CN112174066B

CN112174066B - Cap pulling mechanism, detection equipment, sampling control method, sampling device and method

Info

Publication number: CN112174066B
Application number: CN202011056045.2A
Authority: CN
Inventors: 刘先成; 曾映; 胡明龙; 徐岩; 唐建波; 王嗣浩; 崔北辰
Original assignee: Lifotronic Technology Co ltd
Current assignee: Lifotronic Technology Co ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2022-04-22
Anticipated expiration: 2040-09-29
Also published as: CN112174066A

Abstract

The application provides a cap pulling mechanism, detection equipment, a sampling control method, a sampling device and a sampling method, and relates to the technical field of mechanical equipment. The cap pulling mechanism comprises a bottom plate, a pipe clamping assembly, a first cap pulling assembly and a second cap pulling assembly. The tube clamping assembly is used for clamping or loosening the tube body of the test tube. The first and second cap pulling assemblies are connected to the tube clamping assembly in a manner of moving up and down. When pressing from both sides pipe assembly centre gripping body, first cap subassembly and the second of pulling out pulls out the cap subassembly and reciprocates in step, can drive the pipe cap of test tube and reciprocate relatively the body and realize pulling out cap or block. The first cap pulling assembly and the second cap pulling assembly act on the pipe cap together, and the cap pulling mechanism applies balanced acting force to the pipe cap, so that the cap pulling and covering processes are soft, aerosol is not easy to generate, and the risk of cross infection with surrounding samples is reduced.

Description

Cap pulling mechanism, detection equipment, sampling control method, sampling device and method

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a cap pulling mechanism, detection equipment, a sampling control method, a sampling device and a sampling method.

Background

The existing device for pulling out the cap of the test tube has low automation degree, and aerosol is easily generated when the cap is pulled out, so that the risk of cross contamination with peripheral samples exists.

Disclosure of Invention

The embodiment of the application provides a cap pulling mechanism, detection equipment, a sampling control method, a sampling device and a sampling method, and aims to solve the problem that cross infection is easily caused in the cap pulling process of the existing cap pulling device.

In a first aspect, an embodiment of the present application provides a cap pulling mechanism, which includes a bottom plate, a tube clamping assembly, a first cap pulling assembly, and a second cap pulling assembly. The tube clamping assembly is used for clamping or loosening the tube body of the test tube. The first cap pulling assembly is connected to the pipe clamping assembly in a manner of moving up and down. The second cap pulling component is movably connected with the pipe clamping component up and down. The first cap pulling assembly and the second cap pulling assembly can move up and down synchronously, and the tube cap of the test tube can be driven to move up and down relative to the tube body when the tube clamping assembly clamps the tube body, so that the tube cap can be separated from the tube body or covered on the tube body.

Among the above-mentioned technical scheme, pull out cap subassembly and second through first and pull out cap subassembly and act on the pipe cap jointly for pull out cap process and go on steadily, be favorable to reducing the production of aerosol, reduce and peripheral sample cross infection's risk.

In addition, the cap pulling mechanism of the embodiment of the first aspect of the present application has the following additional technical features:

in some embodiments of the first aspect of the present application, the cap pulling mechanism further comprises a second drive assembly. The first cap pulling assembly can be connected to the output end of the second driving assembly in a left-right moving mode, and the second cap pulling assembly can be connected to the output end of the second driving assembly in a left-right moving mode, so that the first cap pulling assembly and the second cap pulling assembly can synchronously move up and down under the driving of the second driving assembly; the pipe clamping assembly comprises a first clamping arm, a second clamping arm and a first driving assembly, the first clamping arm and the second clamping arm are arranged on the bottom plate in a left-right direction relative sliding mode, and the first driving assembly is used for driving the first clamping arm and the second clamping arm to be close to or far away from each other in the left-right direction so as to clamp or loosen the pipe body of the test pipe. The first cap pulling assembly is connected to the first clamping arm in a manner that the first cap pulling assembly can move up and down. The second cap pulling assembly is connected to the second clamping arm in a manner of moving up and down. The second driving assembly is used for driving the first cap pulling assembly and the second cap pulling assembly to synchronously move up and down. When first clamp arm and the cooperation centre gripping body of second clamp arm, first cap subassembly and the second of pulling out is pulled out cap subassembly and is reciprocated in step, can drive the relative body of cap of test tube and reciprocate to the cap or the block are pulled out in the realization.

Among the above-mentioned technical scheme, at the in-process of pulling out the cap, cap subassembly is pulled out to first cap subassembly and second and the cap subassembly acts on the pipe cap jointly, reciprocates under the drive of second drive assembly and realizes pulling out cap or block cap for pull out cap and block cap in-process and pull out cap mechanism and exert balanced effort to the pipe cap, make cap and block cap process soft, difficult aerosol that produces reduces and the risk of peripheral sample cross infection.

In some embodiments of the first aspect of the present application, the first cap pulling assembly comprises a first driving member and a first clamping member in driving connection; the second cap pulling assembly comprises a second clamping piece, the first clamping piece and the second clamping piece can be matched with a clamping pipe cap, and the first clamping piece can move under the driving of the first driving piece so as to drive the pipe cap to rotate around the axis of the pipe cap.

Among the above-mentioned technical scheme, second drive assembly and first driving piece act on the pipe cap jointly for first holder and the cooperation of second holder drive the pipe cap and rotate around self axis when from top to bottom the rebound, pull out cap and block cap in-process promptly, the pipe cap is relative body spiral rising or descend, and it is soft to pull out cap and block cap process, and difficult aerosol that produces reduces and peripheral sample cross infection's risk.

In some embodiments of the first aspect of the present application, the first clamping member has a first friction surface for contacting the cap.

Among the above-mentioned technical scheme, first holder has first friction surface, and the first driving piece of being convenient for rotates around self axis through first holder drive pipe cap, avoids the pipe cap to skid at the rotation process, avoids first holder and pipe cap to break away from.

In some embodiments of the first aspect of the present application, the first clamping member is a first rotating wheel, the first friction surface is an outer circumferential surface of the first rotating wheel, and the first driving member is configured to drive the first rotating wheel to rotate.

Among the above-mentioned technical scheme, first holder adopts the form of rotating the wheel, is convenient for drive the pipe cap and rotates around self axis.

In some embodiments of the first aspect of the present application, the second gripping member is capable of moving with the cap as the first gripping member rotates the cap about its axis.

Among the above-mentioned technical scheme, the second holder can play supplementary clamping action to the pipe cap, and the second holder can drive the pipe cap and move along with the pipe cap when self axis is rotatory at first holder for can not appear blocking between second holder and the pipe cap.

In some embodiments of the first aspect of the present application, the second clamping member has a second friction surface for contacting the cap.

Among the above-mentioned technical scheme, the second holder has the second friction surface for can not skid between second holder and the pipe cap, avoid second holder and pipe cap to break away from, the effect of supplementary centre gripping is played to the pipe cap that the second holder can be better.

In some embodiments of the first aspect of the present application, the second clamping member is a second rotating wheel, and the second friction surface is an outer circumferential surface of the second rotating wheel.

Among the above-mentioned technical scheme, the second holder adopts the form of rotating the wheel, is convenient for drive the pipe cap around self axis rotation.

In some embodiments of the first aspect of the present application, the first pulling cap assembly further comprises a first pulling cap base plate, the first pulling cap base plate being movably connected to the first clamping arm up and down, the first driving member being mounted on the first pulling cap base plate; the second cap pulling assembly also comprises a second cap pulling base plate, the second cap pulling base plate is connected to the second clamping arm in a vertically movable mode, and the second clamping piece is installed on the second cap pulling base plate; the second driving assembly is used for driving the first cap pulling base plate and the second cap pulling base plate to synchronously move up and down.

Among the above-mentioned technical scheme, the first installation of first driving piece, first holder and second holder of being convenient for of pulling out the setting of cap base plate and second and pulling out the cap base plate just makes the first cap subassembly of pulling out of second drive assembly drive and the second pull out the stable removal in the upper and lower direction of cap subassembly.

In some embodiments of the first aspect of the present application, the first pulling cap substrate has a first abutment surface for abutment with the lower end of the cap, and the second pulling cap substrate has a second abutment surface for abutment with the lower end of the cap; when the second driving assembly drives the first cap pulling substrate and the second cap pulling substrate to synchronously move upwards, the first abutting surface and the second abutting surface push the pipe cap to move upwards.

Among the above-mentioned technical scheme, first support to face and second and support to face and can promote the cap rebound, the cap of being convenient for breaks away from with the body and realizes pulling out the cap.

In some embodiments of the first aspect of the present application, the second driving assembly is fixed to the base plate, the first cap removing base plate is connected to an output end of the second driving assembly in a left-right movable manner, and the second cap removing base plate is connected to an output end of the second driving assembly in a left-right movable manner. The second driving assembly is used for driving the first cap pulling base plate and the second cap pulling base plate to synchronously move up and down.

In the technical scheme, the first cap pulling substrate and the second cap pulling substrate are respectively arranged on the first clamping arm and the second clamping arm in a vertically movable manner, so that the first cap pulling substrate and the second cap pulling substrate can be arranged at the output end of the second driving assembly in a horizontally movable manner, the second driving assembly drives the first cap pulling assembly and the second cap pulling assembly to move vertically without influencing the first driving assembly to drive the first clamping arm and the second clamping arm to be close to or far away from each other, and the movement of each component of the pipe clamping assembly and the movement of each component of the cap pulling assembly are related and independent.

In some embodiments of the first aspect of the present application, a first sliding groove is disposed on the first cap substrate, a second sliding groove is disposed on the second cap substrate, the first sliding groove and the second sliding groove both extend along the left-right direction, and the first sliding groove and the second sliding groove are respectively located on the front side and the rear side of the output end of the second driving assembly and both slidably fit with the output end of the second driving assembly.

Among the above-mentioned technical scheme, first spout and second spout all extend along left right direction and make first cap base plate and the second of pulling out pull out the output that cap base plate can relative second drive assembly and remove to play the guide effect, the relative cell wall in the upper and lower direction of first spout and second spout can also pull out cap base plate and second to first pull out cap base plate and pull out cap base plate upper and lower spacing, the second drive assembly drive of being convenient for is first pulls out cap base plate and the second pulls out the cap base plate and reciprocates.

In some embodiments of the first aspect of the present application, the second driving assembly includes a second motor, a lead screw and a nut, the second motor is fixed on the bottom plate, the lead screw is connected with an output shaft of the second motor, the nut is sleeved on the lead screw, and the first sliding groove and the second sliding groove are respectively in sliding fit with the nut.

Among the above-mentioned technical scheme, pull out the first cap subassembly and pull out the cap subassembly with the second and reciprocate through lead screw motor and nut complex mode drive, the drive mode is simple, and rectilinear movement is stable.

In some embodiments of the first aspect of the present application, the first drive assembly comprises a timing belt having two opposing layers, and the first and second clamp arms are respectively attached to the two opposing layers of the timing belt.

Among the above-mentioned technical scheme, first clamp arm and second clamp arm are connected respectively in the relative two-layer of hold-in range, and the first clamp arm of a motor synchronous drive and second clamp arm move to opposite direction like this, and the drive mode is simple, and can reduce drive unit's quantity, practices thrift the cost.

In some embodiments of the first aspect of the present application, at least one of the first and second clamp arms is connected to the timing belt through a resilient buffer structure.

Among the above-mentioned technical scheme, the setting of elasticity buffer structure can provide stable clamp force for pressing from both sides the pipe assembly, and can compensate the error that the structure wearing and tearing of first clamp arm and second clamp arm warp to a certain extent and appear.

In some embodiments of the first aspect of the present application, the elastic buffer structure comprises a spring and a connection block, the connection block is connected to the synchronous belt, one end of the spring is connected to the connection block, and the other end of the spring is connected to the corresponding clamping arm.

Among the above-mentioned technical scheme, the setting of connecting block is convenient for spring and hold-in range stable connection, and the spring can provide stable clamp force for pressing from both sides the pipe assembly, and can compensate the structure wearing and tearing of first clamp arm and second clamp arm to a certain extent and warp the error that appears.

In some embodiments of the first aspect of the present application, the spring is extended and retracted in a direction parallel to a driving direction of the timing belt of the layer corresponding thereto.

Among the above-mentioned technical scheme, the flexible direction of spring is parallel with the drive direction of the hold-in range of the one deck that corresponds with it, can avoid leading to the connecting block to twist and cause the hold-in range wearing and tearing because of the spring pulling force is not collinear with the pulling force of hold-in range.

In some embodiments of the first aspect of the present application, the first clamp arm is slidably connected to the base plate and the second clamp arm is slidably connected to the base plate.

Among the above-mentioned technical scheme, first press from both sides tight arm and second and press from both sides tight arm and bottom plate sliding fit, can press from both sides tight arm and second and press from both sides the fine guide effect that plays of the motion that the arm is close to or keeps away from each other, guarantee that first press from both sides tight arm and second and press from both sides tight arm and can follow the path of settlement and stably centre gripping body.

In some embodiments of the first aspect of the present application, the substrate is provided with a third sliding groove and a fourth sliding groove, the first clamping arm is provided with a first sliding portion in sliding fit with the third sliding groove, and the second clamping arm is provided with a second sliding portion in sliding fit with the fourth sliding groove; the first driving assembly is used for driving the first clamping arm and the second clamping arm to slide in the third sliding groove and the fourth sliding groove respectively.

Among the above-mentioned technical scheme, spout and slider complex mode are simple, and the extending direction of spout is the removal route of first clamp arm and second clamp arm promptly, and the direction is effectual for first clamp arm and second clamp arm can move along the route at spout place steadily.

In some embodiments of the first aspect of the present application, the cap pulling mechanism further comprises a cap positioning structure, the cap positioning structure is disposed on the tube clamping assembly, and the cap positioning structure is used for positioning the pulled cap; the first cap pulling assembly and the second cap pulling assembly move upwards synchronously to enable the pipe cap to be separated from the pipe body and to be positioned on the pipe cap positioning structure, and the first cap pulling assembly and the second cap pulling assembly move downwards synchronously to enable the pipe cap to be taken down from the pipe cap positioning structure and to be covered on the pipe body.

Among the above-mentioned technical scheme, the setting of pipe cap location structure can prevent that the pipe cap from rocking, droing at the in-process that pulls out the removal of cap mechanism with the pipe cap location of being pulled out to follow-up accuracy realizes the block action.

In some embodiments of the first aspect of the present application, the cap positioning structure is a piercing needle or a cylindrical plug.

Among the above-mentioned technical scheme, pjncture needle or cylinder stopper simple structure, after first cap subassembly and the second cap subassembly cooperation of pulling out the pipe cap, pjncture needle or cylinder stopper insert locate the upper end of pipe cap in order to fix the pipe cap, prevent that the pipe cap from rocking, droing at the in-process that pulls out the cap mechanism and remove to follow-up accuracy realizes the block action.

In some embodiments of the first aspect of the present application, the cap pulling mechanism further comprises a cap detecting module, the cap detecting module comprising a transmitting end and a receiving end, the transmitting end being mounted on one of the first cap pulling assembly and the second cap pulling assembly, and the receiving end being mounted on the other of the first cap pulling assembly and the second cap pulling assembly.

Among the above-mentioned technical scheme, cap detection module can be used to detect the test tube and have the upper and lower position of cap and cap to first cap subassembly and the second of pulling out pulls out the centre gripping cap that cap subassembly can be accurate and pulls out cap or block cap action.

In a second aspect, an embodiment of the present application provides a sampling device, which includes the cap pulling mechanism provided in the embodiment of the first aspect.

Among the above-mentioned technical scheme, pull out cap mechanism and can make sampling device pull out the cap process before the sampling and the block process after the sampling all be difficult for producing aerosol, avoid infecting with surrounding sample.

In some embodiments of the second aspect of the present application, the sampling device further comprises a base, a sample placement stage, and a sampling assembly. The cap pulling mechanism is movably arranged on the base; the sample placing table is fixed on the base and used for placing the test tube, and the sampling assembly is arranged on the base; after pulling out cap mechanism and making the pipe cap break away from the body, pull out cap mechanism and remove the space in order to let out the body top to make the sampling subassembly can sample the body.

Among the above-mentioned technical scheme, through pulling out the relative base of cap mechanism in order to let the space of body top be convenient for sample, avoid removing the body and cause the sample pollution. The arrangement of the components can enable the cap inserting and pulling action to be carried out in the sampling time sequence, the detection efficiency of the instrument can be improved, meanwhile, the test tube after the cap is pulled is prevented from being transferred to other sampling components, and sample infection in the transferring process is avoided.

In some embodiments of the second aspect of the present application, the sample rack placing table is provided with a mounting groove extending in the front-rear direction, and the sample rack can slide into between the first clamping arm and the second clamping arm along the mounting groove.

Among the above-mentioned technical scheme, the setting of mounting groove is convenient for the sample frame to get into between first clamp arm and the second clamp arm, also can fix a position the sample frame, is convenient for pull out going on of cap action.

In a third aspect, an embodiment of the present application provides a detection apparatus, including a detection component and the sampling device provided in the embodiment of the first aspect; the detection assembly is used for detecting the sample in the test tube.

Among the above-mentioned technical scheme, check out test set collection is pulled out cap mechanism, is adopted subassembly and determine module in an organic whole, avoids carrying out long distance transfer to the test tube, improves detection efficiency, in addition, can also greatly reduce the demand to the space, makes check out test set's size reduce, inserts in the chronogenesis of check out test set's sampling and pulls out cap action, improves check out test set's detection efficiency.

In a fourth aspect, an embodiment of the present application provides a sampling method, including the following steps: the tube body of the test tube is clamped through the tube clamping assembly, and the tube cap of the test tube is driven to move towards the direction far away from the tube body through the first cap pulling assembly and the second cap pulling assembly so as to be separated from the tube body; sampling the inside of the tube body through a sampling assembly; the first cap pulling assembly and the second cap pulling assembly drive the pipe cap to move towards the direction close to the pipe body, so that the pipe cap is covered on the pipe body.

Among the above-mentioned technical scheme, this sampling method inserts in the sampling chronogenesis and pulls out the action of cap, can improve the sampling efficiency of instrument, avoids simultaneously shifting the test tube after pulling out the cap to other sampling subassembly departments, avoids appearing the sample infection in the transfer process, can cover the tube cap back on the body after the sampling is accomplished simultaneously, further avoids appearing the sample infection.

In some embodiments of the fourth aspect of the present application, before the step of sampling the inside of the body of the patient by the sampling assembly, the method further comprises the steps of: the pipe clamping assembly is loosened from the pipe body, and then the cap pulling mechanism is moved to enable the space above the pipe body to be removed; after the step of sampling the interior of the body of the tube by the sampling assembly, the method further comprises the following steps: the cap pulling mechanism is moved to enable the pipe cap to be located above the pipe body, and the pipe cap can be covered on the pipe body.

Among the above-mentioned technical scheme, pull out the cap and accomplish the back, pull out cap mechanism and remove and to make the pipe cap let out the space of body top for the sampling subassembly sampling, the sampling of being convenient for need not remove the test tube, reduces the risk of sample infection.

A fifth aspect of the present application provides a sampling control method, including the following steps: detecting whether a pipe body exists or not, if the pipe body is detected, detecting whether a pipe cap exists or not, if the pipe cap is detected, controlling the pipe clamping assembly to clamp the pipe body, controlling the first pipe cap pulling assembly and the second pipe cap pulling assembly to drive the pipe cap to move upwards so that the pipe cap is separated from the pipe body, and if the pipe cap is not detected, controlling the sampling assembly to sample the inside of the pipe body; if not, move to next test tube position and detect whether there is the body.

According to the technical scheme, the sampling control method enables the automation degree of the sampling detection process to be higher and the sampling detection efficiency to be higher. The user will be with complete test tube put into equipment, detect the pipe cap after, can extract automatically, make the sampling subassembly can normally sample. After sampling is completed and the tube is separated from the test tube, the cap pulling mechanism covers the tube on the original tube body. The whole process is automatically completed in a sampling area inside the instrument, and a user cannot contact the tube body without the tube cap, so that the operation steps of the user are reduced, and the risk of infection of the user by harmful substances such as aerosol is reduced to the maximum extent.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic structural diagram of a cap pulling mechanism provided in an embodiment of a first aspect of the present application;

FIG. 2 is a schematic structural view of a tube clamping assembly;

FIG. 3 is a schematic structural view of a first uncapping assembly;

FIG. 4 is a schematic structural diagram of a first cap substrate;

FIG. 5 is a schematic structural view of a second cap pulling assembly;

FIG. 6 is a schematic structural view of a second cap substrate;

FIG. 7 is a schematic view of the first and second cap pulling assemblies acting on the cap;

FIG. 8 is a schematic structural diagram of a second driving assembly;

fig. 9 is a schematic structural diagram of a sampling apparatus provided in an embodiment of the second aspect of the present application;

fig. 10 is a sampling flow chart.

Icon: 100-a cap pulling mechanism; 10-a base plate; 11-a guide groove; 20-a tube clamping assembly; 21-a first clamping arm; 211-a first sliding track; 212-a first slider; 213-a first clamp block; 22-a second clamping arm; 221-a second slide rail; 222-a second slider; 223-a second clamp block; 23-a first drive assembly; 231-a driving wheel; 232-driven wheel; 233-synchronous belt; 2331-upper timing belt; 2332-lower layer timing belt; 234-a third motor; 235-an elastic buffer structure; 2351-a spring; 2352-connecting block; 24-a first in-place detection module; 241-a first baffle plate; 242 — first optocoupler; 25-a tube body detection module; 251-a first transmitting module; 252-a first receiving module; 26-a cap positioning structure; 30-a first cap pulling assembly; 31-a first drive member; 32-a first clamp; 33-a first cap substrate; 331-a first runner; 332 — a first abutment surface; 333-a third abutment surface; 334-a first recess; 34-a gear transmission mechanism; 40-a second cap pulling assembly; 41-a second clamp; 42-a second cap substrate; 421-a second chute; 422-a second abutment surface; 423-a fourth abutment surface; 424-a second recess; 43-concave arc portion; 50-a second drive assembly; 51-a second motor; 52-a screw rod; 53-a nut; 531-through groove; 54-a guide; 70-pipe cap detection module; 71-a transmitting end; 72-a receiving end; 80-a second in-place detection module; 81-a second baffle plate; 82-a second optocoupler; 1000-a sampling device; 200-a base; 210-a track; 220-moving block; 230-mounting a cover; 300-a third drive assembly; 310-a driving pulley; 320-a driven pulley; 330-a transmission belt; 340-a fourth motor; 400-third in-place detection module; 410-a third baffle plate; 420-a third optocoupler; 500-a sample rack stage; 510-mounting grooves; 600-a disinfecting assembly; 700-sample rack; 800-a tube body; 900-pipe cap.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Examples

As shown in FIGS. 1-5, a first embodiment of the present application provides a cap pulling mechanism 100, which includes a base plate 10, a tube clamping assembly 20, a first cap pulling assembly 30 and a second cap pulling assembly 40. The tube clamping assembly 20 is used to clamp or unclamp the tube body 800 of the test tube. The first uncapping assembly 30 is connected to the clamping tube assembly 20 in a manner that it can move up and down. The second uncapping assembly 40 is movably connected to the clamping tube assembly 20 up and down. The first cap pulling assembly 30 and the second cap pulling assembly 40 can move up and down synchronously, and can drive the cap 900 of the test tube to move up and down relative to the tube body 800 when the tube clamping assembly 20 clamps the tube body 800, so that the cap 900 can be separated from the tube body 800 or covered on the tube body 800. The first cap pulling assembly 30 and the second cap pulling assembly 40 act on the tube cap 900 together, so that the cap pulling process is stably carried out, aerosol generation is reduced, and the risk of cross infection with surrounding samples is reduced.

The cap pulling mechanism 100 includes a base plate 10, a tube clamping assembly 20, a first cap pulling assembly 30, a second cap pulling assembly 40, and a second drive assembly 50. The tube clamping assembly 20 comprises a first clamping arm 21, a second clamping arm 22 and a first driving assembly 23, wherein the first clamping arm 21 and the second clamping arm 22 are arranged on the bottom plate 10 in a sliding mode along the left-right direction, and the first driving assembly 23 is used for driving the first clamping arm 21 and the second clamping arm 22 to move close to or away from each other along the left-right direction so as to clamp or loosen the tube body 800 of the test tube. The first cap pulling assembly 30 is connected to the first clamping arm 21 in a vertically movable manner, the second cap pulling assembly 40 is connected to the second clamping arm 22 in a vertically movable manner, and the second driving assembly 50 is used for driving the first cap pulling assembly 30 and the second cap pulling assembly 40 to synchronously move up and down. When the first clamping arm 21 and the second clamping arm 22 cooperate to clamp the tube body 800, the first cap pulling assembly 30 and the second cap pulling assembly 40 move up and down synchronously, and the tube cap 900 capable of driving the test tube moves up and down relative to the tube body 800, so that the cap or the cap can be pulled out.

As shown in fig. 1 and fig. 2, a first slide rail 211 extending up and down is disposed on one side of the first clamping arm 21 away from the second clamping arm 22, a first slide block 212 is disposed on the first slide rail 211, and the first slide block 212 can slide up and down along the first slide rail 211; one side of the second clamping arm 22, which is far away from the first clamping arm 21, is provided with a second slide rail 221 extending up and down, the second slide rail 221 is provided with a second slide block 222, and the second slide block 222 can slide up and down along the second slide rail 221.

One side of the first clamping arm 21 close to the second clamping arm 22 is provided with two first clamping blocks 213 arranged at intervals up and down, each first clamping block 213 is provided with a clamping pad for contacting with the pipe body 800, one side of the second clamping arm 22 close to the first clamping arm 21 is provided with two second clamping blocks 223 arranged at intervals up and down, and each second clamping block 223 is provided with a clamping pad for contacting with the pipe body 800. The friction between first clamping arm 21 and second clamping arm 22 and the body 800 can be increased in the setting of clamping pad, improves the stability of centre gripping, and clamping pad can play the cushioning effect between first clamp splice 213 and body 800, between second clamp splice 223 and body 800 simultaneously, avoids first clamp splice 213, second clamp splice 223 and body 800 direct contact to damage body 800. Further, the clamping pad has a concave arc surface for mating with the peripheral wall of the tube 800. The setting up of concave cambered surface makes the clamp pad can with the fine cooperation of body 800's perisporium, improves the stability of test tube centre gripping, is convenient for pull out cap and block cap action. Specifically, the clamping pad is a silicone pad. The clamping pad includes, but is not limited to, a silicone pad, and may be other clamping pads capable of increasing the friction between the first clamping arm 21 and the second clamping arm 22 and the tube 800, such as a rubber pad.

In other embodiments, the first clamping block 213 and the second clamping block 223 may not have clamping pads. Two first clamping blocks 213 and second clamping blocks 223 are respectively arranged on the first clamping arm 21 and the second clamping arm 22 along the upper and lower directions, so that the tube clamping assembly 20 clamps the tube body 800 at two positions in the upper and lower directions, the clamping stability is improved, and especially, the effect of a long test tube on some tube bodies 800 is more remarkable. Of course, in other embodiments, one of the first clamping block 213 and the second clamping block 223 may be provided.

In this embodiment, the first driving assembly 23 includes a driving pulley 231, a driven pulley 232, a timing belt 233 and a third motor 234, the driving pulley 231, the driven pulley 232 and the third motor 234 are mounted on the base plate 10, the third motor 234 is used for driving the driving pulley 231 to rotate, the timing belt 233 is sleeved on the driving pulley 231 and the driven pulley 232, and the first clamping arm 21 and the second clamping arm 22 are respectively connected to two opposite layers of the timing belt 233. As shown in fig. 2, the rotation shafts of the third motor 234, the driving pulley 231, and the driven pulley 232 are all arranged horizontally, and the timing belt 233 is divided into upper and lower stages by the driving pulley 231 and the driven pulley 232. In this embodiment, the lower end of the first clamp arm 21 is connected to the upper timing belt 2331, the lower end of the second clamp arm 22 is connected to the lower timing belt 2332, and the first clamp arm 21 and the second clamp arm 22 are connected to the opposite two stages of the timing belt 233, respectively. When the timing belt 233 moves, the first clamp arm 21 and the second clamp arm 22 move in opposite directions. The forward rotation of the third motor 234 (e.g., counterclockwise in the view of fig. 2) can move the first and

second clamp arms

21 and 22 toward each other to clamp the tube 800, and the reverse rotation of the third motor 234 (e.g., clockwise in the view of fig. 2) can move the first and

second clamp arms

21 and 22 away from each other to release the tube 800. Such a motor synchronously drives the first clamping arm 21 and the second clamping arm 22 to move in opposite directions, so that the driving mode is simple, the number of driving parts can be reduced, the cost is saved, and the space occupied by the cap pulling mechanism 100 is minimized.

In other embodiments, the rotation shafts of the driving pulley 231, the driven pulley 232, and the third motor 234 are disposed up and down, and the driving pulley 231 and the driven pulley 232 divide the timing belt 233 into two layers opposite to each other in the front-rear direction, and the first clamping arm 21 and the second clamping arm 22 are two layers opposite to each other in the front-rear direction.

In other embodiments, the first driving assembly 23 may be in other configurations, for example, the first driving assembly 23 is a two-way screw motor, the two-way screw motor has two screws with opposite screw threads, and the first clamping arm 21 and the second clamping arm 22 are respectively screwed on the two screws of the two-way screw motor, so that when the motor rotates, the first clamping arm 21 and the second clamping arm 22 move in opposite directions to make the first clamping arm 21 and the second clamping arm 22 approach or move away from each other.

In other embodiments, the first driving assembly 23 may also include two independent linear driving mechanisms, which respectively drive the first clamping arm 21 and the second clamping arm 22 to move toward or away from each other, so that the first clamping arm 21 and the second clamping arm 22 can cooperate to clamp or release the tube 800.

The clamping action on the tube body 800 requires the tube clamping assembly 20 to provide a stable clamping force. Generally, the tube 800 has a certain elastic modulus, and is deformed when being laterally pressed. The clamping force of the tube clamping assembly 20 is indirectly provided by the third motor 234, and the third motor 234 travels a fixed number of steps while clamping. Because the diameter, the elastic modulus and the elastic modulus of the clamping pad of the tube 800 are different individually, the positive pressure applied to the tube 800 by the first clamping block 213 and the second clamping block 223 is smaller due to the smaller diameter or the smaller elastic modulus of the clamping pad of a part of the tube 800, so that the tube 800 cannot be clamped; or, when the tube 800 reaches the predetermined position due to a larger diameter or a larger elastic modulus of the clamping pad, the reverse acting force of the tube 800 on the first clamping block 213 and the second clamping block 223 increases sharply, so that the load is larger than the maximum torque of the third motor 234, and the third motor 234 steps, and the clamping force provided by the third motor 234 alone is unstable and cannot be accurately estimated. In addition, since the clamp pad at the clamp block is permanently compressed and deformed due to repeated pressing for a long time, the thickness of the clamp pad is reduced after the operation of the clamping tube assembly 20 for a long time, and the positive pressure that the first clamp block 213 and the second clamp block 223 can apply to the tube body 800 is reduced, thereby causing the tube body 800 to be unable to be clamped.

Therefore, in the present embodiment, at least one of the first and

second clamp arms

21 and 22 is connected to the timing belt 233 through the elastic buffer structure 235. In this embodiment, the first clamp arm 21 and the timing belt 233 are connected by an elastic buffer 235, the elastic buffer 235 includes a spring 2351, and the first clamp arm 21 and the lower timing belt 2332 are connected by a spring 2351. A connecting block 2352 is arranged on the lower synchronous belt 2332, one end of the spring 2351 is connected to the connecting block 2352, and the other end of the spring 2351 is connected to the first clamping arm 21. In order to avoid abrasion of the timing belt 233 caused by the fact that the connecting block 2352 is twisted due to the fact that the tension of the spring 2351 and the tension of the timing belt 233 are not collinear, the stretching direction of the spring 2351 is parallel to the transmission direction of the corresponding layer of the timing belt 233. In this embodiment, the direction of extension or compression of the spring 2351 is parallel to the direction of drive of the lower timing belt 2332.

When the third motor 234 rotates in a forward direction, the first clamping arm 21 and the second clamping arm 22 approach each other to clamp the pipe body 800, the second clamping arm 22 slides relative to the connection block 2352 and compresses the spring 2351, and when the third motor 234 rotates in a reverse direction, the timing belt 233 and the spring 2351 can drive the second clamping arm 22 to reset. After the spring 2351 is added, the third motor 234 drives the timing belt 233 to stretch or compress the spring 2351, and the second clamping arm 22 clamps the test tube under the action of the spring 2351. The amount of deformation of the spring 2351 is much greater than the amount of deformation of the clamping pad of the blood collection tube, the first clamping block 213, or the second clamping block 223 and the amount of deformation of the clamping pad due to permanent compression deformation, and a certain pre-tension or pre-pressure can be set to reduce the influence of the deformation of the blood collection tube and the clamping pad on the force of the spring 2351. During model selection, stable clamping can be realized only by ensuring that the product of the tension or pressure of the spring 2351 and the safety coefficient is larger than the required positive pressure and the product of the positive pressure, the radius of the belt wheel and the safety coefficient is smaller than the maximum torque of the motor. Therefore, the elastic buffer structure 235 can provide stable clamping force for the pipe clamping assembly 20, and can compensate for the error of the structural wear deformation of the first clamping arm 21 and the second clamping arm 22 to a certain extent.

In other embodiments, the resilient buffer structure 235 may further include a guide shaft having one end fixed to the first clamping arm 21 and the other end slidably connected to the connection block 2352, wherein the first clamping arm 21 slides along the connection block 2352 via the guide shaft when the first clamping arm 21 compresses or stretches the spring 2351.

In this embodiment, only the first clamp arm 21 and the timing belt 233 are connected by the elastic buffer structure 235. In other embodiments, it may be that both the first clamping arm 21 and the second clamping arm 22 are connected to the timing belt 233 through the elastic buffer structure 235, or the second clamping arm 22 is connected to the timing belt 233 through the elastic buffer structure 235.

In order to ensure that the first clamping arm 21 and the second clamping arm 22 keep stable linear movement in the left-right direction, in the embodiment, the first clamping arm 21 is slidably connected to the base plate, and the second clamping arm 22 is connected to the base plate 10, so that the first clamping arm 21 and the second clamping arm 22 can be well guided to move close to or away from each other, and the first clamping arm 21 and the second clamping arm 22 can be ensured to stably clamp the pipe body 800 along a set path. In this embodiment, the base plate 10 is provided with a guide groove 11 extending in the left-right direction, the first clamp arm 21 is provided with a first sliding portion slidably engaged with the guide groove 11, and the second clamp arm 22 is provided with a second sliding portion slidably engaged with the guide groove 11. The guide groove 11 and the sliding part are matched simply, the extending direction of the guide groove 11 is the moving path of the first clamping arm 21 and the second clamping arm 22, the guiding effect is good, and the first clamping arm 21 and the second clamping arm 22 can stably move along the path of the guide groove 11.

In some embodiments, the guide slot 11 includes a third sliding slot and a fourth sliding slot, the third sliding slot and the fourth sliding slot both extend along the left-right direction and are arranged at intervals in the left-right direction, the first clamping arm 21 is provided with a first sliding portion in sliding fit with the third sliding slot, and the second clamping arm 22 is provided with a second sliding portion in sliding fit with the fourth sliding slot; the first driving assembly 23 is used for driving the first clamping arm 21 and the second clamping arm 22 to slide in the third sliding chute and the fourth sliding chute respectively. The mode that spout and slider cooperation are simple, and the extending direction of spout is the moving path of first clamp arm 21 and second clamp arm 22 for first clamp arm 21 and second clamp arm 22 can move along the route at spout place steadily with good direction effect.

Of course, in other embodiments, the third sliding slot and the fourth sliding slot may be respectively disposed on the first clamping arm 21 and the second clamping arm 22, and the base plate 10 is provided with a first sliding portion and a second sliding portion respectively engaged with the third sliding slot and the fourth sliding slot.

In order to determine whether the first clamping arm 21 and the second clamping arm 22 move in place in the left-right direction, a first in-place detection module 24 is further disposed on the clamping tube assembly 20, the first in-place detection module 24 includes a first blocking piece 241 and a first optical coupler 242, the first blocking piece 241 is mounted on one of the second clamping arm 22 and the base plate 10, and the first optical coupler 242 is mounted on the other one of the second clamping arm 22 and the base plate 10. In this embodiment, the first blocking piece 241 is fixed on the second clamping arm 22, the first optical coupler 242 is installed on the bottom plate 10, and the second clamping arm 22 moves left and right to enable the first blocking piece 241 to move between the transmitter of the first optical coupler 242 and the receiver of the first optical coupler or to exit between the transmitter of the first optical coupler 242 and the receiver of the first optical coupler 242, so that the transmitter of the first optical coupler and the receiver of the first optical coupler are switched off or communicated in an induction manner. When the first shutter 241 moves between the receiver of the first photocoupler 242 and the transmitter of the first photocoupler 242, the sensing between the receiver of the first photocoupler 242 and the transmitter of the first photocoupler 242 is cut off, and the distance between the first clamping arm 21 and the second clamping arm 22 is the farthest.

In other embodiments, the first in-place detection module 24 may also be a sensing element such as a laser sensor or an ultrasonic sensor.

In this embodiment, the tube clamping assembly 20 is further provided with a tube detecting module 25, the tube detecting module 25 includes a first transmitting module 251 disposed on the first clamping arm 21 and a first receiving module 252 disposed on the second clamping arm 22, and the first receiving module 252 is configured to receive a signal transmitted by the first transmitting module 251. When the first receiving module 252 receives the signal sent by the first transmitting module 251, it indicates that there is no test tube between the first clamping arm 21 and the second clamping arm 22, and when the first receiving module 252 does not receive the signal sent by the first transmitting module 251, it indicates that there is a test tube between the first clamping arm 21 and the second clamping arm 22, and the test tube blocks the signal sent by the first transmitting module 251 from being transmitted to the first receiving module 252, if the first receiving module 252 does not receive the signal sent by the first transmitting module 251 before the cap is removed (there is a test tube between the first clamping arm 21 and the second clamping arm 22), but if the first receiving module 252 receives the signal sent by the first transmitting module 251 (there is no test tube between the first clamping arm 21 and the second clamping arm 22) during the cap removing process, it indicates that the tube body 800 of the test tube is driven to move upward and exceeds the detection range of the tube body detecting module 25 during the cap removing process, the cap removal mechanism 100 may alarm a shutdown.

The first transmitting module 251 and the first receiving module 252 may be selected from a transmitting optical coupler and a receiving optical coupler. Because body 800 generally is glass or plastics material, has certain transmission and reflection to light signal, can set up different thresholds through setting up the receiving opto-coupler, detects body 800 comparatively easily.

In other embodiments, the first transmitting module 251 and the first receiving module 252 may also use a sensing element such as a laser sensor, an ultrasonic sensor, etc.

Further, the cap pulling mechanism 100 further comprises a cap positioning structure 26, the cap positioning structure 26 is disposed on the first clamping arm 21 or the second clamping arm 22, and the cap positioning structure 26 is used for positioning the pulled cap 900. In this embodiment, the cap positioning structure 26 is a puncture needle and is disposed on the first clamping arm 21. The arrangement of the cap positioning structure 26 can position the pulled cap, and prevent the cap from shaking and falling off during the movement of the cap pulling mechanism 100, so as to accurately realize the cap action in the following process. The puncture needle has a simple structure and is provided with a tip part, so that the puncture needle can be conveniently inserted into the upper end of the pipe cap to fix the pipe cap. In other embodiments, cap positioning structure 26 may also be a cylinder, a threaded post, or a mechanical finger or the like disposed at the upper end of the uncapping path.

Typically, the top of the pipe cap 900 has a recess, so the pipe cap positioning structure 26 may also be a cylindrical plug, and an end of the cylindrical plug away from the first clamping arm 21 may be provided as a ball head, so that the cylindrical plug is inserted into the recess of the pipe cap 900.

As shown in fig. 1, 3-5, the first cap removing assembly 30 includes a first driving member 31, a first clamping member 32 and a first cap removing base plate 33, the first cap removing base plate 33 is connected to the first sliding block 212, so that the first cap removing base plate 33 can move up and down relative to the first clamping arm 21, the first driving member 31 is mounted on the first cap removing base plate 33, and the first clamping member 32 is in transmission connection with the first driving member 31.

The second cap removing assembly 40 comprises a second clamping member 41 and a second cap removing base plate 42, the second cap removing base plate 42 is connected to the second slider 222 so that the second cap removing base plate 42 can move up and down relative to the second clamping arm 22, and the second clamping member 41 is rotatably mounted on the second cap removing base plate 42. The arrangement of the first cap pulling base plate 33 and the second cap pulling base plate 42 facilitates the installation of the first driving member 31, the first clamping member 32 and the second clamping member 41, and enables the second driving assembly 50 to drive the first cap pulling assembly 30 and the second cap pulling assembly 40 to move stably in the up-down direction.

The first clamping member 32 and the second clamping member 41 are used for cooperatively clamping the pipe cap 900, and the first driving member 31 is used for driving the first clamping member 32 to move so as to drive the pipe cap 900 to rotate around the axis of the pipe cap itself. The second driving assembly 50 and the first driving member 31 act on the tube cap 900 together, so that the first clamping member 32 and the second clamping member 41 cooperate to drive the tube cap 900 to move up and down relative to the tube body 800 and rotate around the axis of the tube cap, that is, in the process of pulling the cap and the cap, the tube cap 900 spirally rises or falls relative to the tube body 800, the cap pulling and the cap covering process is soft, aerosol is not easy to generate, and the risk of cross infection with peripheral samples is reduced.

In order to enable the movement of the first clamping member 32 to drive the pipe cap 900 to rotate around its axis, the first clamping member 32 has a first friction surface, the first friction surface is used for contacting with the pipe cap 900, the pipe cap 900 can be prevented from slipping in the rotating process through the first friction surface, and the first clamping member 32 is prevented from being separated from the pipe cap 900.

When the first clamping member 32 drives the pipe cap 900 to rotate around its axis, the pipe cap 900 drives the second clamping member 41 to move, and the second clamping member 41 has a second friction surface, which is used for contacting with the pipe cap 900. Second holder 41 can play supplementary centre gripping effect to pipe cap 900, and when pipe cap 900 rotated around self axis, pipe cap 900 can drive second holder 41 motion for can not appear blocking between second holder 41 and the pipe cap 900. The second clamping member 41 has a second friction surface for contacting the cap 900. The second friction surface is arranged to prevent the second clamping member 41 and the pipe cap 900 from slipping, so that the second clamping member 41 is prevented from being separated from the pipe cap 900, and the second clamping member 41 can better play a role in assisting in clamping the pipe cap 900.

In other embodiments, the second clamping member 41 may also be provided with a driving mechanism for driving the second clamping member 41 to move, the first driving member 31 drives the first clamping member 32 to move, and the corresponding driving mechanism of the second clamping member 41 drives the second clamping member 41 to move, so that the first clamping member 32 and the second clamping member 41 jointly act on the pipe cap 900 to rotate the pipe cap 900 around its axis.

The first clamping member 32 and the second clamping member 41 can have many forms, in this embodiment, the first clamping member 32 is a first rotating wheel, the first friction surface is an outer circumferential surface of the first rotating wheel, and the first driving member 31 is used for driving the first rotating wheel to rotate. The second clamping member 41 is a second rotating wheel, and the second friction surface is an outer circumferential surface of the second rotating wheel. The first clamping member 32 and the second clamping member 41 are in the form of rotating wheels, so as to drive the pipe cap 900 to rotate around the axis thereof.

In this embodiment, the first clamping member 32 is a ratchet wheel, the first friction surface is a tooth surface of the ratchet wheel, the second clamping member is an idler wheel, and the first driving member 31 is a first motor for driving the first clamping member 32 to rotate. The ratchet and idler wheel can cooperate to hold the cap 900 of the test tube.

In this embodiment, as shown in fig. 3-5, the first cap pulling assembly 30 comprises a plurality of first clamping members 32, each first clamping member 32 is a ratchet wheel, the plurality of ratchet wheels are driven synchronously by the first driving member 31 through the gear transmission mechanism 34, the second cap pulling assembly 40 comprises a plurality of second clamping members 41, each second clamping member 41 is an idler wheel, the plurality of idler wheels enclose a concave arc portion 43 matched with the peripheral wall of the cap 900, and the plurality of ratchet wheels and the plurality of idler wheels jointly clamp the cap 900. The ratchet surface friction is great, has great frictional force between the two when the ratchet perisporium contacts with pipe cap 900 perisporium, therefore first driving piece 31 drive ratchet rotate can drive pipe cap 900 around self axis rotation more easily, and a plurality of ratchets and a plurality of idler combined action make first pull out cap subassembly 30 and second pull out cap subassembly 40 can be stable pull out cap and block, avoid pulling out the cap and block in-process, pipe cap 900 breaks away from with ratchet and idler.

In the process of pulling out the cap, the second driving component 50 and the first driving component 31 act simultaneously, the ratchet wheel and the idler wheel are matched to drive the pipe cap 900 to move up and down relative to the pipe body 800 and rotate around the axis of the pipe cap, namely, in the process of pulling out the cap, the pipe cap 900 spirally rises relative to the pipe body 800, the process of pulling out the cap is soft, aerosol is not easy to generate, and the risk of cross infection with peripheral samples is reduced.

In other embodiments, the first clamping member 32 and the second clamping member 41 may be in other configurations, for example, the first clamping member 32 is a first clamping plate having a first friction surface, the first driving member 31 is a linear motor, the second clamping member 41 is a second clamping plate movably disposed on the second cap removing base plate 42, the first clamping plate extends in a tangential direction of a contact position with the cap 900, the second clamping plate extends in a tangential direction of a contact position with the cap 900, the first driving member is configured to drive the first clamping member to move linearly, so that the first friction surface provides a tangential force to the cap 900, so that the cap 900 rotates around its axis, and when the cap 900 rotates, the clamping member driven by the second friction surface moves linearly.

In this embodiment, there is one second driving assembly 50, the second driving assembly 50 is fixed on the bottom plate 10, the first cap removing substrate 33 is connected to the output end of the second driving assembly 50 in a manner of moving left and right, and the second cap removing substrate 42 is connected to the output end of the second driving assembly 50 in a manner of moving left and right. Because the first cap pulling substrate 33 and the second cap pulling substrate 42 are respectively arranged on the first clamping arm 21 and the second clamping arm 22 in a vertically movable manner, the first cap pulling substrate 33 and the second cap pulling substrate 42 can be arranged at the output end of the second driving assembly 50 in a horizontally movable manner, so that the second driving assembly 50 can drive the first cap pulling assembly 30 and the second cap pulling assembly 40 to move vertically without influencing the first driving assembly 23 to drive the first clamping arm 21 and the second clamping arm 22 to move close to or away from each other in the left-right direction, and the movement of each component of the pipe clamping assembly 20 and the cap pulling assembly is related and independent. The first cap pulling assembly 30 and the second cap pulling assembly 40 share one linear motor, and the space occupied by the cap pulling mechanism 100 is greatly reduced.

As shown in fig. 3 to 6, the first pulling cap substrate 33 is provided with a first sliding groove 331, the second pulling cap substrate 42 is provided with a second sliding groove 421, the first sliding groove 331 and the second sliding groove 421 both extend in the left-right direction, and the first sliding groove 331 and the second sliding groove 421 are respectively located at the front side and the rear side of the output end of the second driving assembly 50 and both slide-fit with the output end of the second driving assembly 50.

The first sliding chute 331 and the second sliding chute 421 both extend along the left-right direction to enable the first cap pulling substrate 33 and the second cap pulling substrate 42 to move left and right along with the output end of the first clamping arm 21 and the output end of the second clamping arm 22 relative to the second driving component 50 so as to clamp or loosen the cap 900, and a guiding effect is achieved, the opposite groove walls in the up-down direction of the first sliding chute 331 and the second sliding chute 421 can limit the first cap pulling substrate 33 and the second cap pulling substrate 42 up and down, and the second driving component 50 can drive the first cap pulling substrate 33 and the second cap pulling substrate 42 to move up and down.

In the present embodiment, the first pulling cap base plate 33 has a first abutting surface 332 for abutting against the lower end of the tube cap 900, and the second pulling cap base plate 42 has a second abutting surface 422 for abutting against the lower end of the tube cap 900; when the second driving assembly 50 drives the first cap pulling substrate 33 and the second cap pulling substrate 42 to move upward synchronously, the first abutting surface 332 and the second abutting surface 422 push the cap 900 to move upward. The first abutting surface 332 and the second abutting surface 422 can push the pipe cap 900 to move upwards, so that the pipe cap 900 is separated from the pipe body 800 to realize cap pulling.

In the present embodiment, the first pulling cap base plate 33 has a third abutting surface 333 for abutting against the upper end of the tube cap 900, and the second pulling cap base plate 42 has a fourth abutting surface 423 for abutting against the upper end of the tube cap 900; when the second driving assembly 50 drives the first cap pulling substrate 33 and the second cap pulling substrate 42 to synchronously move downwards, the first abutting surface 332 and the second abutting surface 422 push the cap 900 to move upwards. The third abutting surface 333 and the fourth abutting surface 423 can push the pipe cap 900 to move downwards, so that the pipe cap 900 can be covered on the pipe body 800 conveniently, and the capping is realized.

In the present embodiment, a first recess 334 for accommodating the cap 900 is provided between the first and third abutment surfaces 332, 333, and a second recess 424 for accommodating the cap 900 is provided between the second and fourth abutment surfaces 422, 423, and the first and second recesses 334, 424 are oppositely arranged. As shown in FIG. 7, during the uncapping or capping of the first and second

cap pulling assemblies

30, 40, two radial sides of the cap 900 are received in the first and second recesses 334, 424, respectively, such that the cap 900 rotates about its axis within the area defined by the first, third, first, second, fourth, and second abutment surfaces 332, 333, 334, 422, 423, 424.

As shown in fig. 8, the second driving assembly 50 includes a second motor 51, a screw 52 and a nut 53, the second motor 51 is fixed on the bottom plate 10, the screw 52 is connected to an output shaft of the second motor 51, the nut 53 is sleeved on the screw 52, and the first chute 331 and the second chute 421 are respectively in sliding fit with the nut 53, so that the first cap removing substrate 33 and the second cap removing substrate 42 move left and right relative to the output end of the second driving assembly 50. The first cap pulling assembly 30 and the second cap pulling assembly 40 are driven to move up and down in a mode that a motor of the screw rod 52 is matched with a nut 53, the driving mode is simple, and the linear movement is stable.

In order to ensure that the nut 53 can stably rise or fall linearly, the second driving assembly 50 further includes two guiding members 54, the guiding members 54 are fixed on the base plate 10, two through grooves 531 extending up and down are formed on two sides of the nut 53 in the left-right direction, and the two guiding members 54 are respectively inserted into the two through grooves 531.

In other embodiments, the second driving assembly 50 may also include two linear driving mechanisms, the first cap removing base plate 33 and the second cap removing base plate 42 are driven by the two linear driving mechanisms to move up and down relative to the first clamping arm 21 and the second clamping arm 22 respectively, the linear driving mechanism which drives the first cap removing substrate 33 to move up and down is in sliding fit along the left-right direction relative to the first clamping arm 21 and is limited in the up-down direction (the linear driving mechanism which drives the first cap removing substrate 33 to move up and down has no relative motion relation in the up-down direction relative to the first clamping arm 21), and the linear driving mechanism which drives the second cap removing substrate 42 to move up and down is in sliding fit along the left-right direction relative to the second clamping arm 22 and is limited in the up-down direction (the linear driving mechanism which drives the second cap removing substrate 42 to move up and down has no relative motion relation in the up-down direction relative to the second clamping arm 22).

Further, the cap pulling mechanism 100 further comprises a cap detecting module 70, wherein the cap detecting module 70 comprises a transmitting end 71 and a receiving end 72, the transmitting end 71 is mounted on one of the first cap pulling assembly 30 and the second cap pulling assembly 40, and the receiving end 72 is mounted on the other of the first cap pulling assembly 30 and the second cap pulling assembly 40. In this embodiment, the receiving end 72 is installed on the first cap pulling substrate 33 and located above the ratchet, the emitting end 71 is installed on the second cap pulling substrate 42 and located above the idler, and the cap detecting module 70 can be used to detect whether the test tube has the cap 900 or not and the upper and lower positions of the cap 900, so that the first cap pulling assembly 30 and the second cap pulling assembly 40 can accurately clamp the cap 900 to pull the cap or cap. In this embodiment, the transmitting end 71 is provided with a transmitting optocoupler, and the receiving end 72 is provided with a receiving optocoupler.

Generally, the cap 900 is made of a non-transparent material, and can block and reflect optical signals, and different thresholds are set through a receiving optical coupler, so that the presence or absence and the highest position of the cap 900 can be easily detected.

In this embodiment, the cap pulling mechanism 100 further includes a second in-place detection module 80, the second in-place detection module 80 includes a second blocking piece 81 and a second optical coupler 82, the second blocking piece 81 is installed on one of the tube clamping assembly 20 and the first cap pulling assembly 30 (or the second cap pulling assembly 40), and the second optical coupler 82 is installed on the other of the tube clamping assembly 20 and the first cap pulling assembly 30 (or the second cap pulling assembly 40). In this embodiment, the second blocking plate 81 is fixed on the second clamping arm 22, the second optical coupler 82 is installed on the second cap pulling substrate 42 of the second cap pulling assembly 40, and the second cap pulling substrate 42 moves up and down enough to enable the second blocking plate 81 to move between the transmitter of the second optical coupler 82 and the receiver of the second optical coupler 82 or to exit between the transmitter of the second optical coupler 82 and the receiver of the second optical coupler 82, so that the transmitter of the second optical coupler 82 and the receiver of the second optical coupler 82 are switched off or communicated by induction. When the second shutter 81 moves between the receiver of the second photocoupler 82 and the transmitter of the second photocoupler 82, the sensing between the receiver of the second photocoupler 82 and the transmitter of the second photocoupler 82 is cut off, and the first cap removing assembly 30 and the second cap removing assembly 40 are located at the lowest positions in the up-down direction.

As shown in fig. 9, a sampling device 1000 is provided in the second embodiment of the present application, and the sampling device 1000 includes a base 200, a third driving assembly 300, and the cap removing mechanism 100 provided in the first embodiment. The cap removing mechanism 100 is disposed on the base 200, and the third driving assembly 300 is used for driving the cap removing mechanism 100 to move in the front-back direction relative to the base 200. The cap pulling mechanism 100 can move along the front-back direction under the driving of the third driving component 300, the cap pulling position of the cap pulling mechanism 100 can be changed, and the cap pulling and the cap covering of test tubes at different positions are realized.

In this embodiment, the base 200 is provided with a rail 210, the rail 210 extends in the front-rear direction, the rail 210 is provided with a moving block 220, and the base plate 10 of the cap removing mechanism 100 is connected to the moving block 220. The third driving assembly 300 includes a fourth motor 340, a driving pulley 310, a driven pulley 320 and a transmission belt 330, the driving pulley 310 and the driven pulley 320 are arranged at intervals in the front-rear direction, the transmission belt 330 is wound around the driving pulley 310 and the driven pulley 320, the driving pulley 310 and the driven pulley 320 divide the transmission belt 330 into two opposite layers, the moving block 220 or the bottom plate 10 of the cap removing mechanism 100 is connected to one of the two opposite sides of the transmission belt 330, and the fourth motor 340 rotates forward and backward to drive the cap removing mechanism 100 to reciprocate in the front-rear direction relative to the base 200. The sampling device 1000 further comprises a third in-place detection module 400, wherein the third in-place detection module 400 comprises a third blocking piece 410 and a third optical coupler 420, the third blocking piece 410 is installed on one of the base 200 and the cap pulling mechanism 100, and the third optical coupler 420 is installed on the other one of the base 200 and the cap pulling mechanism 100. In this embodiment, the third blocking plate 410 is fixed on the bottom plate 10 of the cap pulling mechanism 100, the third optical coupler 420 is installed on the base 200, and the third driving assembly 300 drives the cap pulling mechanism 100 to move back and forth so that the third blocking plate 410 can move between the transmitter of the third optical coupler 420 and the receiver of the third optical coupler 420 or can exit between the transmitter of the third optical coupler 420 and the receiver of the third optical coupler 420, so that the third optical coupler 420 can be cut off or communicated with the transmitter and the receiver of the third optical coupler 420 through induction. When the third blocking piece 410 moves to a position between the receiver of the third optical coupler 420 and the transmitter of the third optical coupler 420, the sensing between the receiver of the third optical coupler 420 and the transmitter of the third optical coupler 420 is cut off, and then the cap pulling mechanism 100 moves to the limit position in the front-rear direction on the base 200.

In other embodiments, the third in-place detection module 400 may also be a sensing element such as a laser sensor or an ultrasonic sensor.

Further, the sampling device 1000 further comprises a sample holder placing table 500, the sample holder placing table 500 being mounted to the base 200 and located between the first clamping arm 21 and the second clamping arm 22. The sample rack placing stand 500 is provided with a mounting groove 510 extending in the front-rear direction, and the sample rack can slide between the first clamp arm 21 and the second clamp arm 22 along the mounting groove 510. Can place a plurality of test tubes simultaneously on the general sample frame, the sample frame is convenient for place the sample frame to the setting of sample frame table 500, removes to pull out cap mechanism 100 and can pull out the action of cap to the test tube of different positions on the sample frame. The arrangement of the mounting groove 510 facilitates the sample rack to enter between the first clamping arm 21 and the second clamping arm 22, and also can position the sample rack, thereby facilitating the action of pulling the cap.

In this embodiment, sampling device 1000 still includes disinfection subassembly 600, still is equipped with installation cover 230 on the base 200, and disinfection subassembly 600 installs in the inner wall of the installation cover 230 of base 200, and installs the cover 230 and locate the outside of pulling out cap mechanism 100, and disinfection subassembly 600 can disinfect to pulling out cap mechanism 100, avoids test tube and the sample in the test tube to be contaminated. Optionally, the sterilization assembly 600 is an ultraviolet lamp. In other embodiments, sterilization assembly 600 may be in other forms.

The sampling device 1000 is integrated with the instrument sample detection site, and integrates the functions of clamping a test tube, pulling a cap, screwing the cap, covering the cap and disinfecting.

In this embodiment, the sampling device 1000 further comprises a sampling assembly (not shown) disposed on the base 200, and the sampling assembly is used for sampling the test tube after the cap is pulled out. The setting of sampling subassembly can make to insert in the sampling subassembly and pull out the action of cap, can improve the detection efficiency of instrument, avoids simultaneously shifting the test tube after pulling out the cap to other sampling subassembly departments, avoids the sample infection to appear in the transfer process.

Wherein, the sampling subassembly includes the sampling portion. The sampling portion can move to be able to extend into or come out of the test tube. Specifically, the sampling part is a sampling needle. It should be noted that the sampling component is a conventional sampling component in the art, and is not described herein again. According to the difference of sample, the sample portion selection is also different, for example, the sample is blood, and the sampling needle can be chooseed for use to the sample portion, and the sample is the plant sample, then the sample portion can be for centre gripping structures such as tweezers.

In the present application, the sampling may be performed by taking a sample from a test tube through a sampling assembly, or may be performed by taking a sample into a test tube through a sampling assembly.

The embodiment of the application also provides a detection device, which comprises a detection component and a sampling device 1000; the detection assembly is used for detecting the sample in the test tube. The check out test set collection is pulled out cap mechanism 100, is adopted subassembly and determine module in an organic whole, avoids carrying out long distance transfer to the test tube, improves detection efficiency, in addition, can also greatly reduce the demand to the space, makes check out test set's size reduce, inserts in the chronogenesis of check out test set's sampling and pulls out the action of cap, improves check out test set's detection efficiency. The detection component may be, for example, an immunoassay module. The detection component includes but is not limited to an immunoassay module, and can be arranged according to the detection structure obtained by the requirement.

The embodiment of the application also provides a sampling method, which comprises the following steps: the tube body 800 of the test tube is clamped through the tube clamping assembly 20, and the tube cap 900 of the test tube is driven to move upwards relative to the tube body 800 through the first cap pulling assembly 30 and the second cap pulling assembly 40, so that cap pulling is realized; sampling the inside of the tube body through a sampling assembly; the cap 900 is moved downward relative to the tube 800 by the first cap pulling assembly 30 and the second cap pulling assembly 40 to realize capping.

Further, the sampling method further comprises before sampling the interior of the tube body 800 by the sampling assembly, loosening the tube body 800 by the tube clamping assembly, and then moving the cap pulling mechanism 100 to make room above the tube body 800; after the inside of the tube body 800 is sampled by the sampling assembly, the cap pulling mechanism 100 is moved so that the cap 900 is positioned right above the tube body 800.

Specifically, the sampling method includes the following steps S1 to S13:

s1: the sample rack 700 with the test tubes is first slid onto the sample rack placement stage 500 along the slide groove.

S2: after the detection program is started, the whole cap pulling mechanism 100 is verified and reset through the pipe body detection module 25, the pipe cap detection module 70, the first in-place detection module 24, the second in-place detection module 80 and the third in-place detection module 400, and the pre-working state is adjusted.

S3: the first cap removing assembly 30 and the second cap removing assembly 40 are raised to a certain height, the cap removing mechanism 100 moves from the first test tube to the last test tube in the front-back direction, and whether the cap 900 is over the allowable height is detected by the cap detecting module 70. After the operation is finished, the whole cap pulling mechanism 100 is verified and reset, and the pre-working state is adjusted.

S4: the cap removing mechanism 100 is moved in the front-rear direction to the position of the first test tube. The first pulling cap assembly 30 and the second pulling cap assembly 40 move upward synchronously until the center of the cap detecting module 70 exceeds the upper edge of the cap 900 (i.e. the cap detecting module 70 cannot detect the cap 900), and the position at this time is recorded as the cap height.

S5: the first and second

cap pulling assemblies

30 and 40 move downward until the lower end of the cap 900 abuts the first abutting surface of the first cap pulling base 33 and the second cap pulling base 42 of the second cap pulling assembly 40.

S6: the first and

second clamp arms

21 and 22 are close to each other in the left-right direction to clamp the tube body 800 of the test tube, while the peripheral wall of the ratchet and the peripheral wall of the idler are in contact with the cap 900.

S7: the first cap pulling assembly 30 and the second cap pulling assembly 40 move upwards to the cap pulling limit height, and in the operation process, the first clamping piece 32 and the second clamping piece 41 are matched to clamp the pipe cap 900; the first clamping member 32 is driven by the first driving member 31 to move so as to drive the tube cap 900 to rotate around the axis of the first clamping member, and after the first cap pulling assembly 30 and the second cap pulling assembly 40 move upwards to the cap pulling limit height, the tube cap 900 is fixed on the puncture needle.

S8: the first clamp arm 21 and the second clamp arm 22 are separated from each other in the left-right direction, and the pipe body 800 is loosened.

S9: the cap pulling mechanism 100 stops moving after moving to other positions along the front-back direction, so that the tube cap 900 is no longer located right above the tube body 800, and is moved to the way for subsequent sampling components to sample from the tube body 800, and the cap pulling action is completed at the moment.

S10: the sampling action is started.

S11: after the sampling operation is completed, the cap removing mechanism 100 moves in the front-back direction to the position of the tube 800 after the cap removal.

S12: the first and

second clamp arms

21 and 22 are close to each other in the left-right direction to clamp the pipe body 800.

S13: after the third abutment surface 333 of the first cap pulling assembly 30 and the fourth abutment surface 423 of the second cap pulling assembly 40 remove the cap 900 from the spike and move downward to the cap height, the capping action is complete.

The sampling method does not need to arrange a pipe cap recovery device, and the occupied space of the sampling method is greatly reduced. And just can pull out the cap to next test tube after a test tube accomplishes the action of pulling out cap and block cap, pull out a cap 900 at every turn promptly, greatly reduced sample pollution risk inserts and pulls out the action of block cap in the chronogenesis of instrument sampling, improves the detection efficiency of instrument. It should be noted that the sampling in this application may be that the sample is contained in the test tube and the sample in the test tube is collected by the sampling assembly, or that the sample is not contained in the test tube and the sample is collected and loaded in the test tube by the sampling assembly.

As shown in fig. 10, in the present embodiment, the detection device is provided with a controller, and automatic control of cap pulling, sampling and capping is realized by the controller. After the controller acquires the start command, the cap pulling mechanism 100 is driven by the third driving assembly 300 to move to the first test tube position in the test tube arrangement direction along the front-back direction. The first test tube position may be the test tube position at the front end or the first test tube position at the rear end.

The embodiment of the present application further provides a sampling control method, including the following steps S110 to S120:

s110, detecting whether the pipe body 800 exists or not, if the pipe body 800 is detected, detecting whether the pipe cap 900 exists or not, if the pipe cap 900 is detected, controlling the pipe clamping assembly 20 to clamp the pipe body 800, controlling the first cap pulling assembly 30 and the second cap pulling assembly 40 to drive the pipe cap 900 to move upwards so that the pipe cap 900 is separated from the pipe body 800, and if the pipe cap 900 is not detected, controlling the sampling assembly to sample the interior of the pipe body 800.

Specifically, the presence or absence of the tube 800 is detected by the tube detection module 25:

if the tube body 800 is detected, the information of the tube body 800 is sent to the controller, and then the tube cap detection module 70 detects whether the tube cap 900 exists, wherein the specific process of detecting the tube cap 900 is that the first cap pulling assembly 30 and the second cap pulling assembly 40 move from the lowest position to the highest position upwards along the up-down direction, and the tube cap detection module 70 is arranged on the first cap pulling assembly 30 and the second cap pulling assembly 40 and can move along with the first cap pulling assembly 30 and the second cap pulling assembly 40. During the movement, it can be understood that the cap detection module 70 can detect the highest position of the cap 900 in the up-down direction.

If the pipe cap 900 is detected, the information of the pipe cap 900 is sent to the controller, the controller controls the first driving assembly 23 to drive the pipe clamping assembly 20 to clamp the pipe body 800, controls the second driving assembly 50 to drive the first cap pulling assembly 30 and the second cap pulling assembly 40 to move upwards to a position where the pipe cap 900 can be located in the first concave portion 334 and the second concave portion 424, and controls the second driving assembly 50 to drive the first cap pulling assembly 30 and the second cap pulling assembly 40 to continue moving upwards when the pipe cap 900 is located in the first concave portion 334 and the second concave portion 424, and simultaneously controls the first driving member 31 to drive the ratchet wheel to rotate, so that the pipe cap 900 is separated from the pipe body 800 and is located by the pipe cap locating structure 26 to achieve the cap pulling.

When the cap removal is completed, cap positioning structure 26 will hold cap 900 against falling out. Then, the first driving assembly 23 is controlled to drive the tube clamping assembly 20 to loosen the tube body 800, and the third driving assembly 300 is controlled to drive the cap pulling mechanism 100 to move in the front-back direction, so that the tube cap 900 is no longer located at a position above the tube body 800.

When the cap 900 is no longer located above the tube 800, the sampling assembly is controlled to move to the upper side of the tube 800, and move in the vertical direction to sample the inside of the tube 800 (taking a sample from the tube 800 as an example), and the sampling assembly is controlled to move the collected sample to the cuvette and drive the sample into the cuvette.

After the sampling assembly is removed, the third driving assembly 300 is controlled to move to the tube body 800, and the first driving assembly 23 is controlled to drive the tube clamping assembly 20 to clamp the tube body 800, while the tube cap 900 is received in the first recess 334 and the second recess 424. And then the second driving assembly 50 is controlled to drive the first cap pulling assembly 30 and the second cap pulling assembly 40 to move downwards until the cap 900 is covered on the tube body 800.

If not detect the pipe cap 900, then the information that does not detect the pipe cap 900 is uploaded to the controller, and the controller control sampling subassembly removes to the top of body 800 to remove along the up-and-down direction and sample in the body 800, and control sampling subassembly and remove the sample of gathering to the reaction cup and squeeze the sample into the reaction cup.

S120, if the tube body 800 is not detected, moving to the next test tube position to detect whether the tube body 800 exists or not.

Specifically, if the tube body 800 is not detected, the information that the tube body 800 is not detected is sent to the controller, the controller controls the third driving assembly 300 to move to the next test tube position along the front-back direction, and the above process is repeated. After the cap is removed, the sterilizing assembly 600 is automatically turned on to sterilize the aerosol sprayed during the removal and capping of the cap 900. After the test is finished, the user can set the disinfection time to disinfect the sample bin body for a long time, and the harm of aerosol is further reduced.

The sampling control method enables the automation degree of the sampling detection process to be higher and the sampling detection efficiency to be higher. After the pipe cap 900 is detected, the pipe cap can be automatically pulled out, so that the sampling assembly can normally sample. After sampling is complete and off the test tube, the cap pulling mechanism 100 again covers the cap 900 onto the original tube 800. The whole process is automatically completed in the sampling area inside the instrument, and a user cannot contact the tube body 800 of the cap 900, so that the operation steps of the user are reduced, and the risk of infection of the user by harmful substances such as aerosol is reduced to the maximum extent.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cap pulling mechanism is characterized by comprising:

a base plate;

the tube clamping assembly is used for clamping or loosening the tube body of the test tube;

the first cap pulling assembly is connected to the pipe clamping assembly in a vertically movable mode;

the second cap pulling assembly is connected to the pipe clamping assembly in a manner of moving up and down;

the first cap pulling assembly and the second cap pulling assembly can synchronously move up and down, and can drive the tube cap of the test tube to move up and down relative to the tube body when the tube clamping assembly clamps the tube body, so that the tube cap can be separated from the tube body or covered on the tube body;

the first cap pulling assembly comprises a first driving piece and a first clamping piece which are in transmission connection, the second cap pulling assembly comprises a second clamping piece, the first clamping piece and the second clamping piece can be matched to clamp the pipe cap, and the first clamping piece can move under the driving of the first driving piece to drive the pipe cap to rotate around the axis of the first clamping piece;

the first clamping piece is provided with a first friction surface which is used for contacting the pipe cap;

the first clamping piece is a first rotating wheel, the first friction surface is the peripheral surface of the first rotating wheel, and the first driving piece is used for driving the first rotating wheel to rotate;

the second clamping piece can move along with the pipe cap when the first clamping piece drives the pipe cap to rotate around the axis of the second clamping piece;

the second clamping piece is provided with a second friction surface which is used for contacting the pipe cap;

the second clamping piece is a second rotating wheel, and the second friction surface is the outer peripheral surface of the second rotating wheel.

2. The cap pulling mechanism according to claim 1, wherein the tube clamping assembly comprises a first clamping arm, a second clamping arm and a first driving assembly, the first clamping arm and the second clamping arm are slidably disposed on the base plate in a left-right direction, and the first driving assembly is configured to drive the first clamping arm and the second clamping arm to move closer to or away from each other in the left-right direction so as to clamp or release the tube body.

3. The cap pulling mechanism as claimed in claim 2, wherein the first driving assembly comprises a timing belt having two opposing layers, and the first clamping arm and the second clamping arm are respectively connected to the two opposing layers of the timing belt.

4. The cap pulling mechanism of claim 3, wherein at least one of the first clamping arm and the second clamping arm is connected to the timing belt by a resilient buffer structure.

5. The cap pulling mechanism according to claim 4, wherein the elastic buffer structure comprises a spring and a connecting block, the connecting block is connected to the synchronous belt, one end of the spring is connected to the connecting block, and the other end of the spring is connected to the corresponding clamping arm.

6. The cap pulling mechanism according to claim 5, wherein the spring extends and retracts in a direction parallel to the transmission direction of the corresponding one-layer synchronous belt.

7. The cap pulling mechanism according to claim 1, wherein the tube clamping assembly comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are slidably arranged on the base plate in a left-right direction, and the first clamping arm and the second clamping arm can move close to or away from each other in the left-right direction to clamp or release the tube body;

the first cap pulling assembly is connected to the first clamping arm in a vertically movable mode, and the second cap pulling assembly is connected to the second clamping arm in a vertically movable mode;

the cap pulling mechanism further comprises a second driving assembly, the second driving assembly is fixed on the bottom plate, the first cap pulling assembly is connected to the output end of the second driving assembly in a left-right moving mode, and the second cap pulling assembly is connected to the output end of the second driving assembly in a left-right moving mode, so that the first cap pulling assembly and the second cap pulling assembly can move up and down synchronously under the driving of the second driving assembly.

8. The cap pulling mechanism as claimed in claim 7, wherein the first cap pulling assembly comprises a first cap pulling base plate, a first driving member and a first clamping member, the first driving member and the first clamping member are connected in a driving manner, the second cap pulling assembly comprises a second cap pulling base plate and a second clamping member, the first cap pulling base plate is connected to the first clamping arm in a vertically movable manner, the first driving member is mounted on the first cap pulling base plate, the second cap pulling base plate is connected to the second clamping arm in a vertically movable manner, the second clamping member is mounted on the second cap pulling base plate, the first clamping member and the second clamping member can be matched to clamp the cap, the first clamping member can be driven by the first driving member to move so as to drive the cap to rotate around the axis of the cap, and the first cap pulling base plate and the second cap pulling base plate can be synchronously moved up and down, the pipe cap is pushed to move towards the direction far away from or close to the pipe body, so that the pipe cap can be separated from the pipe body or covered on the pipe body.

9. The cap pulling mechanism according to claim 8, wherein a first sliding groove is formed in the first cap pulling substrate, a second sliding groove is formed in the second cap pulling substrate, the first sliding groove and the second sliding groove both extend in the left-right direction, and the first sliding groove and the second sliding groove are respectively located on the front side and the rear side of the output end of the second driving assembly and are in sliding fit with the output end of the second driving assembly.

10. The cap pulling mechanism according to claim 9, wherein the second driving assembly comprises a second motor, a lead screw and a nut, the second motor is fixed on the bottom plate, the lead screw is connected with an output shaft of the second motor, the nut is sleeved on the lead screw, and the first sliding groove and the second sliding groove are respectively in sliding fit with the nut.

11. The cap pulling mechanism according to any one of claims 1 to 10, further comprising:

the pipe cap positioning structure is arranged on the pipe clamping assembly and used for positioning the pulled pipe cap;

the first cap pulling assembly and the second cap pulling assembly synchronously move upwards to enable the pipe cap to be separated from the pipe body and to be positioned on the pipe cap positioning structure, and the first cap pulling assembly and the second cap pulling assembly synchronously move downwards to enable the pipe cap to be taken down from the pipe cap positioning structure and to be covered on the pipe body.

12. The cap pulling mechanism of claim 11, wherein the cap positioning structure is a piercing needle or a cylindrical plug.

13. A sampling device comprising the cap pulling mechanism of any one of claims 1-12.

14. The sampling device of claim 13,

the sampling device also comprises a base, a sample placing table and a sampling assembly;

the cap pulling mechanism is movably arranged on the base; the sample placing table is fixed on the base, the sample placing table is used for placing the test tube, and the sampling assembly is arranged on the base;

when the cap pulling mechanism enables the pipe cap to be separated from the pipe body, the cap pulling mechanism moves to allow a space above the pipe body, so that the sampling assembly can sample the pipe body.

15. A test device comprising a test assembly and a sampling apparatus according to any one of claims 13 to 14;

the detection assembly is used for detecting the sample in the test tube.

16. A sampling method, implemented by the sampling device according to claim 13 or 14, comprising the steps of:

the tube body of the test tube is clamped through the tube clamping assembly, and the first cap pulling assembly and the second cap pulling assembly drive the tube cap of the test tube to move in a direction away from the tube body so as to separate the tube cap from the tube body;

sampling the interior of the tube body through a sampling assembly;

the first cap pulling assembly and the second cap pulling assembly drive the pipe cap to move towards the direction close to the pipe body, so that the pipe cap is covered on the pipe body.

17. The sampling method of claim 16, further comprising, prior to said step of sampling within said tube by said sampling assembly, the steps of: enabling the pipe clamping assembly to loosen the pipe body, and then moving the cap pulling mechanism to make room above the pipe body;

after the step of sampling the inside of the tube body by the sampling assembly, the method further comprises the following steps: and moving the cap pulling mechanism to enable the pipe cap to be positioned above the pipe body, so that the pipe cap can be covered on the pipe body.

18. A method for controlling sampling, which is implemented by the sampling device according to claim 13 or 14, comprising the steps of:

detecting whether a pipe body exists or not, detecting whether a pipe cap exists or not if the pipe body is detected, controlling a pipe clamping assembly to clamp the pipe body if the pipe cap is detected, controlling a first cap pulling assembly and a second cap pulling assembly to drive the pipe cap to move upwards so as to enable the pipe cap to be separated from the pipe body, and controlling a sampling assembly to sample in the pipe body if the pipe cap is not detected;

if not detect the body, move to next test tube position and detect whether there is the body.