Unscrewing mechanism

Abstract

The utility model relates to an unscrewing mechanism. Comprising a thrust assembly which comprises a thrust driver and a thrust piece, and the thrust driver drives the thrust piece to do reciprocating rectilinear motion; the rotating assembly comprises a rotating driver and a rotating piece, the thrust piece can do linear motion relative to the rotating piece, and the rotating piece can drive the thrust piece to rotate synchronously; the clamping assembly comprises a connecting piece and a plurality of clamping pieces, the connecting piece is fixedly connected with the rotating piece, the clamping pieces are arranged at intervals in the circumferential direction of the thrust piece, one end of each clamping piece is movably connected with the thrust piece, the middle of each clamping piece is rotationally connected with the connecting piece, and the other end of each clamping piece is movably connected with the rotating piece. When the thrust piece drives the clamping piece to rotate relative to the connecting piece, the other end of the clamping piece moves close to or away from the central axis of the thrust piece, and therefore the structure of the unscrewing mechanism can be simplified.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a loosening mechanism. Background Art

[0002] In the field of sample analysis, samples are generally placed in sample tubes. During testing, the sample tubes will go through processing steps such as centrifugation, uncapping, collection, inspection, capping, storage and disinfection. The loosening mechanism is used to loosen the tube cover of the sample tube relative to the tube body of the sample tube so that the tube cover can be subsequently unloaded from the tube body. The loosening mechanism usually first clamps the tube cover, and then drives the tube cover to rotate relative to the tube body, and finally loosens the tube cover. However, the traditional loosening mechanism generally has the defect of a more complex structure. Summary of the invention

[0003] A technical problem solved by the present application is how to simplify the structure of the unscrewing mechanism.

[0004] A loosening mechanism, comprising:

[0005] A thrust assembly, comprising a thrust driver and a thrust member, wherein the thrust driver drives the thrust member to perform reciprocating linear motion;

[0006] The rotating assembly comprises a rotating driver and a rotating member, wherein the thrust member can perform linear motion relative to the rotating member, and the rotating member can drive the thrust member to rotate synchronously;

[0007] The clamping assembly includes a connecting member and a plurality of clamping members, wherein the connecting member is fixedly connected to the rotating member, and the plurality of clamping members are arranged at intervals along the circumference of the thrust member. One end of the clamping member is movably connected to the thrust member, and the middle part of the clamping member is rotatably connected to the connecting member. When the thrust member drives the clamping member to rotate relative to the connecting member, the other end of the clamping member moves toward or away from the central axis of the thrust member.

[0008] In one of the embodiments, the thrust member includes a thrust shaft and a fixed block, the thrust driver drives the thrust shaft to move, the fixed block is fixedly arranged at the end of the thrust shaft, a avoidance groove is provided on the fixed block, and a part of the clamping member is movably arranged in the avoidance groove.

[0009] In one of the embodiments, the thrust member further includes a rotating wheel, which is at least partially accommodated in the avoidance groove and is rotatably connected to the fixed block. A slot is provided on the clamping member, and the rotating wheel cooperates with the slot.

[0010] In one embodiment, the clamping member includes a rotating block and a clamping block, the middle portion of the rotating block is rotatably connected to the connecting member, and one end of the rotating block away from the thrust member is rotatably connected to the clamping block.

[0011] In one embodiment, the rotating block includes a first rotating part and a second rotating part connected at an angle, the opening of the angle formed by the first rotating part and the second rotating part is arranged toward the central axis of the thrust member, the connection between the first rotating part and the second rotating part is rotatably connected to the connecting member, the first rotating part is movably connected to the thrust member, and the clamping block is rotatably connected to the second rotating part.

[0012] In one embodiment, the connecting member includes a connecting plate and a plurality of connecting columns, the connecting plate is fixedly connected to the rotating member, the connecting columns are protrudingly arranged on the same side of the connecting plate, the number of the connecting columns is equal to and corresponds to the clamping member, the connecting columns are rotatably connected to the clamping member, and a plurality of the connecting columns are arranged around the thrust member.

[0013] In one of the embodiments, the connecting column is provided with a movable groove extending along the movement direction of the thrust shaft, and the movable groove is used to accommodate the clamping member.

[0014] In one embodiment, the thrust assembly further includes a linear bearing, the linear bearing is sleeved in the rotating member, and the thrust member is slidably disposed in the linear bearing.

[0015] In one embodiment, the rotating assembly further includes a rotating bearing, and the rotating bearing is rotatably sleeved outside the rotating member.

[0016] In one embodiment, at least one of the following schemes is also included:

[0017] The thrust driver is a linear motor;

[0018] The rotary driver comprises a rotary drive motor and a rotary transmission belt. The rotary drive motor drives the rotary transmission belt to move. The rotary transmission belt is sleeved on the rotary member.

[0019] A technical effect of an embodiment of the present application is: since the thrust driver drives the thrust member to perform reciprocating linear motion, when the thrust member drives the clamping member to rotate relative to the connecting member, the other end of the clamping member moves closer to or away from the central axis of the thrust member, that is, the linear motion of the thrust member is converted into the rotational motion of the clamping member, so that the clamping member clamps or loosens the pipe cover. This will make the entire loosening mechanism simpler in structure, and enable the clamping member to apply a sufficiently large clamping force to the pipe cover, thereby ensuring the stability and reliability of the clamping member clamping the pipe cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a loosening mechanism provided in an embodiment.

[0021] Figure 2 for Figure 1 A schematic three-dimensional cross-sectional structure diagram of the unscrewing mechanism shown.

[0022] Figure 3 for Figure 2 Enlarged structural diagram at A in the middle.

[0023] Figure 4 for Figure 1 Schematic diagram of the partial exploded structure of the loosening mechanism shown.

[0024] Figure numerals: loosening mechanism 10, mounting seat 20, thrust assembly 100, thrust driver 110, thrust member 120, thrust shaft 121, fixed block 122, avoidance groove 1221, rotating wheel 123, linear bearing 130, adapter 140, rotating assembly 200, rotating driver 110, rotating drive motor 111, rotating transmission belt 112, rotating member 220, rotating bearing 230, clamping assembly 300, connecting member 310, connecting plate 311, connecting column 312, movable groove 3121, clamping member 320, rotating block 321, first rotating part 3211, second rotating part 3212, slot 3213, clamping block 322. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0026] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0027] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0028] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0029] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0030] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0031] See also Figure 1 , Figure 2 and Figure 3A loosening mechanism 10 provided in one embodiment of the present application is used to loosen a sample tube. Specifically, the sample tube includes a tube body and a tube cover. The tube body is used to accommodate a liquid sample. The tube cover can be covered on the tube body so that the tube cover acts as a cap on the inner cavity of the tube body. When it is necessary to open the tube cover to absorb the sample in the tube body, the loosening mechanism 10 can loosen the tube cover relative to the tube body so that the tube cover can be unloaded from the tube body. The loosening mechanism 10 can be used to be installed on a mounting seat 20. The loosening mechanism 10 includes a thrust assembly 100, a rotating assembly 200 and a clamping assembly 300. The thrust assembly 100 and the rotating assembly 200 are arranged on the mounting seat 20, and the rotating assembly 200 and the clamping assembly 300 are both connected to the thrust assembly 100.

[0032] In some embodiments, the thrust assembly 100 includes a thrust driver 110 and a thrust member 120. The thrust driver 110 may be a linear motor, and the thrust driver 110 is fixed to the mounting seat 20. The thrust driver 110 is connected to the thrust member 120, so that the thrust driver 110 drives the thrust member 120 to perform reciprocating linear motion in the vertical direction. The thrust member 120 is connected to the clamping assembly 300, so that the clamping assembly 300 follows the reciprocating linear motion of the thrust member 120 in the vertical direction to clamp and loosen the pipe cover.

[0033] See also Figure 2 , Figure 3 and Figure 4 In some embodiments, the thrust member 120 includes a thrust shaft 121 and a fixed block 122. The thrust shaft 121 is inserted into the mounting seat 20. The upper end of the thrust shaft 121 corresponds to the thrust driver 110. The fixed block 122 can be fixedly arranged at the lower end of the thrust shaft 121. When the thrust driver 110 is working, the thrust driver 110 can drive the thrust shaft 121 and the fixed block 122 to perform reciprocating linear motion in the vertical direction. The fixed block 122 is provided with an avoidance groove 1221. The avoidance groove 1221 extends a certain length in the horizontal direction. The number of the avoidance grooves 1221 can be multiple. The multiple avoidance grooves 1221 are arranged at intervals along the circumference of the fixed block 122. A part of the clamping assembly 300 is movably arranged in the avoidance groove 1221. The avoidance groove 1221 provides a good avoidance space for the movement of the clamping member 320.

[0034] See also Figure 2 , Figure 3 and Figure 4In some embodiments, the thrust member 120 may further include a rotating wheel 123, which may be a deep groove ball bearing. The rotating wheel 123 may be arranged on the fixed block 122 via a mounting shaft, for example, the middle of the mounting shaft is inserted into the avoidance groove 1221, and both ends of the mounting shaft are connected to the fixed block 122. The rotating wheel 123 is arranged at the position of the mounting shaft in the avoidance groove 1221, so that the rotating wheel 123 is at least partially accommodated in the avoidance groove 1221, and then the rotating wheel 123 can rotate relative to the fixed block 122 around the rotating shaft extending in the horizontal direction. The clamping assembly 300 may contact the rotating wheel 123, and when the rotating wheel 123 rotates relative to the fixed block 122, rolling friction is generated between the clamping assembly 300 and the rotating wheel 123, thereby reducing the friction resistance when the clamping assembly 300 and the rotating wheel 123 move relative to each other.

[0035] See also Figure 2 , Figure 3 and Figure 4 In some embodiments, the thrust assembly 100 may further include a linear bearing 130, which may be sleeved on the thrust shaft 121, and the rotating assembly 200 may be sleeved outside the linear bearing 130, so that the linear bearing 130 cannot rotate or slide relative to the rotating assembly 200. The thrust shaft 121 can perform linear motion in the vertical direction relative to the linear bearing 130. By providing the linear bearing 130, the motion sensitivity and motion accuracy of the thrust shaft 121 can be improved. Of course, the thrust shaft 121 cannot rotate relative to the linear bearing 130, and the thrust shaft 121 and the linear bearing 130 can rotate synchronously around the central axis of the thrust shaft 121.

[0036] See also Figure 2 , Figure 3 and Figure 4 In some embodiments, the thrust assembly 100 may further include an adapter 140, which is rotatably sleeved on the thrust shaft 121, so that the thrust shaft 121 can rotate relative to the adapter 140 around the central axis of the thrust shaft 121, but the thrust shaft 121 cannot slide relative to the adapter 140 in the vertical direction. The thrust driver 110 may be directly connected to the adapter 140, so that the thrust driver 110 may not form a direct connection relationship with the thrust shaft 121. When the thrust driver 110 pushes the adapter 140 to move up and down, the thrust shaft 121 may follow the adapter 140 to move up and down. However, since the thrust driver 110 does not form a direct connection relationship with the thrust shaft 121, when the thrust shaft 121 rotates relative to the adapter 140, the interference of the thrust driver 110 can be eliminated, thereby ensuring that the thrust shaft 121 rotates smoothly relative to the adapter 140.

[0037] See also Figure 1 , Figure 2 and Figure 3In some embodiments, the rotating assembly 200 includes a rotating driver 210 and a rotating member 220, wherein the rotating member 220 is rotatably disposed on the mounting seat 20, and the rotating member 220 can rotate relative to the mounting seat 20. The thrust member 120 can be slidably disposed in the rotating member 220, so that the thrust member 120 can perform linear motion relative to the rotating member 220. The linear bearing 130 can be sleeved in the rotating member 220, so that the linear bearing 130 cannot rotate or slide relative to the rotating member 220. When the rotating member 220 rotates, the rotating member 220 can drive the linear bearing 130 to rotate synchronously around the central axis of the thrust shaft 121, and then the linear bearing 130 and the thrust shaft 121 can both rotate synchronously around the central axis of the thrust shaft 121, so that the rotating member 220, the linear bearing 130, the thrust shaft 121 and the fixed block 122 can rotate synchronously around the central axis of the thrust shaft 121.

[0038] See also Figure 1 , Figure 2 and Figure 3 In some embodiments, the rotary driver 210 includes a rotary drive motor 211, a rotary transmission belt 212, a driving wheel and a driven wheel. The rotary drive motor 211 can be a stepping motor, which is arranged on the mounting seat 20, the driving wheel is connected to the rotary drive motor 211, the driven wheel is fixedly connected to the rotating member 220, and the rotary transmission belt 212 is sleeved on the driving wheel and the driven wheel. When the rotary drive motor 211 drives the driving wheel to move, the rotary transmission belt 212 and the driven wheel will cause the rotating member 220 to rotate relative to the mounting seat 20, and then the rotary member 220 drives the thrust shaft 121 to rotate. In other embodiments, the rotary driver 210 can also adopt a gear drive mechanism, etc.

[0039] See also Figure 1 , Figure 2 and Figure 3 In some embodiments, the rotating assembly 200 may further include a rotating bearing 230. The rotating bearing 230 may be an angular contact ball bearing, which is fixedly connected to the mounting seat 20, and the rotating member 220 is rotatably sleeved in the rotating bearing 230, so that the rotating member 220 can rotate relative to the mounting seat 20. By providing the rotating bearing 230, the rotation sensitivity and rotation accuracy of the rotating member 220 relative to the mounting seat 20 can be improved.

[0040] See also Figure 2 , Figure 3 and Figure 4In some embodiments, the clamping assembly 300 includes a connecting member 310 and a clamping member 320. The connecting member 310 is fixedly connected to the rotating member 220. A plurality of clamping members 320 are arranged at circumferential intervals along the thrust member 120. One end of the clamping member 320 is movably connected to the thrust member 120. The middle part of the clamping member 320 is rotatably connected to the connecting member 310. When the thrust member 120 drives the clamping member 320 to rotate relative to the connecting member 310, the other end of the clamping member 320 moves closer to or away from the central axis of the thrust member 120.

[0041] See also Figure 2 , Figure 3 and Figure 4 In some embodiments, the connecting member 310 includes a connecting plate 311 and a connecting column 312, and the number of the connecting column 312 can be multiple. The connecting plate 311 and the rotating member 220 can be fixedly connected by bolt connection, and the connecting column 312 can be protruded on the connecting plate 311 along the thickness direction of the connecting plate 311, so that the connecting column 312 is located on the same side of the connecting plate 311, that is, the connecting column 312 is located on the lower side of the connecting plate 311. The number of connecting columns 312 can be equal to the number of clamping members 320, so that the two form a one-to-one correspondence. Multiple connecting columns 312 can be arranged at intervals along the circumference of the connecting plate 311, and a movable groove 3121 is opened on the connecting column 312, and the movable groove 3121 is used to accommodate the clamping member 320, and the movable groove 3121 extends a certain length in the vertical direction.

[0042] See also Figure 2 , Figure 3 and Figure 4 In some embodiments, the clamping member 320 includes a rotating block 321 and a clamping block 322. The middle portion of the rotating block 321 is rotatably connected to the connecting member 310. One end of the rotating block 321 is movably connected to the fixed block 122. The clamping block 322 is rotatably arranged at one end of the rotating block 321 away from the fixed block 122. The clamping block 322 is used to directly clamp the tube cover.

[0043] The rotating block 321 may include a first rotating portion 3211 and a second rotating portion 3212, and the first rotating portion 3211 and the second rotating portion 3212 are arranged at an angle, for example, the first rotating portion 3211 and the second rotating portion 3212 may be perpendicular to each other, and a clamping groove 3213 may be provided on the first rotating portion 3211. During the installation process, a portion of the first rotating portion 3211 may extend into the avoidance groove 1221 of the fixed block 122, and the rotating wheel 123 is located in the clamping groove 3213 of the first rotating portion 3211. When the thrust shaft 121 drives the fixed block 122 to move up and down, the first rotating portion 3211 will rotate and slide relative to the fixed block 122 in the avoidance groove 1221 at the same time, and the avoidance groove 1221 plays a good guiding role in the movement of the first rotating portion 3211. By providing the rotating wheel 123 , the sliding friction of the first rotating part 3211 during movement can be converted into rolling friction, thereby reducing the movement resistance of the first rotating part 3211 and improving the movement sensitivity and movement accuracy of the first rotating part 3211 and the entire clamping member 320 relative to the fixed block 122 .

[0044] The opening of the angle formed by the first rotating part 3211 and the second rotating part 3212 can be set toward the central axis of the thrust shaft 121, and the connection between the first rotating part 3211 and the second rotating part 3212 can be accommodated in the movable groove 3121 of the connecting column 312, so that the connection between the first rotating part 3211 and the second rotating part 3212 is rotatably connected to the connecting column 312. Therefore, through the setting of the movable groove 3121, an avoidance space can be provided for the movement of the rotating block 321 relative to the connecting column 312. At the same time, the movable groove 3121 forms a limiting effect on the rotation of the rotating block 321, thereby improving the accuracy and stability of the movement of the rotating block 321.

[0045] The clamping block 322 is rotatably connected to one end of the second rotating portion 3212 away from the first rotating portion 3211. The clamping block 322 is used to directly clamp the tube cover. The number of the clamping blocks 322 can be three, so that the three clamping blocks 322 can apply clamping force to the tube cover at the same time. Based on the basic principle of three points determining a plane, the three positions of the tube cover are clamped by the three clamping blocks 322, which can improve the stability and reliability of the three clamping blocks 322 clamping the tube cover.

[0046] See also Figure 1 , Figure 2 and Figure 3When the loosening mechanism 10 is working, the clamping block 322 can correspond to the tube cover of the sample tube, so that the three clamping blocks 322 are arranged around the tube cover, and then the thrust driver 110 pushes the thrust shaft 121 upward through the adapter 140, so that the fixed block 122 moves upward following the thrust shaft 121. Since the middle part of the rotating block 321 is rotatably connected to the connecting column 312, the rotating block 321 can be made to be similar to the structure of a lever, the first rotating part 3211 is similar to the power arm of the lever, the second rotating part 3212 is similar to the resistance arm of the lever, and the connection between the rotating block 321 and the connecting column 312 is similar to the fulcrum of the lever. In the process of the fixed block 122 following the thrust shaft 121 to move upward, the fixed block 122 will drive the first rotating part 3211 as the power arm to rotate away from the central axis of the thrust shaft 121 through the rotating wheel 123, and then the first rotating part 3211 drives the second rotating part 3212 as the resistance arm to move close to the central axis of the thrust shaft 121, so the second rotating part 3212 will move close to the pipe cover, and when the second rotating part 3212 drives the clamping block 322 to contact the pipe cover, the thrust shaft 121 can drive the fixed block 122 to rise a short distance and then stop moving, so that the clamping block 322 applies sufficient clamping force to the pipe cover. Since the clamping block 322 is rotatably connected to the second rotating part 3212, the clamping block 322 can rotate relative to the second rotating part 3212 to adjust the clamping position of the pipe cover, and then the clamping block 322 applies clamping force to the pipe cover at the best position, thereby improving the stability and reliability of the clamping block 322 clamping the pipe cover.

[0047] After the clamping block 322 clamps the tube cover, the rotary drive motor 211 can drive the rotating member 220 to rotate relative to the mounting base 20 through the rotating transmission belt 212, and then the rotating member 220 drives the thrust shaft 121 and the fixed block 122 to rotate relative to the adapter 140 through the linear bearing 130, and also drives the clamping member 320 to rotate through the connecting member 310. Therefore, the rotating member 220, the thrust shaft 121, the fixed block 122, the connecting member 310 and the clamping member 320 will rotate synchronously. When the clamping piece 320 rotates, the clamping block 322 will drive the tube cover to rotate relative to the tube body, thereby loosening the tube cover relative to the tube body. When the tube cover is a rubber plug, the clamping block 322 can drive the tube cover to loosen relative to the tube body. When the tube cover and the tube body are threadedly connected, the clamping block 322 drives the tube cover to loosen relative to the tube body, and loosens it until the threaded connection between the tube cover and the tube body is completely released, thereby finally achieving complete loosening of the tube cover relative to the tube body.

[0048] When it is necessary to release the clamping effect of the clamping block 322 on the pipe cover, the thrust driver 110 can push the thrust shaft 121 downward through the adapter 140, so that the fixed block 122 moves downward following the thrust shaft 121. In the process of the fixed block 122 moving downward following the thrust shaft 121, the fixed block 122 will drive the first rotating part 3211 as the power arm to rotate close to the central axis of the thrust shaft 121 through the rotating wheel 123, and then the first rotating part 3211 drives the second rotating part 3212 as the resistance arm to rotate away from the central axis of the thrust shaft 121, so the second rotating part 3212 will move away from the pipe cover. When the second rotating part 3212 drives the clamping block 322 to completely break away from the contact with the pipe cover, the clamping effect of the clamping block 322 on the pipe cover will be completely released.

[0049] Therefore, by utilizing a lever-like principle, the thrust member 120 that performs linear motion drives the clamping member 320 to clamp or loosen the tube cover. This makes the entire loosening mechanism 10 simpler in structure and can ensure the stability and reliability of the clamping member 320 in clamping the tube cover.

[0050] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A loosening mechanism, characterized in that: include: A thrust assembly, comprising a thrust driver and a thrust member, wherein the thrust driver drives the thrust member to perform reciprocating linear motion; The rotating assembly comprises a rotating driver and a rotating member, wherein the thrust member can perform linear motion relative to the rotating member, and the rotating member can drive the thrust member to rotate synchronously; The clamping assembly includes a connecting member and a plurality of clamping members, wherein the connecting member is fixedly connected to the rotating member, and the plurality of clamping members are arranged at intervals along the circumference of the thrust member. One end of the clamping member is movably connected to the thrust member, and the middle part of the clamping member is rotatably connected to the connecting member. When the thrust member drives the clamping member to rotate relative to the connecting member, the other end of the clamping member moves toward or away from the central axis of the thrust member.

2. The loosening mechanism according to claim 1, characterized in that: The thrust member includes a thrust shaft and a fixed block. The thrust driver drives the thrust shaft to move. The fixed block is fixedly arranged at the end of the thrust shaft. A avoidance groove is provided on the fixed block. A part of the clamping member is movably arranged in the avoidance groove.

3. The loosening mechanism according to claim 2, characterized in that: The thrust member further comprises a rotating wheel, which is at least partially received in the avoidance groove and rotatably connected to the fixing block. A clamping groove is provided on the clamping member, and the rotating wheel cooperates with the clamping groove.

4. The loosening mechanism according to claim 1, characterized in that: The clamping member comprises a rotating block and a clamping block, the middle portion of the rotating block is rotatably connected to the connecting member, and one end of the rotating block away from the thrust member is rotatably connected to the clamping block.

5. The loosening mechanism according to claim 4, characterized in that: The rotating block includes a first rotating part and a second rotating part connected at an angle, an opening of the angle formed by the first rotating part and the second rotating part is arranged toward the central axis of the thrust member, a connection between the first rotating part and the second rotating part is rotatably connected to the connecting member, the first rotating part is movably connected to the thrust member, and the clamping block is rotatably connected to the second rotating part.

6. The loosening mechanism according to claim 1, characterized in that: The connecting member includes a connecting plate and a plurality of connecting columns, wherein the connecting plate is fixedly connected to the rotating member, the connecting columns are protrudingly arranged on the same side of the connecting plate, the number of the connecting columns is equal to and corresponds to the number of the clamping member, the connecting columns are rotatably connected to the clamping member, and a plurality of the connecting columns are arranged around the thrust member.

7. The loosening mechanism according to claim 6, characterized in that: The connecting column is provided with a movable groove extending along the moving direction of the thrust piece, and the movable groove is used to accommodate the clamping piece.

8. The loosening mechanism according to claim 1, characterized in that: The thrust assembly further comprises a linear bearing, wherein the linear bearing is sleeved in the rotating member, and the thrust member is slidably inserted into the linear bearing.

9. The loosening mechanism according to claim 1, characterized in that: The rotating assembly further comprises a rotating bearing, and the rotating bearing is rotatably sleeved outside the rotating member.

10. The loosening mechanism according to claim 1, characterized in that: Also includes at least one of the following options: The thrust driver is a linear motor; The rotary driver comprises a rotary drive motor and a rotary transmission belt. The rotary drive motor drives the rotary transmission belt to move. The rotary transmission belt is sleeved on the rotary member.

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