according to claim 2, characterized in that: A surface of the first clamping member facing the second clamping member is configured as an arc surface; and / or A surface of the second clamping member facing the first clamping member is configured as an arc-shaped surface.

4. The cap removal device according to claim 2, characterized in that: The first drive assembly includes a first drive member and a second drive member; The first clamping member and the second clamping member are respectively connected to the output end of the second driving member; The second driving member is connected to the output end of the first driving member, and the second driving member is used to drive the first clamping member and the second clamping member to move toward each other or away from each other; The first driving member is used to drive the second driving member, the first clamping member and the second clamping member to move along the Z direction.

5. The cap removal device according to claim 2, characterized in that: The clamping mechanism further comprises a connecting assembly, wherein the connecting assembly is used to connect the clamping assembly and the first driving assembly; Wherein, the connecting component includes a first connecting member and a second connecting member, the first connecting member is connected between the first clamping member and the first driving component, and the second connecting member is connected between the second clamping member and the first driving component.

6. The cap removal device according to claim 5, characterized in that: The first connecting member includes a first connecting portion and a first extending portion, the first connecting portion is connected to the output end of the first driving assembly and extends along the Z direction, one end of the first extending portion is connected to the first connecting portion, and the other end of the first extending portion extends along the X direction and is connected to the first clamping member; and / or The second connecting member includes a second connecting portion and a second extending portion, the second connecting portion is connected to the output end of the first driving component and extends along the Z direction, one end of the second extending portion is connected to the second connecting portion, and the other end of the second extending portion extends along the X direction and is connected to the second clamping member.

7. The cap removal device according to claim 1, characterized in that: The cap removal assembly includes a clamping jaw assembly and a second driving assembly, wherein the clamping jaw assembly is connected to the second driving assembly, and the clamping jaw assembly includes a plurality of clamping jaws. The second driving assembly is configured to drive the plurality of clamping jaws to clamp the cap of the sample tube and drive the cap to rotate around the Z axis.

8. The cap removal device according to claim 7, characterized in that: The second drive assembly includes a third drive member and a fourth drive member; The clamping claw is connected to the output ends of the third driving member and the fourth driving member; The third driving member is used to drive the plurality of clamps to clamp the caps of the sample tubes, and the fourth driving member is used to drive the clamps to rotate around the Z axis.

9. The cap removal device according to claim 7, characterized in that: The driving module comprises a Y-direction driving module and a Z-direction driving module, the cap removal component is connected to the Z-direction driving module, the Z-direction driving module is used to drive the cap removal component to move along the Z-direction, the Z-direction driving module is connected to the Y-direction driving module, the Y-direction driving module is used to drive the cap removal component to move along the Y-direction; and / or The cap removal device further includes a control unit, which is electrically connected to the first drive component, the second drive component and the drive module.

10. A method for removing a cap, characterized in that: The following steps are involved: Control the first driving assembly to drive the clamping assembly to move along the Z direction and clamp the sample tube; Control the driving module to drive the cap-removing assembly to move relative to the clamping assembly, so that the cap-removing assembly can drive the tube cap of the sample tube to rotate and detach from the sample tube; The control driving module drives the cap removing assembly to move so as to transfer the detached pipe cap.

Images