Cap removing device and cap removing method for penicillin bottle

Abstract

The invention discloses a cap removing device and method for a penicillin bottle, the penicillin bottle comprises a bottle body and a bottle cap, the bottle body is provided with a near end close to the bottle cap and a far end away from the bottle cap, the cap removing device comprises a first clamping mechanism and a second clamping mechanism which can move relatively, the first clamping mechanism is configured to clamp the near end of the bottle body, and the second clamping mechanism is configured to clamp the far end of the bottle body. The second clamping mechanism is configured to clamp the far end of the bottle body, and when the cap of the penicillin bottle is removed, the first clamping mechanism and the second clamping mechanism move relatively in the length direction of the bottle body, so that the bottle cap abuts against the first clamping mechanism and is separated from the bottle body through the abutting effect of the first clamping mechanism. Therefore, the cap removing device for the penicillin bottle can improve the stress balance of the bottle cap when the cap removing device is used for removing the bottle cap of the penicillin bottle, so that the separation stability of the bottle cap and the bottle body can be improved.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of drug dispensing equipment, and more particularly to a decapping device and a decapping method for a vial. Background Art

[0002] A vial is a small glass container, usually used to store and transport liquid or powdered drugs. The vial is usually sealed with a rubber stopper and an aluminum-plastic combination cap, so it has very good sealing properties and can effectively protect the drugs in the bottle from external contamination. When the liquid medicine in the vial needs to be used, it is usually necessary to open the vial cap (that is, remove the cap), then use a syringe to insert it into the bottle, and suck out the liquid medicine in the bottle for use.

[0003] In an automated dispensing system, there are usually more stringent requirements for opening the cap of a vial. Not only is it required to open the cap, but it is also required that after the cap is opened, the cap and the bottle body are separated (that is, the cap falls off the bottle body), so as to ensure that the cap does not affect the insertion of the syringe into the vial. In existing automated dispensing systems, the cap of a vial is usually opened by prying it open from one side. For example, at the cap opening station, under the driving action of the cam drive unit, the cam rotates to drive the cap opening piece to move toward the vial, and after the cap opening piece abuts against the vial, the cap opening piece moves upward to pry open the cap of the vial.

[0004] However, when the bottle cap of the cillin bottle is opened by prying the bottle cap open from one side, due to the uneven force on the bottle cap, the bottle cap may be opened but not completely separated from the bottle body (that is, the bottle cap and the bottle body are still connected). Therefore, the bottle cap may affect the insertion of the syringe into the cillin bottle. Summary of the invention

[0005] The present disclosure is proposed in view of the above situation, and aims to provide a cap removal device and a cap removal method for a vial. The cap removal device can improve the balance of force on the vial cap when removing the vial cap, thereby improving the stability of separation between the vial cap and the bottle body.

[0006] To this end, the first aspect of the present disclosure provides a capping device for a syringe bottle, wherein the syringe bottle comprises a bottle body and a bottle cap, the bottle body having a proximal end close to the bottle cap and a distal end away from the bottle cap, the capping device comprising a first clamping mechanism and a second clamping mechanism which are relatively movable, the first clamping mechanism being configured to clamp the proximal end of the bottle body, and the second clamping mechanism being configured to clamp the distal end of the bottle body, and when the syringe bottle is capped, the first clamping mechanism and the second clamping mechanism are relatively moved along the length direction of the bottle body so that the bottle cap abuts against the first clamping mechanism and is separated from the bottle body by the abutting action of the first clamping mechanism.

[0007] In the decapping device involved in the first aspect of the present disclosure, during the process of decapping a vial, the first clamping mechanism and the second clamping mechanism clamp the two ends of the bottle body, so that the vial can be well fastened, thereby preventing the vial from rotating unexpectedly and causing the decapping to fail. In addition, after the bottle cap (for example, the edge of the bottle cap) abuts the first clamping mechanism, the bottle cap is separated from the bottle body by the abutting action of the first clamping mechanism, which can improve the balance of force on the bottle cap, thereby improving the stability of the separation of the bottle cap from the bottle body.

[0008] In addition, in the cap removal device involved in the first aspect of the present disclosure, optionally, the first clamping mechanism includes a first arm and a second arm arranged opposite to each other, the first arm can move toward or away from the second arm, and the first clamping mechanism clamps the proximal end of the bottle body in a manner that the first arm and the second arm respectively abut against the bottle body from both sides. In this case, by moving the first arm and the second arm toward each other to clamp the proximal end of the bottle body from opposite sides of the bottle body, the tightness and balance of the first clamping mechanism clamping the bottle body can be improved.

[0009] In addition, in the cap removal device involved in the first aspect of the present disclosure, optionally, the first arm has a first recessed portion, the second arm has a second recessed portion, the first recessed portion and the second recessed portion are arranged opposite to each other, and the first clamping mechanism clamps the proximal end of the bottle body in a manner that the first recessed portion and the second recessed portion simultaneously wrap the bottle body. In this case, the first recessed portion and the second recessed portion can better adapt to the shape of the bottle body, and when the first arm and the second arm clamp the bottle body, undesirable situations such as crushing the vial can be suppressed. In addition, the first recessed portion and the second recessed portion can increase the contact area between the first arm and the second arm and the bottle body, thereby improving the tightness of the first clamping mechanism clamping the bottle body.

[0010] In addition, in the cap removal device involved in the first aspect of the present disclosure, optionally, the first clamping mechanism further includes a first driving unit, and the first driving unit is configured to drive the first arm and the second arm to abut against the bottle body from both sides, respectively. This can facilitate the first clamping mechanism to automatically clamp the vial.

[0011] In addition, in the decapping device involved in the first aspect of the present disclosure, optionally, a fixing bracket is further included, the first clamping mechanism is fixedly disposed on the fixing bracket, and the fixing bracket is configured to clamp the bottle body through the first clamping mechanism to fix the vial. In this case, the fixing bracket can facilitate the support and fixation of the first clamping mechanism, and when the first clamping mechanism clamps the bottle body, it can facilitate the cooperation with the second clamping mechanism to remove the bottle cap from the vial.

[0012] The second aspect of the present disclosure further provides a method for removing the cap of a syringe bottle, which is a method for removing the cap of a syringe bottle using the removing cap device involved in the first aspect of the present disclosure, comprising: allowing the second clamping mechanism to clamp the distal end of the bottle body; allowing the first clamping mechanism to clamp the proximal end of the bottle body; and allowing the first clamping mechanism and the second clamping mechanism to move relative to each other along the length direction of the bottle body, so that the bottle cap abuts the first clamping mechanism and is separated from the bottle body by the abutting action of the first clamping mechanism.

[0013] In the cap removal method involved in the second aspect of the present disclosure, the first clamping mechanism and the second clamping mechanism clamp the two ends of the bottle body, so that the vial can be well fastened, thereby preventing the vial from rotating unexpectedly and causing the failure of the bottle cap removal. In addition, after the bottle cap (for example, the edge of the bottle cap) abuts the first clamping mechanism, the bottle cap is separated from the bottle body by the abutment of the first clamping mechanism, which can improve the balance of the force on the bottle cap, thereby improving the stability of the separation of the bottle cap from the bottle body.

[0014] In addition, in the cap removal method involved in the second aspect of the present disclosure, optionally, the first clamping mechanism is driven to move relative to the vial in a direction close to the bottle cap along the length direction of the bottle body until the bottle cap is separated from the bottle body by the abutment of the first clamping mechanism. In this case, the bottle body and the first clamping mechanism can be relatively moved so that the first clamping mechanism abuts against the bottle cap, thereby facilitating the bottle cap to be separated from the bottle body by the abutment of the first clamping mechanism.

[0015] In addition, in the cap removal method involved in the second aspect of the present disclosure, optionally, the second clamping mechanism is driven to drive the vial to move relative to the first clamping mechanism along the length direction of the bottle body in a direction away from the bottle cap, until the bottle cap is separated from the bottle body by the abutment of the first clamping mechanism. In this case, the vial is driven to move by the second clamping mechanism, so that the bottle body and the first clamping mechanism can move relative to each other so that the bottle cap abuts against the first clamping mechanism, thereby facilitating the bottle cap to be separated from the bottle body by the abutment of the first clamping mechanism.

[0016] In addition, in the cap removal method involved in the second aspect of the present disclosure, optionally, the second clamping force of the second clamping mechanism clamping the bottle body is greater than the first clamping force of the first clamping mechanism clamping the bottle body. In this case, when the first clamping mechanism and the second clamping mechanism move relative to each other along the length direction of the bottle body, the bottle body and the second clamping mechanism can move synchronously, so that the bottle body and the first clamping mechanism move relative to each other, and the bottle cap can be easily separated from the bottle body by the abutment of the first clamping mechanism.

[0017] In addition, in the decapping method of the second aspect of the present disclosure, optionally, it further includes detecting whether the bottle cap is separated from the bottle body. In this case, the decapping result of whether the bottle cap is separated from the bottle body can be confirmed, thereby preventing the vial from being transported to the next processing link without completing the decapping.

[0018] According to the present disclosure, a cap-removing device for a vial can be provided, which can improve the balance of force on the bottle cap when removing the bottle cap from the vial, thereby improving the stability of separation of the bottle cap from the bottle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

[0020] Figure 1 It is a schematic diagram showing an application scenario of the decapping device involved in the example of the present disclosure.

[0021] Figure 2 is an overall schematic diagram showing the vial involved in the example of the present disclosure.

[0022] Figure 3A is a schematic diagram showing the separation of the plastic cover and the aluminum cover involved in the example of the present disclosure.

[0023] Figure 3B Schematic diagram showing the combination of a plastic cover and an aluminum cover involved in an example of the present disclosure.

[0024] Figure 4A It is a schematic diagram showing the first clamping mechanism and the second clamping mechanism involved in the example of the present disclosure respectively clamping a vial.

[0025] Figure 4B Schematic diagram showing the first clamping mechanism according to the example of the present disclosure abutting against the bottle cap.

[0026] Figure 4C The first clamping mechanism and the second clamping mechanism involved in the example of the present disclosure are shown to separate the cap of a vial from the vial body.

[0027] Figure 5A Schematic diagram showing the first clamping mechanism involved in the example of the present disclosure being opened.

[0028] Figure 5B is a schematic diagram showing the closing of the second clamping mechanism involved in the example of the present disclosure.

[0029] Fig. 6A It is a schematic diagram showing that the first clamping mechanism involved in the example of the present disclosure is arranged on a fixed bracket.

[0030] Figure 6BIt is a schematic diagram showing that the first clamping mechanism and the detection mechanism involved in the example of the present disclosure are arranged on a fixed bracket.

[0031] Figure 7 is an overall schematic diagram showing a second clamping mechanism involved in the example of the present disclosure.

[0032] Fig. 8A 1 is a bottom view schematically showing the enlarged clamping space of the second clamping mechanism involved in the example of the present disclosure.

[0033] Figure 8B 1 is a bottom view schematically showing the reduced clamping space of the second clamping mechanism involved in the example of the present disclosure.

[0034] Fig. 9 is a flowchart illustrating a decapping method involved in an example of the present disclosure.

[0035] Description of reference numerals:

[0036] 6…syringa bottle, 60…bottle body, 62…aluminum cover, 66…plastic cover, 620…through hole, 660…boss, 662…annular groove, 622…circumferential notch, 100…cap removal device, 10…first clamping mechanism, 20…second clamping mechanism, 30…fixed bracket, 40…detection mechanism, 50…support mechanism, 12…first arm, 122…first recessed portion, 14…second arm, 142…second recessed portion, 16…first driving portion, 22…third arm, 222…first cam, 224…first raised portion, 24…fourth arm, 242…second cam, 244…second raised portion, 26…central arm, 262…first guide groove, 264…second guide groove, A…clamping space, 28…second driving portion. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0038] It should be noted that the terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the following description, the same symbols are given to the same components, and repeated descriptions are omitted. In addition, the drawings are only schematic diagrams, and the ratio of the sizes of the components to each other or the shapes of the components may be different from the actual ones.

[0039] In the present disclosure, the bottle cap of a vial may be expressed as the bottle cap of the vial, and removing the bottle cap from the vial may be expressed as removing the bottle cap from the vial (also referred to as removing the cap).

[0040] Hereinafter, the decapping device and decapping method involved in the present disclosure will be described with reference to the accompanying drawings.

[0041] Figure 1 is a schematic diagram showing an application scenario of the decapping device 100 involved in the example of the present disclosure.

[0042] The first aspect of the present disclosure relates to a cap removal device 100 for a vial 6, see Figure 1 The cap removal device 100 can be used to remove the cap of the vial 6. Further, when the cap removal device 100 removes the cap of the vial 6, the force balance of the cap can be improved, thereby improving the stability of the separation of the cap from the bottle body 60.

[0043] In some examples, the cap removal device 100 of the present disclosure can be used to automatically remove the caps from the vials 6 in an automated liquid dispensing system.

[0044] In addition, the second aspect of the present disclosure relates to a method for removing the cap of a syringe bottle 6, which is a method for removing the bottle cap of a syringe bottle 6 using the cap removal device 100 involved in the present disclosure. Using the cap removal method to remove the bottle cap of the syringe bottle 6 can improve the stability of separation of the bottle cap and the bottle body 60.

[0045] In some examples, the decapping device 100 of the vial 6 involved in the present disclosure may be simply referred to as the decapping device 100. In addition, the decapping device 100 may also be referred to as a decapping system, a decapping device or a decapping system, etc., and the decapping method may also be referred to as a decapping method or a bottle opening method.

[0046] Figure 2 is a schematic diagram showing the entirety of the vial 6 involved in the example of the present disclosure. Figure 3A is a schematic diagram showing the separation of the plastic cover 66 and the aluminum cover 62 according to an example of the present disclosure. Figure 3B Schematic diagram showing the combination of a plastic cover 66 and an aluminum cover 62 according to an example of the present disclosure.

[0047] For some examples, see Figure 2 The vial 6 may include a bottle body 60 and a bottle cap (i.e., a plastic cap 66). The bottle body 60 may have a receiving chamber, and the receiving chamber may be used to store medicines. In some examples, the medicines may include liquid medicines and powdered medicines.

[0048] In some examples, the bottle body 60 may have a bottle mouth, which can facilitate taking out the medicine in the containing chamber.

[0049] In some examples, the mouth of the vial 6 can be sealed with a rubber stopper. In addition, the rubber stopper can be covered with an aluminum cap 62. Further, the aluminum cap 62 can also be covered with a plastic cap 66. Specifically, along the direction in which the mouth of the vial extends toward the distal end, the mouth of the vial 6 can be provided with a rubber stopper, an aluminum cap 62, and a plastic cap 66 ( Figure 2 An aluminum cover 62 and a plastic cover 66 are schematically shown).

[0050] In some examples, after the plastic cover 66 is opened, the rubber stopper may be exposed, and a syringe may be inserted into the accommodating chamber of the bottle body 60 through the rubber stopper, so that the liquid medicine in the bottle body 60 may be sucked out by the syringe for later use.

[0051] In other examples, the aspirator can be inserted into the containing chamber of the bottle body 60 through the rubber stopper, and liquid can be injected into the containing chamber, and the liquid can be mixed with the medicine powder in the bottle body 60 to form a medicine liquid. Further, the aspirator can suck out the medicine liquid for standby use.

[0052] In some examples, decapping the vial 6 may mean opening the plastic cap 66 to separate the plastic cap 66 from the vial body 60 .

[0053] In some examples, the cap removal device 100 according to the present disclosure may be a device for opening the plastic cap 66 to separate the plastic cap 66 from the bottle body 60 .

[0054] In addition, unless otherwise specified, the bottle caps involved in the present disclosure may all represent plastic caps 66. In other words, in the present disclosure, the bottle body 60 of the vial 6 may include a rubber stopper and an aluminum cap 62 disposed at the bottle mouth, and the bottle cap of the vial 6 may represent a plastic cap 66 covering the aluminum cap 62.

[0055] In some examples, the plastic cover 66 may be covered on the aluminum cover 62 by being fixedly connected to the aluminum cover 62. Figure 3A and Figure 3B The aluminum cover 62 may have a through hole 620 near the bottom center, the plastic cover 66 may have a boss 660 adapted to the through hole 620, and an annular groove 662 may be formed axially around the boss 660. The plastic cover 66 may be inserted into the through hole 620 through the boss 660 so that part of the aluminum cover 62 is fixedly connected to the aluminum cover 62 in such a manner that the aluminum cover 62 is partially inserted into the annular groove 662. In addition, the surface of the aluminum cover 62 near the through hole 620 may be distributed with a plurality of circumferential notches 622 ( Figure 3A One of the circumferential notches 622 is schematically indicated. In this case, due to the presence of the plurality of circumferential notches 622, the circumferential notches 622 can be broken by applying an external force to the plastic cover 66, and the boss 660 can drive a portion of the aluminum cover 62 to separate from the entire aluminum cover 62, so that the boss 660 can be easily separated from the aluminum cover 62, and then the plastic cover 66 can be easily separated from the aluminum cover 62, thereby separating the bottle cap from the bottle body 60.

[0056] In addition, it should be noted that since the multiple circumferential notches 622 on the surface of the aluminum cover 62 are arranged around the boss 660 of the plastic cover 66, if an external force is applied to the plastic cover 66 by prying the bottle cap open on one side, the plastic cover 66 may not be completely broken due to the uneven force, so that the plastic cover 66 is not separated from the aluminum cover 62.

[0057] In some examples, the edge of the bottle cap may protrude beyond the bottle body 60. For example, see Figure 3B , the edge of the plastic cover 66 can protrude from the aluminum cover 62. In this case, it is convenient to apply force to the edge of the bottle cap so that the plastic cover 66 is separated from the bottle body 60.

[0058] In some examples, the bottle body 60 may have a proximal end and a distal end. The proximal end may refer to an end of the bottle body 60 close to the bottle cap, and the distal end may refer to an end of the bottle body 60 away from the bottle cap. In some examples, the proximal end of the bottle body 60 may include an aluminum cap 62.

[0059] Figure 4A 1 is a schematic diagram showing the first clamping mechanism 10 and the second clamping mechanism 20 involved in the example of the present disclosure respectively clamping the vial 6 . Figure 4B Schematic diagram showing the first clamping mechanism 10 according to the example of the present disclosure abutting against the bottle cap. Figure 4C FIG. 1 shows the first clamping mechanism 10 and the second clamping mechanism 20 according to the example of the present disclosure separating the cap of the vial 6 from the bottle body 60 .

[0060] For some examples, see Figure 1 The cap removal device 100 may include a first clamping mechanism 10 and a second clamping mechanism 20 . The second clamping mechanism 20 may be movable relative to the first clamping mechanism 10 .

[0061] For some examples, see Figure 4A , the first clamping mechanism 10 can be configured to clamp the proximal end of the bottle body 60, and the second clamping mechanism 20 can be configured to clamp the distal end of the bottle body 60. In some examples, the first clamping mechanism 10 can cooperate with the second clamping mechanism 20 to remove the cap of the vial 6.

[0062] In some examples, when removing the cap from the syringe bottle 6, after the first clamping mechanism 10 clamps the proximal end of the bottle body 60 and the second clamping mechanism 20 clamps the distal end of the bottle body 60, the first clamping mechanism 10 and the second clamping mechanism 20 can be relatively moved along the length direction of the bottle body 60 so that the bottle cap (i.e., the plastic cap 66) abuts against the first clamping mechanism 10 and is separated from the bottle body 60 by the abutment of the first clamping mechanism 10.

[0063] Specifically, when removing the cap from the vial 6, the first clamping mechanism 10 can clamp the proximal end of the bottle body 60 (for example, the first clamping mechanism 10 can clamp the aluminum cap 62), and the second clamping mechanism 20 can clamp the distal end of the bottle body 60 (see Figure 4A ), the first clamping mechanism 10 and the second clamping mechanism 20 are relatively moved along the length direction of the bottle body 60 so that the edge of the bottle cap abuts against the first clamping mechanism 10 (see Figure 4B ), after the edge of the bottle cap abuts the first clamping mechanism 10, the first clamping mechanism 10 and the second clamping mechanism 20 continue to move relative to each other until the bottle cap can be separated from the bottle body 60 by the abutment of the first clamping mechanism 10 (see Figure 4C ). In this case, during the process of removing the bottle cap of the vial 6, the first clamping mechanism 10 and the second clamping mechanism clamp the two ends of the bottle body 60, so that the vial 6 can be well fastened, thereby preventing the vial 6 from rotating unexpectedly and causing the removal of the bottle cap to fail. In addition, compared with removing the bottle cap of the vial 6 by prying the bottle cap open on one side, the cap removal device 100 involved in the present disclosure separates the bottle cap from the bottle body 60 by the abutment of the first clamping mechanism 10 after the edge of the bottle cap abuts against the first clamping mechanism 10, which can improve the balance of the force on the bottle cap, thereby improving the stability of the separation of the bottle cap from the bottle body 60.

[0064] In some examples, the abutment action may refer to a force applied by the first clamping mechanism 10 to the bottle cap after the bottle cap abuts the first clamping mechanism 10 due to the relative movement of the first clamping mechanism 10 and the bottle cap, and the force may separate the bottle cap from the bottle body 60 .

[0065] Figure 5A 1 is a schematic diagram showing the first clamping mechanism 10 according to the example of the present disclosure being opened. Figure 5B 2 is a schematic diagram showing the second clamping mechanism 20 according to the example of the present disclosure being closed.

[0066] For some examples, see Figure 5A or Figure 5B The first clamping mechanism 10 may include a first arm 12 and a second arm 14 , and the first arm 12 and the second arm 14 may be disposed opposite to each other.

[0067] In some examples, the first arm 12 and the second arm 14 can be linked. In some examples, the first arm 12 can move toward the second arm 14. In addition, the first arm 12 can move away from the second arm 14. Thus, the first clamping mechanism 10 can be opened and closed to clamp or release the vial 6.

[0068] For some examples, see Figure 5B , the first arm 12 and the second arm 14 move toward each other to close the first clamping mechanism 10. Thus, the first clamping mechanism 10 can clamp the vial 6. In addition, in some examples, see Figure 5A , the first arm 12 and the second arm 14 move in opposite directions to open the first clamping mechanism 10 . Thus, the first clamping mechanism 10 can release the vial 6 .

[0069] In some examples, the first clamping mechanism 10 can clamp the proximal end of the bottle body 60 in a manner that the first arm 12 and the second arm 14 respectively abut against the bottle body 60 from both sides. In other words, the first arm 12 and the second arm 14 can move toward each other and abut against the bottle body 60 from both sides to clamp the proximal end of the bottle body 60, so that the first clamping mechanism 10 clamps the proximal end of the bottle body 60. In this case, by the first arm 12 and the second arm 14 moving toward each other to clamp the proximal end of the bottle body 60 from opposite sides of the bottle body 60, the tightness and balance of the first clamping mechanism 10 clamping the bottle body 60 can be improved.

[0070] In some examples, the process of removing the cap from the syringe bottle 6 may include: allowing the first arm 12 and the second arm 14 to clamp the proximal end of the bottle body 60 and the second clamping mechanism 20 to clamp the distal end of the bottle body 60, allowing the first clamping mechanism 10 and the second clamping mechanism 20 to move relative to each other along the length direction of the bottle body 60 so that the edge of the bottle cap abuts the first arm 12 and the second arm 14, and after the edge of the bottle cap abuts the first arm 12 and the second arm 14, allowing the first clamping mechanism 10 and the second clamping mechanism 20 to continue to maintain relative movement until the bottle cap can be separated from the bottle body 60 by the abutment action of the first clamping mechanism 10.

[0071] In some examples, after the bottle cap is separated from the bottle body 60, the bottle cap can be located on the first arm 12 and the second arm 14 ( Figure 4C Schematically shows a situation where the plastic cap 66 is located on the first clamping mechanism 10), the first arm 12 and the second arm 14 move in opposite directions to open the first clamping mechanism 10, and the bottle cap can fall from the first clamping mechanism 10 under the action of gravity.

[0072] For some examples, see Figure 5A or Figure 5B , the first arm 12 may have a first recessed portion 122, the second arm 14 may have a second recessed portion 142, the first recessed portion 122 and the second recessed portion 142 may be arranged opposite to each other, and the first clamping mechanism 10 may clamp the proximal end of the bottle body 60 in a manner that the first recessed portion 122 and the second recessed portion 142 simultaneously wrap the bottle body 60. In this case, the first recessed portion 122 and the second recessed portion 142 can better adapt to the shape of the bottle body 60, and when the first arm 12 and the second arm 14 clamp the bottle body 60, it is possible to prevent the occurrence of undesirable situations such as crushing the vial 6. In addition, the first recessed portion 122 and the second recessed portion 142 can increase the contact area between the first arm 12 and the second arm 14 and the bottle body 60, thereby improving the tightness of the first clamping mechanism 10 clamping the bottle body 60.

[0073] For some examples, see Figure 5A or Figure 5B The first clamping mechanism 10 may further include a first driving unit 16, and the first driving unit 16 may be configured to drive the first arm 12 and the second arm 14 to respectively abut against the bottle body 60 from both sides. In other words, the first arm 12 and the second arm 14 may abut against the bottle body 60 from opposite sides of the bottle body 60 under the drive of the first driving unit 16, so as to achieve the clamping of the bottle body 60 by the first arm 12 and the second arm 14. In this way, the first clamping mechanism 10 can achieve automatic clamping of the vial 6.

[0074] In some examples, the first drive unit 16 may be a pneumatic actuator. A pneumatic actuator may refer to an element that converts the pressure of compressed gas into an output force (or output torque) to drive the movement of a mechanical component. In this case, compared to electrical actuators, since compressed gas has better elasticity, when the first drive unit 16 drives the first arm 12 and the second arm 14 to clamp the bottle body 60, it is equivalent to the first arm 12 and the second arm 14 clamping the bottle body 60 under the action of elasticity, so that the first arm 12 and the second arm 14 can be adapted to bottles 60 of various diameters, thereby improving the universality of the first arm 12 and the second arm 14.

[0075] In some examples, the first driving part 16 may be a pneumatic actuator such as a pneumatic gripper, a cylinder, or a pneumatic motor.

[0076] Preferably, in some examples, the first driving part 16 may be a pneumatic clamp. In this case, since the pneumatic clamp has the characteristics of high clamping repetition accuracy and constant clamping torque, when the first driving part 16 drives the first arm 12 and the second arm 14 to clamp the bottle body 60, the clamping accuracy and clamping stability of the first arm 12 and the second arm 14 can be improved.

[0077] Fig. 6A Schematic diagram showing that the first clamping mechanism 10 involved in the example of the present disclosure is arranged on the fixing bracket 30 . Figure 6B Schematic diagram showing that the first clamping mechanism 10 and the detection mechanism 40 involved in the example of the present disclosure are arranged on the fixed bracket 30 .

[0078] For some examples, see Figure 1 The cap removal device 100 may further include a fixing bracket 30, and the fixing bracket 30 may be used to fix the first clamping mechanism 10. In addition, the fixing bracket 30 may be used to support the first clamping mechanism 10.

[0079] For some examples, see Fig. 6A or Figure 6B The first clamping mechanism 10 can be fixedly arranged on the fixing bracket 30. Thus, the first clamping mechanism 10 can be easily supported and fixed by the fixing bracket 30.

[0080] In some examples, the fixing bracket 30 can be configured to fix the vial 6 by clamping the bottle body 60 through the first clamping mechanism 10. In other words, since the first clamping mechanism 10 is fixedly disposed on the fixing bracket 30, when the first clamping mechanism 10 clamps the bottle body 60 of the vial 6, it is equivalent to fixing the vial 6 to the fixing bracket 30. Thus, it is convenient for the first clamping mechanism 10 and the second clamping mechanism 20 to cooperate with each other to remove the bottle cap of the vial 6.

[0081] Figure 7 2 is a schematic diagram showing the entirety of the second clamping mechanism 20 according to the example of the present disclosure. Fig. 8A 1 is a bottom view schematically showing an enlarged clamping space A of the second clamping mechanism 20 involved in the example of the present disclosure. Figure 8B 1 is a bottom view schematically showing a reduced clamping space A of the second clamping mechanism 20 involved in the example of the present disclosure.

[0082] As described above, the cap removal device 100 may further include a second clamping mechanism 20. Figure 7 The second clamping mechanism 20 may include a third arm 22, a fourth arm 24, and a central arm 26. The central arm 26 may be linked with the third arm 22 and the fourth arm 24. In addition, the third arm 22 and the fourth arm 24 may move toward or away from each other.

[0083] For some examples, see Fig. 8A or Figure 8B The central arm 26 , the third arm 22 , and the fourth arm 24 may cooperate to form a clamping space A. In addition, the central arm 26 , the third arm 22 , and the fourth arm 24 may abut against the vial 6 located in the clamping space A to clamp the vial 6 .

[0084] In some examples, the second clamping mechanism 20 can clamp the distal end of the bottle body 60 in a manner that the central arm 26, the third arm 22, and the fourth arm 24 respectively abut against the bottle body 60 from three directions. In this way, the contact points between the bottle body 60 and the second clamping mechanism 20 can be increased, thereby improving the tightness of the second clamping mechanism 20 clamping the bottle body 60.

[0085] For some examples, see Fig. 8A When the vial 6 is located in the clamping space A, the central arm 26 can move in the front direction in a manner close to the vial 6, and the front direction can be represented by the D1 direction. In addition, the central arm 26 can move in the rear direction in a manner away from the vial 6, and the rear direction can be represented by the D2 direction.

[0086] For some examples, see Fig. 8A The third arm 22 and the fourth arm 24 can move toward or away from each other along the left and right directions. The left and right directions can represent the D3 direction and the D4 direction, respectively.

[0087] In some examples, the linkage between the central arm 26 and the third arm 22 and the fourth arm 24 can be expressed as: Figure 8B When the central arm 26 moves along the direction D1, the third arm 22 can move along the direction D4, and the fourth arm 24 can move along the direction D3, so that the clamping space A is reduced, and the second clamping mechanism 20 can clamp the vial 6 located in the clamping space A. In addition, see Fig. 8A When the central arm 26 moves along the direction D2, the third arm 22 can move along the direction D3, and the fourth arm 24 can move along the direction D4, so that the clamping space A is expanded and the second clamping mechanism 20 can release the vial 6.

[0088] For some examples, see Fig. 8A or Figure 8B The third arm 22 and the fourth arm 24 may be located at opposite sides of the central arm 26. A first guide groove 262 and a second guide groove 264 may be provided at opposite wings of the central arm 26. In addition, the first guide groove 262 and the second guide groove 264 may gradually move away from each other along the D1 direction.

[0089] For some examples, see Fig. 8A or Figure 8B, the third arm 22 may have a first cam 222. The first cam 222 may be movably embedded in the first guide groove 262. In addition, the fourth arm 24 may have a second cam 242. The second cam 242 may be movably embedded in the second guide groove 264. In this case, when the third arm 22 and the fourth arm 24 move toward each other, that is, the third arm 22 moves along the D4 direction and the fourth arm 24 moves along the D3 direction, the central arm 26 can be linked to move along the D1 direction, so that the central arm 26, the third arm 22 and the fourth arm 24 respectively abut the bottle body 60 of the vial 6 from three directions to clamp the distal end of the bottle body 60, thereby enabling the second clamping mechanism 20 to clamp the distal end of the bottle body 60. In addition, after the second clamping mechanism 20 clamps the vial 6, when the third arm 22 and the fourth arm 24 move in opposite directions, that is, the third arm 22 moves along the direction D3 and the fourth arm 24 moves along the direction D4, the central arm 26 can be linked and move along the direction D2, thereby expanding the clamping space A and enabling the second clamping mechanism 20 to release the vial 6.

[0090] For some examples, see Fig. 8A or Figure 8B , the third arm 22 may have a first protrusion 224, the fourth arm 24 may have a second protrusion 244, and the first protrusion 224 and the second protrusion 244 may be arranged opposite to each other. In some examples, the first protrusion 224, the second protrusion 244 and the central arm 26 may cooperate to form a clamping space A. In this case, when the body 60 of the vial 6 is placed in the clamping space A, the tightness of the second clamping mechanism 20 clamping the distal end of the body 60 can be further improved.

[0091] For some examples, see Figure 7 The second clamping mechanism 20 may further include a second driving unit 28, which may be configured to drive the central arm 26, the third arm 22 and the fourth arm 24 to abut against the bottle body 60 from three directions. Thus, the second clamping mechanism 20 may automatically clamp the vial 6.

[0092] In some examples, the second driving unit 28 can be configured to drive the third arm 22 and the fourth arm 24 to move toward or away from each other in the left-right direction, so that the central arm 26 can be linked to move in the front-rear direction.

[0093] In some examples, the second driving part 28 may be an electrical actuator. The electrical actuator may refer to an element that converts electrical energy into mechanical motion. In this case, it is convenient to more accurately control the clamping force of the second clamping mechanism 20 clamping the bottle body 60. In some examples, the second driving part 28 may be, for example, an electric cylinder, a servo motor, or a stepper motor.

[0094] It should be noted that, in the present disclosure, the first clamping mechanism 10 is driven by a pneumatic actuator to clamp the bottle body 60, and the second clamping mechanism 20 is driven by an electrical actuator to clamp the bottle body 60, so that the second clamping force of the second clamping mechanism 20 clamping the bottle body 60 is greater than the first clamping force of the first clamping mechanism 10 clamping the bottle body 60. In this case, when the first clamping mechanism 10 and the second clamping mechanism 20 move relative to each other along the length direction of the bottle body 60, the bottle body 60 and the second clamping mechanism 20 can move synchronously, so that the bottle body 60 and the first clamping mechanism 10 move relative to each other, and then the bottle cap can be easily separated from the bottle body 60 by the abutment of the first clamping mechanism 10.

[0095] In some examples, the first clamping force may represent the clamping force applied by the first arm 12 and the second arm 14 to the bottle body 60 simultaneously after the first arm 12 and the second arm 14 abut against the bottle body 60 from both sides. In addition, the second clamping force may represent the clamping force applied by the central arm 26, the third arm 22 and the fourth arm 24 to the bottle body 60 simultaneously after the central arm 26, the third arm 22 and the fourth arm 24 abut against the bottle body 60 from three directions respectively.

[0096] For some examples, see Figure 7 The cap removal device 100 may further include a supporting mechanism 50, and the second clamping mechanism 20 may be disposed on the supporting mechanism 50. In some examples, the second clamping mechanism 20 may be connected to the supporting mechanism 50 by rotating around an axis.

[0097] In some examples, the carrying mechanism 50 may be configured to clamp the body 60 of the vial 6 through the second clamping mechanism 20 to carry the vial 6 for movement. In some examples, after the carrying mechanism 50 carries the vial 6, the carrying mechanism 50 may adjust the spatial position and posture angle of the vial 6 in the three-dimensional space. Thus, the coordinates and posture of the vial 6 in the three-dimensional space can be adjusted as needed.

[0098] In some examples, after the second clamping mechanism 20 clamps the distal end of the bottle body 60 , the carrying mechanism 50 can carry the vial 6 and move the vial 6 to a target position, and the first clamping mechanism 10 can clamp the proximal end of the vial 6 at the target position.

[0099] In some examples, the target position may represent a station for removing the cap from the vial 6. In addition, when the vial 6 is located at the target position, the first clamping mechanism 10 may clamp the proximal end of the vial 6.

[0100] In some examples, the first clamping mechanism 10 may have a first detection unit. The first detection unit may be configured to detect whether the vial 6 is located at a target position.

[0101] In some examples, in response to the vial 6 being located at the target position, the first detection unit may output a first detection result. In response to the first detection result, the first driving unit 16 may drive the first arm 12 and the second arm 14 to clamp the proximal end of the vial 6 .

[0102] In some examples, in response to the vial 6 not being at the target position (or partially exceeding the range of the target position), the first detection unit may output a second detection result. In response to the second detection result, the carrying mechanism 50 may carry the vial 6 and adjust the spatial position of the vial 6 so that the vial 6 is at the target position.

[0103] Further, in response to the inclination of the bottle body 60 of the vial 6 located at the target position, the first detection unit may output a third detection result. Based on the third detection result, the carrying mechanism 50 may carry the vial 6 and adjust the posture angle of the vial 6 to place the vial 6 at the target position at an angle where the bottle body 60 is substantially parallel to the vertical direction. Thus, the accuracy of the first clamping mechanism 10 clamping the proximal end of the vial 6 can be improved. In some examples, the third detection result may be the angle at which the bottle body 60 is inclined relative to the vertical direction.

[0104] In some examples, the first detection unit may be a machine vision system (eg, a visual positioning system).

[0105] In some examples, the carrying mechanism 50 may be a multi-axis robotic arm. In this case, the carrying mechanism 50 can carry the vial 6 to move the vial 6; in addition, the carrying mechanism 50 can carry the vial 6 to adjust the spatial position and posture angle at will. In some examples, the carrying mechanism 50 may be, for example, a five-axis robotic arm or a six-axis robotic arm.

[0106] For some examples, see Figure 6B The cap removal device 100 may further include a detection mechanism 40. The detection mechanism 40 may be configured to detect whether the bottle cap is separated from the bottle body 60.

[0107] In some examples, the detection mechanism 40 may have a detection area, and the detection mechanism 40 may detect the vial 6 located in the detection area.

[0108] In some examples, before the vial 6 is transported to the target position, the carrying mechanism 50 may first transport the vial 6 to the detection area, and the detection mechanism 40 may detect the vial 6 before the bottle cap is removed to obtain a fourth detection result for the bottle cap. In addition, after the vial 6 is removed from the bottle cap, the carrying mechanism 50 may transport the vial 6 from the target position to the detection area, and the detection mechanism 40 may detect the vial 6 after the bottle cap is removed to obtain a fifth detection result for the bottle cap. In this case, by transporting the vial 6 to the detection area for detection before and after being transported to the target position, it is possible to confirm whether the bottle cap is separated from the bottle body 60 based on the fourth detection result and the fifth detection result, thereby preventing the vial 6 from being transported to the next processing link without removing the bottle cap.

[0109] In some examples, the detection mechanism 40 can obtain a decapping result of whether the bottle cap is separated from the bottle body 60 based on the fourth detection result and the fifth detection result. That is, the detection mechanism 40 can compare the fourth detection result and the fifth detection result, and confirm the decapping result according to the comparison result.

[0110] In some examples, the detection mechanism 40 may be a color sensing device. The color sensing device may confirm whether the bottle cap is separated from the bottle body 60 according to the change in color of the vial 6 before and after the bottle cap is removed. For example, for the vial 6, the bottle cap and the bottle body 60 generally have different colors, respectively. If the fourth detection result includes the color of the bottle cap and the fifth detection result does not include the color of the bottle cap, the detection mechanism 40 may obtain the removal result that the bottle cap has been separated from the bottle body 60 based on the fourth detection result and the fifth detection result.

[0111] In some examples, the detection mechanism 40 may be a visual detection system. The visual detection system may confirm the decapping result based on the change in the contour (or color) of the vial 6 before and after the decapping.

[0112] However, the present disclosure is not limited thereto, since after the bottle cap is separated from the bottle body 60, the bottle cap may fall from the bottle body 60 under the action of gravity. Therefore, the detection mechanism 40 may also be any sensor device capable of sensing the bottle cap falling from the bottle body 60. For example, the detection mechanism 40 may be a counting sensor, which may confirm whether the bottle cap is separated from the bottle body 60 by detecting whether the bottle cap falls.

[0113] For some examples, see Figure 6B , the detection mechanism 40 can be installed on the fixed bracket 30. In addition, the detection mechanism 40 installed on the fixed bracket 30 can be located above the first clamping mechanism 10.

[0114] Fig. 9 is a flowchart illustrating a decapping method involved in an example of the present disclosure.

[0115] The second aspect of the present disclosure also relates to a method for removing the cap of a vial 6, see Fig. 9 The cap removal method may include: allowing the second clamping mechanism 20 to clamp the distal end of the bottle body 60 (step S210); allowing the first clamping mechanism 10 to clamp the proximal end of the bottle body 60 (step S230); allowing the first clamping mechanism 10 and the second clamping mechanism 20 to move relative to each other along the length direction of the bottle body 60 (step S250); the bottle cap is separated from the bottle body 60 by the abutment of the first clamping mechanism 10 (step S270); and detecting whether the bottle cap is separated from the bottle body 60 (step S290).

[0116] For some examples, see Fig. 9 In step S210, the second clamping mechanism 20 can clamp the distal end of the bottle body 60. After the second clamping mechanism 20 clamps the distal end of the bottle body 60, the carrying mechanism 50 can be used to transport the vial 6 to the target position.

[0117] For some examples, see Fig. 9 In step S230, the first clamping mechanism 10 may be configured to clamp the proximal end of the bottle body 60. Further, the first clamping mechanism 10 may be configured to clamp the proximal end of the bottle body 60 at a target position. For example, the first clamping mechanism 10 may be configured to clamp the aluminum cap 62.

[0118] In some examples, after the first clamping mechanism 10 clamps the proximal end of the bottle body 60 , the fixing bracket 30 can be used to fix the vial 6 at a target position.

[0119] For some examples, see Fig. 9 In step S250, after the first clamping mechanism 10 clamps the proximal end of the bottle body 60 and the second clamping mechanism 20 clamps the distal end of the bottle body 60, the first clamping mechanism 10 and the second clamping mechanism 20 can be relatively moved along the length direction of the bottle body 60 so that the bottle cap abuts the first clamping mechanism 10.

[0120] In some examples, the second clamping force of the second clamping mechanism 20 clamping the bottle body 60 may be greater than the first clamping force of the first clamping mechanism 10 clamping the bottle body 60. In this case, when the first clamping mechanism 10 and the second clamping mechanism 20 move relative to each other along the length direction of the bottle body 60, the bottle body 60 and the second clamping mechanism 20 can move synchronously, so that the bottle body 60 and the first clamping mechanism 10 move relative to each other, and the bottle cap can be separated from the bottle body 60 by the abutment of the first clamping mechanism 10.

[0121] In some examples, the relative movement of the first clamping mechanism 10 and the second clamping mechanism 20 along the length direction of the bottle body 60 may include: the first clamping mechanism 10 and the second clamping mechanism 20 moving away from each other, the first clamping mechanism 10 moving in a direction away from the second clamping mechanism 20, and the second clamping mechanism 20 moving in a direction away from the first clamping mechanism 10.

[0122] In some examples, in step S250, after the first clamping mechanism 10 clamps the proximal end of the bottle body 60, the vial 6 may be fixed at the target position, and at this time, the second clamping mechanism 20 may be driven to move relative to the first clamping mechanism 10 in a direction away from the first clamping mechanism 10. FIG. 4A to FIG. 4C Since the second clamping force is greater than the first clamping force, the second clamping mechanism 20 can move synchronously with the vial 6, and the second clamping mechanism 20 can be driven to move the vial 6 along the length direction of the bottle body 60 in a direction away from the bottle cap relative to the first clamping mechanism 10, so that the bottle cap abuts the first clamping mechanism 10. In this case, the bottle body 60 and the first clamping mechanism 10 can move relative to each other, so that the bottle cap can be easily separated from the bottle body 60 by the abutment of the first clamping mechanism 10.

[0123] In some examples, in step S250, the first clamping mechanism 10 may be driven to move relative to the second clamping mechanism 20 in a direction away from the second clamping mechanism 20. FIG. 4A to FIG. 4C Since the second clamping force is greater than the first clamping force, the second clamping mechanism 20 and the vial 6 can remain stationary, and the first clamping mechanism 10 is driven to move relative to the vial 6 along the length direction of the bottle body 60 toward the bottle cap, so that the bottle cap abuts the first clamping mechanism 10. In this case, the bottle body 60 and the first clamping mechanism 10 can move relative to each other, so that the bottle cap can be separated from the bottle body 60 by the abutment of the first clamping mechanism 10.

[0124] However, the present disclosure is not limited thereto. In other examples, in step S250, the first clamping mechanism 10 and the second clamping mechanism 20 may be driven to move backwards at the same time. Specifically, the first clamping mechanism 10 and the second clamping mechanism 20 may be driven to move backwards along the length direction of the bottle body 60 at the same time so that the bottle cap abuts against the first clamping mechanism 10.

[0125] For some examples, see Fig. 9 In step S270, after the bottle cap abuts the first clamping mechanism 10, the bottle cap can be separated from the bottle body 60 by the abutting action of the first clamping mechanism 10. Specifically, after the bottle cap abuts the first clamping mechanism 10, since the bottle cap and the first clamping mechanism 10 continue to move relative to each other, the first clamping mechanism 10 can apply a force to the bottle cap to separate the bottle cap from the bottle body 60.

[0126] For some examples, see Fig. 9 In step S290, it can be detected whether the bottle cap is separated from the bottle body 60. Specifically, before and after the vial 6 is moved to the target position, the vial 6 is moved to the detection area of ​​the detection mechanism 40 for detection. For details, please refer to the relevant description of the detection mechanism 40 above.

[0127] In some examples, in the automated dispensing system, in response to the bottle cap being separated from the bottle body 60 , the carrying mechanism 50 can transport the vial 6 to the next processing station.

[0128] Additionally, in some examples, in response to the bottle cap not being separated from the bottle body 60 , steps 210 to 270 may be repeatedly performed.

[0129] In the cap removal method of the present disclosure, the first clamping mechanism 10 and the second clamping mechanism clamp the two ends of the bottle body 60, so that the vial 6 can be well fastened, thereby preventing the vial 6 from rotating unexpectedly and causing the failure of the cap removal. In addition, after the edge of the bottle cap abuts the first clamping mechanism 10, the bottle cap is separated from the bottle body 60 by the abutment of the first clamping mechanism 10, which can improve the balance of the force on the bottle cap, thereby improving the stability of the separation of the bottle cap from the bottle body 60.

[0130] Although the present disclosure is specifically described above in conjunction with the accompanying drawings and examples, it is to be understood that the above description does not limit the present disclosure in any form. Those skilled in the art may modify and change the present disclosure as needed without departing from the essential spirit and scope of the present disclosure, and these modifications and changes all fall within the scope of the present disclosure.

Claims

1. A cap-removing device for a vial, the vial comprising a bottle body and a bottle cap, the bottle body having a proximal end close to the bottle cap and a distal end away from the bottle cap, characterized in that: The cap removal device comprises a first clamping mechanism and a second clamping mechanism which are relatively movable. The first clamping mechanism is configured to clamp the proximal end of the bottle body, and the second clamping mechanism is configured to clamp the distal end of the bottle body. When removing the cap from the vial, the first clamping mechanism and the second clamping mechanism are relatively moved along the length direction of the bottle body, so that the bottle cap abuts against the first clamping mechanism and is separated from the bottle body by the abutment of the first clamping mechanism.

2. The cap removal device for a vial according to claim 1, characterized in that: The first clamping mechanism includes a first arm and a second arm arranged opposite to each other, and the first arm can move toward or away from the second arm. The first clamping mechanism clamps the proximal end of the bottle body in a manner that the first arm and the second arm abut against the bottle body from two sides respectively.

3. The cap removal device for a vial according to claim 2, characterized in that: The first arm has a first recessed portion, the second arm has a second recessed portion, the first recessed portion and the second recessed portion are arranged opposite to each other, and the first clamping mechanism clamps the proximal end of the bottle body in a manner that the first recessed portion and the second recessed portion simultaneously wrap the bottle body.

4. The cap removal device for a vial according to claim 2, characterized in that: The first clamping mechanism further includes a first driving portion, and the first driving portion is configured to drive the first arm and the second arm to abut against the bottle body from both sides respectively.

5. The vial cap removal device according to claim 1, characterized in that: It also includes a fixed bracket, and the first clamping mechanism is fixedly arranged on the fixed bracket. The fixing bracket is configured to clamp the bottle body through the first clamping mechanism to fix the vial.

6. A method for removing the cap of a vial, comprising removing the cap of the vial using the decapping device according to any one of claims 1 to 5, characterized in that: include: Instructing the second clamping mechanism to clamp the distal end of the bottle body; Allowing the first clamping mechanism to clamp the proximal end of the bottle body; and The first clamping mechanism and the second clamping mechanism are relatively moved along the length direction of the bottle body, so that the bottle cap abuts against the first clamping mechanism and is separated from the bottle body by the abutting action of the first clamping mechanism.

7. The method for removing the cap of a vial according to claim 6, characterized in that: The first clamping mechanism is driven to move relative to the vial along the length direction of the vial body toward the bottle cap until the bottle cap is separated from the vial body by the abutment of the first clamping mechanism.

8. The method for removing the cap of a vial according to claim 6, characterized in that: The second clamping mechanism is driven to move the vial along the length direction of the bottle body in a direction away from the bottle cap relative to the first clamping mechanism until the bottle cap is separated from the bottle body by the abutment of the first clamping mechanism.

9. The method for removing the cap from a vial according to any one of claims 7 or 8, characterized in that: The second clamping force of the second clamping mechanism clamping the bottle body is greater than the first clamping force of the first clamping mechanism clamping the bottle body.

10. The method for removing the cap of a vial according to claim 6, characterized in that: The method also includes detecting whether the bottle cap is separated from the bottle body.

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