Automatic capping and decapping equipment for sampling tube

Abstract

An automatic capping and decapping equipment for sampling tube includes a base, plural clipping elements and at least one driving device. Plural clapping elements are parallel to a longitudinal axis of the base and symmetrically arranged around the longitudinal axis and under the base. Each clipping element includes an upper first clipping portion and a second lower clipping portion. The driving device controls movements of the base and plural clipping elements. Plural first clipping portions collectively clip a first cap of a first sampling tube for performing capping and decapping procedures of the first sampling tube. Plural second clipping portions collectively clip a second cap of a second sampling tube for performing capping and decapping procedures of the second sampling tube. The first cap and the second cap have different heights and / or hardness.

Description

[Technical Field]

[0001] This case relates to an automatic sampling tube cover opening and closing device, and more particularly to an automatic cover opening and closing device capable of automatically opening and closing covers of multiple types of sampling tubes. [Previous Technology]

[0002] Generally speaking, laboratory sample processing includes manual, semi-automatic, and fully automatic methods. When there is a large demand for sample processing, automated equipment is often used to perform large-scale sample processing at once to improve sample processing efficiency.

[0003] Various types of sampling tubes are available on the market, with even more diverse cap types, such as spiral caps, hard caps, and soft caps. However, most automated equipment only supports large-volume sample processing of a single type of sampling tube, or requires manual cap opening. A few automated devices that support multiple types of sampling tubes require prior confirmation of the sampling tube type using image recognition, or manual pre-setting of the sampling tube type before subsequent automated operations can be performed. However, establishing an image recognition mechanism would significantly increase costs, and manual setting would consume time to screen and set the sampling tube type.

[0004] Therefore, it is necessary to develop an automatic cap-opening device that can automatically open and close caps of multiple types of sampling tubes. [Summary of the Invention]

[0005] The purpose of this invention is to provide an automatic cover-switching device that can automatically switch on and off the covers of multiple types of sampling tubes, thereby addressing the deficiencies in the aforementioned prior art.

[0006] To achieve the above objectives, this invention provides an automatic sampling tube cap opening and closing device, comprising a base, a plurality of clamps, and at least one driving device. The plurality of clamps are parallel to the longitudinal axis of the base and symmetrically arranged around the longitudinal axis below the base. Each of the plurality of clamps includes a first clamping portion and a second clamping portion arranged vertically. The driving device controls the movement of the base and the plurality of clamps. The plurality of first clamping portions of the plurality of clamps collectively surround and clamp the first cap of the first sampling tube to separate and engage the first cap with the first tube body of the first sampling tube. The plurality of second clamping portions of the plurality of clamps collectively surround and clamp the second cap of the second sampling tube to separate and engage the second cap with the second tube body of the second sampling tube. Furthermore, the first cap and the second cap have different heights and / or hardness.

[0007] In one embodiment, the device further includes a tube body fixing part to fix the first tube body and the second tube body respectively when the first tube cap and the second tube cap are separated from and joined to the first tube body and the second tube body respectively.

[0008] In one embodiment, the first cap includes a first material and the second cap includes a second material, wherein the hardness of the first material is greater than the hardness of the second material.

[0009] In one embodiment, the height of the first cap is greater than or equal to the height of the second cap.

[0010] In one embodiment, the second cap further includes a first material, and the first material is formed on the periphery of the second material.

[0011] In one embodiment, in each plurality of clamps, the shortest distance between the first clamp and the longitudinal axis is less than the shortest distance between the second clamp and the longitudinal axis.

[0012] In one embodiment, in each plurality of clamps, a step is formed between the first clamp and the second clamp, and the step abuts against the upper edge of the second cap during the separation and engagement of the second cap and the second body.

[0013] In one embodiment, at least one baffle is further included, disposed below the base and located between the plurality of clamps, to abut against the upper edge of the first tube cap during the separation and engagement of the first tube cap and the first tube body.

[0014] In one embodiment, the first clamp of each plurality of clamps has a first contact surface facing the longitudinal axis, and the first contact surface is made of an elastic material.

[0015] In one embodiment, the second clamping portion of each plurality of clamps has a second contact surface facing the longitudinal axis, and the second contact surface is provided with a groove.

[0016] In one embodiment, the lower edge of the second clamp of each plurality of clamps is provided with a protrusion facing the longitudinal axis.

[0017] In one embodiment, the edge of the protrusion facing the longitudinal axis is arc-shaped.

[0018] In one embodiment, a pipe cap height sensing mechanism is further included to sense the height of the first pipe cap and the second pipe cap, wherein the pipe cap height sensing mechanism includes a sensor, a trigger, an elastic element, and a linear slide rail.

[0019] In one embodiment, the first tube cap and the second tube cap are respectively screwed to the first tube body and the second tube body.

[0020] In one embodiment, the at least one driving device includes a first driving device and a second driving device, the first driving device controlling the rotation of the base around the longitudinal axis and the opening and closing of the plurality of clamps relative to the longitudinal axis, and the second driving device controlling the movement of the base and the plurality of clamps along the longitudinal axis.

[0021] The automatic sampling tube cover opening and closing device of this case is equipped with two types of clamps in the clamping parts that are corresponding to clamping hard material tube covers and soft material tube covers. This allows a single cover opening and closing device to complete the opening and closing operation procedure of tube covers of two materials. It can effectively achieve the purpose of being applicable to various types of tube covers and also helps to improve the automation of the operation procedure.

Implementation Method

[0022] Some typical embodiments embodying the features and advantages of this invention will be described in detail in the following description. It should be understood that the invention can have various variations in different forms, but none of them depart from the scope of the invention, and the descriptions and illustrations herein are for illustrative purposes only and not intended to limit the invention.

[0023] Please refer to Figures 1 to 4. Figure 1 shows a schematic diagram of the automatic sampling tube cover opening and closing device of this invention; Figure 2 shows a schematic diagram of the automatic sampling tube cover opening and closing device of this invention combined with a sampling tube holder and sampling tubes; Figure 3 shows a schematic diagram of the arrangement of a sampling tube holder and various types of sampling tubes applicable to the automatic sampling tube cover opening and closing device of this invention; and Figure 4 shows a partially enlarged schematic diagram of the automatic sampling tube cover opening and closing device of this invention. The automatic sampling tube cover opening and closing device 1 of this invention is used to automatically perform the separation and connection of the tube caps 32 (e.g., 32a, 32b, 32c) and tube bodies 31 (e.g., 31a, 31b, 31c) of various types of sampling tubes 30 (e.g., 30a, 30b, 30c) set on the sampling tube holder 20. The automatic sampling tube cover opening and closing device 1 includes a base 11, a plurality of clamps 12, a first drive device 13, and a second drive device 19. A plurality of clamping members 12 are disposed below the base 11, wherein the extension direction of each clamping member 12 is approximately parallel to the longitudinal axis A of the base 11, i.e., parallel to the Z-axis direction, and the plurality of clamping members 12 are symmetrically arranged around the longitudinal axis A of the base 11. A first driving device 13 is used to control the rotation of the base 11 around the longitudinal axis A, thereby driving the plurality of clamping members 12 below to rotate. In addition, the first driving device 13 also controls the opening and closing of the plurality of clamping members 12 relative to the longitudinal axis A of the base 11. A second driving device 19 is used to control the common movement of the first driving device 13, the base 11, and the plurality of clamping members 12 along the X-axis, Y-axis, and Z-axis directions. Therefore, driven by the first drive device 13 and the second drive device 19, the base 11 and the plurality of clamps 12 on it can move between the sampling tube frame 20 that carries the sampling tube 30 and the opening and closing position of the sampling tube 30. The clamps 12 can be placed around the tube cover 32 of the sampling tube 30 to clamp the tube cover 32 of the sampling tube 30, so as to achieve the operation of moving the sampling tube 30 and opening and closing the tube cover 32 of the sampling tube 30.

[0024] To achieve universal opening and closing of the tube caps for various types of sampling tubes, after studying various commonly used sampling tubes on the market, this case classifies three types of sampling tubes using common main tube cap types, denoted as 30a, 30b, and 30c. The tube cap 32a of the first type of sampling tube 30a is made of a hard material and is screwed onto the tube body 31a; the tube cap 32b of the second type of sampling tube 30b is made of a hard material on the outside and a soft material on the inside, and is plugged onto the tube body 31b; the tube cap 32c of the third type of sampling tube 30c is made of a soft material and is plugged onto the tube body 31c. As can be seen from the above, the tube caps of sampling tubes can be divided into two types according to their external material: hard caps and soft caps. Furthermore, although commercially available sampling tubes come in various lengths and shapes, if we take the lower edge of the cap (whose diameter is larger than the tube's diameter when attached to the tube) as a reference, as shown in Figure 3, they can be simply categorized into two types based on their height: high caps (e.g., cap 32a) and low caps (e.g., caps 32b and 32c). Additionally, caps made solely of soft materials (e.g., cap 32c) are typically lower in height, while caps made of hard materials can vary in height (e.g., caps 32a and 32b). In other words, caps can be classified as high caps and low caps (i.e., having different heights), and as hard caps and soft caps (i.e., having different hardnesses). High caps are mostly hard caps, while low caps can be further divided into hard caps (with a hard outer material) and soft caps. This case involves developing corresponding automatic sampling tube cap opening and closing devices and methods based on the aforementioned tube cap classifications, aiming to complete the opening and closing procedures for multiple types of sampling tubes in the same batch without prior image recognition and / or manual settings.

[0025] More specifically, the automatic cover opening and closing method of this case is based on the fact that the lower edges of the tube caps 32 of various types of sampling tubes 30 are set on the same lower edge setting plane 21. Accordingly, regardless of the height and shape of the tube body 31, the lower edges of all tube caps 32 will be located on the same plane, so the height of the tube caps 32 can be accurately determined. After determining the height of the tube caps 32, it is only necessary to determine the hardness of the external material of the lower cap, which can roughly cover various types of tube caps 32 commonly used in the market and perform the corresponding cover opening and closing operation.

[0026] Please also refer to Figure 5, which shows a schematic diagram of the automatic sampling tube cover opening and closing device of this invention, combined with another sampling tube holder and sampling tube. The sampling tube holder 20' can also be implemented in the form of placing a single sampling tube. In this case, the sampling tube holder 20' still has a lower edge setting plane 21' for the tube cover, which can serve as the basis for judging the height of the tube cover 32, and thus determine the corresponding opening and closing operation. In this embodiment, the first drive device 13 is also used to control the rotation of the base 11 around the longitudinal axis A, and drive the plurality of clamps 12 below to rotate, and also control the opening and closing of the plurality of clamps 12 relative to the longitudinal axis A of the base 11. The second drive device 19 is mainly used to control the common movement of the first drive device 13, the base 11 and the plurality of clamps 12 along the longitudinal axis A (Z-axis direction).

[0027] Please refer to Figures 2 to 5, 6A to 6B, and 7. Figures 6A to 6B show schematic diagrams of the tube cap height sensing mechanism of this invention, and Figure 7 shows a flowchart of the tube cap type determination process of this invention. Before executing the tube cap opening and closing operation procedure for any target sampling tube, the automatic tube cap opening and closing device 1 of this invention will first execute a process to determine the type of its tube cap 32. More specifically, before moving the sampling tube 30 to the opening and closing position, the automatic tube cap opening and closing device 1 will first perform a process to determine whether the tube cap 32 of the target sampling tube 30, which is still supported on the sampling tube rack 20, is a high cap or a low cap, and after determining that it is a low cap, it will further determine whether it is a hard cap or a soft cap. After the determination is completed, the target sampling tube 30 is moved to the opening and closing position, and the corresponding opening and closing operation procedure is executed according to the determined tube cap 32 type.

[0028] The process for determining the type of tube cap is as follows. First, step S101, the determination process begins. In step S102, the first driving device 13 drives the clamp 12 to open, and the second driving device 19 drives the base 11 together with the clamp 12 to move downwards to above the target sampling tube 30 supported on the sampling tube rack 20, so that the clamp 12 is placed around the outer periphery of the tube cap 32, and the baffle 111 located below the base 11 and between the plurality of clamps 12 abuts against the upper edge of the tube cap 32; here, the lower edge of the tube cap 32 of the target sampling tube 30 is set on the lower edge setting plane 21 of the tube cap of the sampling tube rack 20, and the base 11 moves toward the target sampling tube 30 along the normal direction of the lower edge setting plane 21 of the tube cap. Step S103: The height of the pipe cover 32 is determined based on the distance the base 11 moves downward to allow the baffle 111 to abut against the upper edge of the pipe cover 32. When the pipe cover 32 is a high cover (e.g., pipe cover 32a), the distance the base 11 moves downward from the baffle 111 to the upper edge of the pipe cover 32 is shorter. When the pipe cover 32 is a low cover (e.g., pipe covers 32b, 32c), the distance the base 11 moves downward from the baffle 111 to the upper edge of the pipe cover 32 is longer. Therefore, by setting a preset distance and determining whether the downward movement distance of the base is less than the preset distance, it can be determined whether the pipe cover 32 is a high cover or a low cover.

[0029] The automatic sampling tube cover opening and closing device 1 of this case is further provided with a cover height sensing mechanism to determine whether the downward movement distance of the base is less than a preset distance. The cover height sensing mechanism includes a sensor 15, a trigger 16, an elastic element 17, and a linear slide rail 18. The sensor 15 remains in a fixed position, the linear slide rail 18 causes the base 11 to move along the longitudinal axis A (i.e., the Z-axis direction), the trigger 16 is linked to the base 11, and the distance between the sensor 15 and the trigger 16 changes as the base 11 moves. The elastic element 17 generates different compression amounts according to the change in the movement distance of the base 11. More specifically, the higher the position of the base 11 (along the Z-axis direction), the higher the position of the trigger 16, and the greater the compression amount of the elastic element 17; conversely, the lower the position of the base 11, the lower the position of the trigger 16, and the smaller the compression amount of the elastic element 17. In this configuration, by setting a preset distance, when the cover is high, the trigger 16 is located at a higher position (first position) due to the smaller downward movement of the base 11, thus triggering the sensor 15 to operate. Conversely, when the cover is low, the trigger 16 is located at a lower position (second position) due to the larger downward movement of the base 11, thus not triggering the sensor 15 to operate. This allows for the differentiation between a high and low cover on the target sampling tube 30. For example, the sensor 15 can be a light detector, and the trigger 16 can be an obstruction. The position of the obstruction can create two scenarios: either it blocks or does not block the light path of the light detector, thereby determining whether the cover 32 is a high or low cover. Furthermore, for example, the preset distance can be set to a distance that causes the elastic element 17 to compress by 4.5 mm. When the base 11 moves downward to the top of the tube cap 32, and the moving distance is less than the preset distance, but the compression is greater than 4.5 mm, it indicates that the baffle 111 is being pushed by the high cap. When the base 11 moves downward to the top of the tube cap 32, and the moving distance is greater than the preset distance, but the compression is less than 4.5 mm, it indicates that the baffle 111 is being pushed by the low cap. Therefore, through this process, it can be determined whether the tube cap 32 of the target sampling tube 30 is a high cap (first height) or a low cap (second height).

[0030] After determining in step S104 that the pipe cover 32 is a high cover (first height), as mentioned above, based on the premise that high covers are mostly hard covers, as shown in step S105, the pipe cover 32a that is determined to be a high cover will be executed accordingly for the high cover / hard cover opening and closing operation procedure.

[0031] Next, a further judgment process is performed on the pipe caps 32b and 32c that are determined to be low caps (second height) in step S106. As mentioned above, low caps may be made of only soft material or have an inner soft material combined with an outer hard material. In other words, if only the outer material is used to distinguish them, low caps can still be further divided into hard caps and soft caps. Accordingly, a pipe cap material judgment process is further performed on the low caps (second height). In step S107, the clamps 12 that were placed around the pipe caps during the height judgment of pipe caps 32b and 32c are further closed under the drive of the first drive device 13 to apply a clamping force to the pipe caps 32b and 32c that are determined to be low caps. Then, in step S108, it is determined whether the compression amount generated by the clamping force on the pipe cap is less than a preset compression amount. Under a certain clamping force, when the amount of compression generated by the clamp 12 on the tube cap 32b is less than the preset compression amount, as shown in step S109, it can be determined that the outer surface of the tube cap 32b is made of a hard material (first material), and then as shown in step S110, the corresponding hard cap opening and closing operation procedure is executed; on the other hand, under the same clamping force, when the amount of compression generated by the clamp 12 on the tube cap 32c is greater than the preset compression amount, as shown in step S111, it can be determined that the outer surface of the tube cap 32c is made of a soft material (second material), and then as shown in step S112, the corresponding soft cap opening and closing operation procedure is executed. For example, the clamping force can be set to a torque value of 50~70 Nm, and the preset compression amount can be set to 0.5~5 mm. When the compression amount generated by the clamping force on the tube cap 32b is less than 0.5 mm, it indicates that the outer material of the tube cap 32b is a hard material, and therefore the opening and closing operation procedure of the hard cap is executed accordingly. On the other hand, when the compression amount generated by the clamping force on the tube cap 32c is greater than 5 mm, it indicates that the tube cap 32c is made of a soft material, and therefore the opening and closing operation procedure of the soft cap is executed accordingly.

[0032] Thus, it can be seen that the automatic opening and closing method of the sampling tube in this case starts by determining the type of tube cover 32. First, the height of the tube cover 32 (first height or second height) is determined. Then, the material of the tube cover 32 (first material or second material) is determined from the low cover (second height). Based on the principle that the high cover (first height) is mostly made of hard material (first material), all types of tube covers 32 are divided into two types: hard cover (first material) (i.e., high cover (first height)) and soft cover (second material). Then, the corresponding hard cover or soft cover opening and closing operation procedure is executed.

[0033] The cap 32 and body 31 of the sampling tube 30 are generally connected in two ways: screw connection and plug connection. Screw connection requires rotating the cap 32 to separate and connect the cap 32 and body 31. Plug connection primarily involves inserting the cap 32 into the body 31, regardless of whether a direct downward force is applied or a rotational downward force is used. Therefore, to be compatible with various types of caps 32, the cap opening and closing procedure in this invention uses a rotating cap 32 method to accommodate both situations.

[0034] After determining the type of the tube cap 32, the first drive device 13 drives the clamp 12 to close and clamp the target sampling tube 30, and the second drive device 19 drives the base 11 and the clamp 12 to move. The target sampling tube 30 moves from the sampling tube rack 20 to the opening and closing position, and then executes the corresponding opening and closing operation procedure according to the determination result. In order to execute the opening and closing operation procedure, the automatic opening and closing device 1 for sampling tubes further includes a tube body fixing part 14, which can fix the tube body 31 of the target sampling tube 30 at the opening and closing position, so as to facilitate the clamp 12 to perform the operation procedure of rotating to open and rotate to close the tube cap 32 after clamping it.

[0035] Depending on the material of different external tube caps, as shown in Figure 4, each clamp 12 includes a first clamp 121 and a second clamp 122 arranged vertically. The first clamp 121 is located below the base 11, and the second clamp 122 is located below the first clamp 121. The space enclosed by the plurality of first clamps 121 facing the inner side of the longitudinal axis A of the base 11 is smaller than the space enclosed by the plurality of second clamps 122 facing the inner side of the longitudinal axis A of the base 11. That is, the shortest distance between the first clamp 121 and the longitudinal axis A of the base 11 is smaller than the shortest distance between the second clamp 122 and the longitudinal axis A of the base 11. Therefore, there is a step difference 123 between the first clamp 121 and the second clamp 122, that is, the lower edge of the first clamp 121 is exposed. For example, the first clamp 121 may be generally cylindrical, the second clamp 122 may be generally semi-cylindrical, and the plane of the semi-cylindrical is generally oriented toward the longitudinal axis A of the base 11, thus having a step 123 between the cylinder and the semi-cylindrical.

[0036] The first clamping part 121 located above the clamp 12 is used to clamp the hard cap (first material / first height tube cap). Please refer to Figures 4 and 8. Figure 8 shows a schematic diagram of the sampling tube automatic opening and closing cap device of this invention performing the opening and closing operation procedure of the hard cap. When the hard cap is clamped by the first clamping part 121, since the second clamping part 122 below is farther from the longitudinal axis A of the base 11 than the first clamping part 121, the second clamping part 122 will not contact the hard cap, and the tube cap 32 can be clamped precisely between the upper baffle 111 and the plurality of first clamping parts 121, and therefore can be universally adapted to high-cap hard caps (e.g., tube cap 32a) or low-cap hard caps (e.g., tube cap 32b). Next, in cooperation with the tube body fixing part 14, the separation and connection of the tube caps 32a and 32b of the sampling tube with an outer tube cap made of hard material can be completed by simply having the first driving device 13 drive the base 11 to move the clamp 12 counterclockwise while the second driving device 19 drives the base 11 and clamp 12 to move upward together, or to rotate clockwise and move downward at the same time. Here, in order to increase the friction between the first clamp 121 and the tube cap, the contact surface 1211 between the clamp and the tube cap can be made of an elastic material. For example, it can be implemented as a metal material with an elastic material such as plastic / rubber on the outside. In this way, the metal can provide sufficient strength, and the elastic material can provide friction and tolerance range, which is conducive to the smooth execution of the opening and closing operation of the hard cap. In some embodiments, the elastic material may be a material with a Shore hardness between A60 and A80, such as polypropylene (PP), polyethylene (PE), polymethyl methacrylate (PMMA), polyethylene terephthalate (PET), polycarbonate (PC), acrylonitrile butadiene styrene (ABS), and polyoxymethylene (POM), but is not limited thereto. In some embodiments, the elastic material may further be configured to cover the entire first clamping portion 121.

[0037] Please refer to Figures 8 and 13 simultaneously. Figure 13 shows the flowchart of opening the cap of the tube in this case, which has a hard outer material. After determining that the cap 32 of the target sampling tube 30 is a high cap (first height), or that the cap 32 of the target sampling tube 30 is a low cap (second height) and has a hard outer material (first material), the hard cap opening and closing operation procedure is started. Taking the sampling tube 30a as an example, the following is an explanation. In step S201, the base 11 moves downward until the baffle 111 abuts against the upper edge 321a of the cap 32a, and the clamp 12 closes so that the contact surface 1211 of the first clamp 121 clamps the outer periphery of the cap 32a. In step S202, the base 11 and the clamp 12 move upward together to move the sampling tube 30a from the sampling tube holder 20 to the opening and closing position. In step S203, the tube body fixing part 14 clamps the tube body 31a of the sampling tube. In step S204, the base 11 drives the clamp 12 to rotate counterclockwise, causing the tube cap 32a to rotate counterclockwise, and at the same time, the base 11 and the clamp 12 move upward; here, the base 11 and the clamp 12 rotate approximately 360~720 degrees and move upward at a speed of approximately 3~5 mm / s. Finally, in step S205, as the base 11 and the clamp 12 move upward, the tube cap 32a gradually separates from the tube body 31a, completing the separation of the tube cap 32a from the tube body 31a, that is, completing the opening operation procedure of the high cap (first height) / hard cap (first material).

[0038] Please refer to Figures 8 and 14 simultaneously. Figure 14 shows the closing flowchart of the tube cap, whose external material is a hard material. After the cap is opened, the sample inside the sampling tube is sampled. After the sampling is completed, the closing operation procedure of the high cap (first height) / hard cap (first material) continues. In step S301, the base 11 and the tube cap 32a, which has been continuously clamped between the first clamp 121 after the opening operation procedure is performed, move together to above the tube body 31a after the sampling is completed, and the height position is the same as the height position when the cap is opened in step S205. In step S302, the clamp 12 is slightly opened (about 0.5 mm to 1.0 mm) to make it easier for the tube cap 32a to be put on the tube body 31a. In step S303, the base 11 moves down until the baffle 111 abuts against the upper edge 321a of the tube cap 32a, and the first clamp 121 clamps the tube cap 32a. In step S304, the base 11 moves downward, and the baffle 111 applies force to engage the tube cap 32a, which is clamped between the clamps 12, with the tube body 31a, ensuring that the tube cap 32a is fitted onto the tube body 31a. In step S305, the base 11 moves downward again and rotates clockwise at the same time, so as to drive the clamps 12 and the tube cap 32a clamped between them to rotate downward; here, the downward movement speed of the base 11 and the clamps 12 is about 7~9 mm / s and the rotation is about 540~900 degrees, and the rotational torque is about 1~2 Nm. Finally, in step S306, as the base 11 and the clamps 12 move downward, the tube cap 32a gradually engages with the tube body 31a, completing the engagement of the tube cap 32a with the tube body 31a, that is, completing the closing operation procedure of the high cap (first height) / hard cap (first material).

[0039] The second clamping part 122 located below the clamp 12 is used to clamp the soft cap (second material). Please refer to Figures 4 and 9. Figure 9 shows a schematic diagram of the sampling tube automatic opening and closing cap device of this invention clamping the sampling tube with the soft material cap. Taking the sampling tube 30c as an example, the cap 32c includes an upper part 321c with a larger diameter that protrudes from the tube body 31c and a lower part 322c with a smaller diameter that is inserted into the tube body 31c, and the height difference of the upper part of the soft material cap of different sampling tubes is small. In response to such a soft cap form, the length of the second clamping part 122 is designed to approximately correspond to the height of the upper part 321c, for example, approximately equal to or slightly greater than the height of the upper part 321c, and the lower edge of the second clamping part 122 is further provided with a protrusion 1222 that extends toward the longitudinal axis A of the base 11 to form a space for accommodating the upper part 321c between it and the step 123. Unlike hard caps, the soft-material cap 32c may deform locally under stress. Therefore, in the opening and closing procedure of the soft-material cap 32c, the second clamp 122 may need to clamp the cap 32c at different positions at different steps, and / or may need to clamp the cap 32c with different parts of the second clamp 122. The design of the protrusion 1222 helps to clamp the cap 32c at specific locations more accurately, and / or clamp the cap 32c more securely. Furthermore, the edge 1223 of the protrusion 1222 can be designed as an arc to conform to the cylindrical shape of the cap 32c, which increases the contact area when clamping the cap 32c using the protrusion 1222, thus helping to make the clamping more stable. Furthermore, to increase the friction between the second clamp 122 and the cap 32c, a groove 1224 is provided on the contact surface 1221 of the second clamp 122 and the cap 32c. This groove prevents misalignment between the two when the second clamp 122 clamps and rotates the cap 32c, thus preventing the cap 32c from being unable to rotate. In some embodiments, the second clamp 122 may be made of metal. In some embodiments, the second clamp 122 and the first clamp 121 may be integrally formed.

[0040] Please refer to Figures 9, 10, and 15. Figure 10 shows a schematic diagram of the opening process of the soft material tube cap in this case, and Figure 15 shows a flowchart of the opening process of the soft material tube cap in this case. After determining that the tube cap 32 of the target sampling tube 30 is a low cap (second height) and is made of soft material (second material), the automatic opening and closing device 1 for the sampling tube begins to execute the opening operation procedure of the soft cap (second material). Taking the sampling tube 30c as an example, in step S401, the base 11 moves downward until the step 123 of the clamp 12 is approximately located in the middle of the upper part 321c of the tube cap 32c (as shown in Figure 9), and the clamp 12 closes to clamp the tube cap 32c; at this time, the step 123 is pressed into the upper part 321c of the tube cap 32c, and the edge 1223 of the protrusion 1222 is approximately close to the tube body 31c. In step S402, the base 11 and clamp 12 move upward together to move the sampling tube 30c from the sampling tube holder 20 to the switch cover position. In step S403, the tube body fixing part 14 clamps the tube body 31c of the sampling tube 30c. In step S404, the clamp 12 opens and the base 11 moves upward until the protrusion 1222 is approximately located at the lower edge 3212c of the upper part 321c of the tube cover 32c. In step S405, the clamp 12 closes to surround and clamp the tube cover 32c, and the protrusion 1222 is embedded between the lower edge 3212c of the upper part 321c of the tube cover 32c and the upper edge of the tube body 31c (as shown in Figure 10); at this time, the upper part 321c of the tube cover 32c is just accommodated between the step 123 and the protrusion 1222. In step S406, the base 11 drives the clamp 12 to rotate counterclockwise, causing the tube cap 32c to rotate counterclockwise, and at the same time, the base 11 and the clamp 12 move upward; here, the base 11 and the clamp 12 rotate approximately 360~720 degrees and move upward at a speed of approximately 3~5 mm / s. Finally, in step S407, as the base 11 and the clamp 12 move upward, the tube cap 32c gradually separates from the tube body 31c, completing the separation of the tube cap 32c from the tube body 31c, that is, completing the opening procedure of the soft cap (second material).

[0041] Please refer to Figures 11, 12, and 16 simultaneously. Figure 11 shows a schematic diagram of the closing process of the soft material tube cap, Figure 12 shows a schematic diagram of the closing process of the soft material tube cap, and Figure 16 shows a flowchart of the closing process of the soft material tube cap. After the cap is opened, the sample in the sampling tube is sampled. After the sampling is completed, the closing operation procedure of the soft cap (second material) is continued. In step S501, the base 11 and the tube cap 32c, which has been continuously clamped between the second clamping part 122 after the opening operation procedure is executed, move together to above the tube body 31c after the sampling is completed, and the height position is the same as the height position when the cap is opened in step S407. In step S502, the base 11 moves downward and rotates clockwise simultaneously, causing the clamp 12 and the tube cap 32c clamped therebetween to rotate downward, so that a portion of the lower part 322c of the tube cap 32c is inserted into the tube body 31c; during this process, the upper part 321c of the tube cap 32c is accommodated between the step 123 and the protrusion 1222, that is, the step 123 abuts against the upper edge 3211c of the upper part 321c of the tube cap 32c and the protrusion 1222. 222 abuts against the lower edge 3212c of the upper part 321c of the cap 32c, so the step 123 can apply pressure to the cap 32c during insertion, providing a stable force to the cap 32c and preventing the cap 32c from popping out; and since the protrusion 1222 is located at the lower edge 3212c of the upper part 321c, the lower part 322c is only partially inserted into the tube body 31c (as shown in Figure 11); here, the base 11 and the clamp 12 move downward at a speed of about 7~9 mm / s and rotate about 540~900 degrees, with a rotational torque of about 1~2 Nm. In step S503, the clamp 12 opens and the base 11 moves upward (about 5 mm) until the protrusion 1222 is approximately located in the middle of the upper part 321c of the cap 32c. In step S504, the clamp 12 closes and clamps, causing the protrusion 1222 to surround and clamp the upper part 321c of the tube cap 32c (as shown in Figure 12). In step S505, the base 11 moves downward again and rotates clockwise at the same time, causing the clamp 12 and the tube cap 32c clamped therebetween to rotate downward, so that the lower part 322c of the tube cap 32c is completely inserted into the tube body 31c; here, the downward movement speed of the base 11 and the clamp 12 is about 7~9 mm / s and the rotation is about 540~900 degrees, and the rotational torque is about 1~2 Nm. Finally, in step S506, as the base 11 and the clamp 12 move downward, the tube cap 32c gradually engages with the tube body 31c, completing the engagement of the tube cap 32c and the tube body 31c, that is, completing the closing operation procedure of the soft cap (second material).

[0042] In summary, this invention provides an automatic sampling tube cap opening and closing device and method that do not require prior image recognition or manual setting. With the cooperation of a sampling tube rack with a flat surface at the lower edge of the cap, it can be universally applied to various types of sampling tubes on the market, effectively achieving a highly automated cap opening and closing operation procedure, further simplifying the operation steps of batch sample processing, and saving operation time at the same time.

[0043] In the automatic sampling tube opening and closing device of this case, since the clamp is equipped with two clamps that are corresponding to clamping hard material tube caps and soft material tube caps, a single opening and closing device can complete the opening and closing operation of tube caps of two materials. This not only effectively achieves the purpose of being applicable to various types of tube caps, but also helps to improve the automation of the operation procedure.

[0044] In the automatic opening and closing method for sampling tubes in this case, by utilizing the process of judging the height and material of the tube cap, the appropriate opening and closing operation procedure for the target tube cap is automatically determined, effectively reducing manual intervention and achieving a high degree of automation. Furthermore, corresponding opening and closing operation procedures are provided for tube caps of different materials, effectively improving the success rate of opening and closing operation procedures for different types of tube caps.

[0045] It should be noted that the above are merely preferred embodiments for illustrative purposes. This application is not limited to the described embodiments, and the scope of this application is determined by the claims of the appended patent application. Furthermore, this application may be modified in various ways by those skilled in the art, but all such modifications shall not depart from the protection sought by the claims of the appended patent application. [Simplified Explanation of the Diagram]

[0046] Figure 1 shows a schematic diagram of the automatic sampling tube cover opening and closing device of this invention. Figure 2 shows a schematic diagram of the automatic sampling tube cover opening and closing device of this invention combined with a sampling tube holder and sampling tubes. Figure 3 shows a schematic diagram of the setup of a sampling tube holder and various types of sampling tubes applicable to the automatic sampling tube cover opening and closing device of this invention. Figure 4 shows a partially enlarged schematic diagram of the automatic sampling tube cover opening and closing device of this invention. Figure 5 shows a schematic diagram of the automatic sampling tube cover opening and closing device of this invention combined with another sampling tube holder and sampling tubes. Figures 6A to 6B show schematic diagrams of the tube cover height sensing mechanism of this invention. Figure 7 shows a flowchart of the tube cover type determination process of this invention. Figure 8 shows a schematic diagram of the automatic sampling tube cover opening and closing operation procedure of this invention. Figure 9 shows a schematic diagram of the automatic sampling tube cover opening and closing device of this invention gripping a sampling tube with a soft material tube cover. Figure 10 shows a schematic diagram of the opening process of the soft material tube cover of this invention. Figure 11 shows a schematic diagram of the closing process of the soft material tube cover of this invention. Figure 12 shows a schematic diagram of the closing process of the soft material tube cover of this invention. Figure 13 shows the opening flowchart for the pipe cap made of a hard material. Figure 14 shows the closing flowchart for the pipe cap made of a hard material. Figure 15 shows the opening flowchart for the pipe cap made of a soft material. Figure 16 shows the closing flowchart for the pipe cap made of a soft material.

Claims

1. An automatic sampling tube cap opening and closing device, comprising: a base; a plurality of clamps, parallel to a longitudinal axis of the base and symmetrically arranged around the longitudinal axis below the base, each of the plurality of clamps including a first clamping portion and a second clamping portion disposed vertically; and at least one driving device for controlling the movement of the base and the plurality of clamps, wherein the plurality of first clamping portions of the plurality of clamps are configured to jointly surround and clamp a first cap of a first sampling tube for separating and engaging the first cap with a first tube body of the first sampling tube, and the plurality of second clamping portions of the plurality of clamps are configured to jointly surround and clamp a second cap of a second sampling tube for separating and engaging the second cap with a second tube body of the second sampling tube. In each of the plurality of clamps, the shortest distance between the first clamp and the longitudinal axis is less than the shortest distance between the second clamp and the longitudinal axis, so that a gap is formed between the first clamp and the second clamp, and the space enclosed by the plurality of first clamps toward the inner side of the longitudinal axis is less than the space enclosed by the plurality of second clamps toward the inner side of the longitudinal axis, and wherein the first tube cap and the second tube cap have different heights and / or hardness.

2. The sampling tube automatic opening and closing device as claimed in claim 1 further includes a tube body fixing part to fix the first tube body and the second tube body respectively when the first tube cover and the second tube cover are separated from and joined to the first tube body and the second tube body respectively.

3. The automatic sampling tube cover opening and closing device as claimed in claim 1, wherein the first tube cover comprises a first material and the second tube cover comprises a second material, and the hardness of the first material is greater than the hardness of the second material.

4. The automatic sampling tube cover opening and closing device as described in claim 3, wherein the height of the first tube cover is greater than or equal to the height of the second tube cover.

5. The sampling tube automatic opening and closing device as claimed in claim 3, wherein the second tube cover further comprises the first material, and the first material is formed on the periphery of the second material.

6. The automatic sampling tube opening and closing device as claimed in claim 1, wherein the step abuts against the upper edge of the second tube cover during the separation and engagement of the second tube cover and the second tube body.

7. The automatic sampling tube opening and closing device as claimed in claim 1, further comprising at least one baffle disposed below the base and between the plurality of clamps, to abut against the upper edge of the first tube cover during separation and engagement of the first tube cover and the first tube body.

8. The automatic sampling tube cover opening and closing device as claimed in claim 1, wherein the first clamp of each of the plurality of clamps has a first contact surface facing the longitudinal axis, and the first contact surface is made of an elastic material.

9. The sampling tube automatic opening and closing device as claimed in claim 1, wherein the second clamp of each of the plurality of clamps has a second contact surface facing the longitudinal axis, and the second contact surface is provided with a groove.

10. The automatic sampling tube cover opening and closing device as claimed in claim 1, wherein the lower edge of the second clamp of each of the plurality of clamps is provided with a protrusion facing the longitudinal axis.

11. The automatic sampling tube cover opening and closing device as claimed in claim 10, wherein one edge of the protrusion facing the longitudinal axis is arc-shaped.

12. The sampling tube automatic opening and closing device as claimed in claim 1, further comprising a tube cover height sensing mechanism for sensing the height of the first tube cover and the second tube cover, wherein the tube cover height sensing mechanism comprises a sensor, a trigger, an elastic element, and a linear slide rail.

13. The automatic sampling tube cover opening and closing device as claimed in claim 1, wherein the first tube cover and the second tube cover are respectively screwed onto the first tube body and the second tube body.

14. The automatic sampling tube cover opening and closing device as claimed in claim 1, wherein the at least one drive device includes a first drive device and a second drive device, the first drive device controlling the rotation of the base about the longitudinal axis and the opening and closing of the plurality of clamps relative to the longitudinal axis, and the second drive device controlling the movement of the base and the plurality of clamps along the longitudinal axis.

Images