Rotary clamping jaw device for automatically opening and closing test tube cover and control method

Abstract

The invention relates to a rotary clamping jaw device for automatic opening and closing of a test tube cover and a control method. The rotary clamping jaw device comprises a rotating assembly, a clamping assembly and a control assembly. The rotating assembly comprises a fixed seat, a first steering engine and a rotating seat, the first steering engine is arranged in the fixed seat, a conductive arm is arranged at the bottom of the fixed seat, and the first steering engine is connected with the rotating seat; the clamping assembly comprises a second steering engine, a conductive disc, a probe and a clamping jaw, the conductive disc is arranged between the rotating seats, the second steering engine is connected with the conductive disc, and the output of the second steering engine is connected with the clamping jaw; the probe penetrates through the conductive arm and abuts against the conductive disc, and the conductive disc is electrically connected with the second steering engine. The control assembly comprises an upper computer, a control panel and a driving plate, the control panel is electrically connected with the upper computer, the control panel is electrically connected with the driving plate, and the driving plate is electrically connected with the first steering engine, the second steering engine and the upper computer. According to the invention, the wire winding phenomenon is avoided, the time required for resetting is saved, the working efficiency is greatly improved, and the accuracy and reliability of operation are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of laboratory automation equipment, and in particular to a rotary jaw device and a control method for automatically opening and closing a test tube cap. Background Art

[0002] As an indispensable instrument in biological detection, the test tube requires a basic and frequent operation of rotating its cap during the experiment. The manual way of rotating the test tube cap is time-consuming, inefficient, inaccurate, and the long-term repetitive manual operation will also fatigue the operator and increase the risk of operation errors. To solve the drawbacks of manual operation, in the prior art, equipment for automatically rotating the test tube cap is adopted.

[0003] The existing test tube cap automatic opening and closing equipment is generally equipped with two sets of drive sources. One set of drive sources drives the jaws to clamp the test tube cap, and the other set of drive sources drives the jaws to rotate to open the test tube cap. During the cap opening process, the wire harness connecting the drive source is prone to wire entanglement during the cap opening rotation, and a reset operation is required after the cap opening is completed, which greatly increases the operation time and results in low work efficiency. Secondly, the test tube cap automatic opening and closing equipment lacks an intuitive display function for the rotation and clamping states of the jaws. The operator cannot understand the current working state of the equipment in real time. During continuous operation, problems such as jaw loosening and rotation angle deviation cannot be detected in time, thereby reducing the operation accuracy and reliability. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of low work efficiency and low operation accuracy of the existing test tube cap opening and closing equipment.

[0005] To solve the above technical problems, the present invention provides a rotary jaw device for automatically opening and closing a test tube cap, including: A rotating assembly, the rotating assembly includes a fixed seat, a first servo motor and a rotating seat. The first servo motor is arranged in the fixed seat, the rotating seat is arranged at the bottom of the fixed seat, a conductive arm is arranged at the bottom of the fixed seat, and the output end of the first servo motor passes through the fixed seat and is connected to the rotating seat; A clamping assembly, the clamping assembly includes a second servo motor, a conductive disk, a probe and jaws. The conductive disk is arranged between the rotating seats, the second servo motor is connected to the conductive disk, the jaws are arranged at the bottom of the rotating seat, and the output end of the second servo motor drives the jaws to act; one end of the probe is inserted on the conductive arm, the other end of the probe abuts against the conductive disk, and the conductive disk is electrically connected to the second servo motor; Control component, the control component includes a host computer, a control board and a drive board, the control board is electrically connected to the host computer, a control program is built in the control board, the control board is electrically connected to the drive board, and the drive board is respectively electrically connected to the first servo and the second servo; the drive board is also electrically connected to the host computer, the drive board sends a collection instruction to the first servo and the second servo, and the drive board feeds back the collection data of the first servo and the second servo to the host computer.

[0006] In an embodiment of the present invention, a conductive groove is provided on the surface of the conductive disk, a conductive layer is provided on the surface of the conductive groove, and the conductive layer is detachably connected to the conductive groove; the probe is embedded in the conductive groove, and the probe is slidably connected to the conductive layer.

[0007] In an embodiment of the present invention, a first wire passing hole is provided in the conductive groove, and the second servo is electrically connected to the conductive layer through the first wire passing hole.

[0008] In an embodiment of the present invention, two conductive arms are provided at the bottom of the fixed seat.

[0009] In an embodiment of the present invention, the clamping component further includes a gear and a pair of racks, the gear is connected to the output end of the second servo, the pair of racks are arranged on both sides of the gear, and the clamping jaw is connected to the rack.

[0010] In an embodiment of the present invention, a guide groove is provided at the bottom of the rotating seat, a guide block is provided in the guide groove, and both sides of the guide block are connected to the clamping jaw and the rack.

[0011] In an embodiment of the present invention, a second wire passing hole is provided on the fixed seat, and the second wire passing hole is arranged opposite to the probe.

[0012] In an embodiment of the present invention, it further includes a housing and a sealing plate, the sealing plate is sleeved outside the rotating seat, the housing is arranged between the sealing plate and the fixed seat, and a third wire passing hole is provided on the surface of the housing.

[0013] In an embodiment of the present invention, the control component further includes a power supply module, and the power supply module is electrically connected to the control board and the drive board respectively.

[0014] A control method for a rotating clamping jaw for automatically opening and closing a test tube cap, used for controlling the rotating clamping jaw device for automatically opening and closing a test tube cap, includes the following steps: S1. Input the parameters of the test tube cap to be clamped into the host computer, and the host computer issues an instruction to the control board according to the parameters. S2. The control board sends driving instructions to the driving board in a loop according to the control program: First, the driving board drives the second servo to act, driving the clamping jaw to clamp the test tube cap. Then, the driving board drives the first servo to act, driving the clamping jaw to rotate and open the test tube cap. S3. The driving board sends acquisition instructions to the first servo and the second servo respectively. The first servo and the second servo respectively feed back data to the driving board, and the driving board then feeds back the acquired data to the host computer. The host computer analyzes the acquired data to determine whether to open the test tube cap.

[0015] The above technical solution of the present invention has the following advantages compared with the prior art: For the rotary clamping jaw and control method for automatically opening and closing a test tube cap of the present invention, through the cooperation of the conductive disk and the probe, the phenomenon of wire entanglement during rotation is avoided, and the reset time consumption is reduced; moreover, the structure of the conductive disk and the probe can achieve the infinite rotation function, effectively saving the time required for resetting and greatly improving the working efficiency. Secondly, through the feedback data of the driving board, it can be judged whether the test tube cap is effectively unscrewed, thereby improving the accuracy and reliability of the operation. Description of the Drawings

[0016] In order to make the content of the present invention easier to be clearly understood, the following further details the present invention according to the specific embodiments of the present invention and in combination with the drawings, where Figure 1 is the schematic diagram of the overall internal structure of the present invention; Figure 2 is Figure 1 the schematic diagram of the structure of the rotation assembly in Figure 3 is Figure 1 the schematic diagram of the structure of the clamping assembly in Figure 4 is Figure 3 the schematic diagram of the structure of the cooperation between the probe and the conductive disk in Figure 5 is Figure 3 the schematic diagram of the structure of the conductive disk in Figure 6 is Figure 3 the schematic diagram of the driving structure of the second servo in Figure 7 is Figure 3 the schematic diagram of the installation structure of the clamping jaw in Figure 8 is the schematic diagram of the overall structure of the present invention; Figure 9 is the control flow chart of the present invention; Description of the reference numerals in the drawings: 1. Rotating assembly; 2. Clamping assembly; 3. Control assembly; 11. Fixed seat; 12. First servo; 13. Rotating seat; 14. Conductive arm; 15. Housing; 16. Sealing plate; 21. Second servo; 22. Conductive disc; 23. Probe; 24. Claw; 25. Gear; 26. Rack; 31. Control board; 32. Driving board; 33. Host computer; 34. Power supply module; 111. Second wire passing hole; 151. Third wire passing hole; 131. Guide groove; 132. Guide block; 221. Conductive groove; 222. Conductive layer; 223. First wire passing hole. Detailed implementation mode

[0017] The present invention will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the specific embodiments cited are not intended to limit the present invention.

[0018] Refer to Figure 1 As shown in the figure, the present invention discloses a rotating claw 24 device for automatically opening and closing a test tube cap, including: A rotating assembly 1, the rotating assembly 1 includes a fixed seat 11, a first servo 12 and a rotating seat 13, the first servo 12 is arranged in the fixed seat 11, the rotating seat 13 is arranged at the bottom of the fixed seat 11, a conductive arm 14 is arranged at the bottom of the fixed seat 11, and the output end of the first servo 12 passes through the fixed seat 11 and is connected to the rotating seat 13; A clamping assembly 2, the clamping assembly 2 includes a second servo 21, a conductive disc 22, a probe 23 and a claw 24, the conductive disc 22 is arranged between the rotating seats 13, the second servo 21 is connected to the conductive disc 22, the claw 24 is arranged at the bottom of the rotating seat 13, and the output end of the second servo 21 drives the claw 24 to act; one end of the probe 23 is sleeved on the conductive arm 14, the other end of the probe 23 abuts against the conductive disc 22, and the conductive disc 22 is electrically connected to the second servo 21; A control assembly 3, the control assembly 3 includes a host computer 33, a control board 31 and a driving board 32, the control board 31 is electrically connected to the host computer 33, a control program is built in the control board 31, the control board 31 is electrically connected to the driving board 32, and the driving board 32 is respectively electrically connected to the first servo 12 and the second servo 21; the driving board 32 is also electrically connected to the host computer 33, the driving board 32 sends acquisition instructions to the first servo 12 and the second servo 21, and the driving board 32 feeds back the acquisition data of the first servo 12 and the second servo 21 to the host computer 33.

[0019] Refer to Figure 2As shown in the figure, in the rotating assembly 1 of the present invention, the first servo 12 is installed on the fixed seat 11. The output end of the first servo 12 is connected to the rotating seat 13. When the first servo 12 rotates, it drives the entire rotating seat 13 to rotate. Specifically, the conductive arm 14 is arranged at the bottom of the fixed seat 11. When the first servo 12 rotates, the conductive arm 14 remains stationary; the conductive disk 22 is arranged between the rotating seats 13, and the conductive disk 22 rotates synchronously with the rotating seat 13; the second servo 21 is arranged on the conductive disk 22, and the output end of the second servo 21 is connected to the jaw 24. The second servo 21 rotates to control the opening and closing action of the jaw 24. The jaw 24 is used to grip the test tube cap to be opened. After the jaw 24 clamps the test tube cap, the first servo 12 rotates to open the test tube cap.

[0020] Referring to Figures 3 - 7 As shown in the figure, in the above structure, the first servo 12 is fixed. During the assembly process, the wire harness can be directly connected to the first servo 12 to control the rotation of the first servo 12; the electrical connection of the second servo 21 is realized through the probe 23 arranged on the conductive arm 14. Since the conductive arm 14 is fixed and the probe 23 is arranged on the conductive arm 14, one end of the wire harness is connected to the probe 23, the other end of the probe 23 abuts against the conductive disk 22, and then the conductive disk 22 and the second servo 21 are connected by a wire harness to realize the electrical connection of the second servo 21. Since the second servo 21 and the conductive disk 22 move synchronously, the wire harness connecting the conductive disk 22 and the second servo 21 is fixed, effectively solving the problem of wire entanglement. Secondly, during each rotation operation, there is no need to reset the rotating parts to the initial position, greatly shortening the working time and significantly improving the working efficiency.

[0021] Referring to Figure 9 As shown in the figure, in the control assembly 3, the upper computer 33 is used to input the relevant parameters of the test tube cap to be gripped. The control board 31 is provided with a program for controlling the rotation of the servo. According to the set program, an instruction is sent to the motor, and the drive board 32 is used to control the first servo 12 and the second servo 21, including data such as their rotation speed and angle. In the present invention, the drive board 32 can also be used to detect the usage status of the first servo 12 and the second servo 21. The drive board 32 will feedback these data to the upper computer 33. The upper computer 33 analyzes the feedback data (torque, rotation speed, angle, etc.) of the first servo 12 and the second servo 21. The upper computer 33 can judge whether the test tube cap is effectively unscrewed according to the feedback data. Problems such as loosening of the jaw 24 and deviation of the rotation angle can be detected in time, thereby improving the operation accuracy and reliability. Secondly, the jaw 24 device in the present invention can be adapted to test tubes of different sizes and materials, with strong versatility; equipped with a control board 31, through serial communication, the relevant codes of the test tubes of the required size can be modified, thereby realizing the program upgrade of the device. Compared with the cumbersome process of disassembling the equipment for each upgrade in the prior art, the present invention significantly improves the working efficiency.

[0022] Through the cooperation of the conductive disk 22 and the probe 23, the present invention avoids the winding phenomenon of the wire during rotation, reducing the reset time consumption; moreover, the structures of the conductive disk 22 and the probe 23 can achieve the infinite rotation function, effectively saving the time required for reset and greatly improving the working efficiency. Secondly, by the feedback data of the driving board 32, it is judged whether the test tube cap is effectively unscrewed, thereby improving the accuracy and reliability of the operation.

[0023] Furthermore, a conductive groove 221 is formed on the surface of the conductive disk 22, a conductive layer 222 is arranged on the surface of the conductive groove 221, and the conductive layer 222 is detachably connected to the conductive groove 221; the probe 23 is embedded in the conductive groove 221, and the probe 23 is slidably connected to the conductive layer 222.

[0024] For the convenience of the cooperation of the probe 23, a conductive groove 221 is formed on the surface of the conductive disk 22, and the probe 23 is clamped in the conductive groove 221, and the number of the conductive grooves 221 corresponds to the number of the probes 23. Specifically, the conductive part of the entire conductive disk 22 lies in the conductive layer 222 in the conductive groove 221, and the conductive grooves 221 are insulated from each other. As a preferred solution of the present invention, the conductive layer 222 is a conductive copper ring, the conductive copper ring is embedded in the conductive groove 221, and the probe 23 is slidably connected to the conductive copper ring.

[0025] Furthermore, a first wire passing hole 223 is formed in the conductive groove 221, and the second servo 21 is electrically connected to the conductive layer 222 through the first wire passing hole 223.

[0026] Specifically, the conductive layer 222 is connected to the second servo 21 through the first wire passing hole 223 at the inner bottom of the conductive groove 221. During the actual operation, one end of the wire harness is connected to the second servo 21, and the other end passes through the first wire passing hole 223 and is connected to the conductive copper ring.

[0027] As a preferred solution of the present invention, two conductive arms 14 are arranged at the bottom of the fixed seat 11.

[0028] Specifically, the present invention adopts a redundant design in which two conductive arms 14 (two groups of probes 23) are in contact with the conductive groove 221. When one of the probes 23 is disconnected from the copper groove due to unforeseen factors, the other probe 23 can still maintain normal connection with the copper groove, providing double guarantee for signal transmission, ensuring the continuous and stable transmission of signals between the conductive grooves 221, and significantly reducing the probability of system failure caused by disconnection.

[0029] Further, the clamping assembly 2 further includes a gear 25 and a pair of racks 26. The gear 25 is connected to the output end of the second servo 21. The pair of racks 26 are arranged on both sides of the gear 25, and the jaws 24 are connected to the racks 26.

[0030] The second servo 21 drives the opening and closing of the jaws 24 through a gear 25 and rack 26 mechanism. Specifically, the second servo 21 drives the gear 25 to rotate, and the gear drives the two mutually meshing racks 26 on both sides to move, converting the circular motion of the second servo 21 into the linear motion of the racks 26, and realizing the clamping action of the second servo 21 driving the two jaws 24.

[0031] Further, a guide groove 131 is provided at the bottom of the rotating seat 13, and a guide block 132 is arranged in the guide groove 131. Both sides of the guide block 132 are connected to the jaws 24 and the racks 26.

[0032] To ensure the stability of the movement of the jaws 24, a guide groove 131 is provided at the bottom of the rotating seat 13, and a guide block 132 is inserted into the guide groove 131. Both sides of the guide block 132 are respectively connected to the racks 26 and the jaws 24, enabling the jaws 24 to open and contract stably. As a preferred solution of the present invention, a flexible silicone soft pad is installed on the side of the jaws 24 that fits the test tube cap. This design not only improves the tolerance of the clamping distance but also increases the friction between the jaws 24 and the test tube, providing an effective guarantee for the stable rotation of the test tube.

[0033] In the present invention, the jaws 24 adopt a two-degree-of-freedom design, and two independent servos are used to control the opening and closing degree of freedom and the rotation degree of freedom respectively. With this two-degree-of-freedom design, the jaws 24 can flexibly and accurately grasp objects. Facing test tubes of different sizes, complex debugging is not required, and the operation can be completed quickly, significantly improving the work efficiency and operation flexibility.

[0034] Further, a second wire passing hole 111 is provided on the fixed seat 11, and the second wire passing hole 111 is arranged opposite to the probe 23. Specifically, during the connection of the wire harness of the second servo 21, it needs to be introduced from the fixed seat 11 first, and after passing through the second wire passing hole 111, the wire harness is connected to the probe 23.

[0035] Further, referring to Figure 8 As shown, it further includes a housing 15 and a sealing plate 16. The sealing plate 16 is sleeved outside the rotating seat 13, the housing 15 is arranged between the sealing plate 16 and the fixed seat 11, and a third wire passing hole 151 is provided on the surface of the housing 15.

[0036] Specifically, 16 sealing plates are sleeved outside the rotating base 13, and then the outer shell 15 is arranged between the fixed base 11 and the sealing plates 16 to cover the entire device. Preferably, a third wire passing hole 151 is formed on the surface of the outer shell 15 for accessing external wire harnesses. In addition, the control board 31 and the driving board 32 are both installed in the fixed base 11. During the assembly process, the connecting wire harness can be directly introduced from the third wire passing hole 151 and connected to the control board 31 and the driving board 32.

[0037] Further, the control assembly 3 further includes a power supply module 34, and the power supply module 34 is electrically connected to the control board 31 and the driving board 32 respectively.

[0038] Specifically, the power supply module 34 includes a first DC-DC buck module (output of 3.3V) and a second DC-DC buck module (output of 7.5V), which are connected to the control board 31 and the driving board 32 respectively through wires to supply power to the control board 31 and the driving board 32.

[0039] As an embodiment of the present invention, referring to Figure 9 shown, a control method for a rotating jaw 24 for automatically opening and closing a test tube cap, which is used to control the device of the rotating jaw 24 for automatically opening and closing a test tube cap as described above, includes the following steps: S1. Input the parameters of the test tube cap to be clamped into the host computer 33, and the host computer 33 issues instructions to the control board 31 according to the parameters; specifically, according to the parameters of the test tube to be clamped, input the relevant parameters (dimensions) of the test tube cap into the host computer 33, and the host computer 33 sends the parameter information to the control board 31 to control the opening angle of the subsequent jaw 24, ensure that the jaw 24 matches the size of the test tube, and ensure that the jaw 24 can clamp the test tube cap tightly.

[0040] S2. The control board 31 sends driving instructions to the driving board 32 in a loop according to the control program: first, the driving board 32 drives the second servo 21 to act, driving the jaw 24 to clamp the test tube cap tightly, and then the driving board 32 drives the first servo 12 to act, driving the jaw 24 to rotate to open the test tube cap; specifically, during the actual operation process, the driving board 32 controls the second servo 21 to rotate a certain angle according to the relevant parameters of the test tube cap, so that the jaw 24 clamps the test tube cap tightly; similarly, after the second servo 21 finishes acting, the control board 31 controls the first servo 12 to act to unscrew the test tube cap.

[0041] S3. The drive board 32 sends acquisition instructions to the first servo 12 and the second servo 21 respectively. The first servo 12 and the second servo 21 respectively feedback data to the drive board 32, and the drive board 32 then feeds the acquired data back to the host computer 33. The host computer 33 analyzes the acquired data to determine whether to open the test tube lid. Specifically, in the actual operation process, the drive board 32 can also be used to collect the real-time data of the first servo 12 and the second servo 21. The collected data includes the relevant data of the first servo 12 and the second servo 21, and feeds the collected data back to the host computer 33. By parsing the feedback data (torque, rotation speed, angle, etc.) of the first servo 12 and the second servo 21 through the host computer 33, the host computer 33 can determine whether the test tube lid is effectively unscrewed according to the feedback data.

[0042] The present invention introduces a rotary jaw 24 and a control method for automatically opening and closing a test tube lid. Through the cooperation of the conductive disk 22 and the probe 23, the phenomenon of wire winding during rotation is avoided, and the reset time is reduced; and the structure of the conductive disk 22 and the probe 23 can realize the infinite rotation function, effectively saving the time required for resetting and greatly improving the work efficiency. Secondly, through the feedback data of the drive board 32, it can be determined whether the test tube lid is effectively unscrewed, thereby improving the accuracy and reliability of the operation.

[0043] Obviously, the above embodiments are only examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A rotating clamping device for automatically opening and closing a test tube cover, characterized in that: include: A rotating assembly, the rotating assembly comprising a fixed seat, a first steering gear and a rotating seat, the first steering gear is arranged in the fixed seat, the rotating seat is arranged at the bottom of the fixed seat, a conductive arm is arranged at the bottom of the fixed seat, and an output end of the first steering gear passes through the fixed seat and is connected to the rotating seat; A clamping assembly, the clamping assembly comprising a second servo, a conductive disk, a probe and a clamping claw, the conductive disk is arranged between the rotating seats, the second servo is connected to the conductive disk, the clamping claw is arranged at the bottom of the rotating seat, and the output end of the second servo drives the clamping claw to move; one end of the probe is passed through the conductive arm, the other end of the probe abuts against the conductive disk, and the conductive disk is electrically connected to the second servo; A control component, the control component includes a host computer, a control board and a drive board, the control board is electrically connected to the host computer, the control board has a built-in control program, the control board is electrically connected to the drive board, and the drive board is electrically connected to the first servo and the second servo respectively; the drive board is also electrically connected to the host computer, the drive board sends a collection instruction to the first servo and the second servo, and the drive board feeds back the collected data of the first servo and the second servo to the host computer.

2. The rotating clamping device for automatically opening and closing a test tube cover according to claim 1, characterized in that: A conductive groove is provided on the surface of the conductive disk, a conductive layer is provided on the surface of the conductive groove, and the conductive layer is detachably connected to the conductive groove; the probe is embedded in the conductive groove, and the probe is slidably connected to the conductive layer.

3. The rotating clamping device for automatically opening and closing a test tube cover according to claim 2, characterized in that: A first wire-passing hole is provided in the conductive slot, and the second steering gear is electrically connected to the conductive layer through the first wire-passing hole.

4. The rotary clamping device for automatically opening and closing a test tube cover according to claim 1, characterized in that: Two conductive arms are arranged at the bottom of the fixing seat.

5. The rotary clamping device for automatically opening and closing a test tube cover according to claim 1, characterized in that: The clamping assembly also includes a gear and a pair of racks, the gear is connected to the output end of the second steering gear, the pair of racks are arranged on both sides of the gear, and the clamp is connected to the racks.

6. The rotary clamping device for automatically opening and closing a test tube cover according to claim 1, characterized in that: A guide groove is arranged at the bottom of the rotating seat, a guide block is arranged in the guide groove, and two sides of the guide block are connected to the clamping claw and the rack.

7. The rotary clamping device for automatically opening and closing a test tube cover according to claim 1, characterized in that: The fixing seat is provided with a second wire passing hole, and the second wire passing hole is arranged opposite to the probe.

8. The rotary clamping device for automatically opening and closing a test tube cover according to claim 1, characterized in that: It also includes a shell and a sealing plate, wherein the sealing plate is sleeved on the outer side of the rotating seat, the shell is arranged between the sealing plate and the fixed seat, and a third wire passing hole is arranged on the surface of the shell.

9. The rotating clamping device for automatically opening and closing a test tube cover according to claim 1, characterized in that: The control assembly further comprises a power supply module, and the power supply module is electrically connected to the control board and the drive board respectively.

10. A method for controlling a rotating jaw for automatically opening and closing a test tube cover, used for controlling the rotating jaw device for automatically opening and closing a test tube cover as claimed in any one of claims 1 to 9, characterized in that: The steps include: S1. Input the parameters of the test tube cover to be clamped into the host computer, and the host computer sends instructions to the control board according to the parameters; S2, the control board sends a driving instruction to the driving board according to the control program cycle: first, the driving board drives the second servo to move, driving the clamp to clamp the test tube cover, and then the driving board drives the first servo to move, driving the clamp to rotate and open the test tube cover; S3, the driving board sends a collection instruction to the first servo and the second servo respectively, the first servo and the second servo respectively feed back the data to the driving board, the driving board then feeds back the collected data to the host computer, the host computer analyzes the collected data and determines whether to open the test tube cover.

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