CN115676736A - A sample tube cap opening device and sample tube scheduling equipment - Google Patents

Abstract

The invention discloses a sample tube uncapping device and sample tube dispatching equipment. The sample tube uncapping device includes a Z-axis mechanism and a cap-opening mechanism assembled on the Z-axis mechanism. The Z-axis mechanism can drive the cap-opening mechanism to move down. Rotate to the switch cover position to open the cover and move up to the waiting position with the cover, and to drive the cover opening mechanism to move down to the switch cover position to rotate and close the cover and then move up to the waiting position. The cover opening mechanism includes support Seat, push rod motor assembly, rotary motor assembly, push rod assembly, elastic slide rod assembly and gripper jaw assembly; the push rod motor assembly and the rotary motor assembly are all installed on the support seat, and in the switch cover position, the push rod motor assembly can The interlocking push rod assembly and the elastic sliding rod assembly form a fixed-axis push-pull up and down. When pushing up and down, the jaw assembly installed on the rotating motor assembly is linked to open and close to realize the clamping and loosening of the tube cover, and the clamping of the tube. When capping, the gripper assembly is driven to rotate by the rotating motor assembly, and the cap can be rotated and opened.

Description

A sample tube cap opening device and sample tube scheduling equipment

technical field

The invention relates to the technical field of medical appliances, in particular to a sample tube cap opening device and a sample tube scheduling device.

Background technique

In the process of biochemical sample testing, the efficiency and safety of sample tube opening is the key link in the testing process. In the traditional sample tube uncapping process, inspectors use manual uncapping. When there are a large number of sample tubes to be tested, manual opening is required. The labor intensity of the cover is high and the work efficiency is low; therefore, there are many kinds of cover opening devices on the market, which mainly use mechanical structures to open and close the cover of the sample tube, instead of manual opening and closing, while reducing the labor intensity of the inspectors, it can Improve the efficiency and safety of opening and closing of test tubes

At present, there are some cap opening devices on the market. The tube body is grasped manually, and the machine opens the cap by increasing the friction force with the cap. This kind of cap opening machine needs to manually overcome the friction force generated during the cap opening process, and when it is necessary to detect When a large number of test tubes are used, the labor intensity is high, and the hands are prone to slipping, which cannot guarantee the smooth opening of the sample tube cover. Therefore, some automated cap opening equipment has also appeared on the market, and the preparation work before inspection is realized through the inspection assembly line. These automated cap-uncapping devices at least include a grabbing device for the sample tube, a clamping mechanism for the tube body and a cap-uncapping device for the sample tube. At present, the cap opening devices of some manufacturers on the market use the solenoid valve to drive the connecting rod structure to drive the jaws of the cap opening device to rotate and open the cap. The structure is complex and the processing is difficult; The failure rate is high, the noise is loud, and the cover may be lost.

Contents of the invention

The object of the present invention is to provide a sample tube uncapping device and a sample tube dispatching device, aiming at solving the problem of the complicated structure of the existing sample tube uncapping device.

In order to solve the above-mentioned technical problems, the object of the present invention is achieved through the following technical solutions: provide a sample tube cap opening device, including a Z-axis mechanism and a cap-opening mechanism assembled on the Z-axis mechanism, the Z-axis mechanism It is used to drive the cover opening mechanism to move down to the sample tube switch cover position to clamp the sample tube cover, and drive the cover opening mechanism to move up after clamping to take out the sample tube, wherein:

The cover opening mechanism includes a support seat, a push rod motor assembly, a rotating motor assembly, a push rod assembly, an elastic sliding rod assembly and a jaw assembly;

The support seat is installed on the Z-axis mechanism, and the Z-axis mechanism is used to drive the support seat to move up and down in the height direction;

Both the push rod motor assembly and the rotating motor assembly are installed on the support base;

Both the jaw assembly and the elastic slider assembly are mounted on the bottom of the rotating motor assembly, the jaw assembly can perform clamping movement in the horizontal direction, the elastic slider assembly can move up and down in the height direction, and the elastic The slide bar assembly is slidably connected with the jaw assembly, and when the elastic slide bar assembly moves downward along the height direction, the jaw assembly is linked to carry out clamping movement to realize the clamping of the sample tube cap, so The rotating motor assembly is used to drive the elastic slide bar assembly and the jaw assembly to rotate;

The top of the push rod assembly is connected to the output end of the push rod motor assembly, the bottom of the push rod assembly penetrates to the bottom of the rotating motor assembly and is rotationally connected with the elastic slide rod assembly, and the push rod motor The assembly is used to push the push rod assembly to move downward and link the elastic slide bar assembly to elastically compress downward.

Further, the push rod motor assembly includes a push rod motor base, a push rod motor, shrapnel and a pull ring; the push rod motor base is installed on the support base; the front end of the push rod motor is installed on the on the push rod motor seat, and the output shaft at the front end of the push rod motor can be pushed out downward; the shrapnel is set on the output shaft of the push rod motor; the pull ring is installed on the output shaft of the push rod motor On the shaft, the top of the push rod assembly is connected to the pull ring so as to be pushed out with the output shaft of the push rod motor downward.

Further, the push rod motor assembly also includes a position stopper set on the output shaft of the push rod motor; the support plate is installed with a tension identification optocoupler, when the output shaft of the push rod motor When pushing down, the push rod assembly and the elastic slide bar assembly are sequentially moved downwards, so as to link the jaw assembly to clamp in the horizontal direction until the position stopper moves downward to the position of the opening and closing recognition light. Clamping of the jaw assembly is completed when the coupling is centered and the stop movement is triggered.

Further, the push rod assembly includes a transfer bracket and a bearing rod; the top of the transfer bracket is fixedly connected to the pull ring; the top of the bearing rod is connected to the top of the transfer bracket The bottom, the bottom of the bearing rod is rotatably connected with the top of the elastic slide bar assembly.

Further, the bearing rod includes a push rod limit post, a push rod, an angular contact bearing and a bearing seat; the top of the push rod limit post is fixedly connected to the bottom of the transfer bracket; the push rod The top of the push rod is fixedly connected to the bottom of the push rod limit column; the angular contact bearing is built into the bearing seat, and the bearing seat is clamped on the bottom of the push rod through the angular contact bearing and can be opposite to the The push rod rotates; the bottom of the bearing seat is fixedly connected with the top of the elastic slide bar assembly.

Further, the rotating motor assembly includes a fixed plate, a rotating motor base, a rotating motor, a synchronous belt assembly, and a guide rod mounting base; the fixing plate is installed on the support base; the rotating motor base is installed on the fixed One end of the plate, the rotating motor is installed on the rotating motor seat; the guide rod mounting base is rotatably installed on the other end of the fixed plate, and the elastic sliding bar assembly and the jaw assembly are installed on the guide The bottom of the rod mount; one end of the synchronous belt assembly is connected to the output shaft of the rotating motor, and the other end of the synchronous belt assembly is connected to the top of the guide rod mount; the inside of the guide rod mount Used to accommodate the push rod assembly, the top of the push rod assembly protrudes upwards and is connected with the push rod motor assembly, and the bottom of the push rod assembly is exposed downward and is rotatably connected with the elastic sliding rod assembly .

Further, the rotating electrical machine assembly also includes a first bearing, a backing ring, a second bearing and a bearing cover plate; the other end of the fixing plate is provided with a stepped round hole for installing the guide rod mounting seat; the The first bearing, backing ring and second bearing are sequentially installed in the stepped round hole, and the bearing cover plate is locked on the top surface of the stepped round hole, so that the first bearing, backing ring and The second bearing is pressed tightly in the stepped hole; the guide rod mounting seat passes through the stepped hole and rotates in the first bearing and the second bearing.

Further, the rotating motor assembly also includes a rotating blocking plate set on the mounting base of the guide rod; a rotating identification optocoupler is installed on the support plate, and the edge of the rotating blocking plate is located at the position of the rotating identifying optical coupling. in the detection port; when the rotating motor drives the synchronous belt assembly to drive and links the guide rod mounting seat to drive the jaw assembly to rotate, the rotation identification optocoupler recognizes the rotation circle of the rotating block number and position to identify the number of revolutions and position of the jaw assembly.

Further, the elastic sliding bar assembly includes: a T-shaped sliding bar, a linear bearing, a guide rod and a positioning spring; the top of the T-shaped sliding bar is fixedly connected to the bottom of the bearing housing, and the T-shaped sliding bar The bottom is slidably connected with the jaw assembly; the two linear bearings are respectively mounted on both ends of the top of the T-shaped slide bar; the two guide rods are respectively inserted into the two linear bearings, and the two linear bearings The tops of the guide rods are inserted into the bottom of the rotating motor assembly, and the bottoms of the two guide rods penetrate to the bottom of the T-shaped sliding rod; the two positioning springs are respectively set on the two on the guide rod; when the elastic sliding rod assembly moves downward along the height direction, the T-shaped sliding rod moves downward on the guide rod through the linear bearing and compresses the positioning spring.

Further, the elastic sliding bar assembly also includes a rotating shaft, a rotating shaft bearing and a circlip; the rotating shaft runs through both sides of the bottom of the T-shaped sliding bar; two rotating shaft bearings are respectively installed at both ends of the rotating shaft; The two snap rings are clamped on the two ends of the rotating shaft respectively to lock the two rotating shaft bearings on the rotating shaft; the two rotating shaft bearings are respectively slidably connected to the jaw assembly.

Further, the jaw assembly includes two symmetrically arranged baffles, two connecting blocks and two jaws; the two baffles are fixedly installed on the bottom of the rotating motor assembly, and the two baffles The plates are located on both sides of the elastic sliding bar assembly; the two connecting blocks are slidably installed on the inner sides of the two baffles along the horizontal direction; the two jaws are fixedly connected to the two The bottom of the connecting block; the two connecting blocks are provided with inclined chute, and the two rotating shaft bearings are slidably connected in the two inclined chute.

Further, the jaw assembly also includes two linear guide rails and two sliders; the two linear guide rails are fixedly installed on the inner sides of the two baffles; the two sliders move along the horizontal direction. One is slidably installed on the two linear guide rails; the two connecting blocks are fixedly installed on the two sliders.

Further, the Z-axis mechanism includes a support plate, a drive assembly, an anti-fouling tray assembly, and an infrared optocoupler; the drive assembly is mounted on the support plate and connected to the support base for driving the support base at a height direction; the anti-fouling tray assembly is installed on the support plate and located below the cover opening mechanism, when the cover opening mechanism moves up to the waiting position with the cover, the rotation of the anti-fouling tray assembly corresponds to Below the cap held by the cap-opening mechanism, when the cap-opening mechanism moves down with the cap to the switch cap position to rotate and close the cap, the anti-fouling tray assembly rotates to avoid the tube cap held by the cap-opening mechanism. Below the cover; the infrared optocoupler is installed on the support plate. When the cover opening mechanism moves down to the switch cover position and rotates to open the cover, the infrared optocoupler moves up to the waiting position with the cover. It is used to detect whether the cap is clamped on the cap opening mechanism.

An embodiment of the present invention also provides a sample tube scheduling device, which includes the sample tube uncapping device as described above.

The embodiment of the present invention provides a sample tube uncapping device and a sample tube dispatching device. The sample tube uncapping device includes a Z-axis mechanism and a cap-opening mechanism assembled on the Z-axis mechanism. The Z-axis mechanism can drive the cap-opening mechanism down. Move to the switch cover position, rotate and open the cover, move up to the waiting position with the cover, and drive the cover opening mechanism to move down to the switch cover position, rotate and close the cover, and then move up to the waiting position. The cover opening mechanism includes Support seat, push rod motor assembly, rotary motor assembly, push rod assembly, elastic slide bar assembly and clamping claw assembly; the push rod motor assembly and rotary motor assembly are all installed on the support seat, in the position of the switch cover, the push rod motor assembly The push rod assembly and the elastic slide rod assembly can be linked to form a fixed-axis push-pull up and down. When pushing up and down, the jaw assembly installed on the rotating motor assembly is linked to open and close to realize the clamping and loosening of the tube cover. When the tube is covered, the clamping jaw assembly is driven by the rotating motor assembly to rotate, so that the cover can be rotated and opened. The switch cover of the sample tube cover opening device in this embodiment has a simple structure and is easy to assemble.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Fig. 1 is a schematic structural view of a sample tube uncapping device provided by an embodiment of the present invention;

Fig. 2 is a schematic structural view of a double opening mechanism provided by an embodiment of the present invention;

Fig. 3 is a schematic structural view of a single-opening mechanism provided by an embodiment of the present invention;

Fig. 4 is a schematic cross-sectional structure diagram of an opening mechanism provided by an embodiment of the present invention;

Fig. 5 is a structural schematic diagram of a push rod motor assembly provided by an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a bearing rod provided by an embodiment of the present invention;

Fig. 7 is a schematic cross-sectional structure diagram of a bearing rod provided by an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a rotating electrical machine assembly provided by an embodiment of the present invention;

Fig. 9 is a schematic cross-sectional structure diagram of a rotating electrical machine assembly provided by an embodiment of the present invention;

Fig. 10 is a schematic structural diagram of an elastic slider assembly provided by an embodiment of the present invention;

Fig. 11 is a schematic cross-sectional structure diagram of an elastic slider assembly provided by an embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a jaw assembly provided by an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a Z-axis assembly provided by an embodiment of the present invention.

Instructions for identification in the figure:

1. Z-axis mechanism; 11. Support plate; 12. Drive assembly; 13. Anti-fouling tray assembly; 14. Infrared optocoupler;

2. Opening mechanism;

21. Support seat; 211. Opening and closing identification optocoupler; 212. Rotation identification optocoupler;

22. Push rod motor assembly; 221. Push rod motor seat; 222. Push rod motor; 223. Shrapnel; 224. Position stopper; 225. Pull ring;

23, rotating motor assembly; 231, fixed plate; 232, rotating motor seat; 233, rotating motor; 234, first synchronous wheel; 235, synchronous belt; 236, second synchronous wheel; 237, guide rod mounting seat; 238, The first bearing; 239, the backing ring; 2310, the second bearing; 2320, the bearing cover plate; 2330, the rotating block;

24. Push rod assembly; 241. Adapter pull seat; 242. Bearing rod; 2421. Push rod limit column; 2422. Push rod; 2423. Angular contact bearing; 2424. Bearing seat;

25. Elastic slider assembly; 251. T-shaped slider; 252. Linear bearing; 253. Guide rod; 254. Positioning spring; 255. Rotating shaft; 256. Rotating shaft bearing;

26, jaw assembly; 261, baffle plate; 262, connection block; 2621, inclined chute; 263, jaw; 264, linear guide rail; 265, slide block.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and/or collections thereof.

It should also be understood that the terminology used in the description of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be further understood that the term "and/or" used in the description of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

1 and 2, the embodiment of the present invention provides a sample tube cap opening device, including a Z-axis mechanism 1 and a cap-opening mechanism 2 assembled on the Z-axis mechanism 1, and the Z-axis mechanism 1 is used to drive the cap-opening mechanism 2 Move down to the position of the sample tube switch cover, clamp and rotate the cover of the sample tube through the cover opening mechanism 2, and after the cover is opened, the Z-axis mechanism 1 drives the cover opening mechanism 2 to move the cover to the waiting position; When the cover is closed, the Z-axis mechanism 1 drives the cover opening mechanism 2 to move down with the cover to the switch cover position for rotation and close the cover, and then move up to the waiting position to complete the process of opening and closing the current sample tube.

In conjunction with Fig. 3 and Fig. 4, the uncapping mechanism 2 of this embodiment is introduced in detail below:

The cover opening mechanism 2 includes: a support base 21, a push rod motor assembly 22, a rotating motor assembly 23, a push rod assembly 24, an elastic sliding rod assembly 25 and a jaw assembly 26;

The support base 21 is installed on the Z-axis mechanism 1, and the Z-axis mechanism 1 drives the support base 21 to move up and down in the height direction, thereby driving the entire cover opening mechanism 2 to move up and down in the height direction, so as to move down and clamp the sample tube and then go up. remove;

The rotating motor assembly 23 is installed on the support base 21; the jaw assembly 26 and the elastic slide bar assembly 25 are all installed on the bottom of the rotating motor assembly 23, and the clamp jaw assembly 26 can carry out clamping movement in the horizontal direction, and the elastic slide bar assembly 25 Can move up and down along the height direction, the elastic slide bar assembly 25 is slidingly connected with the jaw assembly 26, and when the elastic slide bar assembly 25 moves down along the height direction, the joint jaw assembly 26 performs a clamping movement to realize the clamping movement of the sample tube For the clamping of the cover, the rotating motor assembly 23 is used to drive the elastic sliding bar assembly 25 and the jaw assembly 26 to rotate;

The push rod motor assembly 22 is installed on the support base 21; the top of the push rod assembly 24 is connected to the output end of the push rod motor assembly 22, and the bottom of the push rod assembly 24 penetrates to the bottom of the rotary motor assembly 23 and rotates with the elastic slide rod assembly 25 Connected, the push rod motor assembly 22 is used to push the push rod assembly 24 to move downward and link the elastic slide rod assembly 25 to elastically compress downward;

The Z-axis mechanism 1 is provided with a code scanner 11. When the cover-opening mechanism 2 moves up to take out the sample tube, the rotating motor assembly 23 drives the gripper assembly 26 to rotate and the sample tube rotates, so that the code scanner 11 can scan the sample tube. Scan the barcode on the tube for identification.

It can be understood that the process of clamping the cap of the sample tube is as follows: first, the Z-axis mechanism 1 drives the entire cap opening mechanism 2 to move down to the position of the sample tube switch cover and makes the jaw assembly 26 correspond to the cap of the sample tube to be clamped. position, and then the push rod assembly 24 is pushed down by the push rod motor assembly 22 and the elastic sliding rod assembly 25 is elastically compressed downward, so that the joint jaw assembly 26 clamps the sample tube in the horizontal direction and caps the sample tube. The position is clamped.

It can be understood that the process of uncapping the sample tube cap is as follows: after the clamping claw assembly 26 clamps the sample tube cap, the rotating motor assembly 23 drives the clamping claw assembly 26 to rotate along the cap opening direction of the tube cap, The friction force between the claw assembly 26 and the tube cover can unscrew the tube cover from the sample tube, thereby completing the uncapping, and the Z-axis mechanism 1 drives the uncapping mechanism 2 to move up with the cover to the waiting position for waiting.

It can be understood that after the sample tube after the cover is opened finishes sampling and returns to the switch cover position, the process of closing the cover is opposite to the process of opening the cover. The Z-axis mechanism 1 drives the cover opening mechanism 2 to move down to the switch cover position with the cover. Then the rotating motor assembly 23 drives the jaw assembly 26 to rotate along the closing direction of the tube cover to complete the closing of the cover, and then the push rod motor assembly 22 pulls up and drives the push rod assembly 24 and the elastic slide bar assembly 25 upward Movement, thereby driving the jaw assembly 26 to open in the horizontal direction, thereby loosening the tube cover, and finally the Z-axis mechanism 1 drives the cover-opening mechanism 2 to move up to the waiting position and wait for the next switch cover.

In this embodiment, the push rod motor assembly 22 links the push rod assembly 24 and the elastic slide rod assembly 25 to form a fixed shaft type up and down push-pull structure, so as to realize the clamping and loosening of the tube cover, and the rotating motor assembly 23 directly drives the clamp. The claw assembly 26 is rotated to realize the rotary switch of the cap, which has the advantages of simple structure and convenient assembly.

It should be noted that two lid-opening mechanisms 2 can be provided in this embodiment, and the two lid-opening mechanisms 2 can be integrally assembled through a support seat 21, and the two lid-opening mechanisms 2 can be distributed symmetrically or at right angles. Part of the exposed structure in the two cover opening mechanisms 2 can avoid interference by dislocation distribution up and down, so that the two cover opening mechanisms 2 are more compact. It can be understood that two code scanners 11 can be correspondingly provided for the two cover opening mechanisms 2 to perform one-to-one corresponding code scanning identification.

For the convenience of understanding, the structure of a single cover opening mechanism 2 will be described in detail below.

As shown in FIG. 5 , the push rod motor assembly 22 in the cover opening mechanism 2 is specifically introduced below:

In some embodiments, the push rod motor assembly 22 includes a push rod motor base 221, a push rod motor 222, a shrapnel 223 and a pull ring 225; the push rod motor base 221 is installed on the support base 21; the front end of the push rod motor 222 is installed facing downwards On the push rod motor seat 221, and the output shaft at the front end of the push rod motor 222 can be pushed and pulled downward; the shrapnel 223 is set on the output shaft of the push rod motor 222; The top of the push rod assembly 24 is connected to the pull ring 225 to realize the push and pull movement with the output shaft of the push rod motor 222 moving downward.

In this embodiment, the push rod motor seat 221 can be an L-shaped plate, one side of the push rod motor seat 221 is fixedly mounted on the support seat 21 by screws, and an opening is opened on the other side of the push rod motor seat 221, and the push rod motor 222 The front end is fixedly installed on the other side of the push rod motor seat 221 facing downward, and the output shaft at the front end of the push rod motor 222 protrudes downward from the opening; the shrapnel 223 is sleeved on the output shaft of the push rod motor 222, It has a certain cushioning effect when pushed down; the cylindrical surface at the bottom of the pull ring 225 is designed to be milled and flattened so that it can be clamped and tightened with a tool, so as to lock the structure on the output shaft of the sleeve push rod motor 222 . After the top of the push rod assembly 24 is connected to the pull ring 225, the push rod assembly 24 can be pushed downward along with the output shaft of the push rod motor 222, thereby pushing the elastic sliding rod assembly 25 to elastically compress downward and link the jaw assembly 26 Do clamping work.

In some embodiments, the push rod motor assembly 22 also includes a position stopper 224 sleeved on the output shaft of the push rod motor 222; a tension identification optocoupler 211 (refer to FIG. 3 ) is installed on the support plate, when the push rod motor The output shaft of 222 pushes out downwards and moves downwards in conjunction with the push rod assembly 24 and the elastic sliding rod assembly 25, and clamps in the horizontal direction with the interlocking jaw assembly 26 until the position stopper 224 moves downwards to open and close. When the optocoupler 211 is identified and the stop movement is triggered, the clamping of the jaw assembly 26 is completed.

In this embodiment, the position stopper 224 can be set on the output shaft of the push rod motor 222 behind the elastic piece 223, and then the elastic piece 223 and the position stopper 224 are locked on the output shaft of the push rod motor 222 through the pull ring 225; Through the cooperation of the position stopper 224 and the opening and closing identification optocoupler 211, when the output shaft of the push rod motor 222 is pushed downward, the opening and closing identification optocoupler 211 can identify the Z-direction position of the position stopper 224, thereby identifying the push rod The Z-direction movement stroke of the motor 222 controls the opening and closing dimensions of the jaw assembly 26 .

With reference to Fig. 4, Fig. 6 and Fig. 7, the push rod assembly 24 in the opening mechanism 2 will be introduced in detail below:

In some embodiments, the push rod assembly 24 includes a transfer bracket 241 and a bearing rod 242; the top of the transfer bracket 241 is fixedly connected to the pull ring 225; the top of the bearing rod 242 is connected to the bottom of the transfer bracket 241 , the bottom of the bearing rod 242 is rotatably connected with the top of the elastic sliding rod assembly 25 .

In this embodiment, a flat groove can be designed on the top of the transfer pull seat 241, and a milling flat can be designed on the bottom cylindrical surface of the pull ring 225. The top of the pull seat 241 and the bottom of the pull ring 225 are designed with 3mm round holes on the cylindrical surface. After aligning the round holes of the two parts, insert the pin. The diameter of the cylindrical head at one end of the pin is greater than 3mm, and the other end is designed with a groove and installed with a circlip 257, the push rod motor assembly 22 and the transfer bracket 241 can be fixedly connected.

In some embodiments, the bearing rod 242 includes a push rod limiting column 2421, a push rod 2422, an angular contact bearing 2423 and a bearing seat 2424; the top of the push rod limiting column 2421 is fixedly connected to the bottom of the transfer bracket 241; The top of the rod 2422 is fixedly connected to the bottom of the push rod limit post 2421; the angular contact bearing 2423 is built in the bearing seat 2424, and the bearing seat 2424 is clamped on the bottom of the push rod 2422 through the angular contact bearing 2423 and can rotate relative to the push rod 2422 ; The bottom of the bearing seat 2424 is fixedly connected with the top of the elastic slider assembly 25 .

In this embodiment, an angular contact bearing 2423 is first installed in the middle hole of the bearing seat 2424, and then the push rod 2422 is inserted into the middle hole of the bearing seat 2424, and then another angular contact bearing 2423 is installed, and then pushed The rod wall of the rod 2422 is provided with a ring boss, which can limit the two angular contact bearings 2423 at the upper and lower ends of the middle hole of the bearing seat 2424; the upper end of the push rod 2422 is fixedly connected to the bottom of the push rod limit post 2421 , the top of the push rod limit post 2421 is locked in the round hole step provided at the bottom of the transfer bracket 241, which is convenient for positioning and concentric installation, that is, the push rod motor assembly 22, the transfer bracket 241 and the bearing rod 242 are fixedly connected in turn.

With reference to Fig. 8 and Fig. 9, the following specifically introduces the rotating motor assembly 23 in the cover opening mechanism 2:

In some embodiments, the rotating motor assembly 23 includes a fixed plate 231, a rotating motor base 232, a rotating motor 233, a synchronous belt assembly, and a guide rod mounting base 237; the fixing plate 231 is installed on the support base 21; One end of the plate 231, the rotating motor 233 is installed on the rotating motor seat 232; the guide rod mounting seat 237 is rotatably installed on the other end of the fixed plate 231, and the elastic slide bar assembly 25 and the jaw assembly 26 are all installed on the guide rod mounting seat 237. Bottom; one end of the synchronous belt assembly is connected to the output shaft of the rotary motor 233, and the other end of the synchronous belt assembly is connected to the top of the guide rod mount 237; the inside of the guide rod mount 237 is used to accommodate the push rod assembly 24, the push rod The top of the assembly 24 protrudes upwards and is connected with the push rod motor assembly 22 , and the bottom of the push rod assembly 24 is exposed downward and is rotatably connected with the elastic sliding rod assembly 25 .

Wherein, the synchronous belt assembly includes a first synchronous wheel 234, a synchronous belt 235 and a second synchronous wheel 236, the first synchronous wheel 234 is coaxially connected with the output shaft of the rotary motor 233, and the second synchronous wheel 236 is installed on the guide rod mounting seat 237 The point on the upper end is designed on the stepped cylindrical surface, and the synchronous belt 235 is sleeved on the first synchronous wheel 234 and the second synchronous wheel 236 .

In this embodiment, a plurality of position-limiting bosses can be designed on the support base 21 , and grooves that cooperate with the position-limiting protrusions on the support base 21 can be designed on the fixing plate 231 to increase the installation accuracy of the fixing plate 231 . The rotating motor seat 232 can be an inverted U-shaped structure, and the bottom of the rotating motor seat 232 is installed on the two side edges of one end of the fixed plate 231, and two grooves are designed on the two side edges of one end of the fixed plate 231. The inner width of the motor base 232 is consistent. The front end of the rotary motor 233 is fixedly installed on the top of the rotary motor base 232, and the output shaft at the front end of the rotary motor 233 extends downward into the inside of the rotary motor base 232, and the first synchronous wheel 234 is coaxially connected with the output shaft of the rotary motor 233 and located Rotate the inside of the motor mount 232 . The guide rod mount 237 is rotatably mounted on the other end of the fixed plate 231, the second synchronous wheel 236 is coaxially connected with the top of the guide rod mount 237, and the installed second synchronous wheel 236 is at the same level as the first synchronous wheel 234 Above, the synchronous belt 235 can form a stable transmission structure after being fitted on the first synchronous wheel 234 and the second synchronous wheel 236 , and the tightness of the synchronous belt 235 can be adjusted by adjusting the positions of the rotating motor base 232 and the fixing plate 231 .

Thus, the rotating motor 233 drives the first synchronous wheel 234 to rotate and the synchronous belt 235 drives the second synchronous wheel 236 to rotate, which can drive the guide rod mounting seat 237 to rotate. Here, the combination of the push rod motor assembly 22, the transfer bracket 241 and the bearing rod 242 described above will be described. The bearing rod 242 is inserted upward from the bottom round hole of the guide rod mounting seat 237 into the inside of the guide rod mounting seat 237. The top of the rear bearing rod 242 is exposed in the second synchronous wheel 236 installed on the top of the guide rod mounting seat 237, and is connected with the transfer bracket 241 at this position, so that the bearing rod 242 can be stably placed on the guide rod. Inside the rod mounting base 237 , it is convenient for the bearing rod 242 to cooperate with the elastic sliding rod assembly 25 installed at the bottom of the guide rod mounting base 237 .

The elastic slide bar assembly 25 is fixedly installed on the bottom of the guide rod mount 237, the bearing rod 242 is connected with the elastic slide rod assembly 25 installed on the bottom of the guide rod mount 237, and the push rod motor assembly 22 drives the bearing rod 242 to push down At this time, the elastic sliding bar assembly 25 can be linked to carry out an elastic compression movement downward, so that the clamping jaw assembly 26 can be linked to carry out a clamping movement to realize the clamping of the sample tube cap.

The gripper assembly 26 is fixedly installed on the bottom of the guide rod mounting seat 237. After the gripper assembly 26 realizes the clamping of the sample tube cap, the device drives the sample tube to move up and take it out, and then the rotating motor 233 can drive the timing belt assembly to run And the guide rod mounting base 237 is rotated, thereby driving the gripper assembly 26 and the elastic slider assembly 25 to rotate, and then the gripper assembly 26 drives the sample tube to rotate to realize the barcode identification of the sample tube body by the scanner 11.

In some embodiments, the rotating motor assembly 23 also includes a first bearing 238, a backing ring 239, a second bearing 2310 and a bearing cover plate 2320; the other end of the fixing plate 231 is provided with a step circle for installing the guide rod mounting seat 237 Holes; the first bearing 238, the backing ring 239 and the second bearing 2310 are installed in the stepped circular hole in turn, and the bearing cover plate 2320 is locked on the top surface of the stepped circular hole, so that the first bearing 238, the backing ring 239 and the second The second bearing 2310 is pressed tightly in the stepped circular hole; the guide rod mount 237 passes through the stepped circular hole and rotates in the first bearing 238 and the second bearing 2310 .

In this embodiment, the guide rod mounting base 237 penetrates upwardly through the stepped round hole of the fixing plate 231 from the lower end circular hole of the fixing plate 231. The first bearing 238, the backing ring 239 and the second bearing 2310 are respectively placed in the hole and inserted into the guide rod mounting seat 237, and the bearing cover plate 2320 is locked on the top surface of the stepped circular hole of the fixing plate 231, and the first bearing 238 The total interference of the backing ring 239 and the second bearing 2310 is greater than the height of the round hole of the fixing plate 231. When the bearing cover plate 2320 and the fixing plate 231 are locked, the first bearing 238, the backing ring 239 and the second bearing can be compressed 2310 to avoid vertical movement, and ensure the rotation stability of the guide rod mount 237 through the first bearing 238 and the second bearing 2310; it should be noted that the guide rod mount 237 can pass through the first bearing 238 and the second bearing 2310 connection to achieve stability in the stepped hole of the fixed plate 231, or the second synchronous wheel 236 installed on the top of the guide rod mounting base 237 can be connected to the fixed plate 231 to achieve a stable position in the stepped hole of the fixed plate 231 Inside.

In some embodiments, the rotating motor assembly 23 also includes a rotating blocking plate 2330 set on the guide rod mounting base 237; In the mouth; when the rotating motor 233 drives the synchronous belt assembly to drive and links the guide rod mounting base 237 to drive the gripper assembly 26 to rotate, the rotation identification optocoupler 212 identifies the gripper assembly by identifying the number of rotations and the position of the rotating stopper 2330 26 rotations and position, and then identify the number of rotations of the cap.

In this embodiment, the rotating blocking piece 2330 is set on the top of the guide rod mounting seat 237, and the height of the rotating optocoupler blocking piece interferes with the gap between the second synchronous wheel 236 and the second bearing 2310. Firstly, the rotating blocking piece 2330 Set on the top of the guide rod mounting base 237, and then lock the second synchronous wheel 236 on the stepped cylindrical surface on the top of the guide rod mounting base 237, so as to compress the rotating blocking piece 2330 to avoid serial movement. Thus, when the rotating motor assembly 23 is running, the rotating block 2330 rotates with the guide rod mounting base 237, and the rotation identification optocoupler 212 can identify the rotation circle of the rotating blocking 2330 by identifying the notch mark on the rotating blocking 2330 Number and position, and then identify the number of revolutions and position of the jaw assembly 26.

With reference to Figure 10 and Figure 11, the elastic slide bar assembly 25 in the cover opening mechanism 2 is specifically introduced below:

In some embodiments, the elastic sliding bar assembly 25 includes: a T-shaped sliding bar 251, a linear bearing 252, a guide rod 253 and a positioning spring 254; the top of the T-shaped sliding bar 251 is fixedly connected with the bottom of the bearing seat 2424, and the T-shaped sliding bar 251 The bottom of the bottom is slidingly connected with the jaw assembly 26; two linear bearings 252 are installed on the top two ends of the T-shaped slide bar 251 respectively; Both are inserted into the bottom of the rotating motor assembly 23, and the bottoms of the two guide rods 253 penetrate to the bottom of the T-shaped sliding rod 251; the two positioning springs 254 are respectively set on the two guide rods 253; when the elastic sliding rod assembly 25 When moving downward along the height direction, the T-shaped sliding rod 251 moves downward on the guide rod 253 through the linear bearing 252 and compresses the positioning spring 254 .

In this embodiment, the elastic sliding bar assembly 25 adopts a symmetrical design as a whole. Wherein the top middle position of the T-shaped slide bar 251 is designed with a flattened cylinder, which is used to align with the groove designed at the bottom of the bearing seat 2424, and four through holes are arranged on the top of the T-shaped slide bar 251 at the peripheral position of the flattened cylinder , the four through holes are locked and fixed with the four threaded holes designed at the bottom of the bearing seat 2424 , so as to realize the rotational movement of the elastic sliding bar assembly 25 relative to the bearing rod 242 through the bearing seat 2424 . The two ends of the top of the T-shaped slide bar 251 are provided with cylinders with stepped round holes, which are used to install the linear bearing 252, and the linear bearing 252 is pressed into the T-shaped slide bar 251 through the combination screw 258 to prevent the linear bearing 252 from being strung up and down. move. Two positioning springs 254 are respectively installed on the bottom surface of the top two ends of the T-shaped sliding rod 251, and the two guide rods 253 are respectively inserted into the two linear bearings 252, and the tops of the guide rods 253 are fixedly inserted into the bottom of the guide rod mounting base 237. Inside, the bottom of the guide rod 253 penetrates the positioning spring 254 and is positioned with the bottom of the positioning spring 254. When the push rod motor assembly 22 bears the rod 242, the T-shaped sliding rod 251 can be linked to the guide rod 253 through the linear bearing 252. The elastic compression movement is performed downward, so that the jaw assembly 26 is linked to perform a clamping movement to achieve clamping of the sample tube cap. The positioning spring 254 can increase the spring buffer when the push rod motor assembly 22 pushes and pulls up and down, and can also provide a certain auxiliary clamping force when the clamping jaw assembly 26 clamps the sample tube cap, so that the cap is less likely to fall off.

In some embodiments, the elastic sliding bar assembly 25 also includes a rotating shaft 255, a rotating shaft bearing 256 and a snap ring 257; a through hole is opened at the bottom of the T-shaped sliding bar 251, and the rotating shaft 255 runs through the through hole and the two ends of the T-shaped sliding bar 251 Two rotating shaft bearings 256 are respectively mounted on the two ends of the rotating shaft 255; two snap springs 257 are respectively clamped on the two ends of the rotating shaft 255 to lock the two rotating shaft bearings 256 on the rotating shaft 255; the two rotating shafts The bearings 256 are respectively slidably connected to the jaw assembly 26. When the T-shaped sliding bar 251 elastically compresses downward on the guide rod 253, the shaft bearings 256 at both ends of the interlocking shaft 255 move downward, thereby interlocking the jaw assembly. 26 to carry out clamping movement to realize the clamping of the sample tube cap.

With reference to Fig. 12, the jaw assembly 26 in the cover opening mechanism 2 will be introduced in detail below:

In some embodiments, the jaw assembly 26 includes two baffles 261, two connecting blocks 262, two jaws 263, two linear guide rails 264 and two sliders 265 symmetrically arranged; the two baffles 261 are fixedly installed At the bottom of the rotary motor assembly 23, and two baffles 261 are located on both sides of the elastic slide bar assembly 25; two linear guide rails 264 are fixedly installed on the inner side of the two baffles 261; two sliders 265 are positioned along the horizontal direction One by one is slidably installed on two linear guide rails 264; two connecting blocks 262 are fixedly installed on two sliding blocks 265; The block 262 is provided with an inclined chute 2621, and the two rotating shaft bearings 256 are slidably connected in the two inclined chute 2621 one by one.

In this embodiment, one side of the baffle plate 261 is used for illustration. The top of the baffle plate 261 is fixed on the bottom side of the guide rod mounting seat 237 by screws, and the linear guide rail 264 is fixedly installed on the bottom inner side of the baffle plate 261. On the linear guide rail 264 A chute is provided, and the slider 265 slides in the chute of the linear guide rail 264 along the horizontal direction. The connecting block 262 is fixed on the slider 265 by screws so as to slide along the horizontal direction with the slider 265, and the inclined chute 2621 It is obliquely set on the inner side of the top of the connecting block 262, and the jaws 263 are fixedly connected to the bottom of the connecting block 262; when it needs to be explained, the inclination directions of the two inclined chute 2621 on the two connecting blocks 262 are opposite; thus, when the two When the two shaft bearings 256 slide downward in the two inclined chute 2621, the two connecting blocks 262 can be linked to move toward each other in the horizontal direction on the corresponding linear guide rail 264, and drive the two jaws 263 to move toward each other to achieve clamping. hold.

Combined with what is shown in Figure 13, the Z-axis mechanism 1 will be introduced in detail below:

The Z-axis mechanism 1 includes a support plate 11, a drive assembly 12, an anti-fouling tray assembly 13 and an infrared optocoupler 14; the drive assembly 12 is mounted on the support plate 11 and connected with the support base 21 for driving the support base 21 in the height direction Up and down movement; the anti-fouling tray assembly 13 is installed on the support plate 11 and located below the cover opening mechanism 2, when the cover opening mechanism 2 moves up to the waiting position with the cover Below the tube cover, when the cover opening mechanism 2 moves down with the cover to the switch cover position to rotate and close the cover, the anti-fouling tray assembly 13 rotates and avoids below the tube cover clamped by the cover opening mechanism 2; the infrared optocoupler 14 is installed on the support On the board, when the cap opening mechanism 2 moves down to the switch cover position to rotate and open the cap, and then moves up to the waiting position with the cap, the infrared optocoupler 14 is used to detect whether the cap is clamped on the cap opening mechanism 2 .

In this embodiment, the driving assembly 12 may be a structure in which a screw motor drives a slider to move, and the slider drives the support seat 21 to move. The anti-fouling tray assembly 13 can use the motor to drive the tray to rotate, and move to the waiting position on the cover-opening mechanism 2 with the cover to drive the tray to rotate corresponding to the bottom of the cap held by the cover-opening mechanism 2 to prevent dripping. 2 When moving down, the drive tray rotates to avoid. The infrared optocoupler 14 can detect whether the cap is clamped on the cap-opening mechanism 2 during the upward movement of the cap-opening mechanism 2, and if the cap is recognized, it proves that the cap-opening is successful.

An embodiment of the present invention also provides a sample tube scheduling device, including the sample tube uncapping device as above.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (14)

1. A sample tube uncapping device, comprising a Z-axis mechanism and a cap-opening mechanism assembled on the Z-axis mechanism, the Z-axis mechanism is used to drive the cap-opening mechanism to move down to the switch cover position for rotation and opening After the cover is covered, the cover is moved up to the waiting position, and is used to drive the cover opening mechanism to move down with the cover to the switch cover position for rotation, and then move up to the waiting position after closing the cover, which is characterized in that: The cover opening mechanism includes a support seat, a push rod motor assembly, a rotating motor assembly, a push rod assembly, an elastic sliding rod assembly and a jaw assembly; The support seat is installed on the Z-axis mechanism, and the Z-axis mechanism is used to drive the support seat to move up and down in the height direction; Both the push rod motor assembly and the rotating motor assembly are installed on the support base; Both the jaw assembly and the elastic slider assembly are mounted on the bottom of the rotating motor assembly, the jaw assembly can perform clamping movement in the horizontal direction, the elastic slider assembly can move up and down in the height direction, and the elastic The slide bar assembly is slidably connected with the jaw assembly, and when the elastic slide bar assembly moves downward along the height direction, the jaw assembly is linked to carry out clamping movement to realize the clamping of the sample tube cap, so The rotating motor assembly is used to drive the elastic slide bar assembly and the jaw assembly to rotate; The top of the push rod assembly is connected to the output end of the push rod motor assembly, the bottom of the push rod assembly penetrates to the bottom of the rotating motor assembly and is rotationally connected with the elastic slide rod assembly, and the push rod motor The assembly is used to push the push rod assembly to move downward and link the elastic slide bar assembly to elastically compress downward. 2. The sample tube uncapping device according to claim 1, characterized in that: The push rod motor assembly includes a push rod motor seat, a push rod motor, shrapnel and a pull ring; The push rod motor base is installed on the support base; The front end of the push rod motor is installed on the push rod motor base facing downward, and the output shaft at the front end of the push rod motor can be pushed out toward the bottom; The shrapnel is set on the output shaft of the push rod motor; The pull ring is installed on the output shaft of the push rod motor, and the top of the push rod assembly is connected to the pull ring so as to be pushed out with the output shaft of the push rod motor downward. 3. The sample tube uncapping device according to claim 2, characterized in that: The push rod motor assembly also includes a position stopper sleeved on the output shaft of the push rod motor; The opening and closing identification optocoupler is installed on the support plate, and when the output shaft of the push rod motor is pushed out, the push rod assembly and the elastic slider assembly are sequentially moved downward, so as to link the jaw assembly to move downward. Clamping is carried out in the horizontal direction until the position blocking plate moves down into the opening and closing recognition optocoupler and is triggered to stop the movement, then the clamping of the clamping jaw assembly is completed. 4. The sample tube uncapping device according to claim 2, characterized in that: The push rod assembly includes a transfer bracket and a bearing rod; The top of the transfer pull seat is fixedly connected to the pull ring; The top of the bearing rod is connected to the bottom of the transfer bracket, and the bottom of the bearing rod is rotatably connected to the top of the elastic slider assembly. 5. The sample tube uncapping device according to claim 4, characterized in that: The bearing rod includes a push rod limit column, a push rod, an angular contact bearing and a bearing seat; The top of the push rod limit post is fixedly connected to the bottom of the transfer bracket; The top of the push rod is fixedly connected to the bottom of the push rod limit post; The angular contact bearing is built in the bearing seat, and the bearing seat is clamped on the bottom of the push rod through the angular contact bearing and can rotate relative to the push rod; The bottom of the bearing seat is fixedly connected with the top of the elastic sliding bar assembly. 6. The sample tube uncapping device according to claim 1, characterized in that: The rotating motor assembly includes a fixed plate, a rotating motor seat, a rotating motor, a synchronous belt assembly and a guide rod mounting seat; The fixing plate is installed on the support seat; The rotating motor seat is installed on one end of the fixing plate, and the rotating motor is installed on the rotating motor seat; The guide rod mounting base is rotatably mounted on the other end of the fixing plate, and the elastic sliding bar assembly and the jaw assembly are both mounted on the bottom of the guide rod mounting base; One end of the synchronous belt assembly is connected to the output shaft of the rotating motor, and the other end of the synchronous belt assembly is connected to the top of the guide rod mounting seat; The inside of the guide rod mounting seat is used to accommodate the push rod assembly, the top of the push rod assembly protrudes upwards and is connected with the push rod motor assembly, and the bottom of the push rod assembly is exposed downward and connected with the push rod motor assembly. The elastic sliding bar assembly is rotatably connected. 7. The sample tube uncapping device according to claim 6, characterized in that: The rotating electrical machine assembly also includes a first bearing, a backing ring, a second bearing and a bearing cover; The other end of the fixing plate is provided with a stepped circular hole for installing the guide rod mounting seat; The first bearing, the backing ring and the second bearing are sequentially installed in the stepped hole, and the bearing cover plate is locked on the top surface of the stepped hole, so that the first bearing, the backing ring and the second bearing are pressed tightly in the stepped circular hole; The guide rod installation seat passes through the stepped circular hole and rotates in the first bearing and the second bearing. 8. The sample tube uncapping device according to claim 6, characterized in that: The rotating motor assembly also includes a rotating baffle set on the guide rod mounting seat; A rotating identification optocoupler is installed on the support plate, and the edge of the rotating blocking plate is located in the detection port of the rotating identification optocoupler; When the rotating motor drives the synchronous belt assembly to drive and links the guide rod mounting base to drive the jaw assembly to rotate, the rotation identification optocoupler identifies the number of rotations and the position of the rotating block, to identify the number of revolutions and position of the jaw assembly. 9. The sample tube uncapping device according to claim 5, characterized in that: The elastic slider assembly includes: a T-shaped slider, a linear bearing, a guide rod and a positioning spring; The top of the T-shaped slide bar is fixedly connected to the bottom of the bearing seat, and the bottom of the T-shaped slide bar is slidably connected to the jaw assembly; The two linear bearings are respectively mounted on both ends of the top of the T-shaped slide bar; The two guide rods are respectively inserted into the two linear bearings, the tops of the two guide rods are inserted into the bottom of the rotating motor assembly, and the bottoms of the two guide rods penetrate to the the bottom of the T-shaped slider; The two positioning springs are respectively set on the two guide rods; When the elastic sliding rod assembly moves downward along the height direction, the T-shaped sliding rod moves downward on the guide rod through the linear bearing and compresses the positioning spring. 10. The sample tube uncapping device according to claim 9, characterized in that: The elastic slide bar assembly also includes a rotating shaft, a rotating shaft bearing and a snap ring; The rotating shaft runs through both sides of the bottom of the T-shaped slide bar; The two rotating shaft bearings are respectively installed at both ends of the rotating shaft; The two circlips are respectively clamped on the two ends of the rotating shaft to lock the two rotating shaft bearings on the rotating shaft; The two rotating shaft bearings are respectively slidably connected to the jaw assembly. 11. The sample tube uncapping device according to claim 10, characterized in that: The jaw assembly includes two baffle plates, two connecting blocks and two jaws arranged symmetrically; The two baffles are fixedly installed on the bottom of the rotating motor assembly, and the two baffles are located on both sides of the elastic slider assembly; The two connecting blocks are slidably installed on the inside of the two baffles one by one along the horizontal direction; The two jaws are fixedly connected to the bottoms of the two connecting blocks; An inclined chute is provided on the two connecting blocks, and the two rotating shaft bearings are slidably connected in the two inclined chute. 12. The sample tube uncapping device according to claim 11, characterized in that: The jaw assembly also includes two linear guide rails and two sliders; The two linear guide rails are fixedly installed on the inner sides of the two baffles; The two sliders are slidably installed on the two linear guide rails one by one along the horizontal direction; The two connecting blocks are fixedly installed on the two sliding blocks one by one. 13. The sample tube cap opening device according to claim 1, characterized in that: The Z-axis mechanism includes a support plate, a drive assembly, an anti-fouling tray assembly and an infrared optocoupler; The drive assembly is installed on the support plate and connected with the support seat, and is used to drive the support seat to move up and down in the height direction; The anti-fouling tray assembly is installed on the support plate and is located below the cover opening mechanism. When the cover opening mechanism moves up to the waiting position with the cover, the anti-fouling tray assembly rotates corresponding to the cover opening mechanism Below the clamped tube cover, when the cover-opening mechanism moves down with the cover to the switch cover position to rotate and close the cover, the anti-fouling tray assembly rotates to avoid below the tube cover clamped by the cover-opening mechanism; The infrared optocoupler is installed on the support plate. When the cover opening mechanism moves down to the switch cover position to rotate and open the cover, and then moves up to the waiting position with the cover, the infrared optocoupler is used to detect the Check whether the cap is clamped on the cap opening mechanism. 14. A sample tube scheduling device, characterized by comprising the sample tube uncapping device according to any one of claims 1-13.

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