CN114835073A

CN114835073A - Clamping detection device, clamping equipment with same and cover opening and closing device

Info

Publication number: CN114835073A
Application number: CN202210591479.5A
Authority: CN
Inventors: 姚鑫
Original assignee: Suzhou Xinshi Medical Technology Co ltd
Current assignee: Suzhou Xinshi Medical Technology Co ltd
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2022-08-02
Anticipated expiration: 2042-04-11
Also published as: CN114436185B; CN114933271A; CN114933271B; CN114436185A; CN114835073B

Abstract

The invention discloses a clamping detection device, clamping equipment with the same and a cover opening and closing device, wherein the clamping detection device is configured to detect the clamping condition of a plurality of chucks on a target under the drive of a first power device, the clamping detection device comprises a first main body provided with at least two probes, a second main body provided with a conductive part matched with the probes, and a first elastic part, the lower end of the first elastic part is connected with the first main body, the upper end of the first elastic part is connected with the second main body, the chucks are limited in a preset plane, the clamping detection device is close to or far away from the preset plane under the drive of the first power device, and the plurality of chucks are far away from or close to each other in the preset plane under the drive of a connecting rod; in the initial state, the probe is contacted with the conductive part until the clamping detection device moves to a position where the chuck is contacted with the target in a direction away from the preset plane, and the probe and the conductive part have a separation tendency. The invention can accurately measure the corresponding clamping conditions of the covers of various unscrewing type containers.

Description

Clamping detection device, clamping equipment with same and cover opening and closing device

Technical Field

The invention relates to the field of bottle cap operating equipment, in particular to a clamping detection device for a chuck, clamping equipment with the clamping detection device and a cap opening and closing device with the clamping detection device.

Background

The opening and closing operations of workers on containers with screw type bottle caps or rubber plug type bottle caps are mostly to unscrew or pull the caps of the containers with both hands, inject or suck out samples, and then screw or plug the caps of the containers tightly, but the following disadvantages exist in the mode:

a. when hundreds of containers with covers need to be treated, the operation of repeatedly unscrewing and screwing easily causes muscle damage of workers;

b. the rubber gloves worn by workers are inconvenient to operate, larger force is needed, the rubber gloves are easy to wear, the gloves have to be replaced frequently, and the efficiency is lower; when the rubber gloves are damaged, part of the protection function can be lost, so that operators can be exposed to biological hazards, and the biological safety risk is greatly increased;

c. the two hands of the worker need to perform the cap opening and closing operation of the container and complete the operations of sample absorption, sample adding distribution, treatment and the like, the process is complicated and the refinement requirement is high, so that the whole process link is easy to cause experimental accidents such as container/bottle cap dumping, aerosol pollution, contact pollution and the like; in addition, in the sample experiment treatment process, both hands are always occupied by the cover opening and closing links to different degrees, so that the efficiency is low and the failure rate is high;

d. for a container with a plug-in type bottle cap, when the bottle cap is pulled out, the container can be greatly vibrated, and the oscillation of a sample in the container is easily caused to cause aerosol pollution.

Although a cap screwing machine is also available in the market, the opening and closing operation of the bottle caps can be automatically carried out, the cap screwing machine focuses on the bottle caps with the same specification (the error is not more than 5mm), the opening and closing of the bottle caps of containers with various specifications commonly used in laboratories cannot be processed, or the opening and closing clamps (claw heads) with corresponding sizes must be manually replaced for the bottle caps with different specifications, so that the operation is inconvenient, and the adaptability is poor. The prior art lacks a device for opening and closing the caps of screw cap type containers or screw type rubber plug bottle cap containers with different specifications, and also lacks a means for accurately detecting the clamping of the bottle caps with different specifications.

Disclosure of Invention

The invention aims to provide a chuck clamping detection device which can be suitable for covers of various specifications, and does not need to install a pressure sensor at a chuck or use an expensive torque motor.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a closure assembly for a twist-open container, comprising:

a plurality of jaws forming a region therebetween for receiving a container lid;

a first power device configured to drive the plurality of chucks closer to or farther from within the plane;

a second power device configured to drive the plurality of chucks to rotate in a plane;

the diameter switching range of the inscribed circle among the plurality of chucks is 2mm to 80mm under the driving of the first power device.

The cover opening and closing device further comprises a base, strip-shaped limiting through grooves which correspond to the chucks one to one are formed in the base, and virtual extension lines of the limiting through grooves are intersected at a central point;

the chuck is limited to move along the front-back direction of the base, and the front end of the chuck moves linearly along the length direction of the limiting through groove in a plane which extends out of the limiting through groove forwards.

Further, the collet comprises a first collet and a second collet, the number of the first collets is one or more, the number of the second collets is one or more, wherein the coefficient of friction of at least a partial surface facing the center on the first collet is greater than the coefficient of friction of at least a partial surface facing the center on the second collet.

Furthermore, the plurality of chucks are located on the same circumferential edge, the first power device is arranged on the back of the base and drives the plurality of chucks to move synchronously, wherein the first power device comprises a linkage rod, a linkage piece and a connecting rod in one-to-one correspondence with the plurality of chucks, one end of the connecting rod is rotatably connected with a connecting piece at the end part of the corresponding chuck, and the other end of the connecting rod is rotatably connected with the linkage piece; the linkage is configured to move towards or away from the base under the action of the linkage rod;

the second power device is configured to drive the base to rotate forward or backward.

Preferably, the number of the first clamping heads is two, and the first clamping heads are arranged oppositely in pairs, and the number of the second clamping heads is two, and the second clamping heads are arranged oppositely in pairs; alternatively, the first and second electrodes may be,

the first chuck and the second chuck both comprise cylindrical parts, threads or anti-slip particles or a flexible anti-slip layer are arranged on the cylindrical parts of the first chuck, and the cylindrical parts of the second chuck are provided with polished metal surfaces.

Preferably, the thickness of the part of the chuck extending out of the base ranges from 2mm to 15 mm; and/or the presence of a gas in the gas,

and the front end of the part of the chuck extending out of the base is provided with a fillet.

The cover opening and closing device further comprises a shell, a supporting rod and a base, the chuck, the first power device and the second power device are installed in the shell, and an opening used for exposing the chuck is formed in the lower surface of the shell;

the lower end part of the supporting rod is arranged on the base, and the upper end part of the supporting rod is connected with the shell.

Further, the cover opening and closing device further comprises a height adjusting mechanism and a pitching adjusting mechanism which are arranged between the shell and the supporting rod.

Further preferably, the cover opening and closing device further comprises a controller, and the controller is electrically connected with the first power device and the second power device;

the cover opening and closing device further comprises a prompter and/or a human-computer interaction module, and the prompter and/or the human-computer interaction module are electrically connected with the controller.

A biological specimen collection method utilizing the opening and closing cap device as described above applied to a twist-off container, the biological specimen collection method comprising:

s1, placing the target container between the chucks in a state where the area between the chucks can accommodate the lid of the target container;

s2, driving the clamping heads to approach each other by the first power device until the cover of the target container is clamped;

s3, driving the chuck to rotate towards the uncovering direction by the second power device so as to enable the cover to be separated from the target container;

s4, adding a sample into the target container;

s5, the target container is abutted against the cover, and the second power device drives the chuck to rotate towards the cover closing direction until the cover is screwed on the target container;

and S6, driving the clamping heads to move away from each other by the first power device so as to enable the cover to be separated from the clamping heads, and then moving the target container to a designated area.

Although a cap screwing machine is also available in the market, the opening and closing operation of the bottle caps can be automatically carried out, the cap screwing machine focuses on the bottle caps with the same specification (the error is not more than 5mm), the opening and closing of the bottle caps of containers with various specifications commonly used in laboratories cannot be processed, or the opening and closing clamps (claw head devices) with corresponding sizes must be manually replaced for the bottle caps with different specifications, so that the operation is inconvenient, and the adaptability is poor. The prior art lacks a method for opening and closing the cover of the rotary-opening type container with different specifications.

The conventional cap screwing machine on the market is customized according to the specification of a container cap and can only clamp a bottle cap with a single specification. The invention provides an automatic control cap opening and closing method on the basis of providing a cap screwing machine which only has a group of chucks and can also carry out cap screwing operation on the cap screwing type containers with different specifications, and compared with the conventional cap screwing machine, the automatic control cap opening and closing method is different in that the chuck clamping pipe diameter range of the cap opening and closing device in the invention is 2mm to 80mm, for example, the cap clamped at the last time is 10mm, the chuck retreats outwards after the cap is closed by 2mm, the cap clamped at the next time is still 10mm or less than 10mm or even 11mm, and can be operated naturally, but if the cap clamped at the next time exceeds 12mm, the cap opening and closing device can not be clamped to the container cap according to the previous program operation, therefore, the position of the chuck can be automatically adjusted without manually inputting the size information of the container cap before clamping the cap at each time so as to adapt to the condition that the current container cap is larger than the outer diameter of the container cap clamped at the last time, the invention can continuously operate containers with different specifications, such as a container with a diameter of 18mm is clamped last time, a container with a diameter of 40mm can be directly and adaptively operated next time, and the parameter configuration of the cover opening and closing device is not required to be additionally carried out in the two operations, so that the invention is more convenient and intelligent.

Based on the above, the present invention provides a method for opening and closing a cap of a twist-off container, which can perform the operation of opening and closing the cap of the twist-off container with one hand of different specifications, and the other hand is used for handling the sample pipetting operation, thereby effectively preventing the contamination of the container cap or the sample, and the cap of the twist-off container is opened by using a cap opening and closing device, the cap opening and closing device comprises a plurality of chucks which can approach, depart and rotate in a certain plane, and at least one detection device, the detection device is configured to detect the signal of the container at the operation position, and the method for opening and closing the cap comprises the following steps:

responding to a signal of a container detected by a detection device, starting timing until a preset time length is reached, and if the detection device does not detect the signal of the container at the current moment, controlling a chuck to be far away and waiting for a next signal of the detection device;

if the detection device detects the signal of the container at the current moment, the clamping heads are controlled to approach until the plurality of clamping heads clamp the cover of the container; and controlling the chuck to rotate towards the opening direction so as to enable the cover of the container to be separated from the container body.

The cover opening and closing method provided by the invention can automatically detect the container signal and adjust the distance between the clamping heads to clamp and rotate the container cover, so that the automatic cover opening and closing operation is realized, the operation of opening and closing the cover can be completed only by holding the container body with one hand of an operator in the whole process, the operation is convenient and labor-saving, and meanwhile, the container cover is effectively prevented from being polluted.

Further, the cap opening and closing device has a preset cap opening and closing alternating mode, and in the cap opening and closing alternating mode, after the chuck rotates towards the cap opening direction and the detection device detects that the container is not in the container, the chuck is controlled to rotate towards the cap closing direction, so that the cap of the container is locked on the container body, and the chuck is controlled to move away.

Furthermore, a plurality of chucks are positioned on the same circumferential edge, and the plurality of chucks rotate by taking the center of the circle as the center;

the number of turns of each rotation of the chuck can be preset, or the chuck is driven to rotate by using a torque motor, when a torque value detected in the rotation process of the cover opening direction is smaller than a preset first torque value, the torque motor stops working, and when a torque value detected in the rotation process of the cover closing direction is larger than a preset second torque value, the torque motor stops working.

As an optional scheme, the cover opening and closing device has a preset continuous cover opening first mode, and in the continuous cover opening first mode, when the rotation of the chuck in the cover opening direction is stopped, the chuck is controlled to perform a distancing action.

As another optional scheme, the cap opening and closing device has a preset second continuous cap opening mode, and in the second continuous cap opening mode, after the rotation of the chuck in the cap opening direction is stopped, the chuck is controlled to move away in response to the detection device not detecting a signal of the container.

Further, the cover opening and closing device has at least two opening and closing strength modes, and under different opening and closing strength modes, the acceleration for driving the chuck to start rotating and/or the acceleration for stopping rotating are/is different, and/or the speed for driving the chuck to rotate is different.

Furthermore, the cover opening and closing device at least has two clamping force modes, and the acting forces for driving the chuck to clamp the cover of the container are different in different clamping force modes; and/or the presence of a gas in the gas,

the cover opening and closing device is provided with at least two induction sensitivity modes, and the preset duration is different in different induction sensitivity modes.

Further, the cover opening and closing device has different application scene modes, wherein the application scene modes comprise a nucleic acid test tube scene and/or a non-nucleic acid test tube scene, the diameter of the cover is determined according to the position of the cover of the container clamped by the clamping head in the nucleic acid test tube scene, and if the diameter of the cover conforms to the size of the cover of the nucleic acid test tube, the clamping times are counted;

in the non-nucleic acid test tube scene, counting the number of the clamped covers, and/or counting the times of clamping the covers with various sizes respectively according to the size classification of the covers.

Further, if the detecting device does not detect the signal of the container at the current moment, the mode for controlling the chuck to move away includes: the control chuck directly moves outwards to an extreme position, or the control chuck moves outwards one gear each time on the premise of stepping; and/or the presence of a catalyst in the reaction mixture,

the lid opening and closing device has a memory mode in which the gripping head is driven directly to a position where it last grips the lid of the container.

A method of closing a twist-to-open container with a closure opening device comprising a plurality of jaws that can be moved closer together, farther apart and rotated in a plane, and at least one detection device configured to detect a signal from the container at an operative position, the method comprising the steps of:

if the detection device detects a signal of the container at the current moment, the clamping heads are controlled to approach until the plurality of clamping heads clamp the cover of the container; and then the chuck is controlled to rotate towards the cover closing direction, so that the cover of the container is locked on the container body, and the chuck is controlled to move away.

The prior art lacks a means for accurately detecting the clamping of bottle caps with different specifications. The conventional cap screwing machine on the market is customized according to the specification of a container cap, and can only clamp a bottle cap with a single specification, so that the bottle cap can be clamped by the claw head according to the same force every time. The invention provides a detection device for automatically detecting the clamping state of a chuck to a cover on the basis of providing a cap screwing machine which only has a group of chucks and can also carry out cap screwing operation on the cap screwing type containers with different specifications, and compared with the conventional cap screwing machine, the detection device for automatically detecting the clamping state of the chuck to the cover is different from the conventional cap screwing machine in that the clamping pipe diameter range of the chucks of the cap opening and closing device is 2mm to 80mm, and the cap opening and closing device cannot operate container covers with different specifications according to a set program.

Therefore, it is necessary to introduce an automatic detection means suitable for container caps of various specifications, and it is a conventional practice to provide a pressure sensor at a chuck, or to drive the chuck clamp container cap by using a torque motor; the former has the disadvantages that the wiring is troublesome, and particularly, the chuck needs to rotate 2-4 circles in a plane after clamping the container cover; the latter has the disadvantage that the price of a torque motor is typically more than 5 times that of a conventional motor. The invention aims to provide a chuck clamping detection device which can overcome the two defects.

A grip detection apparatus for chucks configured to detect a gripping condition of a plurality of chucks on a target object by being driven by a first power means, the grip detection apparatus comprising:

a first body provided with at least two probes;

the upper part of the second main body is provided with a conductive part matched with the lower end of the probe, the lower part of the second main body is connected with the corresponding chuck through a plurality of connecting rods, and both ends of each connecting rod are of hinged structures;

the lower end of the first elastic piece is connected with the first main body, and the upper end of the first elastic piece is connected with the second main body;

the clamping heads are limited in a preset plane, the clamping detection device is driven by the first power device to be close to or far away from the preset plane, and the plurality of clamping heads are driven by the connecting rod to be far away from or close to each other in the preset plane;

in an initial state, the probe is in contact with the conductive part until the clamping detection device moves to a position where the chuck is in contact with the target object in a direction away from the preset plane, and the probe and the conductive part have a tendency to separate.

According to the clamping detection device, namely the linkage piece, a pressure sensor is not required to be arranged at the chuck, so that the phenomenon that the rotation of the chuck is influenced by wiring at the chuck is avoided; in addition, an expensive torque motor is not needed, so that the cost of the first power device is reduced; meanwhile, no matter how large the cover of the unscrewing type container is, the corresponding clamping condition can be accurately measured.

Further, after the chuck contacts the target object, the first power device drives the clamping detection device to be away from the preset plane, and then the first main body moves upwards relative to the second main body until the probe is separated from the conductive part by the preset distance, and the first power device is controlled to stop driving.

Further, the probe and the conductive part are arranged in a circuit loop, and an on-off signal of the circuit loop is collected.

Further, the first power device is a motor, and the motor is a non-torque motor; alternatively, the first and second electrodes may be,

the first power device is a cylinder.

Further, be equipped with on the first main part with the sleeve of probe one-to-one, be equipped with in the sleeve with the second elastic component that the probe is connected, under initial condition, the lower extreme of probe stretches out the sleeve, just the second elastic component is in compression state or natural state.

Furthermore, the first main body is also provided with an extension part extending to the lower part of the second main body, the second main body is also provided with a cavity for accommodating the extension part, and a protruding part is arranged on the cavity wall of the cavity;

the first elastic piece is arranged in the cavity, the upper end of the first elastic piece is abutted against the lower surface of the protruding portion, and the lower end of the first elastic piece is connected with the extending portion.

According to another aspect of the present invention, there is provided a clamping apparatus comprising a first power means, a plurality of jaws and a clamp detection means as described above.

According to a further aspect of the present invention, there is provided a device for opening and closing a cover, comprising a grip detection device as described above and the following components:

the base is provided with a plurality of strip-shaped limiting through grooves, and virtual extension lines of the strip-shaped limiting through grooves are converged at a central point;

the clamping heads are in one-to-one correspondence with the limiting through grooves, extend out of the corresponding limiting through grooves and are limited to do linear motion along the corresponding limiting through grooves in a preset plane outside the limiting through grooves; each chuck is rotationally connected with the clamping detection device through a connecting rod;

a first power device configured to drive the grip detection device away from or toward the base;

and the input end of the controller is electrically connected with the clamping detection device, the output end of the controller is electrically connected with the first power device, and if the contact state of the probe and the conductive part of the clamping detection device is converted into the separation state to the preset distance or the separation state of the probe and the conductive part is converted into the contact state, the controller controls the first power device to stop working.

Further, the cover opening and closing device further comprises a second power device configured to drive the base to rotate clockwise or counterclockwise around the central point;

the second power device is electrically connected with the output end of the controller, and the controller controls the second power device to start to work only in the state that the probe is separated from the conductive part.

Further, the controller is further configured to control a rotational direction of the second power device, including:

the cover opening and closing device is provided with an open cover and close cover alternating mode, under the open cover and close cover alternating mode, in response to a trigger signal of the container placed at an operation position, the first power device is controlled to drive the clamping detection device to be away from the base until the contact state of the probe and the conductive part is converted into a separation state to a preset distance, and then the second power device is controlled to drive the base to rotate towards the open cover direction, so that the cover of the container can be separated from the container body; in response to a trigger signal that the container is placed at the operating position again, controlling the second power device to drive the base to rotate towards the cover closing direction, so that the cover of the container is locked on the container body, and controlling the first power device to drive the clamping detection device to be close to the base; and/or the presence of a catalyst in the reaction mixture,

the cover opening and closing device is provided with a continuous cover closing mode, in the continuous cover closing mode, in response to a trigger signal of the container placed at an operation position, the first power device is controlled to drive the clamping detection device to be away from the base until the contact state of the probe and the conductive part is converted into a separation state from a preset distance, and then the second power device is controlled to drive the base to rotate towards the cover closing direction, so that the cover of the container is locked on the container body, and the first power device is controlled to drive the clamping detection device to be close to the base.

The technical scheme provided by the invention has the following beneficial effects:

a. a pressure sensor is not required to be arranged at the chuck, so that the phenomenon that the rotation of the chuck is influenced by wiring at the chuck is avoided;

b. an expensive torque motor is not needed, so that the cost of the first power device is reduced;

c. the corresponding clamping situation can be accurately measured no matter what the size of the cap of the unscrewing type container.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of a cover opening and closing apparatus according to an exemplary embodiment of the present invention;

fig. 2 is a first schematic view of a cover opening and closing device according to an exemplary embodiment of the present invention after the height of the cover opening and closing device is adjusted;

fig. 3 is a second schematic view of the cover opening and closing device according to an exemplary embodiment of the present invention after the height of the cover opening and closing device is adjusted;

fig. 4 is a first partial schematic view of a cover opening and closing apparatus according to an exemplary embodiment of the present invention;

fig. 5 is a second partial schematic view of a cover opening and closing apparatus provided in accordance with an exemplary embodiment of the present invention;

FIG. 6 is an enlarged partial view of portion A of FIG. 5;

FIG. 7 is a partial schematic view of a cartridge-retaining container of a closure opening device provided in accordance with an exemplary embodiment of the present invention;

fig. 8 is a third partial schematic view of a cover opening and closing apparatus provided in accordance with an exemplary embodiment of the present invention;

fig. 9 is a schematic front perspective view of a cover opening and closing device according to an exemplary embodiment of the present invention;

FIG. 10 is a cross-sectional schematic view of a chuck as it just touches a cover according to an exemplary embodiment of the present invention;

FIG. 11 is an enlarged partial view of portion B of FIG. 10;

FIG. 12 is a cross-sectional view of a chuck as it lightly grips a cover according to an exemplary embodiment of the present invention;

FIG. 13 is an enlarged partial view of portion C of FIG. 12;

FIG. 14 is a cross-sectional schematic view of a chuck as it grips a cover according to an exemplary embodiment of the present invention;

fig. 15 is a partially enlarged view of portion D of fig. 14.

Wherein the reference numerals include: 100-base, 110-limit through groove, 210-first chuck, 220-second chuck, 230-connecting piece, 310-linkage rod, 320-linkage piece, 330-connecting rod, 410-shell, 420-supporting rod, 430-base, 440-sucker, 450-sliding groove, 460-detection device, 470-man-machine interaction module, 5-container cover, 610-first main body, 612-probe, 614-extension part, 620-second main body, 622-conductive part, 624-protrusion part and 630-first elastic part.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

Laboratory containers (such as test tubes) are important containers for storing samples in chemical/biological experiments, in order to keep the inner cavity of the container clean, the opening of the container needs to be covered before and/or after the samples are stored, the container is usually opened by screwing, then the samples are put in, and then the container is closed, and as the container cover is screwed by one hand and the container cover is screwed by the other hand, the hand cannot be vacated to use a pipetting gun to drip the samples, the operation is inconvenient, the same hand can contact the samples and the tube cover, and the mutual pollution between the tube cover and the samples is easily caused to generate risks.

Moreover, the task load of one experimenter for opening and closing the cover in one day can reach thousands, long-time cover screwing operation can easily cause the tendon and sheath tissues of hands of the experimenter to be damaged, in order to reduce the texture damage caused by high-strength cover screwing work of the experimenter, the cover screwing machine can replace manual cover screwing operation on the market, but the sizes of containers in the market are different, the current conventional method is to customize corresponding cover screwing machines or at least customize corresponding claw heads aiming at different specifications, and the cover screwing operation is carried out on container covers with different specifications by replacing the cover screwing machines or the claw heads. The invention aims to provide a cap opening and closing device which can carry out cap opening and closing operation on different specifications of screw-open type containers only by a group of clamping heads, and emphasizes that the invention can carry out operation on containers with diameters of 18mm for example in the last time and can carry out operation on containers with diameters of 40mm for example in the next time, and can directly carry out cap opening and closing on containers with different specifications without additionally carrying out parameter configuration on a cap screwing machine in two operations, thereby being more convenient and intelligent.

In one embodiment of the present invention, there is provided an opening and closing cover device applied to a swing-open type container, as shown in fig. 1, the opening and closing cover device includes a housing 410, a supporting rod 420, and a base 430, wherein an upper end portion of the supporting rod 420 is connected to the housing 410 to support the housing 410, a lower end portion of the supporting rod 420 is disposed on the base 430, and a height adjusting mechanism and a pitch adjusting mechanism are further disposed between the housing 410 and the supporting rod 420, so that a worker can obtain an optimal operation height and orientation through the two adjusting mechanisms, which is convenient and flexible. According to different application scenes, the cover opening and closing device can be made into a floor type or a desktop type. An actuator for operating the cover is provided in the housing 410, as described in detail below.

In the present embodiment, the height adjusting mechanism has a slide groove 450 arranged in a vertical direction, and the housing 410 can reciprocate along the slide groove 450, as shown in fig. 2, when the housing 410 slides to the uppermost end of the slide groove 450, the housing 410 is at the highest height, as shown in fig. 3, when the housing 410 slides to the lowermost end of the slide groove 450, the housing 410 is at the lowest height. It should be noted that the above-mentioned manner of adjusting the height of the housing 410 by using the sliding groove 450 is only an example, and other manners may be adopted in the specific implementation, which does not limit the protection scope of the present invention. As shown in fig. 1, the cover opening and closing device further includes a plurality of suction cups 440 disposed on the base 430, and under the suction action of the suction cups 440, the cover opening and closing device can be more firmly placed on a table or other carrying surface.

The executing component for operating the cover comprises a base 100, a plurality of chucks, a first power device and a second power device, wherein an opening is formed in the lower portion of the housing 410, the base 100 is arranged at the opening, strip-shaped limiting through grooves 110 which correspond to the chucks one to one are formed in the base 100, and virtual extension lines of the limiting through grooves 110 are intersected with a central point. The clamps are disposed outside the base 100 through the limiting through-slots 110, as shown in fig. 4 and 5, and at least a part of the base 100 can be exposed through the opening, that is, the clamps can be exposed through the opening, so that a worker can use an area formed by the plurality of clamps for accommodating the container cover to open and close the container cover 5. The plurality of chucks may be located at the same circumferential edge with the center of the circle at the center point so that when the chucks grip the container lid 5 to rotate, the container lid 5 also rotates about the center axis. And each of the jaws is engaged with a limit screw so that the jaws can move only along the length direction of the corresponding limit through groove 110 (cannot move along the front-rear direction of the base 100), and an area for accommodating the container cover is formed between the jaws. The first power device and the second power device are disposed on the back surface of the base 100, that is, inside the housing 410, and under the driving of the first power device, the plurality of chucks can approach to or leave from each other along the corresponding limiting through slots 110, and under the driving of the second power device, the base 100 can rotate, thereby driving the plurality of chucks to rotate in the plane outside the base 100. It can be seen that, the length of spacing logical groove 110 has decided the specification scope of the container lid that the device of opening and shutting can be suitable for, the diameter switching scope of the inscribed circle between a plurality of chucks of the device of opening and shutting in this embodiment is 2mm to 80mm, can be with the lid of the finest 2mm external diameter of centre gripping, also can the lid of the coarsest 80mm external diameter of centre gripping, can operate the container lid 5 of different specifications, and need not to set up corresponding chuck to the container lid 5 of every specification, the suitability is stronger, and the operation is convenient, and effective reduce cost.

In one embodiment of the invention, the diameter switching range of the inscribed circle between the plurality of clamping heads of the cover opening and closing device is 8mm to 60 mm; in one embodiment of the invention, the diameter switching range of the inscribed circle between the plurality of clamping heads of the cover opening and closing device is 8mm to 40 mm; in one embodiment of the invention, the diameter switching range of an inscribed circle between a plurality of clamping heads of the cover opening and closing device is 8mm to 35 mm; in one embodiment of the invention, the diameter switching range of the inscribed circle between the plurality of collets of the opening and closing cover device is 8mm to 20 mm.

In this embodiment, the collet includes one or more first collets 210 and one or more second collets 220, wherein the coefficient of friction of at least a portion of the surface of the first collet 210 facing the center is greater than the coefficient of friction of at least a portion of the surface of the second collet 220 facing the center. In this embodiment, as shown in fig. 4, the number of the first clamping heads 210 is two and the two first clamping heads are arranged oppositely, and the number of the second clamping heads 220 is two and the two second clamping heads are arranged oppositely; as shown in fig. 5, the first chuck 210 and the second chuck 220 each include a cylindrical portion, the cylindrical portion of the first chuck 210 is provided with threads (as shown in fig. 6) or anti-slip particles (such as frosted particles) or a flexible anti-slip layer (such as a silicone layer or a rubber layer), and the cylindrical portion of the second chuck 220 has a polished metal surface; this is done to correct the error so that during operation, the experimenter does not need to strictly place the cap in the central position to wait for the chucks to close up for gripping, because of the above structure of the first chuck 210 and the second chuck 220, even if the cap is placed in the eccentric position, when the first chuck contacts the cap, the cap will be pushed toward the center so that the final chuck grips the cap in the center, as shown in fig. 7, without causing a situation where two adjacent chucks grip the cap in the eccentric position, which is more likely to occur when the chucks are far away and the cap to be gripped is small, which is not the case with conventional capping machines that are custom-made for caps of corresponding specifications, and thus the prior art fails to provide technical teaching of chucks that provide two different coefficients of friction. The beneficial effects of ensuring that the chuck grips the cover in the center are also significant: because the second power device drives the base 100 to rotate around the center, if the cover is clamped at the center, the cover rotates around the center of the cover, and hands only need to hold the container body in situ without swinging; on the contrary, once the cover is eccentrically clamped, the container body eccentrically rotating at a high speed is prone to throw away hands, or the container body flies out in the moment of opening the cover, or the container body is overturned during closing the cover to spill samples, which causes serious consequences, and the design of the first chuck 210 and the second chuck 220 in this embodiment can avoid such serious consequences.

The present invention does not limit the number of the first collets 210 or the second collets 220 to be more than two, for example, two first collets 210 and one second collets 220, or one first collets 210 and two second collets 220, can be taken as one of the embodiments for implementing the technical solution of the present invention.

The thickness range of the part of the chuck extending out of the base 100 is 2mm to 15mm, more preferably 4mm to 12mm, or more preferably 6mm to 10mm, in addition, in the actual operation, the worker supports the container cover 5 to the middle of the accommodating area, so that the container cover 5 is clamped at the intersection point of the virtual extension lines of the limiting through groove 110 under the action of a plurality of chucks, that is, the container cover 5 is clamped at the center and clings to the surface of the base 100, and therefore the cover opening operation can be completed only by holding the container body in situ by hands. In an embodiment of the present invention, a rounded corner is further formed at the front end of the portion of the chuck protruding out of the base 100, so as to prevent the container lid 5 from colliding with the chuck and causing damage.

In one embodiment of the present invention, the first power means is configured to drive the plurality of jaws in a synchronized motion, i.e., to simultaneously move the plurality of jaws closer together or farther apart in a plane, thereby enabling gripping of the container lid 5 (as shown in fig. 7) or releasing of the container lid 5. Specifically, as shown in fig. 8, the first power device includes a motor, a linkage rod 310, a linkage 320, and a connection rod 330 corresponding to the plurality of chucks one to one, wherein the linkage 320 is disposed on the linkage rod 310, and the linkage 320 is further rotatably connected to one end of the connection rod 330, and meanwhile, the other end of the connection rod 330 is rotatably connected to the connection member 230 at the end of the corresponding chuck, so that when the motor drives the linkage rod 310 to move close to or away from the base 100, the linkage 320 is close to or away from the base 100 under the action of the linkage rod 310, and thus the connection rod 330 drives the chucks to move away from or close to the center of the base 100.

Referring to fig. 10-15, the linkage 320 is a grip detection device that includes:

a first body 610 provided with at least two probes 612;

a second body 620, the upper portion of which is provided with a conductive portion 622 matched with the lower end of the probe 612, the lower portion of which is connected with the corresponding chuck through a plurality of connecting rods 330, and both ends of the connecting rods 330 are hinged;

a first elastic member 630 having a lower end connected to the first body 610 and an upper end connected to the second body 620; specifically, the first main body 610 is further provided with an extension 614 extending to the lower part of the second main body 620, the second main body 620 is further provided with a cavity for accommodating the extension 614, and a protruding part 624 is arranged on the cavity wall of the cavity; the first elastic member 630 is disposed in the cavity, and has an upper end abutting against the lower surface of the protrusion 624 and a lower end connected to the extension 614;

the chucks are limited in a preset plane, the linkage member 320 is driven by a first power device (a non-torque motor or an air cylinder) to be close to or far from the preset plane, and the plurality of chucks are driven by the connecting rod 330 to be far from or close to each other in the preset plane;

in the initial state (the chuck does not apply pressure to the target object to be clamped, see fig. 11), the probe 612 is in contact with the conductive portion 622 until the link 320 moves in a direction away from the predetermined plane to a position where the chuck contacts the target object, the probe 612 and the conductive portion 622 having a tendency to separate.

In this embodiment, the first main body 610 and the extension portion 614 are a combined mounting structure, specifically, the first main body 610 is a PCB, a circular hole is formed in the middle of the PCB, the extension portion 614 passes through the circular hole and extends downward, the upper portion of the extension portion 614 is fixedly mounted to the PCB, and the probe 612 may be soldered to the PCB; similarly, the protrusion 624 and the second body 620 are assembled, the protrusion 624 may be a bearing, the outer ring of the bearing is fixedly connected to the second body 620, the inner ring of the bearing is in contact with the outside of the extension 614 to enhance mechanical stability, and balls are disposed between the outer ring of the bearing and the inner ring of the bearing, so that the inner ring of the bearing may not rotate during the rotation of the outer ring of the bearing, so as to avoid mechanical wear to the first body 610 and the extension 614.

After the chuck contacts the target object, the first power device drives the linkage 320 to move away from the predetermined plane, i.e. the state in fig. 11 is switched to the state in fig. 13, and then the first main body 610 moves upward relative to the second main body 620 until the probe 612 is separated from the conductive portion 622 by a predetermined distance, i.e. finally switched to the state in fig. 15, and then the first power device is controlled to stop driving.

The probes 612 and the conductive part 622 in this embodiment are arranged in a circuit loop, and an on-off signal of the circuit loop is collected, specifically, at least two probes 612 are electrically connected to a controller of the cap screwing machine, so that the controller can obtain the on-off signal of the circuit loop.

As shown in fig. 11, 13, and 15, the first main body 610 is provided with a sleeve corresponding to the probe 612 one to one, a second elastic member (not shown, or a spring sleeved outside the probe 612) connected to the probe 612 is provided in the sleeve, in an initial state, the lower end of the probe 612 extends out of the sleeve, and the second elastic member is in a compressed state or a natural state. The slightly compressed second elastic member in the initial state can effectively avoid the false disconnection, and ensure that the probe 612 is separated from the conductive part 622 after a certain clamping force is applied to the container cover.

It should be noted that in an embodiment of the present invention, the connecting member 230 is disposed in a staggered manner with respect to the collet, that is, the collet is farther away from the center of the base 100 than the connecting member 230, which has the advantages of shortening the stroke of the connecting rod 330 especially when clamping a small-sized bottle cap, and the staggered arrangement of the connecting member 230 can avoid interference when clamping a small-sized bottle cap, and can increase the clamping force on a small-sized bottle cap (for example, the outer diameter of the small-sized bottle cap does not exceed 8 mm).

The second power means is configured to drive the base 100 in forward or reverse rotation, thereby driving the plurality of chucks to rotate in a plane, i.e., as the base 100 rotates.

In addition, the cover opening and closing device further comprises a controller, and the controller is electrically connected with the first power device and the second power device, so that the first power device and the second power device can be driven to work under the control of the controller. Specifically, when the cap opening and closing device performs the cap opening operation, the first power device drives the chuck to move to a proper position to clamp the container cap 5 (as shown in fig. 7), then the second power device drives the base 100 to rotate in the forward direction, so that the container cap 5 is separated from the container body, after the sampling or lofting operation is completed by the worker, the container body is aligned with the container cap 5, so that the chuck drives the container cap 5 to rotate in the reverse direction under the driving of the second power device, so that the container cap 5 is screwed to the container body, so as to complete the cap closing operation. As for the triggering mode of the opening and closing operations, a key triggering mode may be adopted, or a sensing intelligent triggering mode, which is described in detail in the following method embodiments, may be adopted.

In one embodiment of the present invention, there is provided a biological sample collection method using the above-described opening and closing cap device applied to a twist-open container, the biological sample collection method comprising the steps of:

s2, the first power device drives the chucks to approach each other until the cover of the target container is clamped;

s3, the second power device drives the chuck to rotate towards the cover opening direction, so that the cover is separated from the target container;

s4, adding the sample into the target container;

and S6, the first power device drives the clamping heads to move away from each other so as to enable the cover to be separated from the clamping heads, and then the target container is moved to the designated area.

The idea of the embodiment of the biological sample collection method is the same as the working process of the cover opening and closing device in the above embodiment, and the entire contents of the embodiment of the cover opening and closing device are incorporated into the embodiment of the biological sample collection method by reference in its entirety, which is not described again.

Referring to fig. 9, the opening and closing device further includes a detecting device 460, which detects the operation area of the lower portion of the chuck, for example, the detecting device 460 can detect the container body or the cap during the opening and closing process.

In step S1, in response to the detection device 460 detecting a signal of the container, starting timing until a preset time period is reached, and if the detection device 460 does not detect a signal of the container at the current time, which indicates that the container lid to be processed cannot be placed in the current accommodating area and the container is removed, controlling the chuck to move away, and adjusting the chuck to provide a proper accommodating area; on the contrary, if the current time detection device 460 detects a container signal (indicating that the container lid to be processed can be placed in the current receiving area), that is, if the condition that the area between the chucks can accommodate the lid of the target container as described in S1 is satisfied, the target container is placed between the chucks at this time;

in steps S3 and S5, the number of turns may be predetermined, for example, the conventional container lid generally rotates 2.5 or 3 turns, when the number of turns is greater than the actual required number of turns, the hand does not need to grip the container body during closing the lid, but the lid is allowed to rotate freely in the hand for a plurality of angles, and only the lid disengaged from the container body idles for an excessive number of turns during opening the lid.

In step S6, in order to improve the efficiency of opening and closing the cap next time, the chuck may be driven outward by a small distance, for example, 2mm, so that the cap may be separated from the chuck, and the cap 5 of the container with the same size or smaller may be conveniently placed into the receiving area next time.

The above-mentioned manner of automatically controlling the chuck action by detecting the signal through the detecting device 460 makes it possible to automatically adjust the position of the chuck without manually inputting the size information of the container lid before each time of clamping the lid, and to adapt to the situation that the current container lid is larger than the last clamped container lid outer diameter.

In an embodiment of the present invention, the cover opening and closing apparatus further includes a prompter and/or human-computer interaction module 470, and the prompter and/or human-computer interaction module 470 is electrically connected to the controller. The prompter can adopt the pilot lamp of different luminescent colors, for example in the process of opening and shutting the lid, control the pilot lamp to light red, under the unusual standby state that can put into the container and operate, control the pilot lamp to light green.

In this embodiment, the human-computer interaction module 470 is a touch operation screen, and a working mode, for example, an open-close alternating mode, can be selected through the touch operation screen, so that the open-close device can cyclically perform the operation of opening and closing the cover. In the open/close alternating mode, after the chuck rotates in the open direction and the detection device 460 detects the signal of the container being converted from no container to the container being detected (a delay time may be added), the chuck is controlled to rotate in the close direction, so that the container is locked on the container body and the chuck is controlled to move away. That is, after the container is opened, the cap opening and closing device holds the container cap, and when the operator places the container bottle, that is, the container body, in the accommodating area, the detection device 460 detects that the container is not present and the signal indicating that the container is present is converted, the cap opening and closing device controls the chuck to rotate in the cap closing direction, so that the container cap is locked on the container body. It should be noted that both the "closing direction" and the "opening direction" in the present invention may be set in advance according to the actual container lid, and the scope of the present invention is not limited thereto, and for example, the opening/closing direction may be determined by the screw direction of a screw cap, or the opening/closing direction may be freely determined by a rubber cap without a screw.

In addition to selecting the working mode as the opening and closing alternating mode, the continuous opening first mode, the continuous opening second mode and the continuous closing mode can be selected through the touch operation screen, which is specifically described as follows:

in the first mode of continuous uncovering, when the chuck stops rotating towards the uncovering direction, the chuck is controlled to do a distancing action. In this mode, the container lid remains on the container when the device completes the operation of uncapping, and the benefit of setting like this lies in uncapping in batches the back for subsequent operation, and can hide the lid on the container mouth in this period, for example be applicable to follow-up with a sample partial shipment in a plurality of containers, this kind of mode of uncapping in succession makes subsequent operation also can operate in batches, raises the efficiency.

In the second mode of continuous opening the cap, after the rotation of the chuck in the opening direction is stopped, the chuck is controlled to move away in response to the detection means 460 not detecting the signal of the container. Under this mode, generally can place the box that has the open-ended in the device below of opening and shutting, after the operation of uncapping is accomplished to the device of opening and shutting, the container lid drops and retrieves or scrap the processing in to the box, for example when needing to carry out mixed inspection operation to a plurality of nucleic acid detection samples, just need not the container lid after uncapping the container, consequently use this mode can be more convenient high-efficient.

In the continuous cover closing mode, in response to the detection of the signal of the container by the detection device 460, timing is started until a preset time length is reached, and if the detection device 460 does not detect the signal of the container at the current time, the chuck is controlled to be away from the container and waits for the next signal of the detection device 460. This step is similar to the above-mentioned opening method, and is not repeated herein in order to make the accommodation area between the chucks conform to the size of the container to be processed. On the contrary, if the current time detection device 460 detects a signal of the container, the chucks are controlled to approach until the plurality of chucks clamp the cover of the container; then the chuck is controlled to rotate towards the cover closing direction, so that the cover of the container is locked on the container body, and the chuck is controlled to move away. Specifically, when an operator holds a container body (the container cover which is virtually covered by the container body and is not closed) and places the container body at an operation position, the cover opening and closing device adjusts the position of the chuck to clamp the container cover and controls the chuck to rotate towards the cover closing direction to realize the cover closing operation.

In addition to the functions of multiple working modes, the touch operation screen of the opening and closing cover device in this embodiment may further manually set opening and closing strengths, which have at least two opening and closing strength modes, where the acceleration for driving the chuck to start rotating and/or the acceleration for stopping rotating are different, and/or the speed for driving the chuck to rotate is different in different opening and closing strength modes. When the sample volume is too big or when the sample has certain danger in the container, through setting up the gentle intensity mode that opens and shuts, can alleviate the action of uncapping, prevent that the sample is excessive and bring the risk.

In addition, in this embodiment, the touch operation screen of the cover opening and closing device may further manually set a clamping force, which has at least two clamping force modes, specifically, when the separation distance between the probe 612 and the conductive portion 622 reaches a preset distance threshold, the first power device is controlled to stop working, in different clamping force modes, the acting force for driving the chuck to clamp the cover of the container is different, the larger the distance threshold for separating the probe 612 and the conductive portion 622 is set, the larger the clamping force is, so that the purpose of setting is to prevent the container cover from being damaged due to too large clamping force or to prevent a special container cover, which cannot clamp some smooth surfaces due to too small clamping force, and therefore, according to the actual condition of the container cover, an appropriate clamping force level may be selected.

In addition, the touch operation screen of the cover opening and closing device in the embodiment can also be manually set with at least two induction sensitivity modes, and the preset duration is different in different induction sensitivity modes so as to meet the requirements of different working environments or the response sensitivity of operators. For example, an operator who is fast in response may set the preset time period to 0.2s or 0.6s, and an operator who is slow in response may require 1s or even 2s to respond that the receiving area between the chucks is not suitable for the current container cover, the preset time period may be set to 1s or 2 s.

Even if the chuck is empty in the case of misoperation, an error correction program is preset in the cover opening and closing device, namely when the chuck approaches to the limit position and a signal for clamping the cover is not generated, the program is reset.

In an embodiment of the present invention, the touch panel of the cover opening and closing device may further manually set different application scenario modes, where the application scenario modes include a nucleic acid tube scenario and/or a non-nucleic acid tube scenario, in the nucleic acid tube scenario, the diameter of the cover is determined according to the position where the chuck clamps the cover of the container, if the diameter of the cover conforms to a predetermined size of the cover of the nucleic acid tube (the predetermined size may be more than one, and may include the size of a ten-in-one tube, and may also be the size of a twenty-one tube), the number of times of clamping is counted, and in this scenario, the number of nucleic acid samples is mainly counted, and if the calculated size does not conform to the predetermined size of the cover of the nucleic acid tube; and in the non-nucleic acid test tube scene, counting the number of the clamped covers and/or counting the times of clamping the covers with various sizes respectively according to the size classification of the covers, thereby calculating the workload of an operator.

In this embodiment, a mode that the chuck moves away from the outside can be further set through the touch operation screen: if the current time detecting device 460 does not detect the container signal, the mode for controlling the chuck to move away includes: the control chuck directly moves outwards to an extreme position, or the control chuck moves outwards one gear each time on the premise of stepping; after the cover is closed or the cover is opened in a continuous cover opening mode, the chuck can be arranged to move outwards at the current position by a preset distance (such as 2mm), or an outwards-retreating gear is arranged or the chuck can be directly retreated to a limit position.

In one embodiment, the cover opening and closing device can be provided with a memory mode, in the memory mode, the chuck is directly driven to the position for clamping the cover of the container last time, and the memory mode is generally applied to opening and closing the covers of a plurality of containers with the same specification, so that the cover opening and closing work can be efficiently and quickly completed through the memory mode.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims

1. A grip detection apparatus for chucks configured to detect a gripping condition of a plurality of chucks with respect to a target object by being driven by a first power means, the grip detection apparatus comprising:

a first body (610) provided with at least two probes (612);

the upper part of the second main body (620) is provided with a conductive part (622) matched with the lower end of the probe (612), the lower part of the second main body is connected with the corresponding chuck through a plurality of connecting rods (330), and both ends of each connecting rod (330) are of a hinged structure;

a first elastic member (630) having a lower end connected to the first body (610) and an upper end connected to the second body (620);

the clamping heads are limited in a preset plane, the clamping detection device is driven by a first power device to be close to or far away from the preset plane, and the plurality of clamping heads are driven by the connecting rod (330) to be far away from or close to each other in the preset plane;

in the initial state, the probe (612) is in contact with the conductive part (622) until the clamping detection device moves to a position where the clamping head is in contact with the target object in a direction away from the preset plane, and the probe (612) and the conductive part (622) have the tendency to separate.

2. The clamping detection device for a chuck according to claim 1, wherein after the chuck contacts the target object, the first power device drives the clamping detection device away from a predetermined plane, and then the first body (610) moves upward relative to the second body (620) until the probe (612) is separated from the conductive portion (622) by a predetermined distance, and then the first power device is controlled to stop driving.

3. Clamping detection device for a chuck according to claim 1, characterized in that said probe (612) and said conductive part (622) are arranged in a circuit loop, the on/off signal of which is acquired.

4. A grip sensing apparatus for a chuck according to claim 1, wherein the first motive device is a motor, the motor being a non-torque motor; alternatively, the first and second electrodes may be,

the first power device is a cylinder.

5. The clamping detection device for the chuck as claimed in claim 1, wherein the first body (610) is provided with a sleeve corresponding to the probes (612) one by one, a second elastic member connected to the probes (612) is arranged in the sleeve, and in an initial state, the lower end of the probes (612) protrudes out of the sleeve, and the second elastic member is in a compressed state or a natural state.

6. The grip-detecting device for a cartridge according to claim 1, wherein the first body (610) is further provided with an extension (614) extending toward a lower portion of the second body (620), the second body (620) is further provided with a cavity for receiving the extension (614), and a protrusion (624) is provided on a wall of the cavity;

the first elastic piece (630) is arranged in the cavity, the upper end of the first elastic piece is abutted against the lower surface of the protruding part (624), and the lower end of the first elastic piece is connected with the extending part.

7. A clamping apparatus comprising a first power means, a plurality of clamps and a clamp detection means as claimed in any one of claims 1 to 6.

8. A device for opening and closing a cover, comprising a grip detection device according to any one of claims 1 to 6 and the following components:

a base (100) provided with a plurality of strip-shaped limiting through grooves (110), wherein virtual extension lines of the limiting through grooves are converged at a central point;

the clamping heads correspond to the limiting through grooves (110) one by one, extend out of the corresponding limiting through grooves (110) and are limited in a preset plane outside the limiting through grooves (110) to do linear motion along the corresponding limiting through grooves (110); each chuck is rotationally connected with the clamping detection device through a connecting rod (330);

a first power means configured to drive the grip detection means away from or towards the base (100);

and the input end of the controller is electrically connected with the clamping detection device, the output end of the controller is electrically connected with the first power device, and if the contact state of the probe (612) and the conductive part (622) of the clamping detection device is converted into the separation state to the preset distance, or the separation state of the probe (612) and the conductive part (622) is converted into the contact state, the controller controls the first power device to stop working.

9. The lid opening and closing device according to claim 8, further comprising a second power device configured to drive the base (100) to rotate clockwise or counterclockwise around the center point;

the second power device is electrically connected with the output end of the controller, and the controller controls the second power device to start to work only under the state that the probe (612) is separated from the conductive part (622).

10. The lid opening and closing device according to claim 9, wherein the controller is further configured to control a rotational direction of the second power device, comprising:

the cover opening and closing device is provided with an open cover and close cover alternating mode, in the open cover and close cover alternating mode, in response to a trigger signal of the container placed at an operation position, the first power device is controlled to drive the clamping detection device to be far away from the base (100) until the contact state of the probe (612) and the conductive part (622) is converted into a separation state to be a preset distance, and then the second power device is controlled to drive the base (100) to rotate towards the open cover direction, so that the cover of the container can be separated from the container body; in response to a trigger signal that the container is placed at the operating position again, controlling the second power device to drive the base (100) to rotate towards the cover closing direction, so that the cover of the container is locked on the container body, and controlling the first power device to drive the clamping detection device to be close to the base (100); and/or the presence of a catalyst in the reaction mixture,

the cover opening and closing device is provided with a continuous cover closing mode, in the continuous cover closing mode, in response to a trigger signal of the container placed at an operation position, the first power device is controlled to drive the clamping detection device to be far away from the base (100) until the contact state of the probe (612) and the conductive part (622) is converted into a separation state to be a preset distance, then the second power device is controlled to drive the base (100) to rotate towards the cover closing direction, so that the cover of the container is locked on the container body, and the first power device is controlled to drive the clamping detection device to be close to the base (100).