Pipe cover limiting block, cover opening device and use method thereof

Abstract

This invention relates to the field of automated in vitro diagnostic equipment technology, specifically to a tube cap limiting block, a cap opening device, and a method of using the same. Multiple tube cap limiting blocks are provided, each including a bottom surface that abuts against the bottom surface of the tube cap. These multiple tube cap limiting blocks limit and fix multiple test tubes in place. A gripper can then move a tube cap onto the limiting block, and the gripper can then move the next tube cap, thus achieving the opening and closing action of the tube caps on multiple test tubes. This structure enables the opening and closing of multiple specific test tubes using a single device, resulting in high efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated in vitro diagnostic equipment, specifically to a tube cap limiting block, a cap opening device, and a method of using the same. Background Technology

[0002] With the development of sample analysis technologies such as bioassay and in vitro diagnostics, sample processing has become increasingly complex. This necessitates the transfer of individual or multiple test tubes, the opening and closing of tube caps, and other related tasks. For example, in the preservation and use of cryovials, it is frequently necessary to transfer and analyze the bacterial cultures within the cryovials.

[0003] However, existing technologies cannot individually control any one or more of the cryovials with holes and perform opening and closing actions on the retrieved cryovials. For example, the cryovial capping machine disclosed in CN219363219U uses multiple capping motors and drive shafts to drive capping bits to rotate and open / close the cryovials with holes, and then pushes the cap out through an internal push rod. However, the above capping machine is not only complex in overall structure, but more importantly, it can only open and close all the cryovials with holes simultaneously, and cannot individually control any one of the cryovials with holes. Furthermore, after the cryovial is opened, the cap remains on the capping bit, making it impossible to use the capping bit to perform capping actions on other cryovials.

[0004] To address the aforementioned problem of not being able to perform the opening and closing action on individual cryopreservation tubes, patent application CN111392673A protects an automatic test tube cap opening and closing device. This device uses tube wall grippers to hold the test tube wall, followed by a three-axis electric gripper to clamp the cap, which is then opened under the drive of a rotary motor. While this automatic test tube cap opening and closing device can open and close the cap on a single test tube, it suffers from low efficiency, processing only one test tube at a time and unable to handle multiple test tubes or test tubes of different brands and cap sizes. Furthermore, this existing equipment cannot store test tube caps. Ultimately, this results in a situation where only one set of equipment can open and close the cap on one test tube, severely impacting worker efficiency. On the other hand, most existing cap storage positions are recessed or sunken, resulting in a small exposed area of ​​the cap, making it difficult for mechanical grippers to hold it securely. Furthermore, existing cap storage positions with raised structures lack guiding and precise positioning functions. When used with cap-opening and gripping mechanisms such as robotic arms with low execution precision, they may not accurately place the cap in the designated position, affecting subsequent operations. In short, those skilled in the art urgently need a new cap-opening device that can perform cap-opening and cap-closing actions on one or more specific test tubes as needed through a single cap-opening and cap-control system, further improving the stability of the tube body and cap, thereby increasing worker efficiency and system reliability. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is how to solve the problems in the prior art where the test tube cap opening and closing action can only be performed on a specific test tube as needed, and it is impossible to perform the opening and closing action on multiple specific test tubes through a set of equipment, resulting in low efficiency of test tube cap opening and closing, affecting work efficiency, and the fact that most of the tube cap storage positions are concave or sunken, resulting in a small exposed area of ​​the tube cap, making it difficult to clamp.

[0006] Therefore, in one aspect of the present invention, a pipe cap limiting block is provided, comprising: a limiting block bottom surface abutting against the bottom surface of the pipe cap and a limiting block inner protrusion abutting against the inner wall of the pipe cap.

[0007] Optionally, the pipe cap limiting block further includes: a limiting block protrusion corresponding to the outer peripheral wall of the pipe cap for guiding and limiting the placement of the pipe cap; the limiting block protrusion consists of at least two pieces.

[0008] Optionally, the outer protrusion of the limiting block has a trapezoidal structure, a guide surface for guiding the tube cap, and an arc-shaped limiting surface adapted to the shape of the tube cap.

[0009] In another aspect of the invention, a lid-opening device is provided, comprising:

[0010] A test tube support assembly, wherein the test tube support assembly is provided with at least one cavity for accommodating a test tube;

[0011] A test tube fixing assembly is driven to be connected to the body of the test tube to prevent the test tube from rotating in its circumferential direction;

[0012] A rotating jaw is driven to clamp the tube cap and rotate, thereby completing the opening and closing action of the tube cap on the test tube.

[0013] Optionally, the test tube support assembly includes:

[0014] A limiting plate is provided with a limiting hole that is adapted to the body of the test tube to limit the position of the test tube body.

[0015] Optionally, the test tube support assembly further includes a support frame having multiple bent structures spaced at different intervals from the limiting plate, with grooves formed between the bent structures to accommodate test tubes of different heights; or the support frame has a support plane facing the test tubes to support them; and / or...

[0016] Multiple test tubes are arranged in a straight line on the limiting plate through the limiting holes; and the support frame is arranged along the direction of the multiple test tubes.

[0017] Optionally, a mounting base for fixing the test tube support assembly is provided on one of a set of opposite sides of the test tube support assembly; the support frame and / or the limiting plate are fixed on the mounting base.

[0018] Optionally, a side mounting plate for fixing the test tube fixing assembly is provided on another set of opposite sides of the test tube support assembly.

[0019] The two ends of the side mounting plate along its length are connected to the mounting base.

[0020] Optionally, the test tube fixation assembly includes:

[0021] The tube clamps are at least two in number, arranged in parallel and symmetrical arrangement on both sides of the test tube arrangement direction, and arranged along multiple test tube arrangement directions; the two tube clamps have a clamping state in which they move towards each other under drive to synchronously clamp and fix each test tube, and a releasing state in which they move away from each other under drive to synchronously release each test tube.

[0022] The tube gripper drive mechanism includes: a gripper drive source and two drive sliders that move towards or away from each other under the drive of the gripper drive source; the two drive sliders are respectively fixedly connected to the two tube grippers to drive the tube grippers to clamp and release.

[0023] Optionally, the tube clamp includes: a clamp block mounted on the drive slider, and a clamp elastic member fixed on the clamp block; the clamp block is a rigid strip structure, and the clamp elastic member is disposed on the side of the clamp block facing the test tube.

[0024] Optionally, the tube clamp includes: a clamp block or a clamp elastic element; the clamp block or the clamp elastic element is mounted on the drive slider; the clamp block or the clamp elastic element is provided with a groove that matches the shape of the test tube.

[0025] Optionally, the rotating gripper includes:

[0026] A clamp, driven to clamp or release the tube cap;

[0027] A clamp drive source is connected to the clamp via a rotating mechanism to drive the clamp to hold or release the pipe cap, and to rotate the pipe cap via the rotating mechanism to tighten or loosen the pipe cap.

[0028] A cap limiting post is positioned at the rotation center of the rotating mechanism; during use, the cap limiting post abuts against the center of the cap to position the test tube perpendicular to the rotating jaws.

[0029] Optionally, the cap limiting post is connected to the rotating mechanism through an elastic element, and the cap limiting post extends and retracts under the action of the elastic element to apply a clamping force toward the cap.

[0030] Optionally, the clamp is used for the pipe cap on the aforementioned pipe cap limiting block. The clamp includes: a clamp base disposed opposite to each other, and a clamping block mounted on the clamp base and adapted to the pipe cap; each clamp base is provided with at least two clamping blocks to adapt to different models of pipe caps.

[0031] A gripping gap a is formed between adjacent gripping blocks; there are at least two outer protrusions of limiting blocks, and the gripping gap a is greater than the outer ring limiting width b on the outer protrusion of the limiting block, thereby forming a gripping gap to avoid the movement stroke of the rotating jaws when they open or clamp.

[0032] Optionally, the test tube support assembly is further provided with a tube cap storage position for storing tube caps. The tube cap storage position is located on the limiting plate, adjacent to the limiting hole; the tube cap storage position is the aforementioned tube cap limiting block.

[0033] In another aspect of the invention, a method of using the cover-opening device described above is provided, comprising the following steps:

[0034] Step S1: The rotating gripper grabs one or more test tubes as needed and sequentially transfers the test tubes to the limiting hole of the limiting plate and the cavity formed by the support structure.

[0035] In step S2, the test tube fixing assembly is driven to clamp and fix the test tube on the limiting plate to prevent the test tube from rotating in its circumferential direction.

[0036] Step S3: The rotating gripper sequentially performs the capping action on each test tube on the limiting plate and places the cap one by one in the cap storage position to complete the capping action; during the capping process, the rotating gripper holds the cap and rotates upward under drive.

[0037] Step S4, the test tube fixing assembly maintains the clamping and fixing of the test tube;

[0038] The rotating gripper sequentially removes the tube caps from the tube cap storage position and performs a cap-closing action on each of the test tubes on the limiting plate to complete the cap-closing action; during the cap-closing process, the rotating gripper holds the tube cap and rotates and descends under drive;

[0039] In step S5, the test tube fixing assembly is driven to release the test tube on the limiting plate; the rotating gripper picks up the test tube and moves it to the initial position.

[0040] The technical solution of this invention has the following advantages:

[0041] 1. The pipe cap limiting block provided by the present invention includes at least one pipe cap limiting block, and each pipe cap limiting block includes a limiting block bottom surface that abuts against the bottom surface of the pipe cap.

[0042] The above structure allows a clamp to move a tube cap onto a cap-limiting block, and then the same clamp to move the next cap, thus enabling the opening and closing of caps on multiple test tubes. This structure allows for the use of a single device to perform cap opening and closing operations on multiple specific test tubes, resulting in high efficiency.

[0043] 2. The pipe cap limiting block provided by the present invention, wherein the pipe cap temporary storage position is a pipe cap limiting block disposed on the limiting plate; the pipe cap limiting block includes one or more of the following structures: a limiting block bottom surface abutting against the bottom surface of the pipe cap, a limiting block inner protrusion abutting against the inner wall of the pipe cap, and a limiting block outer protrusion corresponding to the outer peripheral wall of the pipe cap for placing, guiding and limiting the pipe cap;

[0044] Furthermore, there are at least two outer protrusions of the limiting block, and adjacent outer protrusions of the limiting block form a gripping gap to avoid the movement stroke of the rotating gripper when it opens or clamps; the outer protrusion of the limiting block has a trapezoidal structure, a guide surface for guiding the tube cap, and an arc-shaped limiting surface that matches the shape of the tube cap.

[0045] In this invention, by providing an inner protrusion on the cap limiting block, the inner side of the cap can be limited, effectively preventing misalignment or eccentricity when the cap is placed after opening. By providing an outer protrusion on the cap limiting block, the cap can be effectively guided during placement, allowing the rotating gripper to accurately place the cap into the limiting block. Simultaneously, the outer protrusion also limits and fixes the outer side of the cap. Furthermore, in this invention, there are at least two outer protrusions, with adjacent outer protrusions forming a gripping gap to avoid the opening or clamping stroke of the rotating gripper. This gripping gap facilitates the rotating gripper's gripping of the outer wall of the cap.

[0046] 3. The pipe cap limiting block provided by the present invention has a pipe cap temporary storage position provided on the limiting plate; the opening edge of the pipe cap is engaged with the limiting protrusion to limit and fix the pipe cap. The aforementioned limiting protrusion can be directly processed on the limiting plate, which has a simple and reliable structure, is easy to process, and can also firmly and reliably position and fix the pipe cap.

[0047] 4. The lid-opening device provided by the present invention includes:

[0048] A test tube support assembly, wherein the test tube support assembly is provided with at least two cavities for accommodating test tubes, and the test tube support assembly is also provided with a tube cap storage position for storing tube caps;

[0049] A test tube fixing assembly is driven to be connected to the body of the test tube to prevent the test tube from rotating in its circumferential direction;

[0050] A rotating gripper is driven to clamp and rotate the tube cap to complete the opening and closing action of the tube cap on the test tube; during operation, any one of the rotating grippers can be adapted to the opening and closing action of multiple or various types of tube caps and place the corresponding tube cap in the tube cap temporary storage position.

[0051] To address the problem that existing test tube cap opening and closing technologies can only perform the action of opening and closing caps on one specific test tube at a time, and cannot perform the action of opening and closing caps on multiple specific test tubes with a single device, resulting in low efficiency and reduced work efficiency, this invention first establishes a test tube support assembly. This assembly has multiple cavities for accommodating test tubes, allowing operators to transfer one or more test tubes from a centralized storage box to the support assembly as needed. Then, a test tube fixing assembly positions and fixes the test tubes to prevent rotation along their circumferential direction. During this process, a cap storage position on the test tube support assembly effectively stores caps opened by the rotating gripper, freeing up the gripper to handle the next cap. This structure efficiently and easily stores caps while freeing the gripper. Thus, a single set of rotating grippers enables the opening and closing of caps on multiple specific test tubes. This structure is simple and reliable, effectively solving the problem of existing technologies being unable to simultaneously perform the opening and closing of caps on multiple specific test tubes.

[0052] 5. The cap-opening device provided by the present invention, wherein the test tube support assembly comprises:

[0053] A support frame that abuts against the bottom surface of the test tube to support the test tube;

[0054] A limiting plate is provided with a limiting hole that is adapted to the body of the test tube to limit the position of the test tube body.

[0055] In this invention, the support frame, by abutting against the bottom surface of the test tubes, can effectively support multiple test tubes. Simultaneously, the limiting holes on the limiting plate effectively limit the position of the test tubes. The support frame and the limiting plate form a cavity for accommodating the test tubes, keeping them upright.

[0056] 6. The cap-opening device provided by the present invention has a support frame that is a bent structure with a different spacing from the limiting plate, so as to adapt to test tubes of different heights.

[0057] In this invention, the support frame with the aforementioned bent structure can effectively change the distance between the support frame and the limiting plate, thereby allowing the capping device to adapt to test tubes of different heights. When storing cryopreservation tubes using the aforementioned support frame, different types of cryopreservation tubes, such as 0.5ml cryopreservation tubes, 1ml cryopreservation tubes, and 2ml cryopreservation tubes, can be supported by the support frames of different heights.

[0058] 7. The cap-opening device provided by the present invention includes a mounting base for fixing the test tube support assembly on one set of opposite sides; the support frame and / or the limiting plate are fixed on the mounting base. A side mounting plate for fixing the test tube fixing assembly is provided on the other set of opposite sides of the test tube support assembly; both ends of the side mounting plate in the length direction are fixedly connected to the mounting base.

[0059] In this invention, one or both of the support frame and the limiting plate can be fixed to the mounting base as needed.

[0060] Meanwhile, on another set of opposite sides of the test tube support assembly, a side mounting plate is also provided for fixing the gripper drive source. Furthermore, the aforementioned support frame and mounting base can be configured as an integral structure or a detachable separate structure as needed. Additionally, the aforementioned mounting base and mounting plate can be configured as an integral structure or a detachable separate structure as needed.

[0061] 8. The cap-opening device provided by the present invention comprises a plurality of test tubes arranged in a straight line on the limiting plate through the limiting holes; and the support frame is arranged along the arrangement direction of the plurality of test tubes.

[0062] The test tube fixation assembly includes:

[0063] The tube clamps are at least two in number, arranged in parallel and symmetrical arrangement on both sides of the test tube arrangement direction, and arranged along multiple test tube arrangement directions; the two tube clamps have a clamping state in which they move towards each other under drive to synchronously clamp and fix each test tube, and a releasing state in which they move away from each other under drive to synchronously release each test tube.

[0064] The tube gripper drive mechanism includes: a gripper drive source and two drive sliders that move towards or away from each other under the drive of the gripper drive source; the two drive sliders are respectively fixedly connected to the two tube grippers to drive the tube grippers to clamp and release.

[0065] In this invention, the limiting holes on the limiting plate are arranged in a straight line. Multiple test tubes are then clamped and fixed using parallel and symmetrically arranged tube clamps. These tube clamps provide a stable and reliable way to simultaneously hold and fix multiple test tubes, effectively fulfilling the requirement for simultaneous fixation of multiple test tubes.

[0066] 9. The cap opening device provided by the present invention includes a tube gripper comprising: a gripper block mounted on the drive slider, and a gripper elastic member fixed on the gripper block; the gripper block is a rigid strip structure, and the gripper elastic member is disposed on the side of the gripper block facing the test tube.

[0067] In this invention, the cooperation between the aforementioned gripper block and the gripper elastic element allows for better positioning and fixation of the test tube. The gripper block possesses sufficient hardness to ensure that the gripper elastic element deforms within a preset range. Furthermore, the gripper elastic element provides sufficient elastic deformation, allowing the gripper to clamp the test tube securely. Of course, in this invention, either the gripper block or the gripper elastic element can be selected as needed to independently clamp and fix the test tube.

[0068] 10. The opening device provided by the present invention allows the side mounting plate and the support frame to be separate structures, thereby reducing the manufacturing difficulty of the parts. Of course, the side mounting plate and the support frame can also be configured as an integrated structure as needed to reduce the installation difficulty of the opening device. The above configuration effectively allows the side mounting plate and the support frame to be installed simultaneously on the mounting base, thereby meeting different manufacturing and installation needs.

[0069] 11. The cap opening device provided by the present invention, wherein the cap temporary storage position is a cap limiting block disposed on the limiting plate. In one embodiment, by integrally molding the cap limiting block onto the limiting plate, it can be effectively ensured that the cap limiting block will not be misaligned relative to the limiting plate, and that the rotating gripper can stably and reliably grasp the cap with each movement.

[0070] 12. The clamp provided by the present invention includes a rotating jaw comprising:

[0071] A clamp, driven to clamp or release the tube cap;

[0072] A clamp drive source is connected to the clamp via a rotating mechanism to drive the clamp to hold or release the pipe cap, and to rotate the pipe cap via the rotating mechanism to tighten or loosen the pipe cap.

[0073] A cap limiting post is positioned at the rotation center of the rotating mechanism; during use, the cap limiting post abuts against the center of the cap to position the test tube perpendicular to the rotating jaws.

[0074] In this invention, a clamping drive source drives the clamp to rotate, thereby opening or closing the cap on the test tube. This structure effectively works in conjunction with the test tube support assembly and the test tube fixing assembly, enabling the opening and closing of caps on multiple specific test tubes through a single set of rotating grippers. This structure is simple and reliable, effectively addressing the limitation of existing technologies that cannot simultaneously handle the opening, closing, and transporting of multiple specific test tubes. Furthermore, the cap-limiting post in this invention remains abutted against the center of the cap during the opening, closing, and clamping movements of the rotating grippers, thus limiting the cap's position and ensuring the test tube remains vertical, facilitating the opening, closing, and transport of the test tubes by the rotating grippers.

[0075] 13. The clamp provided by the present invention includes: a clamp base disposed opposite to each other, and a clamping block mounted on the clamp base and adapted to the pipe cap; each clamp base is provided with at least two clamping blocks to adapt to different models of pipe caps.

[0076] In this invention, the clamping block can be used to clamp and rotate different types of pipe caps, thereby improving the applicability of the equipment.

[0077] 14. The clamp provided by the present invention, wherein the pipe cap limiting post is connected to the clamp through an elastic element, and the pipe cap limiting post extends and retracts under the action of the elastic element to apply a clamping force toward the pipe cap.

[0078] The aforementioned elastic element allows for a tighter contact between the cap limiting post and the cap, improving the cap's limiting effect and ensuring the test tube remains vertical. This facilitates the rotation of the gripper to open, close, and transfer the test tube.

[0079] 15. The method of using the lid-opening device provided by the present invention includes the following steps:

[0080] Step S1: The rotating gripper grabs one or more test tubes as needed and sequentially transfers the test tubes to the limiting hole of the limiting plate and the cavity formed by the support structure.

[0081] In step S2, the test tube fixing assembly is driven to clamp and fix the test tube on the limiting plate to prevent the test tube from rotating in its circumferential direction.

[0082] Step S3: The rotating gripper sequentially performs the capping action on each test tube on the limiting plate and places the cap one by one in the cap storage position to complete the capping action; during the capping process, the rotating gripper holds the cap and rotates upward under drive.

[0083] Step S4, the test tube fixing assembly maintains the clamping and fixing of the test tube;

[0084] The rotating gripper sequentially removes the tube caps from the tube cap storage position and performs a cap-closing action on each of the test tubes on the limiting plate to complete the cap-closing action; during the cap-closing process, the rotating gripper holds the tube cap and rotates and descends under drive;

[0085] In step S5, the test tube fixing assembly is driven to release the test tube on the limiting plate; the rotating gripper picks up the test tube and moves it to the initial position.

[0086] In this invention, the capping device, in conjunction with the above-described method, enables the opening and closing of caps on multiple specific test tubes using a set of rotating grippers. This effectively solves the problem in existing technologies where capping can only be performed on one specific test tube at a time, making it impossible to perform capping on multiple specific test tubes with a single device, resulting in low efficiency and reduced work efficiency. Attached Figure Description

[0087] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0088] Figure 1 A first-view perspective perspective three-dimensional schematic diagram of the combined structure of the test tube support component and the test tube fixing component provided by the present invention;

[0089] Figure 2 A second-view perspective perspective view of the combined structure of the test tube support component and the test tube fixing component provided by the present invention;

[0090] Figure 3 An exploded view of the combined structure of the test tube support component and the test tube fixing component provided by the present invention;

[0091] Figure 4 A front view of the combined structure of the test tube support component and the test tube fixing component provided by the present invention;

[0092] Figure 5 A side view of the combined structure of the test tube support assembly and the test tube fixing assembly provided by the present invention;

[0093] Figure 6 This is a three-dimensional structural diagram of the pipe cap limiting block provided by the present invention;

[0094] Figure 7 A three-dimensional structural diagram of the clamp driving source driving the rotating jaws to clamp the test tube provided by the present invention;

[0095] Figure 8 This is a schematic diagram of the three-dimensional structure of the clamp provided by the present invention;

[0096] Figure 9 This is a front view of the structure of the clamp provided by the present invention, showing the test tube being held in place.

[0097] Figure 10 A schematic diagram of the internal structure of the rotating gripper with an elastic element provided by the present invention;

[0098] Figure 11 A front view of a rotating gripper with an elastic element provided by the present invention;

[0099] Figure 12 A schematic diagram of the gripping gap a position of the rotating gripper block provided by the present invention;

[0100] Figure 13 A schematic diagram of the action of the rotating gripper holding the test tube on the limiting plate provided by the present invention;

[0101] Figure 14 This is a schematic diagram of the action of the rotating gripper holding the test tube according to the present invention.

[0102] Explanation of reference numerals in the attached figures:

[0103] 1 - Test tube; 2 - Tube cap; 3 - Rotating gripper; 4 - Support frame; 5 - Limiting plate; 6 - Limiting hole; 7 - Mounting base; 8 - Tube cap limiting block; 801 - Bottom surface of limiting block; 802 - Inner protrusion of limiting block; 803 - Outer protrusion of limiting block; 9 - Side mounting plate; 10 - Tube body gripper; 11 - Gripper drive source; 12 - Drive slider; 13 - Gripper block; 14 - Gripper elastic element; 15 - Fixture; 16 - Fixture drive source; 17 - Rotation mechanism; 18 - Tube cap limiting post; 19 - Fixture base; 20 - Clamping block; 21 - Elastic element; 22 - Tube cap temporary storage position. Detailed Implementation

[0104] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0105] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0106] Example 1

[0107] See Figure 6 , Figure 6A three-dimensional structural diagram of a tube cap limiting block provided in an embodiment of the present invention is shown. In this embodiment, the tube cap limiting block 8 includes: a limiting block bottom surface 801 that abuts against the bottom surface of the tube cap 2, and a limiting block inner protrusion 802 that abuts against the inner wall of the tube cap 2. The limiting block bottom surface 801 serves to support the bottom surface of the tube cap 2 and keep it horizontal. Simultaneously, it prevents residual reagents on the tube cap 2 from directly contacting the equipment; subsequent cleaning only requires cleaning the limiting block bottom surface 801, making cleaning convenient. Furthermore, the limiting block inner protrusion 802 engages with the inner cavity of the tube cap 2, thereby limiting and fixing the tube cap 2 from its inner edge and preventing positional displacement. Optionally, the outer contour edge of the limiting block inner protrusion 802 is also provided with a chamfer to guide the tube cap 2 into the limiting block inner protrusion 802.

[0108] In a preferred embodiment, the pipe cap limiting block 8 further includes a limiting block outer protrusion 803 corresponding to the outer peripheral wall of the pipe cap 2, used for placing, guiding, and limiting the pipe cap 2. In a preferred embodiment, the limiting block outer protrusion 803 has a trapezoidal structure, a guide surface for guiding the pipe cap 2, and an arc-shaped limiting surface adapted to the shape of the pipe cap 2.

[0109] The aforementioned arc-shaped limiting surface is adapted to the outer contour shape of the pipe cap 2, thereby more firmly and reliably limiting and fixing the pipe cap 2. Specifically, the outer protrusion 803 of the limiting block is connected to the outer peripheral wall of the pipe cap 2, limiting and fixing the pipe cap 2 from its outer edge. Optionally, the outer protrusion 803 of the limiting block can be a trapezoidal structure of the pipe cap 2, with its inclined surface facing the pipe cap 2. The trapezoidal outer protrusion 803 guides the pipe cap 2 to be inserted more accurately into the inner protrusion 802 of the limiting block.

[0110] Example 2

[0111] In one specific embodiment, see Figure 1 , Figure 2 ,as well as Figure 7 , Figure 1 The diagram shows a first-view perspective three-dimensional schematic diagram of the combined structure of the test tube support component and the test tube fixing component in an embodiment of the present invention. Figure 2 This is a second-view perspective three-dimensional schematic diagram of the combined structure of the test tube support component and the test tube fixing component in an embodiment of the present invention. Figure 7 This invention provides a three-dimensional structural diagram of a rotating gripper 3 holding a test tube 1 in an embodiment of the present invention. The cap-opening device provided in this embodiment includes:

[0112] A test tube support assembly, wherein the test tube support assembly is provided with at least two cavities for accommodating test tube 1;

[0113] A test tube fixing assembly is driven to be connected to the body of the test tube 1 to prevent the test tube 1 from rotating in its circumferential direction;

[0114] A rotating jaw 3 is driven to clamp and rotate the cap 2 on the test tube 1, thereby completing the opening and closing action of the cap 2. During operation, any one of the rotating jaws 3 can be adapted to the opening and closing action of the caps 2 on multiple or various test tubes 1.

[0115] In this invention, a test tube support assembly is first provided. This assembly has multiple cavities for accommodating test tubes 1, allowing operators to transfer one or more test tubes 1 from a storage box containing test tubes to the support assembly as needed. Then, a test tube fixing assembly positions and fixes the test tubes 1 to prevent rotation along their circumferential direction. Finally, a set of rotating grippers 3 enables the opening and closing of the caps on a specific number of test tubes 1.

[0116] See Figure 3 and Figure 4 , Figure 3 An exploded view of the combined structure of the test tube support component and the test tube fixing component in an embodiment of the present invention is shown. Figure 4 The diagram shows a front view of the combined structure of the test tube support assembly and the test tube fixing assembly in an embodiment of the present invention. The limiting plate 5 is provided with a limiting hole 6 that matches the body of the test tube 1 to limit the position of the test tube 1.

[0117] Furthermore, in this embodiment, multiple test tubes 1 are arranged in a straight line on the limiting plate 5 through the limiting hole 6; and the support frame 4 is arranged along the arrangement direction of the multiple test tubes 1. In an optional embodiment, for test tubes 1 with an outer flange on the tube body, the outer flange of the test tube 1 can be fixed by engaging the limiting hole 6.

[0118] Understandably, the above embodiments do not specifically limit the arrangement of the multiple limiting holes 6. In other embodiments, the multiple limiting holes 6 can also be arranged in L-shape, Z-shape, or other shapes. The clamping part of the test tube fixing assembly is adapted to the different arrangements of the limiting holes 6. In a preferred embodiment, the test tube support assembly further includes: a support frame 4, which has multiple bent structures with different spacing from the limiting plate 5, and grooves are formed between the bent structures. The grooves accommodate test tubes 1 of different heights, or the support frame 4 has a supporting plane in the direction facing the test tube 1 to support the test tube 1.

[0119] In another preferred embodiment, a plurality of test tubes 1 are arranged in a straight line on the limiting plate 5 through the limiting hole 6; and the support frame 4 is arranged along the arrangement direction of the plurality of test tubes 1.

[0120] The support frame 4 abuts against the bottom surface of the test tube 1 to support the test tube 1. In this embodiment, the support frame 4 is a bent structure with a different distance from the limiting plate 5 to adapt to test tubes 1 of different heights. In an optional embodiment, the support frame 4 is a plate-like structure with a protrusion in the middle of the support frame 4 facing the limiting plate 5, thereby abutting against and supporting test tubes 1 with shorter lengths. Moreover, the middle protrusion of the support frame 4 can also form a receiving cavity for accommodating the gripper drive source 11 on the side of the support frame 4 away from the limiting plate 5. In addition, several recesses extending away from the limiting plate 5 are formed on both sides of the support frame 4 to abut against and support test tubes 1 with longer lengths. It is understood that this embodiment does not specifically limit whether the support frame 4 is a bent structure, and the support frame 4 has a supporting plane in the direction facing the test tube 1 to support the test tube 1.

[0121] In a preferred embodiment, the support frame 4 is a flat, plate-like structure to support the bottom of the test tube 1, thereby meeting the storage requirements of test tubes 1 at a single height. In an alternative embodiment, the support frame 4 has a supporting plane facing the test tube 1; for example, the support frame 4 may be a disc-shaped device with a tray or similar device on top.

[0122] On one set of opposite sides of the test tube support assembly, a mounting base 7 for fixing the test tube support assembly is provided; the support frame 4 and / or the limiting plate 5 are fixed on the mounting base 7. Optionally, on another set of opposite sides of the test tube support assembly, a side mounting plate 9 for fixing the test tube fixing assembly is provided; both ends of the side mounting plate 9 in the length direction are connected to the mounting base 7.

[0123] Further, the aforementioned side mounting plate 9 consists of two symmetrically arranged rectangular plates. On one set of opposite sides of the test tube support assembly, a mounting base 7 for fixing the test tube support assembly is provided. This mounting base 7 consists of two rectangular upright plates; the support frame 4 and the limiting plate 5 are fixed to this mounting base 7. In this embodiment, the gripper drive source 11 for driving the test tube fixing assembly is mounted on the aforementioned side mounting plate 9. In an optional embodiment, the aforementioned side mounting plate 9 and support frame 4 are detachable structures to facilitate the production and installation of components. This embodiment does not specifically limit whether the mounting base 7 and side mounting plate 9 are detachable structures. In other embodiments, the mounting base 7 and side mounting plate 9 can also be an integral structure to reduce the installation difficulty of the opening device.

[0124] Understandably, the above embodiments do not specifically limit the components fixed on the mounting base 7. In other embodiments, a mounting base 7 for fixing the test tube support assembly is provided on one of the opposite sides of the test tube support assembly; the support frame 4 is fixed on the mounting base 7, and the limiting plate 5 is installed on another independent base above the support frame 4.

[0125] See Figures 3 to 5 , Figure 3 An exploded view of the combined structure of the test tube support component and the test tube fixing component in an embodiment of the present invention is shown. Figure 4 The front view of the combined structure of the test tube support component and the test tube fixing component in the embodiment of the present invention is shown. Figure 5 A side view of the combined structure of the test tube support component and the test tube fixing component in an embodiment of the present invention is shown.

[0126] The test tube fixation assembly includes:

[0127] The tube body clamps 10 are at least two, arranged in parallel and symmetrically on both sides of the arrangement direction of the test tubes 1, and arranged along the arrangement direction of the plurality of test tubes 1; the two tube body clamps 10 have a clamping state in which they move toward each other under drive to clamp and fix each test tube 1 synchronously, and a releasing state in which they move away from each other under drive to release each test tube 1 synchronously.

[0128] The tube body gripper drive mechanism includes: a gripper drive source 11 and two drive sliders 12 that move towards or away from each other under the drive of the gripper drive source 11; the two drive sliders 12 are respectively fixedly connected to the two tube body grippers 10 to drive the tube body grippers 10 to clamp and release.

[0129] Furthermore, the tube clamp 10 includes: a clamp block 13 mounted on the drive slider 12, and a clamp elastic member 14 fixed on the clamp block 13. The clamp block 13 is a rigid strip structure, and the clamp elastic member 14 is disposed on the side of the clamp block 13 facing the test tube 1.

[0130] The interaction between the aforementioned gripper block 13 and gripper elastic element 14 allows for better positioning and fixation of the test tube 1. The gripper block 13 possesses sufficient hardness to ensure that the gripper elastic element 14 deforms within a preset range. Furthermore, the gripper elastic element 14 provides sufficient elastic deformation, allowing the tube gripper 10 to clamp the test tube 1. As an example, the gripper block 13 is provided with an insertion hole, and the drive slider 12 is provided with a protrusion adapted to this insertion hole. The protrusion is inserted into the insertion hole, and the gripper block 13 is fixed to the drive slider 12 by screws.

[0131] Furthermore, the tube clamp 10 includes: a clamp block 13 or a clamp elastic element 14; the clamp block 13 or the clamp elastic element 14 is mounted on the drive slider 12; the clamp block 13 or the clamp elastic element 14 is provided with a groove that matches the shape of the tube body of the test tube 1.

[0132] Understandably, the above embodiments do not specifically limit the structure of the tube clamp 10. In other embodiments, the tube clamp 10 only includes: a clamp block 13 mounted on the drive slider 12, the clamp block 13 having a groove adapted to the shape of the test tube 1. Alternatively, the tube clamp 10 only includes: a clamp elastic element 14 mounted on the drive slider 12. In this embodiment, the clamp block 13 or the clamp elastic element 14 can be selected as needed to independently clamp and fix the test tube 1.

[0133] In any of the above embodiments, the gripper block 13 or the gripper elastic member 14 may be provided with a groove structure that is adapted to the shape of the test tube 1, or any structure adapted to the test tube 1, including: trapezoidal, semi-circular, wavy, etc.

[0134] In an optional embodiment, the test tube fixing assembly includes multiple sets of independently controllable tube clamps 10 and a tube clamp drive mechanism, which can independently control and fix a specified test tube 1.

[0135] In one specific embodiment, see Figures 7 to 9 , Figure 7 A three-dimensional structural diagram of a clamping drive source driving a rotating jaw to hold a test tube is shown in an embodiment of the present invention. Figure 8 A schematic diagram of the three-dimensional structure of the clamp in an embodiment of the present invention is shown. Figure 9 A front view of the structure of the clamp holding the test tube in an embodiment of the present invention is shown. The rotating jaw 3 includes:

[0136] Clamp 15, driven to clamp or release the tube cap 2;

[0137] The clamp drive source 16 is connected to the clamp 15 via the rotation mechanism 17 to drive the clamp 15 to clamp or release the pipe cover 2, and to drive the pipe cover 2 to rotate via the rotation mechanism 17 to tighten or loosen the pipe cover 2.

[0138] Optionally, the clamp 15 further includes: a clamp base 19 disposed opposite to each other, and a clamping block 20 mounted on the clamp base 19 and adapted to the pipe cap 2; each clamp base 19 is provided with at least two clamping blocks 20 to adapt to different models of pipe caps 2; it is understood that the clamp drive source can be a motor, electric actuator or other known technology, which can be directly connected to the clamp base 19, or the power can be transmitted to the clamp base 19 through a rack or other components. In short, any existing technical means can be used as long as it can cause relative movement of the oppositely disposed clamp base 19.

[0139] Furthermore, the rotating gripper 3 also includes a cap limiting post 18, which is located at the rotation center of the rotating mechanism 17; during use, the cap limiting post 18 abuts against the center of the cap 2 so that the test tube 1 is in a vertical position of the rotating gripper 3.

[0140] In this invention, the cap-limiting post 18 can always abut against the center position of the cap 2 when the rotating gripper 3 performs the opening, closing, and clamping movements on the test tube 1. This cap-limiting post 18 limits the cap 2 and keeps the test tube 1 in a vertical position, facilitating the opening, closing, and transfer of the test tube 1 by the rotating gripper 3. It is understood that this embodiment does not specifically limit the specific structure of the cap-limiting post 18. For example, the cap-limiting post 18 is not limited to a cylinder; it can also be a cone or cuboid shape, etc. Furthermore, in other optional embodiments, such as... Figure 10 and Figure 11 As shown, the cap limiting post 18 is connected to the rotating mechanism 17 via an elastic element 21, such as a spring, and applies pressure to the cap 2 through the elastic element 21, thereby better abutting against the cap 2. Specifically, the rotating gripper 3 first moves to above the test tube 1 to be opened, so that the cap limiting post 18 is aligned with the center of the cap 2 of the test tube 1, and then descends, so that the cap limiting post 18 abuts against the cap 2. At this time, the rotating gripper 3 continues to descend and compress the elastic element 21, so that the elastic element 21 generates a rebound force, which acts on the abutting cap 2, that is, the elastic element 21 applies pressure to the cap 2. At this time, since the test tube 1 is limited by the limiting hole 6, the tube cap 2 is in a horizontal state. The pressure applied by the elastic element 21 to the tube cap 2 causes the tube cap limiting post 18 to limit the tube cap 2 and keep it in a horizontal state. At the same time, the pressure generated by the elastic element 21 also keeps the test tube 1 in a vertical state, thus achieving the effect of making it easy for the rotating gripper 3 to complete the opening and closing of the test tube 1 and the transfer work.

[0141] On the other hand, this embodiment does not specifically limit the structure of the clamp 15. In other embodiments, the clamp 15 may be a clamp base 19 disposed opposite to the clamp. The tube cap 2 is directly clamped by the clamp base 19. Optionally, the clamp base 19 may be made of flexible material, or have a groove or other structure provided thereon to adapt to different models of the tube cap 2 and improve the stability of clamping.

[0142] Further, see Figure 12 It shows a schematic diagram of the inner gap a of the gripping block 20 of the rotating gripper 3 in an embodiment of the present invention, wherein a gripping gap a is formed between adjacent gripping blocks 20; further, refer to Figure 6 The limiting block has at least two outer protrusions 803, and the gripping gap a is greater than the outer ring limiting width b on the limiting block's outer protrusion 803, thereby forming a gripping gap to avoid the movement stroke of the rotating gripper 3 when it opens or clamps.

[0143] like Figure 13 and Figure 14 As shown, during the clamping process of the clamping block 20 clamping the tube cap 2, since the clamping gap a is greater than the outer ring limiting width b on the outer protrusion 803 of the limiting block, the outer protrusion 803 of the limiting block will not obstruct the clamping block 20 from clamping the tube cap 2. In this embodiment, the structure of the outer protrusion 803 of the limiting block can be referred to above, and will not be repeated here.

[0144] In an optional embodiment, the test tube support assembly is further provided with a tube cap storage position 22 for storing the tube cap 2. The tube cap storage position 22 is located on the limiting plate 5, adjacent to the limiting hole 6. As a preferred embodiment, the tube cap storage position 22 is the tube cap limiting block 8 in Embodiment 1.

[0145] Understandably, the above embodiments do not specifically limit the connection method between the cap limiting block 8 and the limiting plate 5. In one optional embodiment, the cap temporary storage position 22 is a cap limiting block 8 integrally formed on the limiting plate 5. The cap limiting block 8 being integrally formed on the limiting plate 5 can effectively ensure that the cap limiting block 8 will not be misaligned relative to the limiting plate 5, ensuring that the rotating gripper 3 can stably and reliably grasp the cap 2 with each movement. In another optional embodiment, the cap limiting block 8 is an independent module, detachably installed on the limiting plate 5, to adapt to test tubes 1 of different specifications and clamps 15.

[0146] In some more specific embodiments, the pipe cap limiting block 8 is fixed to the limiting plate 5 by snap-fitting or adhesive bonding, thereby ensuring that the pipe cap limiting block 8 will not be offset relative to the limiting plate 5, and ensuring that the rotating gripper 3 can stably and reliably grasp the pipe cap 2 every time it moves.

[0147] The above embodiments do not specifically limit the location of the pipe cap temporary storage position 22. In other embodiments, the pipe cap temporary storage position 22 may also be set on another separate support frame next to the limiting plate 5.

[0148] Example 3

[0149] In one specific embodiment, the method of using the lid-opening device includes the following steps:

[0150] Step S1: The rotating gripper 3 grabs one or more test tubes 1 as needed and sequentially transfers the test tubes 1 into the cavity formed by the limiting hole 6 of the limiting plate 5 and the support frame 4.

[0151] In step S2, the test tube fixing assembly is driven to clamp and fix the test tube 1 on the limiting plate 5 to prevent the test tube 1 from rotating in its circumferential direction.

[0152] In step S3, the rotating gripper 3 sequentially performs the opening action on the cap 2 of each test tube 1 on the limiting plate 5, and places the cap 2 one by one in the cap storage position 22 to complete the opening action; during the opening process, the rotating gripper 3 clamps the cap 2 and rotates upward under drive.

[0153] Step S4, the test tube fixing assembly holds and fixes the test tube 1.

[0154] The rotating gripper 3 sequentially removes the tube caps 2 from the tube cap storage position 22 and performs a cap-closing action on each of the test tubes 1 on the limiting plate 5 to complete the cap-closing action; during the cap-closing process, the rotating gripper 3 clamps the tube cap 2 and rotates and descends under drive.

[0155] In step S5, the test tube fixing assembly is driven to release the test tube 1 on the limiting plate 5; the rotating gripper 3 grasps the test tube 1 and moves it to the initial position.

[0156] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An uncapping device, characterized in that, Comprise: The pipe cover limiting block, the pipe cover limiting block includes: the limiting block bottom surface (801) that with the pipe cover (2) bottom surface abuts to each other and the limiting block inner protrusion (802) that with the pipe cover (2) inner cavity wall abuts to each other, the outer contour edge of limiting block inner protrusion (802) still is provided with the chamfer that the pipe cover (2) is inserted into the limiting block inner protrusion (802) is guided; The test tube support assembly, at least one is used to accommodate test tube (1) cavity is provided on the test tube support assembly, the test tube support assembly includes limiting plate (5), the limiting hole (6) that is adapted to the tube body of test tube (1) is provided on the limiting plate (5), to limit the tube body position of test tube (1); The test tube fixing assembly, drivenly connected with the tube body of test tube (1), to prevent the position rotation of the test tube (1) along its circumferential direction, the test tube fixing assembly includes tube body clamp jaw (10), the tube body clamp jaw (10) is at least two, parallel symmetry is provided in the both sides of test tube (1) arrangement direction, and along multiple test tube (1) arrangement direction arrangement;Two tube body clamp jaw (10) have drivenly move towards each other to synchronize clamping state of each test tube (1) and drivenly move to back to loosen state of each test tube (1) is synchronized; Rotary clamp jaw (3), the rotary clamp jaw (3) is driven to clamp pipe cover (2) and rotates, to complete the opening and closing cover action of pipe cover (2) on test tube (1).

2. The decapper of claim 1 wherein, The pipe cover limiting block (8) further comprises: a limiting block outer protrusion (803) corresponding to the outer peripheral wall of the pipe cover (2) for guiding and limiting the placement of the pipe cover (2); the limiting block outer protrusion (803) is at least two.

3. The decapper of claim 2 wherein, The limiting block outer protrusion (803) is a trapezoidal structure, has a guide surface for guiding the pipe cover (2), and an arc-shaped limiting surface adapted to the shape of the pipe cover (2).

4. The decapper of claim 1 wherein, The test tube support assembly further comprises a support frame (4), the support frame (4) has a plurality of bending structures with different distances from the limiting plate (5), the bending structures form grooves therebetween, the grooves accommodate test tubes (1) of different heights, or the support frame (4) has a support plane facing the direction of the test tubes (1) to support the test tubes (1), and / or, A plurality of test tubes (1) are arranged in a straight line on the limiting plate (5) through the limiting holes (6); and the support frame (4) is arranged along the arrangement direction of the plurality of test tubes (1).

5. The cap opening device according to claim 4, wherein One set of opposite sides of the test tube support assembly is provided with a mounting base (7) for fixing the test tube support assembly; the support frame (4) and / or the limiting plate (5) are fixed on the mounting base (7).

6. The decapper of claim 5 wherein, The other set of opposite sides of the test tube support assembly is provided with a side mounting plate (9) for fixing the test tube fixing assembly; The two ends of the side mounting plate (9) in the length direction are connected with the mounting base (7).

7. The decapper of any one of claims 1-6, wherein, The test tube fixing assembly comprises: The tube body clamping jaw driving mechanism comprises a clamping jaw driving source (11) and two driving sliders (12) moving towards or away from each other under the driving of the clamping jaw driving source (11); the two driving sliders (12) are respectively fixedly connected with two tube body clamping jaws (10) to drive the tube body clamping jaws (10) to realize clamping and loosening.

8. The decapper of claim 7 wherein, The tube body clamping jaw (10) comprises a clamping jaw block (13) mounted on the driving slider (12) and a clamping jaw elastic element (14) fixed on the clamping jaw block (13); the clamping jaw block (13) is a hard strip-shaped structure, and the clamping jaw elastic element (14) is arranged on the side of the clamping jaw block (13) facing the test tube (1).

9. The decapper of claim 7 wherein, The tube body clamping jaw (10) comprises a clamping jaw block (13) or a clamping jaw elastic element (14); the clamping jaw block (13) or the clamping jaw elastic element (14) is mounted on the driving slider (12); the clamping jaw block (13) or the clamping jaw elastic element (14) is provided with a groove matched with the shape of the tube body of the test tube (1).

10. The decapper of any one of claims 1-6, wherein, The rotating clamping jaw (3) comprises: a clamp (15) driven to clamp or loosen the tube cover (2); a clamp driving source (16) in transmission connection with the clamp (15) through a rotating mechanism (17) to drive the clamp (15) to clamp or loosen the tube cover (2) and rotate the tube cover (2) through the rotating mechanism (17) to screw or unscrew the tube cover (2); a tube cover limiting column (18) arranged at the rotating center position of the rotating mechanism (17); in use, the tube cover limiting column (18) abuts against the center position of the tube cover (2) to make the test tube (1) be in the vertical position of the rotating clamping jaw (3).

11. The decapper of claim 10 wherein, The tube cover limiting column (18) is in cooperation and connection with the rotating mechanism (17) through an elastic element (21), and the tube cover limiting column (18) is driven by the elastic element (21) to stretch and retract to apply a pressing force to the tube cover (2).

12. The decapper of claim 10 wherein, The clamp (15) is used for clamping the tube cover (2) on the tube cover limiting block, and the clamp (15) comprises oppositely arranged clamp bases (19) and clamping blocks (20) mounted on the clamp bases (19) and matched with the tube cover (2); at least two clamping blocks (20) are arranged on each clamp base (19) to adapt to different models of the tube cover (2); The clamping blocks (20) arranged adjacently form a clamping gap a; the limiting block outer protrusions (803) are at least two, the clamping gap a is greater than the outer ring limiting width b of the limiting block outer protrusions (803), so that a clamping gap is formed to avoid the action stroke of the opening or clamping of the rotating clamping jaw (3).

13. The decapper of any one of claims 1-6, 8, 9, 11, 12, wherein, The test tube supporting assembly is further provided with a tube cover temporary storage position (22) for storing the tube cover (2), the tube cover temporary storage position (22) is arranged on the limiting plate (5) at a position adjacent to the limiting hole (6); and the tube cover temporary storage position (22) is the tube cover limiting block (8).

14. A method of using the decap device of any of claims 1-13, wherein, The method comprises the following steps: Step S1, the rotating gripper (3) grasps one or more test tubes (1) as needed and moves the test tubes (1) to the cavity formed by the limiting hole (6) of the limiting plate (5) and the support frame (4) in sequence; Step S2, the test tube fixing assembly drives the test tubes (1) on the limiting plate (5) to be clamped and fixed, so as to prevent the test tubes (1) from rotating in the circumferential direction; Step S3, the rotating gripper (3) sequentially performs the opening action of the cap (2) of each test tube (1) on the limiting plate (5) and places the cap (2) on the cap temporary storage position (22) one by one to complete the opening action; during the opening process, the rotating gripper (3) clamps the cap (2) and is driven to rotate upward; Step S4, the test tube fixing assembly keeps clamping and fixing the test tubes (1); The rotating gripper (3) takes out the cap (2) on the cap temporary storage position (22) in sequence and performs the closing action of the cap (2) of each test tube (1) on the limiting plate (5) to complete the closing action; during the closing process, the rotating gripper (3) clamps the cap (2) and is driven to rotate downward; Step S5, the test tube fixing assembly is driven to loosen the test tubes (1) on the limiting plate (5); the rotating gripper (3) grasps the test tubes (1) and moves them to the initial position.

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