Pipe cap removing device

Abstract

According to the pipe cap removing device, work of a clamping driving assembly and work of a rotating driving assembly do not interfere with each other, and the pipe cap removing device comprises the clamping driving assembly and a rotating driving assembly, the clamping assembly comprises a main shaft, a thrust bearing, a shifting fork connecting rod connected to the thrust bearing, two shifting forks rotationally connected to the main shaft respectively, and two guide rails arranged in a sliding mode relative to the main shaft in the radial direction of the main shaft, and the two guide rails are connected with fingers and clamping jaw cap kicking supports respectively; the thrust bearing is in transmission connection with a motor shaft of the driving motor and can be driven by the motor shaft to move in the axial direction of the main shaft, the shifting forks are in transmission connection with the shifting fork connecting rods and the guide rails, and when the thrust bearing moves in the axial direction of the main shaft, the two shifting forks rotate in the opposite directions so as to drive the two guide rails to be relatively close to or away from each other; and the rotary driving assembly comprises a rotary base and a power mechanism, and the power mechanism is in transmission connection with the main shaft.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a cap removing device. BACKGROUND

[0002] In the current field of immunoassay equipment, hospitals mostly use vacuum blood collection tubes. When testing clinical samples, the cap needs to be opened so that the blood extraction needle of a biochemical instrument or other instrument can be easily inserted into the vacuum blood collection tube.

[0003] Most of the current cap removing processes are clamping-rotating-pulling. The clamping mechanism and the rotating mechanism of the cap removing device interfere with each other, and the motor of the clamping mechanism is prone to winding. When the cap is removed, it is easy to stick to the fingers of the clamping mechanism, affecting the next cap removal. CONTENT OF THE UTILITY MODEL

[0004] Therefore, it is necessary to propose a cap removing device to solve the problems of interference between the clamping mechanism and the rotating mechanism and the cap sticking to the fingers when the cap is removed.

[0005] According to one aspect of the present application, a cap removing device comprises: a clamping driving assembly, the clamping driving assembly comprising a motor mounting plate and a driving motor; a clamping assembly, the clamping assembly comprising a main shaft, a thrust bearing arranged in the main shaft, a shift fork connecting rod connected to the thrust bearing, two shift forks each rotationally connected to the main shaft, two guide rails arranged in the radial direction of the main shaft and opposite to the main shaft, two guide rails each connected with a finger and a jaw cap kicking bracket, the jaw cap kicking bracket being arranged on the side of the finger close to the thrust bearing, and the distance between the two jaw cap kicking brackets in the radial direction of the main shaft being always less than the distance between the two fingers; wherein the thrust bearing is in transmission connection with the motor shaft of the driving motor and can move in the axial direction of the main shaft under the drive of the motor shaft, each shift fork is in transmission connection with the shift fork connecting rod and a guide rail, and when the thrust bearing moves in the axial direction of the main shaft, the two shift forks rotate in opposite directions to drive the two guide rails to move close to or away from each other; and a rotating driving assembly, the rotating driving assembly comprising a rotating base and a power mechanism, the rotating base being fixedly connected with the motor mounting plate, the rotating base being in opposite rotation with the main shaft, and the power mechanism being in transmission connection with the main shaft.

[0006] In some embodiments, the clamping drive assembly further comprises a transmission mechanism, the transmission mechanism comprising a connecting piece, a compression spring, a compression spring pre-pressing nut, and a first pull rod; the connecting piece is axially slidably sleeved on the motor shaft within a preset range, the connecting piece has a receiving groove; the compression spring pre-pressing nut is located in the receiving groove and fixed to the motor shaft, the compression spring is located in the receiving groove and has two ends respectively abutting against the connecting piece and the compression spring pre-pressing nut; the first pull rod connects the connecting piece to the thrust bearing; when the motor shaft moves away from the main shaft, the compression spring pre-pressing nut moves away from the main shaft and compresses the compression spring, so that the connecting piece moves away from the main shaft and drives the two guide rails to relatively close; when the motor shaft moves close to the main shaft, the connecting piece moves close to the main shaft and drives the two guide rails to relatively move away.

[0007] In some embodiments, the motor shaft is provided with upper and lower stepped surfaces limiting the axial movement range of the connecting piece; the connecting piece is sleeved between the upper and lower stepped surfaces; the clamping drive assembly further comprises a guide block connected to the motor mounting plate and in sliding cooperation with the connecting piece.

[0008] In some embodiments, the clamping drive assembly further comprises a first position sensor connected to the connecting piece, the first position sensor being configured to trigger the first position sensor when the compression spring pre-pressing nut moves away from the main shaft to a first position, so that the industrial computer can control the drive motor to keep the compression spring pre-pressing nut at a preset position.

[0009] In some embodiments, the clamping drive assembly further comprises a first stop piece connected to the connecting piece and a second position sensor connected to the motor mounting plate, the second position sensor being configured to trigger the second position sensor when the first stop piece moves close to the main shaft to a second position, so that the industrial computer can control the drive motor to keep the connecting piece at a preset position.

[0010] In some embodiments, the clamping assembly further comprises a pull rod adapter sleeve and a second pull rod, the pull rod adapter sleeve is axially slidably arranged in the main shaft, one end of the second pull rod extends into and is fixed in the pull rod adapter sleeve, and the other end is connected with the shift fork connecting rod; the thrust bearing is fixed in the pull rod adapter sleeve.

[0011] In some embodiments, the guide rail is provided with a groove, and the shift fork has a driving portion extending into the groove.

[0012] In some embodiments, the finger is further provided with a cap opening thimble, and the cap opening thimble is arranged on the inner side of the finger.

[0013] In some embodiments, the rotating base is provided with a bearing hole, a rotating bearing is installed in the bearing hole, the main shaft is supported by the rotating bearing, a limiting nut and a driven pulley are fixed on the main shaft, and the limiting nut is buckled with the inner ring of the rotating bearing; the power mechanism comprises a rotating motor and a driving pulley, and the driving pulley is connected with the driven pulley through a transmission belt.

[0014] In some embodiments, the driven pulley is connected with a second baffle, and the rotating base is further provided with a third position sensor, and the third position sensor is configured to trigger the third position sensor when the second baffle rotates to a third position, so that the industrial computer can control the rotating motor to make the clamping assembly stay at a preset position.

[0015] When the above-mentioned cap removal device is used to remove the cap, the driving motor drives the thrust bearing to move, and when the two guide rails move relative to each other, a pair of fingers approach each other to clamp the cap, and the clamping jaw kicks the cap support into the groove at the top end of the cap; the rotating drive assembly drives the clamping assembly to rotate to loosen the cap. When the driving motor drives the thrust bearing to move reversely, the two fingers move away from each other and loosen the cap, and the two clamping jaws kick the cap support away and abut against the groove wall of the groove at the top end of the cap respectively, so as to avoid the cap from being adhered to the fingers, thereby not affecting the next cap removal. In addition, in the present application, the clamping assembly is connected with the motor shaft of the driving motor through the thrust bearing, so that the clamping assembly can rotate relative to the clamping drive assembly. Thus, during the process of the above-mentioned cap removal device, the working of the clamping drive assembly and the rotating drive assembly do not interfere with each other. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is an assembly structure diagram of the cap removal device of the embodiment of the present application.

[0017] Figure 2 It is an axial sectional view of the cap removal device of the embodiment of the present application.

[0018] Figure 3 It is a structure schematic diagram of the clamping drive assembly of the embodiment of the present application.

[0019] Figure 4 It is a sectional structure schematic diagram of the clamping assembly of the embodiment of the present application.

[0020] Figure 5 It is a structure schematic diagram of the rotating drive assembly of the embodiment of the present application.

[0021] REFERENCE SIGNS:

[0022] 100, cap removing device; 1, clamping drive assembly; 11, motor mounting plate; 12, drive motor; 121, motor shaft; 13, connecting piece; 14, compression spring; 15, compression spring pre-pressing nut; 16, first pull rod; 17, sliding sleeve; 18, guide block; 191, first position sensor; 192, first optocoupler support plate; 193, first stopper; 194, second position sensor; 2, clamping assembly; 21, main shaft; 211, sleeve; 212, limiting nut; 213, passive pulley; 214, second stopper; 22, thrust bearing; 23, yoke connecting rod; 24, yoke; 241, connecting part; 242, pivoting part; 243, driving part; 244, support rod; 25, guide rail; 251, groove; 26, finger; 261, finger connecting member; 262, cap opening needle; 27, clamping jaw cap kicking support; 28, pull rod adapter sleeve; 29, second pull rod; 3, rotary drive assembly; 31, rotary base; 311, stand; 312, rotary bearing; 32, power mechanism; 321, rotary motor; 322, driving pulley; 323, transmission belt; 33, third position sensor; 34, third optocoupler support plate. DETAILED DESCRIPTION

[0023] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described and it is therefore contemplated to cover all such modifications as fall within the scope of the application. It is to be understood that the specific embodiments of the present application are illustrative only and not restrictive, as the scope of the application will be governed by the appended claims and equivalents thereof.

[0024] In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0025] Furthermore, if there appear the terms "first", "second", these terms are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, if there appear the term "a plurality of", the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0026] As shown in Figures 1 to 5 , the embodiment of the present application provides a cap removing device 100. The cap removing device 100 comprises a clamping driving assembly 1, a clamping assembly 2 and a rotating driving assembly 3. The clamping driving assembly 1 is used to drive the clamping assembly 2 to clamp a cap (not shown), and the rotating driving assembly 3 is used to make the cap have a rotating degree of freedom after the clamping assembly 2 clamps the cap.

[0027] As shown in Figures 1 to 3 , the clamping driving assembly 1 comprises a motor mounting plate 11 and a driving motor 12. The motor mounting plate 11 is used to be fixed to the rotating driving assembly 3, and the motor shaft 121 of the driving motor 12 can make linear reciprocating motion.

[0028] As shown in Figure 1 , Figure 3 and Figure 4 , the clamping assembly 2 comprises a main shaft 21, a thrust bearing 22 arranged in the main shaft 21, a shift lever 23 connected to the thrust bearing 22, two shift forks 24 each rotationally connected to the main shaft 21, and two guide rails 25 arranged in the radial direction of the main shaft 21 and slidingly arranged relative to the main shaft 21. Each of the two guide rails 25 is connected with a finger 26 and a claw kick cap support 27, and the claw kick cap support 27 is arranged on the side of the finger 26 close to the thrust bearing 22. In the radial direction of the main shaft 21, the distance between the two claw kick cap supports 27 is always less than the distance between the two fingers 26. The thrust bearing 22 is in driving connection with the motor shaft 121 of the driving motor 12 and can move in the axial direction of the main shaft 21 under the driving of the motor shaft 121. Each shift fork 24 is in driving connection with the shift lever 23 and a guide rail 25. When the thrust bearing 22 moves in the axial direction of the main shaft 21, the two shift forks 24 rotate in opposite directions to drive the two guide rails 25 to move close to or away from each other.

[0029] In the embodiment, the driving motor 12 is a linear motor. The clamping assembly 2 is connected with the motor shaft 121 of the driving motor 12 through the thrust bearing 22, so that when the clamping assembly 2 rotates under the driving of the rotating driving assembly 3, the clamping assembly 2 rotates relative to the clamping driving assembly 1, and the two do not conflict with each other. In other embodiments, the driving motor 12 can also be a rotary motor, and the motor shaft thereof is connected with the clamping assembly 2 through a linear motion conversion mechanism. The linear motion conversion mechanism is, for example, a crank linkage mechanism.

[0030] Specifically, the main shaft 21 is hollow and arranged in a vertical direction below the driving motor 12. The thrust bearing 22 is arranged in the main shaft 21 near the top end of the main shaft 21. The shift fork 24 includes a connecting portion 241, a pivot portion 242 and a driving portion 243. The pivot portion 242 is arranged in the middle of the shift fork 24, and the connecting portion 241 and the driving portion 243 are arranged at the two ends of the shift fork 24. The connecting portion 241 is provided with an opening (not numbered) which is clamped with the shift fork connecting rod 23. The pivot portion 242 is rotatably connected with the main shaft 21 through the support rod 244. The driving portion 243 is connected with the guide rail 25. The two guide rails 25 are slidingly arranged at the lower end of the main shaft 21, and are specifically arranged symmetrically about the axis of the main shaft 21.

[0031] When the thrust bearing 22 moves, the shift fork 24 is driven to rotate by the shift fork connecting rod 23, so that the shift fork 24 can drive the guide rail 25 to slide. As shown in Figure 2 When the thrust bearing 22 moves upward, the two shift forks 24 will drive the two guide rails 25 to move relative to each other, so as to move close to each other, and the distance between them is reduced. When the thrust bearing 22 moves downward, the two shift forks 24 drive the two guide rails 25 to move relative to each other, so as to move away from each other.

[0032] The fingers 26 and the jaw kick cap supports 27 are fixedly connected with the guide rails 25. Optionally, the bottom of the guide rail 25 is connected with a finger connecting member 261 through a screw, and the finger connecting member 261 is connected with the fingers 26 through a screw. The finger connecting member 261 is connected with the jaw kick cap supports 27 through a screw.

[0033] In this application, in the radial direction of the main shaft 21, the distance between the two jaw kick cap supports 27 is always smaller than the distance between the two fingers 26. That is, whether the pair of fingers 26 is in a clamping state or an open state, the distance between the two jaw kick cap supports 27 is always smaller than the distance between the two fingers 26. So that when the two fingers 26 clamp the cap, the two jaw kick cap supports 27 can extend into the groove at the top of the cap. It is easy to understand that the difference between the distance between the two jaw kick cap supports 27 and the distance between the two fingers 26 is set according to the wall thickness of the groove at the top of the cap. The distance between the two jaw kick cap supports 27 is 2 times the wall thickness of the groove at the top of the cap more than the distance between the two fingers 26.

[0034] As shown in Figure 1 , Figure 5 The rotating drive assembly 3 includes a rotating base 31 and a power mechanism 32. The rotating base 31 is fixedly connected with the motor mounting plate 11 through a stand 311, the rotating base 31 is rotatably connected with the main shaft 21, and the power mechanism 32 is drivingly connected with the main shaft 21. The rotating base 31 supports the clamping drive assembly 1 and the clamping assembly 2. The power mechanism 32 rotates the entire clamping assembly 2 by driving the main shaft 21 to rotate.

[0035] When the cap is removed by the cap removing device 100, the driving motor 12 drives the thrust bearing 22 to move, and when the two guide rails 25 are relatively moved, the two fingers 26 are close to each other to clamp the cap, and the two clamping jaws kick the cap support 27 to be inserted into the groove at the top of the cap; the rotating driving assembly 3 drives the clamping assembly 2 to rotate to unscrew the cap. When the driving motor 12 drives the thrust bearing 22 to move reversely, the two fingers 26 are away from each other to release the cap, and at this time, the two clamping jaws kick the cap support 27 to be away from each other and respectively abut against the groove wall of the groove at the top of the cap, so that the cap is not adhered to the fingers 26, thereby not affecting the next cap removing.

[0036] In addition, in the present application, the clamping assembly 2 is connected with the motor shaft 121 of the driving motor 12 through the thrust bearing 22, so that the clamping assembly 2 can rotate relative to the clamping driving assembly 1. Thus, during the cap removing process of the cap removing device 100, the working of the clamping driving assembly 1 and the rotating driving assembly 3 do not interfere with each other.

[0037] In some embodiments, as shown in Figs. 1, 2 and 3, the clamping driving assembly 1 further comprises a transmission mechanism. The transmission mechanism comprises a connecting piece 13, a compression spring 14, a compression spring pre-pressing nut 15 and a first pull rod 16. The connecting piece 13 is axially slidably sleeved on the motor shaft 121 within a preset range, and the connecting piece 13 has a containing groove (not numbered). The compression spring pre-pressing nut 15 is located in the containing groove and fixed to the motor shaft 121. The compression spring 14 is located in the containing groove and the two ends thereof abut against the connecting piece 13 and the compression spring pre-pressing nut 15 respectively. The first pull rod 16 connects the connecting piece 13 to the thrust bearing 22. When the motor shaft 121 moves away from the main shaft 21, the compression spring pre-pressing nut 15 moves away from the main shaft 21 and compresses the compression spring 14, and the connecting piece 13 moves away from the main shaft 21 to relatively close the two guide rails 25; when the motor shaft 121 moves close to the main shaft 21, the connecting piece 13 moves close to the main shaft 21 to relatively move away the two guide rails 25. Figure 2 Figure 3 In some embodiments, as shown in Figs. 1, 2 and 3, the clamping driving assembly 1 further comprises a transmission mechanism. The transmission mechanism comprises a connecting piece 13, a compression spring 14, a compression spring pre-pressing nut 15 and a first pull rod 16. The connecting piece 13 is axially slidably sleeved on the motor shaft 121 within a preset range, and the connecting piece 13 has a containing groove (not numbered). The compression spring pre-pressing nut 15 is located in the containing groove and fixed to the motor shaft 121. The compression spring 14 is located in the containing groove and the two ends thereof abut against the connecting piece 13 and the compression spring pre-pressing nut 15 respectively. The first pull rod 16 connects the connecting piece 13 to the thrust bearing 22. When the motor shaft 121 moves away from the main shaft 21, the compression spring pre-pressing nut 15 moves away from the main shaft 21 and compresses the compression spring 14, and the connecting piece 13 moves away from the main shaft 21 to relatively close the two guide rails 25; when the motor shaft 121 moves close to the main shaft 21, the connecting piece 13 moves close to the main shaft 21 to relatively move away the two guide rails 25.

[0038] In the present embodiment, the upper part of the connecting piece 13 is axially slidably sleeved on the motor shaft 121. A sliding sleeve 17 fixed to the motor shaft 121 is further arranged between the connecting piece 13 and the motor shaft 121. The sliding sleeve 17 enables the connecting piece 13 to smoothly slide relative to the motor shaft 121 and reduces the requirement for the surface precision of the motor shaft 121. The lower part of the connecting piece 13 is designed in a U shape and forms the above-mentioned containing groove. The compression spring pre-pressing nut 15 is fixed to the end of the motor shaft 121. The compression spring 14 can be specifically sleeved on the motor shaft 121.

[0039] ​When the motor shaft 121 moves away from the main shaft 21 (specifically, the motor shaft 121 moves upward), the compression spring pre-pressing nut 15 moves upward along with the motor shaft 121 and continuously compresses the compression spring 14, the compression spring 14 drives the connecting piece 13 to move upward, in turn drives the thrust bearing 22 to move upward, and finally drives the two fingers 26 to move relative to each other until the pipe cap is clamped. After that, when the compression amount of the compression spring 14 increases, the clamping force of the two fingers 26 acting on the pipe cap increases.

[0040] In the embodiment, when the motor shaft 121 moves away from the main shaft 21, the driving force driven by the compression spring 14 is transmitted to the connecting piece 13 to move upward, so that the clamping action of the finger 26 has a certain flexibility.

[0041] In some embodiments, the motor shaft 121 is provided with upper and lower stepped surfaces limiting the axial movement range of the connecting piece 13; the connecting piece 13 is sleeved between the upper and lower stepped surfaces; the clamping driving assembly 1 further comprises a guide block 18 connected to the motor mounting plate 11 and in sliding fit with the connecting piece 13.

[0042] In the embodiment, the upper and lower movement ranges of the connecting piece 13 are limited by the upper and lower stepped surfaces (not shown) provided on the motor shaft 121, and the motor shaft 121 is set as a stepped shaft, so that the scheme is simple and reliable. Further, the clamping driving assembly 1 further limits the connecting piece 13 by the guide block 18, so that the connecting piece 13 does not rotate with the clamping assembly 2 when the clamping assembly 2 rotates, and the clamping stability of the clamping assembly 2 is ensured.

[0043] In some embodiments, as shown in Figure 3 The clamping driving assembly 1 further comprises a first position sensor 191 connected to the connecting piece 13, and the first position sensor 191 is configured to trigger the first position sensor 191 when the compression spring pre-pressing nut 15 moves away from the main shaft 21 to a first position, so that the industrial computer (not shown) can control the driving motor 12 to make the compression spring pre-pressing nut 15 stay at a preset position. The first position sensor 191 is specifically a groove type optical coupler, which is installed on the connecting piece 13 through a first optical coupler support plate 192. The first position sensor 191 is used to detect the vertical displacement of the compression spring pre-pressing nut 15, and then control the compression amount of the compression spring 14, so as to control the clamping force of the finger 26 on the pipe cap.

[0044] Specifically, when the first position sensor 191 is triggered by the compression spring pre-pressing nut 15, the industrial computer obtains the initial position at which the compression spring pre-pressing nut 15 starts to compress the compression spring 14; and then the industrial computer can control the compression amount of the compression spring 14 by controlling the rotation number or linear propulsion distance of the motor shaft 121 of the driving motor 121.

[0045] It is easy to understand that by controlling the number of rotations or the linear propulsion distance of the motor shaft 121 of the driving motor 121, different specifications of the pipe cap can be clamped. The type of the first position sensor 191 is not limited to the slot type optical coupling, and can be other types of devices capable of detecting the position of the object, such as micro switches. The first position sensor 191 can be a contact or non-contact sensor.

[0046] In some embodiments, as shown in Figure 3 The clamping driving assembly 1 further comprises a first stopper 193 connected to the connecting member 13 and a second position sensor 194 connected to the motor mounting plate 11. When the first stopper 193 moves close to the main shaft 21 to the second position, the second position sensor 194 is triggered, so that the industrial computer can control the driving motor 12 to stop the connecting member 13 at the preset position.

[0047] Specifically, the second position sensor 194 is a slot type optical coupling connected to the motor mounting plate 11 through a second optical coupling support plate. When the first stopper 193 moves to pass through the slot type optical coupling along with the connecting member 13, the slot type optical coupling is triggered by the first stopper 193 and sends a signal to the industrial computer, and the industrial computer obtains the initial position of the connecting member 13. Then, the industrial computer controls the number of rotations or the linear propulsion distance of the motor shaft 121 of the driving motor 121 to control the moving distance of the connecting member 13 downward, so as to control the opening degree of the fingers 26.

[0048] It is understood that the type of the second position sensor 194 is not limited to the slot type optical coupling, and can be other types of devices capable of detecting the position of the object, such as micro switches. The second position sensor 194 can be a contact or non-contact sensor.

[0049] In some embodiments, both the second position sensor 194 and the second position sensor 194 are provided. In the initial state of the pipe cap removal device 100 of the present application, the pair of fingers 26 are relatively far away, and the pipe cap can be accommodated therebetween. At this time, the compression spring pre-pressing nut 15 is located below the first position sensor 191, and the first stopper 193 is located above the second position or the second position. When the compression spring pre-pressing nut 15 moves upward, the connecting member 13 starts to move upward, and when the compression spring pre-pressing nut 15 triggers the first position sensor 191, the first stopper 193 is located above the second position. When the connecting member 13 starts to move downward, the first stopper 193 will gradually move to the second position and trigger the second position sensor 194.

[0050] In some embodiments, as shown in Figure 2 and Figure 4As shown, the clamping assembly 2 further comprises a pull rod adapter sleeve 28 and a second pull rod 29, the pull rod adapter sleeve 28 is axially slidingly arranged in the main shaft 21, the second pull rod 29 is fixed in the pull rod adapter sleeve 28 at one end and connected with the shifter connecting rod 23 at the other end; the thrust bearing 22 is fixed in the pull rod adapter sleeve 28. The sleeve 211 is fixed in the main shaft 21, and the pull rod adapter sleeve 28 is arranged in the sleeve 211.

[0051] The one end of the second pull rod 29 is connected with the pull rod adapter sleeve 28, for example, through a screw, and the other end of the second pull rod 29 is connected with the shifter connecting rod 23. Specifically, the shifter connecting rod 23 is arranged in the second pull rod 29, and both ends of the shifter connecting rod 23 extend out of the second pull rod 29 and are respectively clamped in the connecting portions 241 of the two shifters 24.

[0052] Some embodiments, as shown in Figure 4 The guide rail 25 is provided with a groove 251, and the shifter 24 has a driving portion 243 extending into the groove 251. The driving portion 243 is inserted into the groove 251 to complete the transmission connection between the two, which is simple and reliable. When the shifter 24 shifts gears, the driving portion 243 abuts against the groove wall of the groove 251, thereby driving the guide rail 25 to move.

[0053] Some embodiments, as shown in Figure 4 The finger 26 is further provided with a cap opening thimble 262, which is arranged on the inner side of the finger 26. The inner side of the finger 26 is the side of the finger 26 facing the other finger 26. The cap opening thimble 262 has a sharp end that can push against the pipe cap, thereby enabling the finger 26 to more stably clamp the pipe cap.

[0054] Some embodiments, as shown in Figure 5 The rotating base 31 is provided with a bearing hole (not numbered), a rotating bearing 312 is installed in the bearing hole, the main shaft 21 is supported on the rotating bearing 312, the main shaft 21 is fixed with a limiting nut 212 and a driven pulley 213, the limiting nut 212 is buckled connected with the inner ring of the rotating bearing 312; the power mechanism 32 comprises a rotating motor 321 and a driving pulley 322, the driving pulley 322 is connected with the driven pulley 213 through a transmission belt 323.

[0055] In this embodiment, after the main shaft 21 is supported on the rotating bearing 312, the limiting nut 212 is used to axially limit the main shaft 21. The rotation of the main shaft 21 is achieved, and the belt transmission scheme is adopted between the rotating motor 321 and the main shaft 21, which is low in cost.

[0056] Some embodiments, as shown in Figure 2 , Figure 5The second stopper 214 is connected to the passive pulley 213, and the third position sensor 33 is arranged on the rotating base 31. When the second stopper 214 rotates to the third position, the third position sensor 33 is triggered, so that the industrial computer controls the rotating motor 321 to stop the clamping assembly 2 at the preset position.

[0057] Specifically, the third position sensor 33 is a groove type photoelectric coupler, which is fixed on the rotating base 31 by a third photoelectric coupler support plate 34 and located on one side of the passive pulley 213. When the edge of the second stopper 214 rotates to pass through the groove type photoelectric coupler, the groove type photoelectric coupler sends a signal to the industrial computer, and the industrial computer detects the position of the passive pulley 213, thereby detecting the position of the clamping assembly 2.

[0058] Therefore, by obtaining the signal of the third position sensor 33, the industrial computer can obtain the initial relative position of the passive pulley 213. Then, the industrial computer can control the movement of the rotating motor 321, so that the passive pulley 213 rotates a predetermined number of turns or stops at a specified rotation angle position.

[0059] Optionally, before each use, the passive pulley 213 is reset to the position where the edge of the second stopper 214 is in the groove type photoelectric coupler, so that each time the industrial computer obtains the signal of the third position sensor 33, it can record that the passive pulley 213 has rotated one turn. In this way, after the industrial computer obtains the signal of the third position sensor 33 for the first time, it controls the passive pulley 213 to rotate different number of turns according to the different specifications of the clamped cap.

[0060] It can be understood that the type of the third position sensor 33 is not limited to the groove type photoelectric coupler, and can also be a micro switch or other types of devices that can detect the position of an object. The third position sensor 33 can be a contact or non-contact sensor.

[0061] In this application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For ordinary skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0062] In this application, unless otherwise clearly indicated and limited, if there is a description of a first feature "on" or "under" a second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "over", "above" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0063] It should be noted that if an element is referred to as being "fixed" or "attached" to another element, it can be directly on the other element or there can be an intervening element. If an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can be present. As used in this application, the terms "vertical", "horizontal", "up", "down", "left", "right", and the like, are used for illustration and not limitation purposes only.

[0064] The technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not contradict, they should be considered as the scope of the present application.

[0065] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A tube cap removal device, characterized in that, The application relates to a clamping device, which comprises a clamping driving assembly, a clamping assembly and a rotating driving assembly. The clamping driving assembly comprises a motor mounting plate and a driving motor. The clamping assembly comprises a spindle, a thrust bearing arranged in the spindle, a shift fork connecting rod connected to the thrust bearing, two shift forks each rotationally connected to the spindle, two guide rails slidingly arranged opposite to the spindle along the radial direction of the spindle, two fingers and two jaw kick cap supports connected to the two guide rails, the jaw kick cap supports being arranged on the side of the fingers close to the thrust bearing, and the distance between the two jaw kick cap supports in the radial direction of the spindle being always smaller than the distance between the two fingers. The thrust bearing is in transmission connection with the motor shaft of the driving motor and can move along the axial direction of the spindle under the driving of the motor shaft.

2. The tube cap removal device of claim 1, wherein, Each shift fork is in transmission connection with the shift fork connecting rod and one guide rail. When the thrust bearing moves along the axial direction of the spindle, the two shift forks rotate in opposite directions to drive the two guide rails to move close to or away from each other.

3. The tube cap removal device of claim 2, wherein, The rotating driving assembly comprises a rotating base and a power mechanism.

4. The tube cap removal device of claim 2, wherein, The rotating base is fixedly connected with the motor mounting plate and is in opposite rotation connection with the spindle.

5. The tube cap removal device of claim 2, wherein, The power mechanism is in transmission connection with the spindle. The clamping driving assembly further comprises a transmission mechanism. The transmission mechanism comprises a connecting piece, a compression spring, a compression spring pre-pressing nut and a first pull rod. The connecting piece is axially slidably sleeved on the motor shaft within a preset range. The connecting piece has a containing groove. The compression spring pre-pressing nut is located in the containing groove and is fixed to the motor shaft. The compression spring is located in the containing groove and has two ends respectively abutting against the connecting piece and the compression spring pre-pressing nut. The first pull rod connects the connecting piece to the thrust bearing. When the motor shaft moves away from the spindle, the compression spring pre-pressing nut moves away from the spindle and compresses the compression spring, so that the connecting piece moves away from the spindle and drives the two guide rails to move close to each other. When the motor shaft moves close to the spindle, the connecting piece moves close to the spindle and drives the two guide rails to move away from each other. The motor shaft is provided with upper and lower stepped surfaces limiting the axial movement range of the connecting piece. The connecting piece is sleeved between the upper and lower stepped surfaces. The clamping driving assembly further comprises a guide block connected to the motor mounting plate and in sliding cooperation with the connecting piece. The clamping driving assembly further comprises a first position sensor connected to the connecting piece. When the compression spring pre-pressing nut moves away from the spindle to a first position, the first position sensor is triggered, so that the industrial computer can control the driving motor to make the compression spring pre-pressing nut stay at a preset position. The clamping driving assembly further comprises a first stop piece connected to the connecting piece and a second position sensor connected to the motor mounting plate. When the first stop piece moves close to the spindle to a second position, the second position sensor is triggered, so that the industrial computer can control the driving motor to make the connecting piece stay at a preset position.

6. The tube cap removal device of claim 1, wherein, The clamping assembly further comprises a pull rod adapter sleeve and a second pull rod, the pull rod adapter sleeve is axially slidably arranged in the main shaft, one end of the second pull rod is inserted into and fixed in the pull rod adapter sleeve, and the other end is connected with the shift fork connecting rod; the thrust bearing is fixed in the pull rod adapter sleeve.

7. The cap removal device of claim 1, wherein, The guide rail is provided with a groove, and the shift fork has a driving part inserted into the groove.

8. The cap removal device of claim 1, wherein, The finger is further provided with a cap opening thimble, and the cap opening thimble is arranged on the inner side of the finger.

9. The cap removal device of claim 1, wherein, The rotating base is provided with a bearing hole, a rotating bearing is installed in the bearing hole, the main shaft is supported by the rotating bearing, a limiting nut and a driven pulley are fixed on the main shaft, and the limiting nut is buckled with the inner ring of the rotating bearing; the power mechanism comprises a rotating motor and a driving pulley, and the driving pulley is connected with the driven pulley through a transmission belt.

10. The tube cap removal device of claim 9, wherein, The driven pulley is connected with a second baffle, and the rotating base is further provided with a third position sensor, and the third position sensor is configured to trigger the third position sensor when the second baffle rotates to the third position, so that the industrial computer can control the rotating motor to make the clamping assembly stay at a preset position.

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