CN114933271B

CN114933271B - Method for opening and closing cover of unscrewed container and method for opening and closing cover

Info

Publication number: CN114933271B
Application number: CN202210591610.8A
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: 2024-01-16
Anticipated expiration: 2042-04-11
Also published as: CN114835073A; CN114835073B; CN114436185A; CN114933271A; CN114436185B

Abstract

The invention discloses a method for opening and closing a cover of a unscrewed container and a method for closing the cover, wherein the cover opening and closing device is used for opening the cover of the unscrewed container, the cover opening and closing device comprises a plurality of chucks which can approach, keep away and rotate in a certain plane and at least one detection device, the detection device can detect a container signal at an operation position, the cover opening and closing method comprises the steps of responding to the detection device to detect the container signal, starting timing until reaching a preset duration, controlling the chucks to keep away if the detection device does not detect the container signal at the current moment, and waiting for the next signal of the detection device; if the current detection device detects a signal of the container, the clamping heads are controlled to approach until the clamping heads clamp the cover of the container; and then the clamping head is controlled to rotate towards the direction of opening the cover so that the cover of the container can be separated from the container body. The invention can automatically adjust the distance between the chucks to open and close the cover, and the whole process can finish the cover opening and closing only by holding the container body with one hand, thereby being convenient and labor-saving.

Description

Method for opening and closing cover of unscrewed container and method for opening and closing cover

Technical Field

The invention relates to the field of bottle cap operation equipment, in particular to a method for opening and closing a cap of a unscrewed container and a method for opening and closing the cap.

Background

The operator usually unscrews or pulls out the cover of the container with the screw cap or the rubber plug cap by using both hands, then injects or sucks out the sample, and then tightens or plugs the cover of the container, but the following disadvantages exist in the mode:

a. when hundreds of containers with caps need to be processed, repeated unscrewing and tightening operations easily cause muscle loss of staff;

b. the staff is inconvenient to operate by wearing the rubber gloves, needs larger force, is easy to wear the rubber gloves, and has to replace the gloves frequently, so that the efficiency is low; when the rubber glove is damaged, part of the protection function is lost, so that an operator is exposed to biological hazard, and the biological safety risk is greatly increased;

c. the two hands of the staff need to carry out the operations of opening and closing the cover of the container and finish the operations of sucking, distributing and processing samples, and the like, the process is complex and the refining requirement is high, so that the whole process link is extremely easy to cause experimental accidents such as container/bottle cover dumping, aerosol pollution, contact pollution and the like; in addition, as the two hands are always occupied by the cover opening and closing links to different degrees in the sample experimental treatment process, 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, larger vibration can be generated on the container, so that vibration of a sample in the container is easy to cause aerosol pollution.

In the market, a cap screwing machine is also available, and the cap screwing operation can be automatically performed, but the cap screwing treatment is focused on caps of the same specification (the error is not more than 5 mm), so that the caps of containers of various specifications commonly used in laboratories cannot be processed, or the caps of different specifications must be manually replaced by the corresponding opening and closing clamps (claw head devices), so that the operation is inconvenient and the adaptability is poor. In the prior art, a method for opening and closing the cover of the unscrewed container with different specifications is lacked.

Disclosure of Invention

The invention aims to provide a method capable of completing opening and closing operations of unscrewed containers with different specifications by one hand, and the other hand is used for processing sample pipetting operations, so that the container cover or the sample is effectively prevented from being polluted.

In order to achieve the above purpose, the invention adopts the following technical scheme:

a lid opening and closing device for a swing-open container, comprising:

a plurality of chucks forming a region for accommodating the container cover therebetween;

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

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

the diameter of the inscribed circle between the plurality of chucks is switched to be 2mm to 80mm under the driving of the first power device.

Further, the cover opening and closing device further comprises a base, wherein the base is provided with strip-shaped limit through grooves corresponding to the chucks one by one, and virtual extension lines of the limit through grooves meet 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 limit through groove in a plane which extends forwards out of the limit through groove.

Further, the clamping heads comprise a first clamping head and a second clamping head, the number of the first clamping heads is one or more, the number of the second clamping heads is one or more, and the friction coefficient of at least the part surface facing the center of the first clamping head is larger than the friction coefficient of at least the part surface facing the center of the second clamping head.

Further, the plurality of chucks are positioned at the same circumferential edge, the first power device is arranged on the back surface of the base and drives the chucks to synchronously move, wherein the first power device comprises a linkage rod, a linkage piece and connecting rods which are in one-to-one correspondence with the chucks, one end of each connecting rod is rotationally connected with a connecting piece at the end part of the corresponding chuck, and the other end of each connecting rod is rotationally connected with the corresponding linkage piece; the linkage is configured to move toward or away from the base under the force 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 chucks is two and two-to-two, and the number of the second chucks is two and two-to-two; or,

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

Preferably, the thickness of the part of the chuck protruding out of the base ranges from 2mm to 15mm; and/or the number of the groups of groups,

the front end of the part of the chuck, which protrudes out of the base, is provided with a rounding angle.

Further, the cover opening and closing device further comprises a shell, a supporting rod and a base, wherein the clamping head, the first power device and the second power device are arranged in the shell, and an opening for exposing the clamping head is further formed in the lower surface of the shell;

the lower end of the supporting rod is arranged on the base, and the upper end 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 man-machine interaction module, and the prompter and/or the man-machine interaction module are electrically connected with the controller.

A biological sample collection method utilizing a cap opening and closing device as described above applied to a swing-open container, the biological sample collection method comprising:

s1, placing a target container between the chucks in the condition that a region between the chucks can accommodate a cover of the target container;

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 direction of opening the cover so as to separate the cover from the target container;

s4, adding a sample into the target container;

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

s6, the first power device drives the chucks to move away from each other so that the cover is separated from the chucks, and then the target container is moved to a designated area.

Conventional capping machines are custom-made according to the specifications of the container caps, and can only grip caps of a single specification. On the basis of providing a cap screwing machine which can also perform cap screwing operation on different specifications of unscrewing containers by only one group of chucks, the invention provides an automatic control cap screwing method, and the cap screwing device is different from the conventional cap screwing machine in that the range of the pipe diameter of the chuck clamping of the cap screwing device is 2mm to 80mm, for example, the last clamped cap is 10mm, after cap screwing, the chuck retreats for 2mm, the next clamped cap is still 10mm or less than 10mm or even 11mm, and naturally can be operated, but if the next clamped cap exceeds 12mm, the cap screwing device cannot be clamped to the container cap according to the prior program operation, therefore, the position of the chuck can be automatically adjusted without manually inputting the dimension information of the container cap before each time of clamping the cap, so as to adapt to the condition that the current container cap is larger than the outer diameter of the last clamped container cap, the invention becomes one of the technical problems to be solved, the invention can continuously operate different specifications of containers, for example, the next 18mm diameter of the container can be clamped, the next diameter of the container is not required, the additional intelligent device can be directly configured for opening and closing the container with two additional parameters, and the intelligent device is convenient to operate for two times.

Based on this, the present invention provides a method for opening and closing a cap of a unscrewed container, which is a method capable of performing a cap opening and closing operation on unscrewed containers of different specifications by one hand, and the other hand to handle a sample pipetting operation, thereby effectively preventing a container cap or a sample from being contaminated, and opening the cap of the unscrewed container by using a cap opening and closing device comprising a plurality of chucks capable of approaching, moving away and rotating in a certain plane, and at least one detecting device configured to be capable of detecting a signal of the container at an operation position, the cap opening and closing method comprising the steps of:

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

if the detection device detects a signal of the container at the current moment, controlling the clamping heads to approach until the clamping heads clamp the cover of the container; and then controlling the chuck to rotate towards the direction of opening the cover so that the cover of the container can be separated from the container body.

The method for opening and closing the cover can automatically detect the container signals 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 whole process can complete the operations of opening and closing the cover only by holding the container body by one hand of an operator, the method is convenient and labor-saving, and the pollution of the container cover is effectively prevented.

Further, the cover opening and closing device is provided with a preset cover opening and closing alternating mode, in the cover opening and closing alternating mode, after the clamping head rotates in the cover opening direction, and after the detection device detects a signal converted from no container to a container, the clamping head is controlled to rotate in the cover opening direction, so that the cover of the container is locked on the container body, and the clamping head is controlled to conduct a remote action.

Further, the plurality of chucks are positioned at 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 torque motor is utilized to drive the chuck to rotate, when the torque value is detected to be smaller than a preset first torque value in the rotation process of the cover opening direction, the torque motor stops working, and when the torque value is detected to be larger than a preset second torque value in the rotation process of the cover closing direction, the torque motor stops working.

As an alternative, 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 remote action.

As another alternative, the cover opening and closing device has a preset continuous cover opening second mode, and in the continuous cover opening second mode, after the rotation of the chuck in the cover opening direction is stopped, the chuck is controlled to perform a remote action in response to the signal of the container not detected by the detecting device.

Further, the cover opening and closing device is provided with at least two opening and closing intensity modes, and under different opening and closing intensity modes, the acceleration of starting rotation and/or the acceleration of stopping rotation of the driving chuck are different, and/or the rotation speed of the driving chuck is different.

Further, the cover opening and closing device is provided with at least two clamping force modes, and the acting forces for driving the clamping heads to clamp the cover of the container are different in different clamping force modes; and/or the number of the groups of groups,

the cover opening and closing device is provided with at least two sensing sensitivity modes, and the preset time duration is different in different sensing 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 clamping head clamping container in the nucleic acid test tube scene, and if the diameter of the cover accords with the size of the cover of the nucleic acid test tube, the clamping times are counted;

in a non-nucleic acid test tube scenario, the number of caps clamped for each and/or the number of times caps of various sizes are clamped respectively are counted according to the size classification of the caps.

Further, if the detecting device does not detect the signal of the container at the current moment, the mode of controlling the chuck to be far away includes: the control chuck directly retreats outwards to the extreme limit, or on the premise of stepping, the control chuck retreats outwards by one gear each time; and/or the number of the groups of groups,

The cap opening and closing device has a memory mode in which the chuck is directly driven to a position where the cap of the container is gripped last time.

A method of closing a container of a twist-off type, the method comprising closing the container of the twist-off type with a closing and opening device comprising a plurality of jaws capable of approaching, moving away and rotating in a plane and at least one detection device configured to detect a signal of the container in an operative position, the method comprising the steps of:

if the detection device detects a signal of the container at the current moment, controlling the clamping heads to approach until the clamping heads clamp the cover of the container; and then controlling the clamping head to rotate towards the closing direction so as to lock the cover of the container on the container body and control the clamping head to conduct a far-away action.

In the prior art, a means for accurately detecting the clamping of bottle caps with different specifications is lacking. The conventional cap screwing machine in the market is customized according to the specification of the container cap, and only a single specification bottle cap can be clamped, so that the claw heads can clamp the bottle cap each time according to the same force. On the basis of providing a cap screwing machine capable of screwing cap on different specifications of unscrewed containers by only one group of chucks, the invention provides a detection device for automatically detecting the clamping state of the chucks on the caps, and the different from the conventional cap screwing machine, the range of the clamping diameters of the chucks of the cap opening and closing device is 2mm to 80mm, and the caps of the containers with different specifications cannot be operated according to a preset program.

Therefore, it is necessary to introduce an automatic detection means suitable for various specifications of container caps, conventionally, a pressure sensor is provided at the chuck, or the chuck is driven by a torque motor to grip the container caps; the former has the disadvantage that the wiring is cumbersome, and especially the clamping head needs to rotate 2-4 turns 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 normal motor. The invention aims to provide a clamping head clamping detection device which can overcome the two defects.

A grip detection apparatus for a plurality of grips configured to detect a grip condition of a target object by a plurality of grips 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 clamping head through a plurality of connecting rods, and the two ends of the connecting rods are both in a hinged structure;

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 approach or be far away from the preset plane, and the clamping heads are driven by the connecting rod to be far away from or approach 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 clamping head 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.

The clamping detection device provided by the invention is the linkage piece, a pressure sensor is not required to be arranged at the clamping head, and the phenomenon that the rotation of the clamping head is influenced due to wiring at the clamping head is avoided; in addition, an expensive torque motor is not required, so that the cost of the first power device is reduced; meanwhile, the corresponding clamping condition can be accurately and precisely measured no matter how the cover of the unscrewed container is.

Further, after the chuck contacts the target object, the first power device drives the clamping detection device to be far away from a preset plane, and then the first main body moves upwards relative to the second main body until the probe is separated from the conductive body by a 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 the 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; or,

The first power device is a cylinder.

Further, the first main body is provided with sleeves corresponding to the probes one by one, the sleeves are internally provided with second elastic pieces connected with the probes, the lower ends of the probes extend out of the sleeves in an initial state, and the second elastic pieces are in a compressed state or a natural state.

Further, 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 the cavity wall of the cavity is provided with a protruding part;

the first elastic piece is arranged in the cavity, the upper end of the first elastic piece abuts 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 chucks and a clamping detection means as described above.

According to still another aspect of the present invention, there is provided a cover opening and closing device including the clamping detection device as described above, and:

the base is provided with a plurality of strip-shaped limit through grooves, and virtual extension lines of the base meet 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 in a preset plane outside the limiting through grooves to perform linear motion along the corresponding 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 clamp 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 probe of the clamping detection device is converted from a contact state to a separation to a preset distance or the probe is converted from a separation state to a contact state with the conductive part, the controller controls the first power device to stop working.

Further, the cover opening and closing device further comprises a second power device, which is configured to drive the base to rotate clockwise or anticlockwise 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 working only in a 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, comprising:

the cover opening and closing device is provided with a cover opening and closing alternating mode, in the cover opening and closing alternating mode, the first power device is controlled to drive the clamping detection device to be far away from the base in response to a trigger signal when the container is placed at an operation position until the probe and the conductive part are converted from a contact state to be separated to a preset distance, and then the second power device is controlled to drive the base to rotate towards the direction of opening the cover, so that the cover of the container can be separated from the container body; responding to a trigger signal that the container is placed at the operation position again, controlling the second power device to drive the base to rotate towards the closing direction so as to lock the cover of the container 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 number of the groups of groups,

The cover opening and closing device is provided with a continuous cover closing mode, in the continuous cover closing mode, the first power device is controlled to drive the clamping detection device to be far away from the base in response to a trigger signal when the container is placed at an operation position until the probe and the conductive part are converted from a contact state to be separated to a preset distance, 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 beneficial effects that: the automatic detection container signal adjusts the chuck interval in order to centre gripping and rotate the container lid to realize automatic opening and shutting lid operation, and the whole process only need the operator to hold the container body and can accomplish the operation of uncapping and closing the lid with single hand, convenient laborsaving, prevents effectively that the container lid from being polluted simultaneously.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a cover opening and closing device 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 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. 4 is a first partial schematic view of a cover opening and closing device according to an exemplary embodiment of the present invention;

FIG. 5 is a second partial schematic view of a cover opening and closing device according to an exemplary embodiment of the present invention;

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

FIG. 7 is a partial schematic view of a chuck holding container of a cover opening and closing device according to an exemplary embodiment of the present invention;

FIG. 8 is a third partial schematic view of a cover opening and closing device according to an exemplary embodiment of the present invention;

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

FIG. 10 is a schematic cross-sectional view of a chuck just touching a cover provided in accordance with an exemplary embodiment of the invention;

FIG. 11 is a partially enlarged schematic illustration of portion B of FIG. 10;

FIG. 12 is a schematic cross-sectional view of a chuck slightly gripping a cap in accordance with an exemplary embodiment of the present invention;

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

FIG. 14 is a schematic cross-sectional view of a chuck clamping a cover provided in accordance with an exemplary embodiment of the invention;

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

Wherein, the reference numerals include: 100-base, 110-limit through slot, 210-first chuck, 220-second chuck, 230-connecting piece, 310-linkage rod, 320-linkage piece, 330-linkage rod, 410-shell, 420-supporting rod, 430-base, 440-sucker, 450-chute, 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-protruding part, 630-first elastic piece.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 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 mouth of the container needs to be covered before and/or after storing the samples, and it is common to first rotate the cover and then put the samples into the container, then close the cover, and because the container is held by one hand and the container cover is screwed by the other hand, the sample cannot be dripped by using a pipette gun without the hand, the operation is inconvenient, and the same hand contacts the samples and the tube cover, so that the risk of mutual pollution between the tube cover and the samples is easily caused.

Moreover, the task amount of one-day cover opening and closing operation of an experimenter can reach thousands, long-time cover screwing operation is easy to damage tendon sheath tissues of hands of the experimenter, in order to reduce texture damage caused by high-strength cover screwing operation of the experimenter, the cover screwing machine can replace manual cover screwing operation in the market, but the specifications of containers with different sizes in the market are different, at present, the conventional practice is to customize corresponding cover screwing machines according to different specifications, or at least customize corresponding claw heads, and cover screwing operation is performed on container covers with different specifications by replacing the cover screwing machine or the claw heads. The invention aims to provide a cover opening and closing device which can carry out cover opening and closing operation on containers with different specifications by only one group of chucks, and the cover opening and closing device can carry out cover opening and closing operation on containers with different specifications directly by only one group of chucks, wherein the cover opening and closing device can carry out operation on containers with diameters of 18mm in the last time and can carry out operation on containers with diameters of 40mm in the next time, and parameter configuration on a cover opening and closing machine is not needed in the two operations, so that the cover opening and closing device can carry out cover opening and closing operation on the containers with different specifications directly, and is more convenient and intelligent.

In one embodiment of the present invention, there is provided a cover opening and closing device applied to a swing type container, as shown in fig. 1, the cover opening and closing device includes a housing 410, a support bar 420, and a base 430, wherein an upper end portion of the support bar 420 is connected with the housing 410 to support the housing 410, a lower end portion of the support bar 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 support bar 420, through which a worker obtains a height and an orientation of an optimal operation, and convenience and flexibility are achieved. According to different application scenes, the cover opening and closing device can be manufactured into a floor type or a desktop type. The housing 410 has an actuating member disposed therein for actuating the cover, as described in more detail below.

In the present embodiment, the height adjusting mechanism has a chute 450 arranged in a vertical direction, and the housing 410 is capable of reciprocating along the chute 450 direction, as shown in fig. 2, when the housing 410 slides to the uppermost end of the chute 450, the housing 410 is at the highest height, as shown in fig. 3, and when the housing 410 slides to the lowermost end of the chute 450, the housing 410 is at the lowest height. It should be noted that the above manner of adjusting the height of the housing 410 by using the chute 450 is merely illustrative, and other manners may be adopted in the embodiment, which is not intended to limit the 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 effect of the suction cups 440, the cover opening and closing device can be more firmly placed on a table top or other bearing surfaces.

The above-mentioned actuating member for operating the cover includes a base 100, a plurality of chucks, a first power device and a second power device, an opening is disposed at the lower portion of the housing 410, the base 100 is disposed at the opening, the base 100 is provided with a strip-shaped limit through slot 110 corresponding to the chucks one by one, and virtual extension lines of the limit through slots 110 converge at a central point. The clips are disposed outside the base 100 through the limit through grooves 110, and as shown in fig. 4 and 5, at least part of the base 100 can be exposed through the opening, that is, the clips can be exposed through the opening, so that a worker can use a region formed by a plurality of clips for accommodating the container cover to perform the opening and closing operation on the container cover 5. The plurality of grippers may be located at the same circumferential edge with the center of the circumference being at the center point so that when the grippers grip the container lid 5 for rotation, the container lid 5 also rotates about the central axis. And each of the clips cooperates with the limit screw such that the clip can move only along the length direction of the corresponding limit slot 110 (cannot move in the front-rear direction of the base 100), and a region for accommodating the container cover is formed between the clips. The first power device and the second power device are disposed on the back surface of the base 100, that is, inside the casing 410, and under the driving of the first power device, the plurality of chucks may approach or depart from each other along the corresponding limiting through groove 110, and under the driving of the second power device, the base 100 may rotate, so as to drive the plurality of chucks to rotate in a plane outside the base 100. It can be seen that the length of the limiting through groove 110 determines the specification range of the container cover that the cover opening and closing device can be applied to, and the diameter switching range of the inscribed circle between the plurality of chucks of the cover opening and closing device in this embodiment is 2mm to 80mm, so that the cover with the thinnest 2mm external diameter can be clamped, the cover with the thickest 80mm external diameter can be clamped, the container covers 5 with different specifications can be operated, the corresponding chucks are not required to be arranged on the container covers 5 with each specification, the applicability is stronger, the operation is convenient, and the cost is effectively reduced.

In one embodiment of the present invention, the diameter switching range of the inscribed circle between the plurality of chucks of the cover opening and closing device is 8mm to 60mm; in one embodiment of the present invention, the diameter switching range of the inscribed circle between the plurality of chucks of the cover opening and closing device is 8mm to 40mm; in one embodiment of the present invention, the diameter switching range of the inscribed circle between the plurality of chucks of the cover opening and closing device is 8mm to 35mm; in one embodiment of the present invention, the diameter of the inscribed circle between the plurality of chucks of the cap opening and closing device is switched in a range of 8mm to 20mm.

In the present embodiment, the chucks include a first chuck 210 and a second chuck 220, the number of the first chucks 210 is one or more, and the number of the second chucks 220 is one or more, wherein a friction coefficient of at least a center-facing partial surface of the first chuck 210 is greater than a friction coefficient of at least a center-facing partial surface of the second chuck 220. In the present embodiment, as shown in fig. 4, the number of the first chucks 210 is two and two-to-two, and the number of the second chucks 220 is two and two-to-two; as shown in fig. 5, each of the first and second chucks 210 and 220 includes a cylindrical portion, on which a thread (as shown in fig. 6) or a non-slip particle (such as a sand particle) or a flexible non-slip layer (such as a silica gel layer or a rubber layer) is provided on the cylindrical portion of the first chuck 210, and the cylindrical portion of the second chuck 220 has a polished metal surface; this is done in order to correct the deviation so that during operation, the experimenter does not need to place the cap strictly in the central position waiting for the jaws to close to grip, because the above structure of the first jaw 210 and the second jaw 220, even if placing the cap in the eccentric position, pushes the cap towards the center when the first jaw contacts the cap so that the final jaw grips the cap in the center, as shown in fig. 7, without causing the situation where two adjacent jaws grip the cap in the eccentric position, which would occur more easily in case the jaws are far apart and the container cap to be gripped is small, which would not occur for conventional capping machines subscribing to the respective jaws for the respective specifications, so the prior art cannot give technical teaching of setting two jaws with different friction coefficients. The beneficial effects of the clamp head to clamp the cover at 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 bottle cap rotates around the center of the bottle cap, and a person only needs to hold the container body in situ without swinging; on the contrary, once the cover is eccentrically clamped, the eccentric high-speed rotating container body is easy to throw away the human hand, or the container body flies out at the moment of opening the cover, or the container body tilts over to splash out a sample in the process of closing the cover, so that serious consequences are caused, and the design of the first chuck 210 and the second chuck 220 in the embodiment can avoid the serious consequences.

The number of the first chucks 210 or the second chucks 220 is not limited to two or more, for example, two first chucks 210 and one second chuck 220, or one first chuck 210 and two second chucks 220 may be used as one embodiment for implementing the technical scheme of the present invention.

The thickness of the portion of the clip protruding out of the base 100 ranges from 2mm to 15mm, more preferably from 4mm to 12mm, or even more preferably from 6mm to 10mm, and in actual operation, the worker pushes the container lid 5 to the middle of the accommodating area, so that the container lid 5 is clamped at the junction of the virtual extension lines of the limiting through grooves 110 under the action of a plurality of clips, that is, the container lid 5 is clamped at the center and is tightly attached to the surface of the base 100, so that the opening operation can be completed only by manually holding the container body in place. And in one embodiment of the invention, the front end of the part of the chuck, which protrudes out of the base 100, is also provided with a rounding to avoid damage caused by collision of the container cover 5 to the chuck.

In one embodiment of the invention, the first power means is configured to drive the plurality of jaws in a synchronized motion, i.e. to drive the plurality of jaws simultaneously closer together or simultaneously farther apart in a plane, so as to be able to grip the container lid 5 (as shown in fig. 7) or release the container lid 5. Specifically, as shown in fig. 8, the first power device includes a motor, a linkage rod 310, a linkage member 320, and a connecting rod 330 corresponding to the plurality of chucks one by one, wherein the linkage member 320 is disposed on the linkage rod 310, and the linkage member 320 is further rotatably connected with one end of the connecting rod 330, and simultaneously, the other end of the connecting rod 330 is rotatably connected with the connecting member 230 corresponding to the end of the chuck, so that when the motor drives the linkage rod 310 to move close to or far from the base 100, the linkage member 320 is close to or far from the base 100 under the acting force of the linkage rod 310, and the connecting 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 clamping detection device, which includes:

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

the second main body 620, the upper part of which is provided with a conductive part 622 matched with the lower end of the probe 612, the lower part of which is connected with the corresponding clamping head through a plurality of connecting rods 330, and both ends of the connecting rods 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; specifically, the first body 610 is further provided with an extension 614 extending to the lower portion of the second body 620, the second body 620 is further provided with a cavity for accommodating the extension 614, and a protrusion 624 is provided on a cavity wall of the cavity; the first elastic member 630 is disposed in the cavity, with its upper end abutting against the lower surface of the protruding portion 624 and its lower end connected to the extending portion 614;

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

in an initial state (the collet does not exert pressure on the target object to be gripped, see fig. 11), the probe 612 is in contact with the conductive portion 622 until the linkage 320 is moved in a direction away from the preset plane to a position where the collet contacts the target object, the probe 612 having a tendency to separate from the conductive portion 622.

In this embodiment, the first main body 610 and the extending portion 614 are combined and installed, specifically, the first main body 610 is a PCB, a circular hole is formed in the middle of the first main body 610, the extending portion 614 passes through the circular hole and extends downward, the upper portion of the extending portion 614 is fixedly installed with the PCB, and the probe 612 can be soldered on the PCB; similarly, the protruding portion 624 and the second body 620 are combined and installed, the protruding portion 624 may be a bearing, the outer ring of the bearing is fixedly connected with the second body 620, the inner ring of the bearing is contacted with the outside of the extending portion 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 can be kept not to rotate during the rotation of the outer ring of the bearing, so as not to cause mechanical abrasion to the first body 610 and the extending portion 614.

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

The probes 612 and the conductive parts 622 in this embodiment are disposed in a circuit loop, on-off signals of which are 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 signals of the circuit loop.

As shown in fig. 11, 13 and 15, the first main body 610 is provided with sleeves corresponding to the probes 612 one by one, and second elastic members (not shown) connected with the probes 612 (which may be springs sleeved outside the probes 612) are arranged in the sleeves, and in an initial state, the lower ends of the probes 612 protrude out of the sleeves, and the second elastic members are in a compressed state or a natural state. The second elastic member is slightly compressed in the initial state, so that the error detachment can be effectively avoided, and the probe 612 is separated from the conductive part 622 after a certain clamping force is ensured to be applied to the container cover.

It should be noted that, in one embodiment of the present invention, the connecting element 230 and the gripping head are arranged in a staggered manner, that is, the gripping head is farther from the center of the base 100 than the connecting element 230, which is advantageous in that the stroke of the connecting rod 330 can be shortened especially when the small-sized bottle cap is gripped, and the staggered distribution of the connecting element 230 can avoid interference when the small-sized bottle cap is gripped, and can increase the gripping force on the small-sized bottle cap (for example, the outer diameter of the small-sized bottle cap is not more than 8 mm).

The second power means is configured to drive the base 100 in either a forward or reverse direction, 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 perform driving work under the control of the controller. Specifically, when the cover opening and closing device performs the cover opening operation, the first power device drives the chuck to move to a proper position to clamp the container cover 5 (as shown in fig. 7), then the second power device drives the base 100 to rotate forward, so that the container cover 5 and the container body are separated, after the staff finishes the sampling or lofting operation, the container body is aligned to the container cover 5, so that the chuck drives the container cover 5 to rotate reversely under the driving of the second power device, and the container cover 5 is screwed on the container body to complete the cover closing operation. As regards the triggering of the opening and closing operations, the key triggering may be implemented, or the sensing may be implemented intelligently, the latter being described in detail in the method embodiments described below.

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 swing-type container, the biological sample collection method comprising the steps of:

s3, the second power device drives the chuck to rotate towards the direction of uncovering so as to separate the cover from the target container;

s4, adding a sample into the target container;

The idea of the embodiment of the biological sample collection method belongs to the same idea as the working process of the cover opening and closing device in the embodiment, and the whole content of the embodiment of the cover opening and closing device is incorporated into the embodiment of the biological sample collection method by a full-text reference mode, and is not repeated.

Referring to fig. 9, the cover opening and closing apparatus further includes a detecting device 460 that detects an operation area directed toward the lower side of the chuck, for example, the detecting device 460 can detect the container body or the cover during the opening and closing of the cover.

In step S1, in response to the detection device 460 detecting the signal of the container, starting the timer until reaching the preset time, if the detection device 460 does not detect the signal of the container at the present moment, which indicates that the size of the present accommodating area cannot accommodate the container cover to be processed and the container is removed, controlling the chuck to be far away, and adjusting the chuck to provide a suitable accommodating area; otherwise, if the current time detecting device 460 detects a signal of the container (indicating that the current accommodating area can accommodate the container cover to be processed), that is, if the condition that the area between the chucks described in S1 can accommodate the cover of the target container is satisfied, the target container is placed between the chucks;

In the steps S3 and S5, the number of turns may be preset, for example, a conventional container cover is generally rotated by 2.5 turns or 3 turns, and when the set number of turns is greater than the actually required number of turns, the user does not need to hold the container body by his or her hand during the closing process, but only needs to allow his or her hand to freely rotate a plurality of angles in his or her hand, so that the cover separated from the container body only idles for the opening process.

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

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

In an embodiment of the present invention, the cover opening and closing device further includes a prompter and/or a man-machine interaction module 470, and the prompter and/or the man-machine interaction module 470 is electrically connected to the controller. The indicator can adopt indicator lamps with different luminous colors, for example, in the process of opening and closing the cover, the indicator lamp is controlled to be lighted red, and in the standby state without abnormality, the indicator lamp can be put into a container for operation, the indicator lamp is controlled to be lighted green.

In this embodiment, the man-machine interaction module 470 is a touch operation screen, and the operation mode, such as an alternate mode of opening and closing the cover, can be selected by the touch operation screen, so that the cover opening and closing device can perform the operation of opening and closing the cover in a circulating manner. In the alternative mode of opening and closing the lid, after the chuck rotates in the direction of opening the lid, and after the detection device 460 detects the signal converted from no container to a container (a delay time can be added), the chuck is controlled to rotate in the direction of closing the lid, so that the lid of the container is locked on the container body, and the chuck is controlled to perform a remote action. That is, after the container is opened, the cover opening and closing device keeps clamping the container cover, and operators place the container bottle, namely the container body, in the accommodating area, and after the detection device 460 detects a signal that the container is converted from no container to the container, the cover opening and closing device controls the chuck to rotate towards the cover closing direction so that the container cover is locked on the container body. In addition, the "closing direction" and the "opening direction" in the present invention may be preset according to the actual container lid, and the protection scope of the present invention is not limited thereto, and the opening/closing direction may be determined according to the screw direction of the screw lid, or may be determined freely by a rubber lid without screw threads.

Besides selecting the working mode as an open-close cover alternating mode, the first mode of continuously uncovering, the second mode of continuously uncovering and the continuous cover closing mode can be selected through the touch operation screen, and the following specific one-to-one explanation is as follows:

in the first mode of continuous uncovering, when the rotation of the chuck in the uncovering direction is stopped, the chuck is controlled to conduct a moving-away action. In this mode, when the lid opening and closing device finishes the lid opening operation, the container lid is left on the container, and the benefit of setting like this lies in conveniently following the operation usefulness after uncapping in batches, and can be with lid virtual mask on the container mouth in this period, for example be applicable to follow-up partial shipment with a sample in a plurality of containers, this kind of continuous mode of uncapping makes follow-up operation also can operate in batches, improves efficiency.

In the second mode of continuous uncovering, after the rotation of the chuck in the uncovering direction is stopped, the chuck is controlled to move away in response to the detection device 460 not detecting the signal of the container. Under this mode, generally can place the box that has the opening below opening and closing the lid device, after opening and closing the lid device and accomplish the operation of uncapping, the container lid drops to the box in and carries out recovery or scrap the processing, when need carrying out the operation of mixing to a plurality of nucleic acid detection samples for instance, just need not the container lid after uncapping the container, consequently use this mode can be more convenient high-efficient.

In the continuous capping mode, in response to the detection device 460 detecting the signal of the container, the timer is started until a preset time 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 far away, and the next signal of the detection device 460 is waited. The step is similar to the uncovering method, and in order to make the accommodating area between the chucks conform to the size of the container to be processed, the description is omitted here. Otherwise, if the current detecting device 460 detects the signal of the container, the clamping heads are controlled to approach until the plurality of clamping heads clamp the cover of the container; and then the clamping head is controlled to rotate towards the closing direction so as to lock the cover of the container on the container body and control the clamping head to conduct a far-away action. Specifically, when an operator holds the container body (the container cover which is not covered by the virtual mask on the container body) and places the container body at the operation position, the cover opening and closing device adjusts the position of the clamping head to clamp the container cover, and controls the clamping head to rotate towards the cover closing direction so as to realize the cover closing operation.

Besides the functions of multiple working modes, the touch operation screen of the cover opening and closing device in this embodiment can also manually set opening and closing strength, and has at least two opening and closing strength modes, and under different opening and closing strength modes, the acceleration of starting rotation and/or the acceleration of stopping rotation of the driving chuck are different, and/or the rotation speed of the driving chuck is different. When the sample volume in the container is too large or the sample has a certain danger, the action of opening the cover can be relaxed by setting a soft opening and closing strength mode, so that the risk caused by the overflow of the sample is prevented.

Moreover, the touch operation screen of the cover opening and closing device in this embodiment 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, and in different clamping force modes, the acting force for driving the chuck to clamp the cover of the container is different, the greater the distance threshold between the probe 612 and the conductive portion 622 is set, the greater the clamping force is, so that the purpose of setting is to prevent the damage to the container cover caused by the excessive clamping force or to place a special container cover with too small clamping force, which cannot clamp some container covers with smooth surfaces, so that a suitable clamping force gear can be selected according to the actual situation of the container cover.

In addition, the touch operation screen of the cover opening and closing device in the embodiment can also manually set the induction sensitivity, has at least two induction sensitivity modes, and has different preset durations under different induction sensitivity modes so as to meet the requirements of different working environments or response sensitivity of operators. For example, the operator with fast response may set the preset time period to 0.2s or 0.6s, and the operator with slow response may need 1s or even 2s to react that the accommodating area between the chucks is not adapted to the current container cover, and then the preset time period may be set to 1s or 2s.

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

In one embodiment of the present invention, the touch operation screen of the cover opening and closing device may further manually set different application scene modes, where the application scene modes include, for example, a nucleic acid test tube scene and/or a non-nucleic acid test tube scene, and in the nucleic acid test tube scene, the diameter of the cover is determined according to the position of the cover where the chuck clamps the container, and if the predetermined size of the cover of the nucleic acid test tube is met (the predetermined size may be more than one, may include the size of a ten-mixed tube or a twenty-mixed tube), the number of clamping times is counted, and the number of nucleic acid samples is mainly counted in the scene, if the calculated size does not meet the predetermined size of the cover of the nucleic acid test tube; in the non-nucleic acid test tube scene, the number of the covers clamped by each cover is counted, and/or the number of times that the covers with various sizes are clamped by each cover is counted according to the size classification of the covers, so that the workload of an operator can be calculated.

In this embodiment, the mode of retreating and keeping away the chuck can also be set by touching the operation screen: if the current time detecting device 460 does not detect the signal of the container, the modes for controlling the chuck to be far away include: the control chuck directly retreats outwards to the extreme limit, or on the premise of stepping, the control chuck retreats outwards by one gear each time; and after the cover is closed or the cover is opened in the continuous cover opening mode, the chuck can be set to move outwards by a preset distance (such as 2 mm) at the current position, or set to a retreating gear or be retreated directly to the extreme position.

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

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely exemplary of the application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the application and are intended to be comprehended within the scope of the application.

Claims

1. A method of opening and closing a container of a swing-open type, characterized in that the container is opened by a cover opening and closing device including a plurality of chucks capable of approaching, moving away and rotating in a certain plane and at least one detecting device configured to detect a signal of the container at an operation position, the method comprising the steps of:

responding to the signal of the container detected by the detection device, starting timing until reaching a preset time, and if the signal of the container is not detected by the detection device at the current moment, controlling the chuck to move outwards to a limit position, or controlling the chuck to move outwards by one gear each time on the premise of stepping, and waiting for the next signal of the detection device;

if the detection device detects a signal of the container at the current moment, controlling the clamping heads to approach until the clamping heads clamp the cover of the container; and controlling the chuck to rotate towards the direction of opening the cover so that the cover of the container can be separated from the container body, and controlling the chuck to perform a far-away action so as to enable the chuck to withdraw a preset distance, wherein the preset distance is smaller than the distance from the outer side to the limit position.

2. The method of opening and closing a container according to claim 1, wherein the cover opening and closing device has a predetermined cover opening and closing alternate mode, and in the cover opening and closing alternate mode, after the chuck rotates in the cover opening direction, and after the detecting device detects a signal from the container not being converted into the container being present, the chuck is controlled to rotate in the cover opening direction, so that the cover of the container is locked on the container body, and the chuck is controlled to perform a moving-away action.

3. The method of opening and closing a container according to claim 1 or 2, wherein the plurality of chucks are located at the same circumferential edge, and the plurality of chucks rotate about the center of the circle;

4. A method of opening and closing a lid of a screw-on container according to claim 3, wherein the lid opening and closing device has a predetermined continuous lid opening first mode in which the chuck is controlled to move away when the rotation of the chuck in the lid opening direction is stopped.

5. A method of opening and closing a container according to claim 3, wherein the opening and closing device has a predetermined continuous opening second mode in which the chuck is controlled to move away in response to the detection device not detecting a signal from the container after the rotation of the chuck in the opening direction is stopped.

6. A method of opening and closing a container according to claim 1, wherein the opening and closing device has at least two opening and closing intensity modes, and the acceleration of the drive chuck to start rotation and/or the acceleration of the drive chuck to stop rotation are different and/or the speed of the drive chuck to rotate is different in different opening and closing intensity modes.

7. The method of opening and closing a lid of a twist-off container according to claim 1, wherein the lid opening and closing device has at least two clamping force modes, and the forces for driving the chuck to clamp the lid of the container are different in different clamping force modes; and/or the number of the groups of groups,

8. The method for opening and closing the cover of the unscrewed container according to claim 1, wherein 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, wherein in the 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, and if the diameter of the cover meets the size of the cover of the nucleic acid test tube, the clamping frequency is counted;

9. A method of opening and closing a container according to claim 1, wherein the opening and closing means has a memory mode in which the chuck is directly driven to a position where the container lid is gripped last time.

10. A method of closing a container of a swing-open type, characterized in that the container of the swing-open type is closed by a cover opening and closing device comprising a plurality of chucks capable of approaching, moving away and rotating in a certain plane and at least one detecting device configured to detect a signal of the container at an operation position, the method comprising the steps of:

If the detection device detects a signal of the container at the current moment, controlling the clamping heads to approach until the clamping heads clamp the cover of the container; and controlling the clamping head to rotate towards the closing direction so as to lock the cover of the container on the container body, and controlling the clamping head to perform a far-away action so as to enable the clamping head to retreat by a preset distance, wherein the preset distance is smaller than the distance from the outside to the limit position.