Double-station collaborative test tube cap screwing method and equipment

Abstract

The invention discloses a double-station cooperative test tube cap screwing method and equipment, and the method comprises the steps: controlling a cap screwing station switching mechanism to drive a first cap screwing station in a double-station cap screwing mechanism to carry out cap screwing on a test tube body clamped by a test tube clamping mechanism after the test tube clamping mechanism clamps the test tube body on a test tube conveying turntable; when the next test tube body without cap screwing on the test tube conveying turntable is in place, the test tube clamping mechanism is controlled to clamp the next test tube body without cap screwing on the test tube conveying turntable; the cap screwing station switching mechanism is controlled to drive a second cap screwing station in the double-station cap screwing mechanism to carry out cap screwing on the next test tube body which is clamped by the test tube clamping mechanism and is not subjected to cap screwing; and in the cap screwing process of the next test tube body without cap screwing, the test tube cap carried by the first cap screwing station in the double-station cap screwing mechanism is released into the test tube cap storage container. According to the invention, high-efficiency test tube cap screwing in a limited space is realized.

Description

Technical Field

[0001] The invention relates to a double-station collaborative test tube capping method and equipment, belonging to the technical field of test tube capping. Background Art

[0002] At present, medical testing institutions, especially the laboratory departments of large hospitals or professional third-party testing laboratories, need to process a large number of samples every day. If they rely on manual unscrewing or pulling out the test tube caps one by one, the speed will be very slow.

[0003] In modern medical testing laboratories, there is usually a complete set of automated testing production lines. As one of the links, capping and uncapping need to be efficiently coordinated with other equipment (such as sample automatic analyzers, sample dispensers, etc.). If the uncapping efficiency of the uncapping machine is too low, there will be a backlog or waiting of samples, causing a bottleneck in the entire production line and affecting the overall efficiency. In addition, in medical laboratories or testing institutions, the site space is often limited, and the volume of automated testing production line equipment cannot be too large. How to achieve efficient test tube capping in a limited space has practical application significance. Summary of the invention

[0004] To this end, the present invention provides a dual-station collaborative test tube capping method and equipment to achieve efficient test tube capping in a limited space, thereby solving the problems of low capping efficiency and large space occupation in traditional technologies.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a double-station collaborative test tube capping method, comprising:

[0006] S1, controlling the test tube clamping mechanism to clamp the test tube body on the test tube conveying turntable;

[0007] S2, after the test tube clamping mechanism clamps the test tube body on the test tube conveying turntable, the capping station switching mechanism is controlled to drive the first capping station in the double-station capping mechanism to cap the test tube body clamped by the test tube clamping mechanism;

[0008] S3, after the first capping station in the double-station capping mechanism caps the test tube body clamped by the test tube clamping mechanism, the test tube clamping mechanism is controlled to release the test tube body on the test tube conveying turntable after the cap is screwed and retreat to the initial state;

[0009] S4, controlling the test tube conveying turntable to operate, and when the next uncapped test tube body on the test tube conveying turntable is in place, controlling the test tube clamping mechanism to clamp the next uncapped test tube body on the test tube conveying turntable;

[0010] S5, controlling the capping station switching mechanism to drive the second capping station in the double-station capping mechanism to cap the next uncapped test tube body clamped by the test tube clamping mechanism;

[0011] S6, when the next uncapped test tube body is being capped, the test tube cap carried by the first capping station in the double-station capping mechanism is released into the test tube cap storage container;

[0012] Repeat steps S1 to S6, so that the first capping station and the second capping station in the double-station capping mechanism cooperate to cap the test tube body on the test tube conveying turntable.

[0013] As a preferred embodiment of the double-station collaborative test tube capping method, step S2 and step S5 also include adjusting the height of the double-station capping mechanism by a lifting and adjusting mechanism so that the first capping station and the second capping station of the double-station capping mechanism can dock with the test tube body to be capped after being clamped by the test tube clamping mechanism.

[0014] As a preferred solution of the double-station collaborative test tube capping method, during the process in which the first capping station and the second capping station in the double-station capping mechanism collaborate to cap the test tube body on the test tube conveying turntable, the actions of the first capping station, the second capping station and the test tube clamping mechanism are controlled by a capping collaborative model, and the capping collaborative model is:

[0015] Set the first capping station to cap test tube A, and the second capping station to cap test tube B; the first capping station capping action start time is t 1s , the end time is t 1e ; The second capping station capping action starts at t 2s , the end time is t 2e ; The time when the test tube clamping mechanism starts clamping test tube A is t as , the end time is t ae ; The clamping action for test tube B starts at t bs , the end time is t be ;

[0016] For test tube A, the clamping action starts before the capping action, i.e., t as＜ t 1s , and the clamping action continues until the capping action is completed, that is, t ae＜ t 1e ;

[0017] For test tube B, the clamping action starts before the capping action, i.e., t bs＜ t 2s , and the clamping action continues until the capping action is completed, that is, t be＜ t 2e ;

[0018] The action time of the first cap tightening station and the second cap tightening station does not overlap, that is, t 2s >t 1e , or t 1s >t 2e ; And combined with the response time and error of the action, meet:

[0019] t 1s> t as+ t interval

[0020] t 2s> t bs+ t interval

[0021] Where, t interval The safety time interval is set.

[0022] The present invention also provides a double-station collaborative test tube capping device, which adopts the above-mentioned double-station collaborative test tube capping method, and the capping device includes a mounting base, and the mounting base is provided with a lifting adjustment mechanism, a capping station switching mechanism, a double-station capping mechanism and a test tube clamping mechanism;

[0023] The lifting and adjusting mechanism is arranged on the upper part of the mounting base, and the lifting and adjusting mechanism comprises a lifting seat, the cap screwing station switching mechanism is connected to the lifting seat, and the double-station cap screwing mechanism is connected to the cap screwing station switching mechanism. The lifting and adjusting mechanism drives the cap screwing station switching mechanism and the double-station cap screwing mechanism to lift and lower through the lifting seat, and the cap screwing station switching mechanism drives the double-station cap screwing mechanism to switch the cap screwing station;

[0024] The test tube clamping mechanism is arranged at the lower part of the mounting base, and the test tube clamping mechanism clamps the test tube on the test tube conveying turntable, and the double-station capping mechanism caps the test tube after being clamped by the test tube clamping mechanism.

[0025] As a preferred solution of the double-station collaborative test tube capping device, the lifting and adjusting mechanism further includes a lifting drive motor, a lifting screw rod, a lifting guide rail and a lifting slide block; the mounting base is formed with a first avoidance hole;

[0026] The lifting drive motor is fixed on the top of the mounting base, the lifting screw is connected to the lifting drive motor, the lifting guide rails are arranged on both sides of the first avoidance hole, and the lifting guide rails are connected to the lifting seat through the lifting slider; the lifting screw passes through the lifting seat, and the end of the lifting screw is connected to the tailstock bearing; the lifting seat includes a first mounting portion and a second mounting portion.

[0027] As a preferred solution for the dual-station collaborative test tube capping equipment, the capping station switching mechanism includes a rotating arm motor fixing plate, a rotating arm motor body, a first synchronous wheel, a second synchronous wheel, a transmission belt, a capping shaft and a rotating arm;

[0028] The rotating arm motor fixing plate is connected to the outer side of the first mounting part of the lifting seat, the rotating arm motor body is connected to the rotating arm motor fixing plate, the first synchronous wheel is connected to the driving shaft of the rotating arm motor body, the second synchronous wheel is arranged above the second mounting part of the lifting seat, the upper part of the cap screwing shaft is connected to the center of the second synchronous wheel, the transmission belt is connected between the first synchronous wheel and the second synchronous wheel, and the transmission belt passes through the first avoidance hole; the lower part of the cap screwing shaft is inserted into the rotating arm in the second mounting part, and the rotating arm and the cap screwing shaft are fixedly connected.

[0029] As a preferred solution of the double-station collaborative test tube capping device, a first rotating extension portion and a second rotating extension portion are formed on one side of the rotating arm; the double-station capping mechanism includes a first clamping jaw connected to a horizontal plate, a first clamping jaw connected to a vertical plate, a first rotating clamping jaw, a second clamping jaw connected to a horizontal plate, a second clamping jaw connected to a vertical plate and a second rotating clamping jaw;

[0030] One end of the first clamping jaw connected to the horizontal plate is connected to the first rotating extension portion, the other end of the first clamping jaw connected to the horizontal plate is connected to the first clamping jaw connected to the vertical plate, and the side of the first clamping jaw connected to the vertical plate is connected to the first rotating clamping jaw;

[0031] One end of the second clamping jaw connected to the horizontal plate is connected to the second rotating extension portion, the other end of the second clamping jaw connected to the horizontal plate is connected to the second clamping jaw connected to the vertical plate, and the side of the second clamping jaw connected to the vertical plate is connected to the second rotating clamping jaw.

[0032] As a preferred solution of the double-station collaborative test tube capping device, the mounting base is formed with a second avoidance hole; the second avoidance hole is located below the first avoidance hole; the test tube clamping mechanism is arranged at the position of the second avoidance hole;

[0033] The test tube clamping mechanism comprises a test tube clamping drive assembly, and the test tube clamping drive assembly comprises a clamping base plate, a test tube clamping drive motor, a test tube clamping active gear, a test tube clamping driven gear, a test tube clamping gear shaft, a gear drive ring, a transmission connecting rod, a pull rod shaft and a guide block;

[0034] The clamping base plate is fixed to the bottom of the second avoidance hole of the mounting base, the test tube clamping drive motor is installed on the clamping base plate, the test tube clamping active gear is connected to the drive shaft of the test tube clamping drive motor, the test tube clamping driven gear is arranged on one side of the upper end of the clamping base plate, and the test tube clamping driven gear is meshed with the test tube clamping active gear; the test tube clamping gear shaft is fixed at the center of the test tube clamping driven gear, the upper end of the test tube clamping gear shaft is connected to the gear driving ring, one end of the transmission connecting rod is connected to the edge of the gear driving ring through a bearing, and the other end of the transmission connecting rod is connected to one end of the pull rod shaft through a bearing, and the guide block is fixed on the other side of the upper end of the clamping base plate, and the pull rod shaft extends out from the center of the guide block.

[0035] As a preferred solution of the double-station collaborative test tube capping device, the test tube clamping mechanism includes a test tube pick-up and placement clamping assembly, and the test tube pick-up and placement clamping assembly includes a clamping jaw fixing box, a bearing fixing plate, a first drive bearing, a second drive bearing, a first guide shaft, a first clamping jaw fixing plate, a second clamping jaw fixing plate and a reset spring;

[0036] The bearing fixing plate is arranged inside the clamp fixing box, and the pull rod shaft extends from the center of the guide block and is inserted into the clamp fixing box and connected to the bearing fixing plate; the first driving bearing is arranged on one side of the upper end of the bearing fixing plate, and the second driving bearing is arranged on the other side of the upper end of the bearing fixing plate;

[0037] The first guide shaft is connected to the front part of the clamp fixing box, the first clamp fixing plate is sleeved on one end of the first guide shaft, the second clamp fixing plate is sleeved on the other end of the first guide shaft, and the return spring is arranged between the first clamp fixing plate and the second clamp fixing plate;

[0038] A first driving slope is formed at the rear end of the first clamping jaw fixing plate, and the first driving bearing contacts the first driving slope; a second driving slope is formed at the rear end of the second clamping jaw fixing plate, and the second driving bearing contacts the second driving slope;

[0039] A first test tube clamping portion is formed at the front end of the first clamping jaw fixing plate, and a second test tube clamping portion is formed at the front end of the second clamping jaw fixing plate.

[0040] As a preferred solution of the double-station collaborative test tube capping device, a first guide step is formed at the bottom of the first driving slope, and the lower part of the first driving bearing is placed on the first guide step; a second guide step is formed at the bottom of the second driving slope, and the lower part of the second driving bearing is placed on the second guide step;

[0041] Three second guide shafts are connected between the guide block and the clamp fixing box. The three second guide shafts are distributed in a triangle shape, and a buffer spring is disposed on one of the second guide shafts.

[0042] The present invention has the following advantages: by arranging a lifting and adjusting mechanism, a capping station switching mechanism, a double-station capping mechanism and a test tube clamping mechanism on the mounting base, the test tube clamping mechanism is controlled to clamp the test tube body on the test tube conveying turntable; after the test tube clamping mechanism clamps the test tube body on the test tube conveying turntable, the capping station switching mechanism is controlled to drive the first capping station in the double-station capping mechanism to cap the test tube body after the test tube clamping mechanism is clamped; after the first capping station in the double-station capping mechanism caps the test tube body after the test tube clamping mechanism is clamped, the test tube clamping mechanism is controlled to release the cap after the cap is screwed. The test tube body on the test tube conveying turntable retreats to the initial state; the test tube conveying turntable is controlled to run, and when the next uncapped test tube body on the test tube conveying turntable is in place, the test tube clamping mechanism is controlled to clamp the next uncapped test tube body on the test tube conveying turntable; the capping station switching mechanism is controlled to drive the second capping station in the double-station capping mechanism to cap the next uncapped test tube body after being clamped by the test tube clamping mechanism; when the next uncapped test tube body is capped, the test tube cap carried by the first capping station in the double-station capping mechanism is released into the test tube cap storage container. The present invention can realize high-efficiency test tube capping and uncapping, avoid sample backlog or waiting, improve the efficiency of the entire assembly line, and at the same time, the corresponding equipment occupies a small space, which is particularly suitable for application in the hospital's laboratory or professional third-party testing laboratories. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0044] Figure 1 A schematic flow chart of a dual-station collaborative test tube capping method provided in an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of the three-dimensional structure of a dual-station collaborative test tube device provided in an embodiment of the present invention from a first perspective;

[0046] Figure 3 A schematic diagram of the stereoscopic structure of the dual-station collaborative test tube device provided in an embodiment of the present invention from a second viewing angle;

[0047] Figure 4It is a schematic diagram of the combination of a capping station switching mechanism and a double-station capping mechanism in the double-station collaborative test tube equipment provided in an embodiment of the present invention;

[0048] Figure 5 It is a schematic diagram of the three-dimensional structure of the test tube clamping mechanism in the double-station collaborative test tube device provided in an embodiment of the present invention from a first perspective;

[0049] Figure 6 A schematic diagram of the stereoscopic structure of a test tube clamping mechanism in a dual-station collaborative test tube device provided in an embodiment of the present invention from a second viewing angle;

[0050] Figure 7 It is a schematic diagram of the structure of the test tube picking and placing clamping claw assembly in the double-station collaborative test tube equipment provided in an embodiment of the present invention.

[0051] In the figure, 1, mounting base; 2, lifting adjustment mechanism; 3, capping station switching mechanism; 4, double-station capping mechanism; 5, test tube clamping mechanism; 6, lifting seat; 7, lifting drive motor; 8, lifting screw rod; 9, lifting guide rail; 10, lifting slider; 11, first avoidance hole; 12, first mounting part; 13, second mounting part; 14, rotating arm motor fixing plate; 15, rotating arm motor body; 16, first synchronous wheel; 17, second synchronous wheel; 18, transmission belt; 19, capping shaft; 20, rotating arm; 21, first rotating extension part; 22, second rotating extension part; 23, first clamping jaw connected to horizontal plate; 24, first clamping jaw connected to vertical plate; 25, first rotating clamping jaw; 26, second clamping jaw connected to horizontal plate; 27, second clamping jaw connected to vertical plate; 28, The second rotating clamping jaw; 29, the second avoidance hole; 30, the clamping base plate; 31, the test tube clamping drive motor; 32, the test tube clamping active gear; 33, the test tube clamping driven gear; 34, the test tube clamping gear shaft; 35, the gear drive ring; 36, the transmission connecting rod; 37, the pull rod shaft; 38, the guide block; 39, the clamping jaw fixing box; 40, the bearing fixing plate; 41, the first drive bearing; 42, the second drive bearing; 43, the first guide shaft; 44, the first clamping jaw fixing plate; 45, the second clamping jaw fixing plate; 46, the reset spring; 47, the first drive ramp; 48, the second drive ramp; 49, the first test tube clamping part; 50, the second test tube clamping part; 51, the first guide step; 52, the second guide step; 53, the buffer spring; 54, the second guide shaft. DETAILED DESCRIPTION

[0052] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] See also Figure 1 The embodiment of the present invention provides a dual-station collaborative test tube capping method, comprising the following steps:

[0054] S1, controlling the test tube clamping mechanism 5 to clamp the test tube body on the test tube conveying turntable;

[0055] S2, after the test tube clamping mechanism 5 clamps the test tube body on the test tube conveying turntable, the capping station switching mechanism 3 is controlled to drive the first capping station in the double-station capping mechanism 4 to cap the test tube body clamped by the test tube clamping mechanism 5;

[0056] S3, after the first capping station in the double-station capping mechanism 4 caps the test tube body after being clamped by the test tube clamping mechanism 5, the test tube clamping mechanism 5 is controlled to release the test tube body on the test tube conveying turntable after the cap is screwed and retreat to the initial state;

[0057] S4, controlling the test tube conveying turntable to operate, and when the next uncapped test tube body on the test tube conveying turntable is in place, controlling the test tube clamping mechanism 5 to clamp the next uncapped test tube body on the test tube conveying turntable;

[0058] S5, controlling the capping station switching mechanism 3 to drive the second capping station in the double-station capping mechanism 4 to cap the next uncapped test tube body clamped by the test tube clamping mechanism 5;

[0059] S6, when the next uncapped test tube body is being capped, the test tube cap carried by the first capping station in the double-station capping mechanism 4 is released into the test tube cap storage container;

[0060] Repeat steps S1 to S6, so that the first capping station and the second capping station in the double-station capping mechanism 4 cooperate to cap the test tube body on the test tube conveying turntable.

[0061] In the present embodiment, since the first capping station and the second capping station need to be switched after capping, it is necessary to adjust the height of the first capping station and the second capping station when switching the stations. Therefore, step S2 and step S5 also include adjusting the height of the double-station capping mechanism 4 by means of the lifting and adjusting mechanism 2, so that the first capping station and the second capping station of the double-station capping mechanism 4 can dock with the test tube body to be capped after being clamped by the test tube clamping mechanism 5.

[0062] In this embodiment, during the process of the first capping station and the second capping station in the double-station capping mechanism 4 cooperating to cap the test tube body on the test tube conveying turntable, the actions of the first capping station, the second capping station and the test tube clamping mechanism 5 are controlled by a capping coordination model, and the capping coordination model is:

[0063] Set the first capping station to cap test tube A, and the second capping station to cap test tube B; the first capping station capping action start time is t 1s , the end time is t 1e ; The second capping station capping action starts at t 2s , the end time is t 2e ; The start time of the clamping action of the test tube clamping mechanism 5 on the test tube A is t as , the end time is t ae ; The clamping action for test tube B starts at t bs , the end time is t be ;

[0064] For test tube A, the clamping action starts before the capping action, i.e., t as＜ t 1s , and the clamping action continues until the capping action is completed, that is, t ae＜ t 1e ;

[0065] For test tube B, the clamping action starts before the capping action, i.e., t bs＜ t 2s , and the clamping action continues until the capping action is completed, that is, t be＜ t 2e ;

[0066] The action time of the first cap tightening station and the second cap tightening station does not overlap, that is, t 2s >t 1e , or t 1s >t 2e ;

[0067] Combined with the response time and error of the action, it satisfies:

[0068] t 1s> t as+ tinterval

[0069] t 2s> t bs+ t interval

[0070] Where, t interval The capping coordination model is used to control the actions of the first capping station, the second capping station and the test tube clamping mechanism 5, thereby improving the efficiency of the test tube capping.

[0071] See also Figure 2 and Figure 3 The embodiment of the present invention further provides a double-station collaborative test tube capping device, which adopts a double-station collaborative test tube capping method of the above embodiment, and the capping device includes a mounting base 1, and the mounting base 1 is provided with a lifting adjustment mechanism 2, a capping station switching mechanism 3, a double-station capping mechanism 4 and a test tube clamping mechanism 5;

[0072] Among them, the lifting and adjusting mechanism 2 is arranged at the upper part of the mounting base 1, the lifting and adjusting mechanism 2 includes a lifting seat 6, the capping position switching mechanism 3 is connected to the lifting seat 6, and the double-station capping mechanism 4 is connected to the capping position switching mechanism 3. The lifting and adjusting mechanism 2 drives the capping position switching mechanism 3 and the double-station capping mechanism 4 to lift and lower through the lifting seat 6, and the capping position switching mechanism 3 drives the double-station capping mechanism 4 to switch the capping position; the test tube clamping mechanism 5 is arranged at the lower part of the mounting base 1, the test tube clamping mechanism 5 clamps the test tube on the test tube conveying turntable, and the double-station capping mechanism 4 caps the test tube after being clamped by the test tube clamping mechanism 5.

[0073] In this embodiment, the lifting and lowering adjustment mechanism 2 also includes a lifting drive motor 7, a lifting screw rod 8, a lifting guide rail 9 and a lifting slider 10; the mounting base 1 is formed with a first avoidance hole 11; the lifting drive motor 7 is fixed on the top of the mounting base 1, the lifting screw rod 8 is connected to the lifting drive motor 7, the lifting guide rail 9 is arranged on both sides of the first avoidance hole 11, and the lifting guide rail 9 is connected to the lifting seat 6 through the lifting slider 10; the lifting screw rod 8 passes through the lifting seat 6, and the end of the lifting screw rod 8 is connected to the tail stock bearing; the lifting seat 6 includes a first mounting portion 12 and a second mounting portion 13.

[0074] See also Figure 2 , Figure 3 and Figure 4 Specifically, by designing a first avoidance hole 11 on the mounting base 1, it is convenient to install and arrange the lifting adjustment mechanism 2. The lifting drive motor 7 can drive the lifting slider 10 to move up and down along the lifting guide rail 9 through the lifting screw rod 8. The lifting slider 10 can drive the capping station switching mechanism 3 and the double-station capping mechanism 4 to move up and down as a whole during the up and down movement process, thereby facilitating the double-station capping mechanism 4 to dock with the test tube body after being clamped by the test tube clamping mechanism 5.

[0075] In this embodiment, the cap screwing station switching mechanism 3 includes a tumbler motor fixing plate 14, a tumbler motor body 15, a first synchronous wheel 16, a second synchronous wheel 17, a transmission belt 18, a cap screwing shaft 19 and a rotating arm 20; the tumbler motor fixing plate 14 is connected to the outer side of the first mounting portion 12 of the lifting seat 6, the tumbler motor body 15 is connected to the tumbler motor fixing plate 14, the first synchronous wheel 16 is connected to the driving shaft of the tumbler motor body 15, the second synchronous wheel 17 is arranged above the second mounting portion 13 of the lifting seat 6, the upper part of the cap screwing shaft 19 is connected to the center of the second synchronous wheel 17, the transmission belt 18 is connected between the first synchronous wheel 16 and the second synchronous wheel 17, and the transmission belt 18 passes through the first avoidance hole 11; the lower part of the cap screwing shaft 19 is inserted into the rotating arm 20 in the second mounting portion 13, and the rotating arm 20 and the cap screwing shaft 19 are fixedly connected.

[0076] See also Figure 2 , Figure 3 and Figure 4 Specifically, the tumbler motor fixing plate 14 is used to install the tumbler motor body 15, and the tumbler motor fixing plate 14 and the lifting seat 6 are fixedly connected. The lifting seat 6 drives the cap-tightening station switching mechanism 3 to rise and fall through the tumbler motor fixing plate 14, and the tumbler motor body 15 drives the second synchronous wheel 17 through the first synchronous wheel 16 and the transmission belt 18. The second synchronous wheel 17 can swing through the cap-tightening shaft 19, and the swing of the cap-tightening shaft 19 drives the swinging arm 20 to swing. The swing of the swinging arm 20 can drive the double-station cap-tightening mechanism 4 to switch between the first cap-tightening station and the second cap-tightening station.

[0077] Among them, a first rotating extension portion 21 and a second rotating extension portion 22 are formed on one side of the rotating arm 20; the double-station cap tightening mechanism 4 includes a first clamp connected to a horizontal plate 23, a first clamp connected to a vertical plate 24, a first rotating clamp 25, a second clamp connected to a horizontal plate 26, a second clamp connected to a vertical plate 27 and a second rotating clamp 28; one end of the first clamp connected to the horizontal plate 23 is connected to the first rotating extension portion 21, the other end of the first clamp connected to the horizontal plate 23 is connected to the first clamp connected to the vertical plate 24, and the side of the first clamp connected to the vertical plate 24 is connected to the first rotating clamp 25; one end of the second clamp connected to the horizontal plate 26 is connected to the second rotating extension portion 22, the other end of the second clamp connected to the horizontal plate 26 is connected to the second clamp connected to the vertical plate 27, and the side of the second clamp connected to the vertical plate 27 is connected to the second rotating clamp 28.

[0078] Specifically, the rotating arm 20 drives the first clamp connected to the horizontal plate 23 through the first rotating extension part 21, the first clamp connected to the horizontal plate 23 drives the first clamp connected to the vertical plate 24, the first clamp connected to the vertical plate 24 drives the first rotating clamp 25 of the first cap-tightening station, the rotating arm 20 drives the second clamp connected to the horizontal plate 26 through the second rotating extension part 22, the second clamp connected to the horizontal plate 26 drives the second clamp connected to the vertical plate 27, the second clamp connected to the vertical plate 27 drives the second rotating clamp 28 of the second cap-tightening station, thereby realizing the swing of the rotating arm 20 to drive the double-station cap-tightening mechanism 4 to switch between the first cap-tightening station and the second cap-tightening station.

[0079] In this embodiment, the mounting base 1 is formed with a second avoidance hole 29; the second avoidance hole 29 is located below the first avoidance hole 11; the test tube clamping mechanism 5 is arranged at the position of the second avoidance hole 29; the test tube clamping mechanism 5 includes a test tube clamping drive assembly, and the test tube clamping drive assembly includes a clamping base plate 30, a test tube clamping drive motor 31, a test tube clamping active gear 32, a test tube clamping driven gear 33, a test tube clamping gear shaft 34, a gear drive ring 35, a transmission connecting rod 36, a pull rod shaft 37 and a guide block 38; the clamping base plate 30 is fixed to the bottom of the second avoidance hole 29 of the mounting base 1, and the test tube clamping drive motor 31 is installed on the clamping base plate 30. The tube clamping driving gear 32 is connected to the driving shaft of the test tube clamping driving motor 31, and the test tube clamping driven gear 33 is arranged on one side of the upper end of the clamping base plate 30, and the test tube clamping driven gear 33 is meshed with the test tube clamping driving gear 32; a test tube clamping gear shaft 34 is fixed at the center of the test tube clamping driven gear 33, and the upper end of the test tube clamping gear shaft 34 is connected to a gear driving ring 35, one end of the transmission connecting rod 36 is connected to the edge of the gear driving ring 35 through a bearing, and the other end of the transmission connecting rod 36 is connected to one end of the pull rod shaft 37 through a bearing, and a guide block 38 is fixed on the other side of the upper end of the clamping base plate 30, and the pull rod shaft 37 extends from the center of the guide block 38.

[0080] See also Figure 2 , Figure 3 , Figure 5 and Figure 6 Specifically, by designing a second avoidance hole 29 on the mounting base 1, it is convenient to install and arrange the test tube clamping mechanism 5. The test tube clamping drive motor 31 is installed and fixed by the clamping base plate 30. The test tube clamping drive motor 31 drives the test tube clamping driven gear 33 through the test tube clamping active gear 32. The test tube clamping driven gear 33 drives the gear driving ring 35 through the test tube clamping gear shaft 34. The gear driving ring 35 drives the pull rod shaft 37 to reciprocate through the transmission connecting rod 36. The reciprocating motion of the pull rod shaft 37 can make the test tube clamping drive assembly drive the test tube pick-up and place clamping claw assembly to extend or retract. The guide block 38 plays a guiding role for the pull rod shaft 37 to ensure that the pull rod shaft 37 moves in a straight line.

[0081] It should be noted that the gear drive ring 35 drives the pull rod shaft 37 to reciprocate through the transmission connecting rod 36 mainly because bearings are designed at both ends of the transmission connecting rod 36, which achieves a hinge effect that both ends of the transmission connecting rod 36 can rotate around the bearings. The rotation process of the gear drive ring 35 realizes the reciprocating motion of the pull rod shaft 37, and at the same time, the other end of the pull rod shaft 37 can also drive the connected test tube picking and placing clamping claw assembly to reciprocate.

[0082] In this embodiment, the test tube clamping mechanism 5 includes a test tube picking and placing clamping jaw assembly, which includes a clamping jaw fixing box 39, a bearing fixing plate 40, a first drive bearing 41, a second drive bearing 42, a first guide shaft 43, a first clamping jaw fixing plate 44, a second clamping jaw fixing plate 45 and a reset spring 46; the bearing fixing plate 40 is arranged inside the clamping jaw fixing box 39, and the pull rod shaft 37 extends from the center of the guide block 38 and is inserted into the clamping jaw fixing box 39 and connected to the bearing fixing plate 40; the first drive bearing 41 is arranged on one side of the upper end of the bearing fixing plate 40, and the second drive bearing 42 is arranged on the other side of the upper end of the bearing fixing plate 40; the first guide shaft 43 is connected to the clamping jaw 39. At the front part of the claw fixing box 39, the first claw fixing plate 44 is sleeved on one end of the first guide shaft 43, the second claw fixing plate 45 is sleeved on the other end of the first guide shaft 43, and the reset spring 46 is arranged between the first claw fixing plate 44 and the second claw fixing plate 45; the rear end of the first claw fixing plate 44 is formed with a first driving ramp 47, and the first driving bearing 41 contacts the first driving ramp 47; the rear end of the second claw fixing plate 45 is formed with a second driving ramp 48, and the second driving bearing 42 contacts the second driving ramp 48; the front end of the first claw fixing plate 44 is formed with a first test tube clamping portion 49, and the front end of the second claw fixing plate 45 is formed with a second test tube clamping portion 50.

[0083] See also Figure 2 , Figure 3 , Figure 5 , Figure 6 and Figure 7Specifically, the clamping jaw fixing box 39 plays the role of installing the bearing fixing plate 40, the first drive bearing 41, the second drive bearing 42, the first guide shaft 43, the first clamping jaw fixing plate 44, the second clamping jaw fixing plate 45 and the reset spring 46, wherein the pull rod shaft 37 can drive the bearing fixing plate 40 to extend or retract, and the extension or retraction of the bearing fixing plate 40 drives the first drive bearing 41 and the second drive bearing 42 to extend or retract, and the first drive bearing 41 and the second drive bearing 42 extend during the extension process, respectively squeeze the first drive ramp 47 and the second drive ramp 48, and the first drive bearing 41 and the second drive bearing 42 extend. The movable bearing 41 squeezes the first driving slope 47, and the second driving bearing 42 squeezes the second driving slope 48, so that the first clamping jaw fixing plate 44 and the second clamping jaw fixing plate 45 are brought close to each other to achieve the test tube clamping action; when the first driving bearing 41 and the second driving bearing 42 retract, the first driving bearing 41 slowly releases the squeezed first driving slope 47, and the second driving bearing 42 slowly releases the squeezed second driving slope 48, and under the action of the configured reset spring 46, the first clamping jaw fixing plate 44 and the second clamping jaw fixing plate 45 are moved away from each other to achieve the test tube loosening action.

[0084] In a possible embodiment, a first guide step 51 is formed at the bottom of the first drive ramp 47, and the lower part of the first drive bearing 41 is placed on the first guide step 51; a second guide step 52 is formed at the bottom of the second drive ramp 48, and the lower part of the second drive bearing 42 is placed on the second guide step 52.

[0085] See also Figure 7 Specifically, the first guide step 51 ensures that the first drive bearing 41 slides stably along the first drive ramp 47, and the second guide step 52 ensures that the second drive bearing 42 slides stably along the second drive ramp 48, thereby ensuring the stability of the clamping or releasing action of the first clamping jaw fixing plate 44 and the second clamping jaw fixing plate 45.

[0086] In a possible embodiment, three second guide shafts 54 are connected between the guide block 38 and the clamp fixing box 39 . The three second guide shafts 54 are distributed in a triangle shape, and a buffer spring 53 is disposed on one of the second guide shafts 54 .

[0087] See also Figure 5 and Figure 6 , through the second guide shaft 54 ​​between the guide block 38 and the clamp fixing box 39, it is ensured that the pull rod shaft 37 can stably drive the bearing fixing plate 40 to extend or retract.

[0088] In summary, the present invention provides a lifting adjustment mechanism 2, a capping station switching mechanism 3, a double-station capping mechanism 4 and a test tube clamping mechanism 5 on the mounting base 1, and controls the test tube clamping mechanism 5 to clamp the test tube body on the test tube conveying turntable; after the test tube clamping mechanism 5 clamps the test tube body on the test tube conveying turntable, the capping station switching mechanism 3 is controlled to drive the first capping station in the double-station capping mechanism 4 to cap the test tube body after being clamped by the test tube clamping mechanism 5; after the first capping station in the double-station capping mechanism 4 caps the test tube body after being clamped by the test tube clamping mechanism 5, the test tube clamping mechanism 5 is controlled to release the capping station. The test tube body on the test tube conveying turntable after the cap is put back to the initial state; the test tube conveying turntable is controlled to run, and when the next uncapped test tube body on the test tube conveying turntable is in place, the test tube clamping mechanism 5 is controlled to clamp the next uncapped test tube body on the test tube conveying turntable; the capping station switching mechanism 3 is controlled to drive the second capping station in the double-station capping mechanism 4 to cap the next uncapped test tube body after being clamped by the test tube clamping mechanism 5; when the next uncapped test tube body is being capped, the test tube cap carried by the first capping station in the double-station capping mechanism 4 is released into the test tube cap storage container. Among them, by designing the first avoidance hole 11 on the mounting base 1, it is convenient to install and arrange the lifting adjustment mechanism 2, and the lifting drive motor 7 can drive the lifting slider 10 to move up and down along the lifting guide rail 9 through the lifting screw 8. The lifting slider 10 can drive the capping station switching mechanism 3 and the double-station capping mechanism 4 to move up and down as a whole during the up and down movement, thereby facilitating the double-station capping mechanism 4 to dock with the test tube body clamped by the test tube clamping mechanism 5. The rotating arm motor fixing plate 14 is used to install the rotating arm motor body 15, and the rotating arm motor fixing plate 14 is fixedly connected to the lifting seat 6. The lifting seat 6 drives the capping station switching mechanism 3 to rise and fall through the rotating arm motor fixing plate 14, and the rotating arm motor body 15 drives the second synchronous wheel 17 through the first synchronous wheel 16 and the transmission belt 18. The second synchronous wheel 17 can swing through the capping shaft 19, and the swing of the capping shaft 19 drives the rotating arm 20 to swing, and the swing of the rotating arm 20 can drive the double-station capping mechanism 4 to switch between the first capping station and the second capping station. The rotating arm 20 drives the first clamping jaw to connect the horizontal plate 23 through the first rotating extension 21, the first clamping jaw connected to the horizontal plate 23 drives the first clamping jaw connected to the vertical plate 24, the first clamping jaw connected to the vertical plate 24 drives the first rotating clamping jaw 25 of the first screwing position, the rotating arm 20 drives the second clamping jaw to connect the horizontal plate 26 through the second rotating extension 22, the second clamping jaw connected to the horizontal plate 26 drives the second clamping jaw connected to the vertical plate 27, the second clamping jaw connected to the vertical plate 27 drives the second rotating clamping jaw 28 of the second screwing position, and then the rotating arm 20 swings to drive the double-station screwing mechanism 4 to switch between the first screwing position and the second screwing position. By designing the second avoidance hole 29 on the mounting base 1, it is convenient to install and arrange the test tube clamping mechanism 5.The test tube clamping drive motor 31 is installed and fixed by the clamping base plate 30, the test tube clamping drive motor 31 drives the test tube clamping driven gear 33 through the test tube clamping active gear 32, the test tube clamping driven gear 33 drives the gear driving ring 35 through the test tube clamping gear shaft 34, the gear driving ring 35 drives the pull rod shaft 37 to reciprocate through the transmission connecting rod 36, and the reciprocating motion of the pull rod shaft 37 can make the test tube clamping drive assembly drive the test tube pick-up and place clamping claw assembly to extend or retract. The guide block 38 plays a guiding role for the pull rod shaft 37 to ensure that the pull rod shaft 37 moves in a straight line. The clamping jaw fixing box 39 serves to install the bearing fixing plate 40, the first drive bearing 41, the second drive bearing 42, the first guide shaft 43, the first clamping jaw fixing plate 44, the second clamping jaw fixing plate 45 and the reset spring 46, wherein the pull rod shaft 37 can drive the bearing fixing plate 40 to extend or retract, and the extension or retraction of the bearing fixing plate 40 drives the first drive bearing 41 and the second drive bearing 42 to extend or retract, and during the extension of the first drive bearing 41 and the second drive bearing 42, the first drive slope 47 and the second drive slope 48 are squeezed respectively, and the first drive bearing 41 squeezes the first driving slope 47, and the second driving bearing 42 squeezes the second driving slope 48, so that the first clamping jaw fixing plate 44 and the second clamping jaw fixing plate 45 are close to each other, and the test tube clamping action is realized; when the first driving bearing 41 and the second driving bearing 42 are retracted, the first driving bearing 41 slowly releases the squeezed first driving slope 47, and the second driving bearing 42 slowly releases the squeezed second driving slope 48, and under the action of the configured reset spring 46, the first clamping jaw fixing plate 44 and the second clamping jaw fixing plate 45 are moved away from each other, and the test tube loosening action is realized. The present invention can realize high-efficiency test tube capping and uncapping, avoid sample backlog or waiting, improve the efficiency of the entire assembly line, and at the same time, the corresponding equipment occupies a small space, which is particularly suitable for use in the laboratory department of the hospital or professional third-party testing laboratories.

[0089] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A double-station collaborative test tube capping method, characterized in that: include: S1, controlling the test tube clamping mechanism (5) to clamp the test tube body on the test tube conveying turntable; S2, after the test tube clamping mechanism (5) clamps the test tube body on the test tube conveying turntable, the capping station switching mechanism (3) is controlled to drive the first capping station in the double-station capping mechanism (4) to cap the test tube body clamped by the test tube clamping mechanism (5); S3, after the first capping station in the double-station capping mechanism (4) caps the test tube body clamped by the test tube clamping mechanism (5), the test tube clamping mechanism (5) is controlled to release the test tube body on the test tube conveying turntable after the cap is screwed and retreat to the initial state; S4, controlling the test tube conveying turntable to operate, and when the next uncapped test tube body on the test tube conveying turntable is in place, controlling the test tube clamping mechanism (5) to clamp the next uncapped test tube body on the test tube conveying turntable; S5, controlling the capping station switching mechanism (3) to drive the second capping station in the double-station capping mechanism (4) to cap the next uncapped test tube body clamped by the test tube clamping mechanism (5); S6, when the next uncapped test tube body is being capped, the test tube cap carried by the first capping station in the double-station capping mechanism (4) is released into the test tube cap storage container; Repeat steps S1 to S6, so that the first capping station and the second capping station in the double-station capping mechanism (4) cooperate to cap the test tube body on the test tube conveying turntable.

2. A dual-station collaborative test tube capping method according to claim 1, characterized in that: Step S2 and step S5 also include adjusting the height of the double-station capping mechanism (4) by means of the lifting and lowering adjustment mechanism (2) so that the first capping station and the second capping station of the double-station capping mechanism (4) are docked with the test tube body to be capped after being clamped by the test tube clamping mechanism (5).

3. A dual-station collaborative test tube capping method according to claim 1, characterized in that: During the process in which the first capping station and the second capping station in the double-station capping mechanism (4) cooperate to cap the test tube body on the test tube conveying turntable, the actions of the first capping station, the second capping station and the test tube clamping mechanism (5) are controlled by a capping coordination model, and the capping coordination model is: Set the first capping station to cap test tube A, and the second capping station to cap test tube B; the capping action start time of the first capping station is t 1s , the end time is t 1e ; The second capping station capping action starts at t 2s , the end time is t 2e ; The start time of the clamping action of the test tube A by the test tube clamping mechanism (5) is t as , the end time is t ae ; The clamping action for test tube B starts at t bs , the end time is t be ; For test tube A, the clamping action starts before the capping action, i.e., t as＜ t 1s , and the clamping action continues until the capping action is completed, that is, t ae＜ t 1e ; For test tube B, the clamping action starts before the capping action, i.e., t bs＜ t 2s , and the clamping action continues until the capping action is completed, that is, t be＜ t 2e ; The action time of the first cap tightening station and the second cap tightening station does not overlap, that is, t 2s >t 1e , or t 1s >t 2e ; Combined with the response time and error of the action, it satisfies: t 1s> t as+ t interval t 2s> t bs+ t interval Where, t interval The safety time interval is set.

4. A double-station collaborative test tube capping device, using a double-station collaborative test tube capping method according to any one of claims 1 to 3, characterized in that: The capping device comprises a mounting base (1), wherein the mounting base (1) is provided with a lifting and lowering adjustment mechanism (2), a capping station switching mechanism (3), a double-station capping mechanism (4) and a test tube clamping mechanism (5); The lifting and adjusting mechanism (2) is arranged on the upper part of the mounting base (1), and the lifting and adjusting mechanism (2) comprises a lifting seat (6), the cap screwing station switching mechanism (3) is connected to the lifting seat (6), and the double-station cap screwing mechanism (4) is connected to the cap screwing station switching mechanism (3), the lifting and adjusting mechanism (2) drives the cap screwing station switching mechanism (3) and the double-station cap screwing mechanism (4) to lift and lower through the lifting seat (6), and the cap screwing station switching mechanism (3) drives the double-station cap screwing mechanism (4) to switch the cap screwing station; The test tube clamping mechanism (5) is arranged at the lower part of the mounting base (1), the test tube clamping mechanism (5) clamps the test tube on the test tube conveying turntable, and the double-station capping mechanism (4) caps the test tube after being clamped by the test tube clamping mechanism (5).

5. A dual-station collaborative test tube capping device according to claim 4, characterized in that: The lifting and lowering adjustment mechanism (2) further comprises a lifting and lowering drive motor (7), a lifting and lowering screw rod (8), a lifting and lowering guide rail (9) and a lifting and lowering slider (10); the mounting base (1) is formed with a first avoidance hole (11); The lifting drive motor (7) is fixed on the top of the mounting base (1), the lifting screw rod (8) is connected to the lifting drive motor (7), the lifting guide rail (9) is arranged on both sides of the first avoidance hole (11), and the lifting guide rail (9) is connected to the lifting seat (6) through the lifting slider (10); the lifting screw rod (8) passes through the lifting seat (6), and the end of the lifting screw rod (8) is connected to the tailstock bearing; The lifting seat (6) comprises a first mounting portion (12) and a second mounting portion (13).

6. A dual-station collaborative test tube capping device according to claim 5, characterized in that: The cap screwing station switching mechanism (3) comprises a rotating arm motor fixing plate (14), a rotating arm motor body (15), a first synchronous wheel (16), a second synchronous wheel (17), a transmission belt (18), a cap screwing shaft (19) and a rotating arm (20); The rotating arm motor fixing plate (14) is connected to the outer side of the first mounting portion (12) of the lifting seat (6); the rotating arm motor body (15) is connected to the rotating arm motor fixing plate (14); the first synchronous wheel (16) is connected to the driving shaft of the rotating arm motor body (15); the second synchronous wheel (17) is arranged above the second mounting portion (13) of the lifting seat (6); the upper part of the screw cap rotating shaft (19) is connected to the center of the second synchronous wheel (17); the transmission belt (18) is connected between the first synchronous wheel (16) and the second synchronous wheel (17); the transmission belt (18) passes through the first avoidance hole (11); the lower part of the screw cap rotating shaft (19) is inserted into the rotating arm (20) in the second mounting portion (13); the rotating arm (20) and the screw cap rotating shaft (19) are fixedly connected.

7. A dual-station collaborative test tube capping device according to claim 6, characterized in that: A first rotating extension portion (21) and a second rotating extension portion (22) are formed on one side of the rotating arm (20); the double-station cap screwing mechanism (4) comprises a first clamping jaw connected to a horizontal plate (23), a first clamping jaw connected to a vertical plate (24), a first rotating clamping jaw (25), a second clamping jaw connected to a horizontal plate (26), a second clamping jaw connected to a vertical plate (27) and a second rotating clamping jaw (28); One end of the first clamping jaw connecting the horizontal plate (23) is connected to the first rotating extension portion (21), the other end of the first clamping jaw connecting the horizontal plate (23) is connected to the first clamping jaw connecting the vertical plate (24), and the side of the first clamping jaw connecting the vertical plate (24) is connected to the first rotating clamping jaw (25); One end of the second clamping jaw connected to the horizontal plate (26) is connected to the second rotating extension portion (22), the other end of the second clamping jaw connected to the horizontal plate (26) is connected to the second clamping jaw connected to the vertical plate (27), and the side of the second clamping jaw connected to the vertical plate (27) is connected to the second rotating clamping jaw (28).

8. The double-station collaborative test tube capping device according to claim 7, characterized in that: The mounting base (1) is formed with a second avoidance hole (29); the second avoidance hole (29) is located below the first avoidance hole (11); the test tube clamping mechanism (5) is arranged at the position of the second avoidance hole (29); The test tube clamping mechanism (5) comprises a test tube clamping drive assembly, and the test tube clamping drive assembly comprises a clamping base plate (30), a test tube clamping drive motor (31), a test tube clamping active gear (32), a test tube clamping driven gear (33), a test tube clamping gear shaft (34), a gear drive ring (35), a transmission connecting rod (36), a pull rod shaft (37) and a guide block (38); The clamping base plate (30) is fixed to the bottom of the second avoidance hole (29) of the mounting base (1); the test tube clamping drive motor (31) is mounted on the clamping base plate (30); the test tube clamping active gear (32) is connected to the drive shaft of the test tube clamping drive motor (31); the test tube clamping driven gear (33) is arranged on one side of the upper end of the clamping base plate (30); the test tube clamping driven gear (33) is meshed with the test tube clamping active gear (32); the test tube clamping driven gear (33) is meshed with the test tube clamping active gear (32); The test tube clamping gear shaft (34) is fixed at the center of the clamping base plate (33), the upper end of the test tube clamping gear shaft (34) is connected to the gear driving ring (35), one end of the transmission connecting rod (36) is connected to the edge of the gear driving ring (35) through a bearing, and the other end of the transmission connecting rod (36) is connected to one end of the pull rod shaft (37) through a bearing, the guide block (38) is fixed on the other side of the upper end of the clamping base plate (30), and the pull rod shaft (37) extends from the center of the guide block (38).

9. The double-station collaborative test tube capping device according to claim 8, characterized in that: The test tube clamping mechanism (5) comprises a test tube picking and placing clamping jaw assembly, and the test tube picking and placing clamping jaw assembly comprises a clamping jaw fixing box (39), a bearing fixing plate (40), a first driving bearing (41), a second driving bearing (42), a first guide shaft (43), a first clamping jaw fixing plate (44), a second clamping jaw fixing plate (45) and a reset spring (46); The bearing fixing plate (40) is arranged inside the clamp fixing box (39), and the pull rod shaft (37) extends from the center of the guide block (38) and is inserted into the clamp fixing box (39) and connected to the bearing fixing plate (40); the first drive bearing (41) is arranged on one side of the upper end of the bearing fixing plate (40), and the second drive bearing (42) is arranged on the other side of the upper end of the bearing fixing plate (40); The first guide shaft (43) is connected to the front part of the clamp fixing box (39), the first clamp fixing plate (44) is sleeved on one end of the first guide shaft (43), the second clamp fixing plate (45) is sleeved on the other end of the first guide shaft (43), and the return spring (46) is arranged between the first clamp fixing plate (44) and the second clamp fixing plate (45); A first driving slope (47) is formed at the rear end of the first clamping jaw fixing plate (44), and the first driving bearing (41) contacts the first driving slope (47); a second driving slope (48) is formed at the rear end of the second clamping jaw fixing plate (45), and the second driving bearing (42) contacts the second driving slope (48); A first test tube clamping portion (49) is formed at the front end of the first clamping jaw fixing plate (44), and a second test tube clamping portion (50) is formed at the front end of the second clamping jaw fixing plate (45).

10. The double-station collaborative test tube capping device according to claim 8, characterized in that: A first guide step (51) is formed at the bottom of the first driving ramp (47), and the lower part of the first driving bearing (41) is placed on the first guide step (51); a second guide step (52) is formed at the bottom of the second driving ramp (48), and the lower part of the second driving bearing (42) is placed on the second guide step (52); Three second guide shafts (54) are connected between the guide block (38) and the clamp fixing box (39), and the three second guide shafts are distributed in a triangle, and a buffer spring (53) is provided on one of the second guide shafts (54).

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