Blood collection tube grabbing and rotating uncapping device based on double motor driving

Abstract

The application belongs to the field of medical test automation equipment, and particularly relates to a blood collection tube grabbing and rotating uncapping device based on double-motor driving, which comprises an axial driving unit, a rotating driving unit, a motion decoupling mechanism and a clamping jaw execution mechanism. The motion decoupling mechanism is connected with the clamping jaw execution mechanism to decouple linear motion and rotary motion. The axial driving unit drives the whole clamping jaw execution mechanism to lift, and the rotating driving unit drives the clamping jaw execution mechanism to rotate forward and backward. The application has high integration, simple structure and smaller volume, and can meet the demand of modern precise automation equipment.

Description

Technical Field

[0001] This application belongs to the field of automated medical testing equipment, specifically relating to a blood collection tube gripping and rotating cap opening device based on dual-motor drive. Background Technology

[0002] In automated medical testing systems, sample processing is the core hub connecting sample collection and analysis. Blood collection tube opening technology, as the first hurdle in the automated sample processing workflow, directly determines the accuracy, safety, and overall smoothness of subsequent testing steps. Whether it's batch sample testing in clinical laboratories or rapid sample processing in emergency settings, the ability to open blood collection tubes efficiently and without contamination is a crucial indicator of the level of automation in medical testing. Problems in the opening process can not only delay test results but also trigger a series of chain reactions, including sample contamination and operator safety risks. Therefore, blood collection tube opening technology has become a key breakthrough in driving the upgrade of medical testing from "semi-automation" to "fully automation." Currently, the opening of blood collection tubes in medical testing mainly relies on manual operation and general robotic arms. However, both methods have unavoidable drawbacks that severely restrict the development of automated sample processing. The main problems are as follows: manual operation is inefficient and prone to cross-contamination of samples; traditional robotic grippers are prone to tube slippage during rotation; the coupling control precision of clamping force and rotation torque is insufficient; and the opening process is prone to aerosol contamination.

[0003] Existing technologies, such as the Chinese invention patent with publication number CN108408670A entitled "Lid Opening Device and Lid Opening System," include: a frame; an upper gripper mechanism, including an upper gripper assembly, an upper clamping drive assembly, and a rotation drive assembly, the drive ends of both the upper clamping drive assembly and the rotation drive assembly being connected to the upper gripper assembly, respectively driving the upper gripper assembly to clamp and rotate; and a lower gripper mechanism, including a lower gripper assembly, a lower clamping drive assembly, and a lifting drive assembly. Because the upper gripper mechanism has an upper clamping drive assembly and a rotation drive assembly, it can automatically clamp and rotate to unscrew the blood collection tube cap. The lower gripper mechanism has a lower clamping drive assembly and a lifting drive assembly, enabling it to pick up and transfer the blood collection tube to the clamping position of the upper gripper mechanism and to hold the blood collection tube to assist in opening the cap.

[0004] While the aforementioned patent simplifies the system architecture, reduces the number of drive components, and lowers costs and control complexity through ingenious mechanical design, its structural complexity and large size, as a traditional solution, are major drawbacks when applied to modern precision automated equipment. Summary of the Invention

[0005] To address the aforementioned technical problems in the prior art, this application proposes a dual-motor driven device for gripping and rotating the blood collection tube.

[0006] To achieve the above objectives, the technical solution of this application is as follows: A dual-motor driven blood collection tube gripping and rotating cap opening device includes an axial drive unit, a rotary drive unit, a motion decoupling mechanism, and a gripper actuator. The motion decoupling mechanism is connected to the gripper actuator to decouple linear motion and rotary motion. The axial drive unit drives the overall lifting and lowering of the gripper actuator, and the rotary drive unit drives the forward and reverse rotation of the gripper actuator.

[0007] Furthermore, the axial drive unit includes a lead screw motor and a lead screw nut; the rotary drive unit includes a hollow shaft motor and a rotary flange; the motion decoupling mechanism includes a drive shaft and a guide block that pass through the hollow shaft motor; and the gripper actuator includes a finger gripper seat and a finger. The lead screw motor and the hollow shaft motor are located on the motor mounting base. The output shaft of the lead screw motor is connected to one end of the transmission shaft through the lead screw nut, and the other end of the transmission shaft is connected to the guide block. The output shaft of the hollow shaft motor is connected to a rotating flange. A cylindrical seat is provided on the rotating flange, and a finger clamping seat is installed on the cylindrical seat. A pair of fingers are provided on the finger clamping seat.

[0008] Furthermore, the other end of the drive shaft is axially fixed to the inner ring of the bearing by screws, and the bearing is fixed inside the guide block.

[0009] Furthermore, the lead screw motor is connected to the motor adapter plate, and the motor adapter plate is connected to the motor mounting base.

[0010] Furthermore, the rotating flange is connected to the output shaft of the hollow shaft motor via an open retaining ring.

[0011] Furthermore, the motor mounting base is provided with a guide groove for constraining the movement of the lead screw nut. The guide groove includes a vertical section and a horizontal section, wherein the vertical section constrains the rotational degree of freedom of the lead screw nut, and the horizontal section restricts axial offset.

[0012] Furthermore, the shift fork is a three-point lever mechanism. The middle hole of the shift fork is connected to the shaft of the cylindrical seat, the first end is connected to the shaft of the hinge seat, and the second end is connected to the finger.

[0013] Furthermore, a straight guide groove is opened on the inner wall of the cylindrical seat, and two semi-circular bosses are symmetrically arranged on the outer wall of the guide block. The guide block rotates together with the cylindrical seat. When moving axially, the bearing bears the load and pushes the hinge seat to move axially.

[0014] Furthermore, the motor mounting base is connected to one end of the sensor bracket, the other end of the sensor bracket is fixed to the sensor, and a sensor baffle is connected to the rotating flange. When the sensor baffle rotates to the sensor, it is the origin of the rotation angle.

[0015] Furthermore, the transmission shaft passes sequentially through the inner hole of the hollow shaft motor rotor and the bearing of the guide block.

[0016] The advantages of this application are: 1. This application has high integration, simple structure and smaller size, which can meet the needs of modern precision automation equipment.

[0017] 2. The lead screw motor of this application independently controls the axial clamping force, and the transmission accuracy is ±0.05mm through the lead screw nut. The hollow shaft motor independently outputs rotational torque, and a constant clamping force (8N±0.5N) can be preloaded during the clamping stage.

[0018] 3. This application maintains a constant clamping force during the rotation phase, which can prevent overload breakage. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of this application.

[0020] Figure 2 This is a cross-sectional view of this application.

[0021] Figure 3 This is a schematic diagram of the motor mounting bracket of this application.

[0022] Figure 4 This is a schematic diagram of the internal structure of this application.

[0023] Figure 5 This is a schematic diagram of the cylindrical base structure of this application.

[0024] In the attached image: 1-Screw motor, 2-Motor adapter plate, 3-Motor mounting base, 4-Hollow shaft motor, 5-Screw nut, 6-Drive shaft, 7-Rotating flange, 8-Open retaining ring, 9-Cylindrical seat, 10-Finger clamping seat, 11-Finger, 12-Bearing, 13-Guide block, 14-Hinge seat, 18-Shift fork, 19-Sensor bracket, 20-Sensor, 23-Sensor baffle, 24-Screw, 31-Guide groove. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the invention clearer, the technical solutions of the embodiments of the invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] In the description of this invention, it should be noted that the terms "upper," "vertical," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] This invention presents an aircraft surface feature segmentation method based on contour constraint optimization, which uses a deep learning network to segment targets in an image. The method learns feature information from the image through a feature extraction backbone network, then fits the outer contour constraint of the target based on this feature information, initially segmenting the target in the image. Finally, the target contour constraint is used to optimize the segmentation result, achieving high-precision segmentation of each target instance in the image.

[0030] Example 1 like Figure 1As shown in the figure, a blood collection tube gripping and rotating cap opening device based on dual motor drive includes an axial drive unit (including a lead screw motor, lead screw nut, and guide groove), a rotary drive unit (including a hollow shaft motor and a rotating flange), a motion decoupling mechanism (including a drive shaft passing through the hollow shaft and a guide block with bearings), and a gripper actuator (including a hinge seat, a fork, and fingers). The motion decoupling mechanism is connected to the gripper actuator to decouple linear motion and rotary motion. The axial drive unit drives the overall lifting and lowering of the gripper actuator, and the rotary drive unit drives the forward and reverse rotation of the gripper actuator.

[0031] Specifically: The axial drive unit provides precise and controllable linear motion, driving the entire gripper actuator to descend and ascend, and converting it into the clamping and releasing action of the gripper.

[0032] The rotary drive unit provides rotational torque to drive the entire gripper actuator (fingers, forks, cylindrical seats, etc.) to rotate in both directions, thereby enabling the function of unscrewing and tightening the test tube cap.

[0033] The motion decoupling mechanism separates (decouples) linear and rotational motions, allowing them to operate independently or work together without interfering with each other. This is the most ingenious and crucial part of the entire design.

[0034] The gripper actuator converts the linear motion of the drive shaft into the clamping and releasing action of the gripper fingers, and acts as an end effector to directly contact and grasp the test tube cap.

[0035] Example 2 like Figure 1 and Figure 2 As shown, a dual-motor driven blood collection tube gripping and rotating cap opening device includes an axial drive unit (including a lead screw motor, lead screw nut, and guide groove), a rotary drive unit (including a hollow shaft motor and a rotating flange), a motion decoupling mechanism (including a drive shaft passing through the hollow shaft and a guide block with bearings), and a gripper actuator (including a hinge seat, a fork, and fingers). The motion decoupling mechanism is connected to the gripper actuator to decouple linear motion and rotary motion. The axial drive unit drives the overall lifting and lowering of the gripper actuator, and the rotary drive unit drives the forward and reverse rotation of the gripper actuator.

[0036] Specifically: The axial drive unit provides precise and controllable linear motion, driving the entire gripper actuator to descend and ascend, and converting it into the clamping and releasing action of the gripper.

[0037] The rotary drive unit provides rotational torque to drive the entire gripper actuator (fingers, forks, cylindrical seats, etc.) to rotate in both directions, thereby enabling the function of unscrewing and tightening the test tube cap.

[0038] The motion decoupling mechanism separates (decouples) linear and rotational motions, allowing them to operate independently or work together without interfering with each other. This is the most ingenious and crucial part of the entire design.

[0039] The gripper actuator converts the linear motion of the drive shaft into the clamping and releasing action of the gripper fingers, and acts as an end effector to directly contact and grasp the test tube cap.

[0040] The axial drive unit includes a lead screw motor 1 and a lead screw nut 5; the rotary drive unit includes a hollow shaft motor 4 and a rotary flange 7; the motion decoupling mechanism includes a transmission shaft 6 containing the hollow shaft motor 4 and a guide block 13; the gripper actuator includes a finger gripper 10 and a finger 11. The lead screw motor 1 and the hollow shaft motor 4 are located on the motor mounting base 3. The output shaft of the lead screw motor 1 is connected to one end of the transmission shaft 6 through the lead screw nut 5, thereby driving the transmission shaft 6 to move axially. The other end of the transmission shaft 6 is connected to the guide block 13. The output shaft of the hollow shaft motor 4 is connected to a rotating flange 7. A cylindrical seat 9 is provided on the rotating flange 7. A finger clamping seat 10 is installed on the cylindrical seat 9. A pair of fingers 11 are provided on the finger clamping seat 10.

[0041] The other end of the drive shaft 6 is axially fixed to the inner ring of the bearing 12 by screws 24, and the bearing 12 is fixed inside the guide block 13.

[0042] The lead screw motor 1 is connected to the motor adapter plate 2, and the motor adapter plate 2 is connected to the motor mounting base 3.

[0043] The rotating flange 7 is connected to the output shaft of the hollow shaft motor 4 via an open retaining ring 8.

[0044] The motor mounting base 3 has a guide groove 31 that constrains the movement of the lead screw nut 5. The guide groove 31 includes a vertical section and a horizontal section. The vertical section constrains the rotational degree of freedom of the lead screw nut 5, and the horizontal section restricts axial displacement.

[0045] The shift fork 18 is a three-point lever mechanism. The middle hole of the shift fork 18 is connected to the shaft of the cylindrical seat 9, the first end is connected to the shaft of the hinge seat 14, and the second end is connected to the finger 11.

[0046] The guide block 13 and the cylindrical seat 9 form a motion separation mechanism working together. A straight guide groove is opened on the inner wall of the cylindrical seat 9, and two semi-circular bosses are symmetrically arranged on the outer wall of the guide block 13. When rotating, the bearing 12 bears the circumferential force, and the guide block 13 rotates together with the cylindrical seat 9. When moving axially, the bearing 12 bears the load and pushes the hinge seat 14 to move axially.

[0047] The motor mounting base 3 is connected to one end of the sensor bracket 19, and the other end of the sensor bracket 19 is fixed to the sensor 20. A sensor baffle 23 is connected to the rotating flange 7. When the sensor baffle 23 rotates to the sensor 20, it is the origin of the rotation angle.

[0048] Furthermore, the transmission shaft 6 passes through the inner hole of the rotor of the hollow shaft motor 4 and the bearing 12 of the guide block 13 in sequence, forming a physical isolation structure between the axial movement channel and the rotational power transmission.

[0049] Working principle: The lead screw motor 1 drives the transmission shaft 6 to move axially through the lead screw nut 5. The motor mounting base 3 has a built-in guide groove 31 to constrain the movement trajectory of the nut. The displacement sensor 20 monitors the axial position of the hollow shaft motor in real time.

[0050] Rotary decoupling mechanism: The drive shaft 6 passes through the rotor inner hole of the hollow shaft motor 4. The guide block 13 realizes axial sliding and rotational isolation of the drive shaft 6 through the bearing 12. The rotating flange 9 is locked on the output shaft of the hollow shaft motor by the open fixing ring 8.

[0051] Gripper actuator: The hinge seat 14 converts the linear motion of the drive shaft 6 into the lever swing of the shift fork 18. The central hole of the shift fork 18 is connected to the cylindrical seat shaft, and the end is connected to the hinge seat shaft. The finger 11 swings with the shift fork to achieve clamping / releasing.

[0052] This application features high integration, simple structure, and smaller size, meeting the needs of modern precision automated equipment. The lead screw motor independently controls the axial clamping force, with a transmission accuracy of ±0.05mm via the lead screw nut. The hollow shaft motor independently outputs rotational torque and can preload a constant clamping force (8N±0.5N) during the clamping phase. This application maintains a constant clamping force during the rotation phase, preventing overload breakage.

Claims

1. A dual-motor driven device for gripping and rotating blood collection tubes, characterized in that: It includes an axial drive unit, a rotary drive unit, a motion decoupling mechanism, and a gripper actuator. The motion decoupling mechanism is connected to the gripper actuator to decouple linear motion and rotary motion. The axial drive unit drives the overall lifting and lowering of the gripper actuator, and the rotary drive unit drives the forward and reverse rotation of the gripper actuator.

2. The blood collection tube gripping and rotating cap opening device based on dual-motor drive according to claim 1, characterized in that: The axial drive unit includes a lead screw motor (1) and a lead screw nut (5); the rotary drive unit includes a hollow shaft motor (4) and a rotary flange (7); the motion decoupling mechanism includes a drive shaft (6) containing the hollow shaft motor (4) and a guide block (13); the gripper actuator includes a finger gripper (10) and a finger (11). The lead screw motor (1) and the hollow shaft motor (4) are located on the motor mounting base (3). The output shaft of the lead screw motor (1) is connected to one end of the transmission shaft (6) through the lead screw nut (5). The other end of the transmission shaft (6) is connected to the guide block (13). The output shaft of the hollow shaft motor (4) is connected to a rotating flange (7). A cylindrical seat (9) is provided on the rotating flange (7). A finger clamping seat (10) is installed on the cylindrical seat (9). A pair of fingers (11) are provided on the finger clamping seat (10).

3. The blood collection tube gripping and rotating cap opening device based on dual-motor drive according to claim 2, characterized in that: The other end of the drive shaft (6) is axially fixed to the inner ring of the bearing (12) by screws (24), and the bearing (12) is fixed inside the guide block (13).

4. The blood collection tube gripping and rotating cap opening device based on dual-motor drive according to claim 2, characterized in that: The lead screw motor (1) is connected to the motor adapter plate (2), and the motor adapter plate (2) is connected to the motor mounting base (3).

5. A blood collection tube gripping and rotating cap opening device based on dual-motor drive according to claim 2, characterized in that: The rotating flange (7) is connected to the output shaft of the hollow shaft motor (4) via an open retaining ring (8).

6. A blood collection tube gripping and rotating cap opening device based on dual-motor drive according to claim 2, characterized in that: The motor mounting base (3) is provided with a guide groove (31) to constrain the movement of the lead screw nut (5). The guide groove (31) includes a vertical section and a horizontal section, wherein the vertical section constrains the rotational freedom of the lead screw nut (5) and the horizontal section restricts axial displacement.

7. A dual-motor driven blood collection tube gripping and rotating cap opening device according to claim 2, characterized in that: The shift fork (18) is a three-point lever mechanism. The middle hole of the shift fork (18) is connected to the shaft of the cylindrical seat (9), the first end is connected to the shaft of the hinge seat (14), and the second end is connected to the finger (11).

8. A dual-motor driven tube gripping and rotating cap-opening device according to claim 2, characterized in that: A straight guide groove is opened on the inner wall of the cylindrical seat (9), and two semi-circular bosses are symmetrically arranged on the outer wall of the guide block (13). The guide block (13) rotates together with the cylindrical seat (9). When it moves axially, the bearing (12) bears the load and pushes the hinge seat (14) to move axially.

9. A blood collection tube gripping and rotating cap opening device based on dual-motor drive according to claim 2, characterized in that: The motor mounting base (3) is connected to one end of the sensor bracket (19), and the other end of the sensor bracket (19) is fixed to the sensor (20). A sensor baffle (23) is connected to the rotating flange (7), and the sensor baffle (23) is the origin of the rotation angle when it rotates to the sensor (20).

10. A dual-motor driven tube gripping and rotating cap-opening device according to claim 2, characterized in that: The drive shaft (6) passes through the inner hole of the rotor of the hollow shaft motor (4) and the bearing (12) of the guide block (13) in sequence.

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