CN115043367A - Automatic test tube uncapping machine and control method thereof - Google Patents
Automatic test tube uncapping machine and control method thereof Download PDFInfo
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- CN115043367A CN115043367A CN202210600118.2A CN202210600118A CN115043367A CN 115043367 A CN115043367 A CN 115043367A CN 202210600118 A CN202210600118 A CN 202210600118A CN 115043367 A CN115043367 A CN 115043367A
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- 230000005540 biological transmission Effects 0.000 claims description 8
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- 238000000429 assembly Methods 0.000 claims description 4
- 239000008280 blood Substances 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
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Abstract
The invention relates to the technical field of automatic test tube uncapping machines, in particular to an automatic test tube uncapping machine and a control method thereof. The control algorithm of the clamp controller comprises PID control algorithm control, a current loop system is used as an inner loop, and a speed loop system is used as an outer loop. The control is stable and reliable, and the clamping force is stable and adjustable.
Description
Technical Field
The invention relates to the technical field of automatic test tube uncapping machines, in particular to an automatic test tube uncapping machine and a control method thereof.
Background
The test tube is usually sealed with the test tube cap, when will take a sample to the test tube, needs take off the test tube cap, but the manual test tube cap of taking off not only wastes time and energy inefficiency, causes the pollution to the sample in the test tube in addition easily. Due to the fact that the test tubes of different models, the test tubes and the test tube caps are different in size, and the sample test tubes are qualified to a certain extent, the automatic test tube uncapping machine capable of identifying and detecting the test tubes and the control method thereof need to be designed, the test tubes are automatically identified and detected, and the test tubes are automatically uncapped.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the automatic test tube uncapping machine and the control method thereof, which can automatically identify and detect test tubes of different types and automatically uncapping the test tubes, can effectively improve the production efficiency and reduce the risk of polluting samples in the test tubes.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: an automatic test tube uncapping machine comprises a turntable mechanism, a feeding station, an identification station, an uncapping station and a discharging station, wherein the turntable mechanism is provided with a fixing assembly, the identification station is provided with a camera, the uncapping station is provided with a clamping assembly and an uncapping mechanism, the clamping assembly is used for fixing a test tube when uncapping the test tube, and the uncapping mechanism is used for separating a test tube cap from the test tube;
wherein, fixed subassembly is used for fixing the test tube, and carousel mechanism makes the test tube circulate in proper order between material loading station, discernment station, uncapping station, unloading station through the pivoted mode.
As a preferred scheme of the invention, the turntable mechanism is provided with a first motor and a mounting plate, the mounting plate is in a cross shape, the number of the fixing components is four, the fixing components are mounted on the mounting plate, the first motor drives the mounting plate to rotate through a connecting shaft, and a recovery funnel is arranged below the uncapping station.
As a preferred scheme of the present invention, the fixing assembly includes a positioning block, a locking ring, and a resilient plate, the positioning block is provided with positioning slots, the number of the resilient plates is three or more, the resilient plates are circumferentially and uniformly distributed around the positioning block, the locking ring is used to tightly lock the resilient plates to the positioning block, and the resilient plates are provided with guiding inclined surfaces.
As a preferred scheme of the invention, the clamping assembly comprises a second motor, an output shaft of the second motor is connected with a first lead screw, the first lead screw is adapted with a first nut block, the first nut block is connected with a first push-pull rod, the first push-pull rod is connected with a clasping assembly, the clasping assembly comprises an installation block, the installation block is provided with a first clasping block and a second clasping block, the end parts of the first clasping block and the second clasping block are respectively provided with a clamping block, the first clasping block and the second clasping block can rotate at the installation block, the first clasping block and the second clasping block are symmetrically arranged at two sides of the first push-pull rod, the first push-pull rod is connected with the end part of the first clasping block, which deviates from the clamping block, and the end parts of the first push-pull rod and the second clasping block, which deviate from the clamping block, are connected.
As a preferred scheme of the invention, the uncapping mechanism comprises a lifting assembly, a clamping assembly and a rotating assembly, wherein the lifting assembly drives the clamping assembly and the rotating assembly to ascend or descend, the clamping assembly is used for clamping the test tube cap, and the rotating assembly is used for driving the clamping assembly to rotate.
As a preferable scheme of the present invention, the clamping assembly includes a third motor, an output shaft of the third motor is connected with a second lead screw, the second lead screw is adapted with a second nut block, the second nut block is connected with a second push-pull rod, the second push-pull rod is connected with a clamping jaw assembly, the clamping jaw assembly includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are symmetrically arranged on both sides of the second push-pull rod, end portions of the first connecting rod and the second connecting rod are both connected with clamping jaw blocks, the clamping jaw blocks are provided with clamping cap grooves, when the second push-pull rod is pushed out, the first connecting rod and the second connecting rod both rotate to drive the two clamping jaw blocks to be away from each other, and when the second push-pull rod is driven to be pulled back, the first connecting rod and the second connecting rod both rotate to drive the two clamping jaw blocks to be close to each other.
As a preferred aspect of the present invention, the clamping assembly is further provided with an anti-sticking member, and the anti-sticking member is provided with a folded plate corresponding to the cap clamping groove.
As a preferable scheme of the invention, the rotating assembly comprises a fourth motor, an output shaft of the fourth motor is connected with a transmission mechanism, the transmission mechanism comprises a driving synchronizing wheel and a driven synchronizing wheel, the driving synchronizing wheel is connected with the driven synchronizing wheel through a synchronous belt, and the driven synchronizing wheel is connected with the clamping assembly.
As a preferable scheme of the present invention, the lifting assembly includes a fifth motor, an output shaft of the fifth motor is provided with a gear, the gear is adapted with a rack, the rack is fixed relative to the decapping machine, when the fifth motor rotates, the fifth motor is driven by the gear to ascend or descend relative to the rack, and the clamping assembly and the rotating assembly ascend or descend synchronously with the fifth motor.
On the other hand, the control method of the automatic test tube uncapping machine is used for controlling the automatic test tube uncapping machine and sending a control signal to the clamp controller through the main controller, the control algorithm of the clamp controller comprises PID control algorithm control, an electric current loop system is used as an inner loop, a speed loop system is used as an outer loop, and the control method comprises the following steps:
s1, feeding the test tube to a feeding station, and clamping the test tube by the fixing assembly;
s2, the main controller controls the first motor to rotate, and the turntable mechanism drives the test tube to the identification station;
s3, the camera shoots the test tube, and the main controller judges whether the blood sample in the test tube is qualified, whether the label of the test tube is clear and the model of the test tube according to the image information of the test tube;
s4, the main controller controls the first motor to rotate, and the turntable mechanism drives the test tube to the uncapping station;
s5, the clamp controller controls the second motor to rotate through the speed ring system to drive the first screw rod to rotate and drive the holding assembly to move;
s6, when the clamping component touches the test tube, the current loop system of the clamp controller immediately corresponds to the test tube, constant current control is carried out by constant torque current, the second motor stops, and the test tube is clamped by constant torque;
s7, the main controller controls the fifth motor to rotate, and the lifting assembly drives the clamping assembly and the rotating assembly to descend together;
s8, the clamp controller controls the third motor to rotate through the speed ring system, and the clamping jaw assembly acts;
s9, when the clamping jaw assembly touches the test tube cap, the current loop system of the clamp controller immediately corresponds to the clamping jaw assembly, constant current control is carried out by constant torque current, the third motor stops, and the test tube cap is tightly held by constant torque;
s10, the main controller controls the fourth motor to rotate, and the rotating assembly drives the clamping assembly to rotate so as to take the test tube cap out of the test tube head;
s11, the clamp controller controls the second motor to rotate to drive the first screw rod to rotate, and the holding assembly releases holding of the test tube;
s12, the first motor is controlled by the clamp controller to rotate, the test tube which is stripped by the turntable mechanism is driven to the blanking station, the third motor rotates, the test tube cap is loosened by the clamping jaw assembly, and the test tube cap is dropped to the recovery funnel.
As a preferred scheme of the invention, the main controller sends a control signal to the clamp controller through the H-bridge topological structure, when the clamp controller controls, the ARM chip sends a PWM driving signal to the signal amplifier, the power amplifier controls the motor to operate, and the monitored data is fed back to the ARM chip after the current of the motor is monitored, so that the motor is subjected to servo control.
As a preferred scheme of the invention, the clamp controller is provided with a constant current control system, and the constant current control system is provided with a high-power insulated gate transistor.
(III) advantageous effects
Compared with the prior art, the invention provides the automatic test tube uncapping machine and the control method thereof, and has the following beneficial effects.
1. The automatic test tube uncapping machine comprises a turntable mechanism, wherein the turntable mechanism is provided with a feeding station, an identification station, an uncapping station and a discharging station, and can realize simultaneous multiple procedures of test tube loading, visual identification, uncapping and unloading. The recognition station is provided with a camera and can be matched with a mechanical arm to sort unqualified samples. Uncapping the station and being provided with the centre gripping subassembly and uncapping the mechanism, when taking off the cap, the centre gripping subassembly carries out the centre gripping to the test tube, uncapping the mechanism and uncapping the test tube, can reduce the contaminated risk of in vitro sample.
2. Carousel mechanism, centre gripping subassembly, lifting unit, clamping jaw subassembly and runner assembly all adopt the motor as the power supply in this kind of automatic uncapping machine of test tube, and the motion process is steady, reliable, the noise is little.
3. The clamping assembly and the clamping jaw assembly in the automatic test tube uncapping machine are matched with a clamping force control program in the clamping process, so that the clamping of different types of test tubes and test tube caps is realized.
4. The rotation assembly in the automatic test tube uncapping machine is controlled by the motor, the unlimited rotation mode can be realized, and the problem of control line winding is effectively solved when the test tube is infinitely rotated in the same direction.
5. The lifting component in the automatic test tube uncapping machine can adapt to test tubes with different heights by driving the clamping component and the rotating component to ascend or descend.
6. The clamping jaw assembly in the automatic cap removing machine for the test tube is provided with an anti-falling cap adhering mechanism, and the problem that the cap is adhered to the clamping jaw after the cap is removed is effectively solved.
7. In the control method of the automatic test tube uncapping machine, the control algorithm of the clamp controller comprises PID control algorithm control, a current loop system is used as an inner loop, and a speed loop system is used as an outer loop. The control is stable and reliable, and the clamping force is stable and adjustable.
Drawings
FIG. 1 is a schematic perspective view of an automatic cap remover according to the present invention;
FIG. 2 is a second perspective view of the automatic cap remover of the present invention;
FIG. 3 is a schematic perspective view of a turntable mechanism according to the present invention;
FIG. 4 is a perspective view of the fixing member of the present invention;
FIG. 5 is a schematic perspective view of a clamping assembly according to the present invention;
FIG. 6 is a schematic perspective view of the uncapping mechanism of the present invention;
FIG. 7 is a perspective view of the clamping assembly of the present invention;
FIG. 8 is a perspective view of a jaw assembly of the present invention;
FIG. 9 is a schematic diagram showing the control relationship between the main controller and the clamp controller according to the present invention;
FIG. 10 is a flowchart of a control method of the automatic decapping machine according to the present invention.
In the figure: A. a feeding station, a recognition station, a decapping station, a discharging station, a capping station, a decapping station and a decapping station; 1. a turntable mechanism; 11. a first motor; 12. mounting a plate; 13. a fixing assembly; 14. a connecting shaft; 131. positioning blocks; 132. positioning a groove; 133. locking a ring; 134. a spring plate; 135. a guide slope; 2. camera, 3, clamping assembly; 31. a second motor; 32. a first lead screw; 33. a first nut block; 34. a first push-pull rod; 35. a clasping component; 351. mounting blocks; 352. a first hugging block; 353. a second hugging block; 354. a clamping block; 4. a cap removal mechanism; 41. a lifting assembly; 411. a fifth motor; 412. a gear; 413. a rack; 42. a clamping assembly; 421. a third motor; 422. a second screw rod; 423. a second nut block; 424. a second push-pull rod; 425. an anti-sticking member; 426. folding the plate; 427. a jaw assembly; 4271. a first link; 4272. a second link; 4273. a jaw block; 4274. a cap clamping groove; 43. a rotating assembly; 431. a fourth motor; 432. a transmission mechanism; 433. a driving synchronizing wheel; 434. a driven synchronizing wheel; 435. a synchronous belt; 5. a recovery funnel; 6. a main controller; 7. a clamp controller.
Detailed Description
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, belong to the protection scope of the present invention.
As described in the background, the prior art has deficiencies, and in order to solve the technical problems, the application provides an automatic test tube uncapping machine and a control method thereof.
In a typical embodiment of the present application, as shown in fig. 1 to 10, an automatic test tube uncapping machine includes a turntable mechanism 1, a loading station a, an identification station B, an uncapping station C and a discharging station D, where the turntable mechanism 1 is provided with a fixing component 13, the identification station B is provided with a camera 2, the uncapping station C is provided with a clamping component 3 and an uncapping mechanism 4, the clamping component 3 is used to fix a test tube when uncapping the test tube, and the uncapping mechanism 4 is used to separate a test tube cap from the test tube;
wherein, fixed subassembly 13 is used for fixing the test tube, and carousel mechanism 1 makes the test tube circulate in proper order between material loading station A, recognition station B, uncapping station C, unloading station D through the pivoted mode.
It can be understood that when uncapping the test tube, carry out the test tube material loading from material loading station A, put the test tube into the fixed subassembly 13 of material loading station A department. Carousel mechanism 1 rotates, carries the test tube of material loading station A department to discernment station B through carousel mechanism 1, and the camera 2 of discernment station B department shoots the discernment to the test tube, and whether the unqualified sample of cooperation manipulator letter sorting or discernment test tube has the test tube cap and carries out position identification to the test tube cap. And when the test tube of the feeding station A is conveyed to the identification station B, the empty fixing component 13 of the blanking station D is conveyed to the feeding station A, and feeding is continued to be carried out at the feeding station A. After discernment station B discerned the test tube, conveying assembly continued to rotate, carried discernment station B's test tube to uncapping station C. After the test tube was carried to uncapping station C, clamping component 3 carried out the centre gripping to the test tube and fixed, uncapped mechanism 4 and taken off the test tube cap of test tube. Uncap mechanism 4 takes off the back with the test tube cap, and centre gripping subassembly 3 unclamps the test tube, and carousel mechanism 1 rotates, will uncap test tube after uncapping station C department and carry to unloading station D, and at this moment, material loading station A's test tube is carried to recognition station B, and the test tube through the discernment of shooing in recognition station B is carried to uncapping station C and continues to uncap the work. The uncapped test tube is conveyed to a discharging station D, the uncapped test tube is discharged at the discharging station D, and the fixing component 13 at the discharging station D returns to an empty state. In the process that the uncapped test tube is conveyed to the blanking station D, the uncapping mechanism 4 loosens the test tube cap, and the uncapping mechanism 4 returns to the empty state.
Specifically, carousel mechanism 1 is provided with first motor 11, mounting panel 12, and mounting panel 12 is "ten" font, and fixed subassembly 13's quantity is four, and fixed subassembly 13 is installed in mounting panel 12, and first motor 11 drives mounting panel 12 through connecting axle 14 and rotates, and uncapping station C below is provided with recovery funnel 5.
It can be understood that four corners of the mounting plate 12 shaped like the cross correspond to the feeding station a, the recognition station B, the uncapping station C and the discharging station D respectively, four fixing assemblies 13 are mounted at four corners of the mounting plate 12 respectively, and when the first motor 11 rotates, the connecting shaft 14 is driven to rotate, and then the mounting plate 12 is driven to rotate. When the mounting plate 12 rotates, the four fixing assemblies 13 are driven to circulate among the feeding station A, the recognition station B, the uncapping station C and the discharging station D, so that the uncapping machine can complete the feeding, recognition, uncapping and discharging of test tubes. The test tube is behind uncapping through uncapping mechanism 4 in uncapping station C department, and the in-process of unloading station D is carried to the test tube through uncapping, and uncapping mechanism 4 loosens the test tube cap, and the test tube cap falls into recovery funnel 5 of uncapping station C below, and uncapping mechanism 4 gets back to empty material state.
Specifically, the fixing assembly 13 includes a positioning block 131, a locking ring 133, and spring plates 134, the positioning block 131 is provided with positioning slots 132, the number of the spring plates 134 is three or more, the spring plates 134 are circumferentially and uniformly distributed around the positioning block 131, the locking ring 133 is used for tightly locking the spring plates 134 to the positioning block 131, and the spring plates 134 are provided with guiding inclined planes 135.
It will be appreciated that when loading the test tubes, the test tubes are inserted into the holding assembly 13. When the test tube is inserted into the fixing assembly 13, the test tube slides down between the elastic sheets 134 uniformly distributed around the positioning block 131 under the guidance of the guiding inclined plane 135, and then enters the positioning groove 132 of the positioning block 131, and the test tube is clamped by the elastic sheets 134. When carrying out the unloading to the test tube, only need with the test tube from fixed subassembly 13 take out can, shell fragment 134 has elasticity, can adapt to the clamp tightly to the different diameter test tubes.
Specifically, the clamping assembly 3 includes a second motor 31, an output shaft of the second motor 31 is connected with a first lead screw 32, the first lead screw 32 is adapted with a first nut block 33, the first nut block 33 is connected with a first push-pull rod 34, the first push-pull rod 34 is connected with a clasping assembly 35, the clasping assembly 35 includes an installation block 351, the installation block 351 is provided with a first clasping block 352 and a second clasping block 353, the end portions of the first clasping block 352 and the second clasping block 353 are provided with clamping blocks 354, the first clasping block 352 and the second clasping block 353 can rotate at the installation block 351, the first clasping block 352 and the second clasping block 353 are symmetrically arranged at two sides of the first push-pull rod 34, the first clasping block 34 is connected with the end portion of the first clasping block 352, which deviates from the clamping blocks 354, and the end portions of the first push-pull rod 34 and the second clasping block 353 are connected.
It can be understood that, after the test tube is conveyed to the uncapping station C, the second motor 31 rotates to further drive the first screw rod 32 to rotate, so as to drive the first nut block 33 to move. When the first nut block 33 moves, the first push-pull rod 34 is driven to pull the first clasping block 352 and the second clasping block 353 of the clasping assembly 35, so that the first clasping block 352 and the second clasping block 353 rotate at the mounting block 351, and at this time, the end portions of the clamping blocks 354 mounted on the first clasping block 352 and the second clasping block 353 are close to each other until the clasping assembly 35 clasps the test tube. When embracing subassembly 35 and unclamping the test tube, second motor 31 changes the rotation direction, and then drives first lead screw 32 and change the rotation direction to change first nut block 33's moving direction, at this moment, the tip that clamping block 354 was installed to first armful piece 352 and second armful piece 353 keeps away from each other, embraces subassembly 35 and unclamping the test tube tightly.
Specifically, the uncapping mechanism 4 comprises a lifting assembly 41, a clamping assembly 42 and a rotating assembly 43, the lifting assembly 41 drives the clamping assembly 42 and the rotating assembly 43 to ascend or descend, the clamping assembly 42 is used for clamping the test tube caps, and the rotating assembly 43 is used for driving the clamping assembly 42 to rotate.
It can be understood that, when uncapping the test tube, the lifting assembly 41 drives the clamping assembly 42 and the rotating assembly 43 to descend until the clamping assembly 42 reaches the test tube cap, so that the test tube cap can adapt to test tubes with different heights. The clamping assembly 42 clamps the test tube cap, and the rotating assembly 43 drives the clamping assembly 42 to rotate, so that the test tube cap is screwed out from the test tube. After uncapping is completed, the lifting assembly 41 drives the clamping assembly 42 and the rotating assembly 43 to ascend, and the clamping assembly 42 loosens the test tube caps, so that the test tube caps fall into the recovery funnel 5.
Specifically, the clamping assembly 42 includes a third motor 421, an output shaft of the third motor 421 is connected with a second lead screw 422, the second lead screw 422 is adapted with a second nut block 423, the second nut block 423 is connected with a second push-pull rod 424, the second push-pull rod 424 is connected with a clamping jaw assembly 427, the clamping jaw assembly 427 includes a first connecting rod 4271 and a second connecting rod 4272, the first connecting rod 4271 and the second connecting rod 4272 are symmetrically arranged at two sides of the second push-pull rod 424, end portions of the first connecting rod 4271 and the second connecting rod 4272 are both connected with a clamping jaw block 4273, the clamping jaw block 4273 is provided with a clamping cap groove 4274, when the second push-pull rod 424 is pushed out, the first connecting rod 4271 and the second connecting rod 4272 both rotate to drive the two clamping jaw blocks 4273 to move away from each other, and when the second push-pull rod 424 is pulled back, the first connecting rod 4271 and the second connecting rod 4272 both rotate to drive the two clamping jaw blocks 4273 to move close to each other.
It can be understood that when the clamping assembly 42 clamps the test tube cap, the third motor 421 rotates to drive the second lead screw 422 to rotate, so as to drive the second nut block 423 to move. When the second nut block 423 moves, the second push-pull rod 424 is driven to pull the first connecting rod 4271 and the second connecting rod 4272, so that the two clamping jaw blocks 4273 are driven to approach each other, and the test tube cap is clamped. When the clamping assembly 42 loosens the test tube cap, the rotation direction of the third motor 421 is changed, and then the rotation direction of the second lead screw 422 is changed, so as to change the moving direction of the second nut block 423, at this time, the second push-pull rod 424 pushes the first connecting rod 4271 and the second connecting rod 4272, so as to drive the two jaw blocks 4273 to move away from each other, and thus the test tube cap is loosened.
Specifically, the clamping assembly 42 is further provided with a sticking prevention member 425, the sticking prevention member 425 is provided with a folding plate 426, and the folding plate 426 corresponds to the clamping cap groove 4274.
As can be appreciated, when the clamping assembly 42 clamps the test tube caps, the test tube caps snap into the cap slots 4274; when the clamp assembly 42 releases the test tube cap, the jaw blocks 4273 on the first link 4271 and the second link 4272 move away from each other and the test tube cap falls under the influence of gravity into the recovery funnel 5. When the test tube cap is clamped by the cap clamping groove 4274 and cannot fall off, in the process that the clamping jaw blocks 4273 on the first connecting rod 4271 and the second connecting rod 4272 are mutually far away, the folded plate 426 of the anti-sticking piece 425 extends into the cap clamping groove 4274 to push the test tube cap out of the cap clamping groove 4274, and therefore the test tube cap can fall off smoothly.
Specifically, the rotating assembly 43 includes a fourth motor 431, an output shaft of the fourth motor 431 is connected to a transmission mechanism 432, the transmission mechanism 432 includes a driving synchronizing wheel 433 and a driven synchronizing wheel 434, the driving synchronizing wheel 433 is connected to the driven synchronizing wheel 434 through a synchronizing belt 435, and the driven synchronizing wheel 434 is connected to the clamping assembly 42.
As can be appreciated, when the clamping assembly 42 clamps the test tube cap, the fourth motor 431 rotates to drive the driving sync wheel 433 to rotate, and the driven sync wheel 434 rotates under the transmission of the sync belt 435. The driven synchronizing wheel 434 drives the clamping assembly 42 to rotate when rotating, so that the test tube cap can be taken down from the test tube, the rotating direction of the clamping assembly 42 can be rotated forward or backward under the control of the fourth motor 431, and the whole number of the rotation of the clamping assembly can be adjusted, controlled and unrestricted.
Specifically, the lifting assembly 41 comprises a fifth motor 411, a gear 412 is mounted on an output shaft of the fifth motor 411, a rack 413 is adapted to the gear 412, the rack 413 and the decapping machine are fixed relatively, when the fifth motor 411 rotates, the fifth motor 411 is driven by the gear 412 to ascend or descend relative to the rack 413, and the clamping assembly 42 and the rotating assembly 43 ascend or descend synchronously with the fifth motor 411.
It can be understood that, when the lifting assembly 41 drives the clamping assembly 42 and the rotating assembly 43 to descend, the fifth motor 411 rotates to further drive the gear 412 to rotate, and the fifth motor 411 drives the clamping assembly 42 and the rotating assembly 43 to descend under the driving of the gear 412 and the rack 413; when the lifting assembly 41 drives the clamping assembly 42 and the rotating assembly 43 to ascend, the fifth motor 411 changes the rotating direction, and further drives the gear 412 to change the rotating direction, and under the driving of the gear 412 and the rack 413, the fifth motor 411 drives the clamping assembly 42 and the rotating assembly 43 to ascend.
On the other hand, a control method of the automatic test tube uncapping machine is used for controlling the automatic test tube uncapping machine, and sending a control signal to a clamp controller 7 through a main controller 6, wherein a control algorithm of the clamp controller 7 comprises PID control algorithm control, a current loop system is used as an inner loop, a speed loop system is used as an outer loop, and the control method comprises the following steps:
s1, feeding the test tube to a feeding station A, and clamping the test tube by the fixing assembly 13;
s2, the main controller controls 6 the first motor 11 to rotate, and the turntable mechanism 1 drives the test tube to the identification station B;
s3, the camera 2 shoots the test tube, and the main controller 6 judges whether the blood sample in the test tube is qualified, whether the label of the test tube is clear and the model of the test tube according to the image information of the test tube;
s4, the main controller 6 controls the first motor 11 to rotate, and the turntable mechanism 1 drives the test tube to the uncapping station C;
s5, the clamp controller 7 controls the second motor 31 to rotate through the speed ring system to drive the first screw rod 32 to rotate, and drives the holding component 35 to move;
s6, when the clasping component 35 touches the test tube, the current loop system of the clamp controller 7 immediately responds to the test tube, constant current control is carried out by constant torque current, the second motor 31 stops, and the test tube is clasped by constant torque;
s7, the main controller 6 controls the fifth motor 411 to rotate, and the lifting assembly 41 drives the clamping assembly 42 and the rotating assembly 43 to descend together;
s8, the clamp controller 7 controls the third motor 421 to rotate through the speed ring system, and the clamping jaw component 427 acts;
s9, when the clamping jaw component 427 touches the test tube cap, the current loop system of the clamp controller 7 immediately responds, constant current control is carried out by constant torque current, the third motor 421 stops, and the test tube cap is held tightly by constant torque;
s10, the main controller 6 controls the fourth motor 431 to rotate, and the rotating assembly 43 drives the clamping assembly 42 to rotate, so that the test tube cap is taken out of the test tube head;
s11, the clamp controller 7 controls the second motor 31 to rotate to drive the first screw rod 32 to rotate, and the holding assembly 35 releases holding of the test tube;
s12, the first motor 11 is controlled by the clamp controller 7 to rotate, the test tube which is stripped off the test tube cap is driven to the blanking station D by the turntable mechanism 1, the third motor 421 rotates, and the test tube cap is loosened by the clamping jaw assembly 427 to drop to the recovery funnel 5.
It can be understood that the clamp controller 7 adopts wide voltage control, the control voltage range is 16V-36V, the rotating speed and current double closed loop output control is carried out through a PID control algorithm, the control of the uncapping machine is more stable and reliable, the double-output independent hardware overcurrent protection is realized, the adaptability of a control system is stronger, and the moment current of the uncapping machine is more finely adjustable when the uncapping machine clamps the test tube cap under the control of the PID control algorithm.
Further, the main controller 6 sends a control signal to the clamp controller 7 through the H-bridge topology structure, when the clamp controller 7 controls, the ARM chip sends a PWM driving signal to the signal amplifier, the power amplifier controls the motor to operate, and the monitored data are fed back to the ARM chip after the current of the motor is monitored, so that the motor is subjected to servo control.
It can be understood that the main controller 6 performs complementary control through the H-bridge topology PWM, and the interface control voltage can be selected to be high level or low level to effectively adapt to different main control interfaces. And a high-precision current detection chip is adopted to detect the current of the motor, so that the control is more accurate.
Further, the jig controller 7 is provided with a constant current control system provided with a high-power insulated gate transistor.
It can be understood that the control unit of the clamp controller 7 is completely isolated from the power unit, so that the control system has good electromagnetic interference resistance and stronger electromagnetic compatibility, and the constant current control system is provided with a high-power insulated gate transistor to effectively ensure high-efficiency and reliable output.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An automatic test tube uncapping machine is characterized by comprising a turntable mechanism (1), a feeding station (A), an identification station (B), an uncapping station (C) and a discharging station (D), wherein the turntable mechanism (1) is provided with a fixing assembly (13), the identification station (B) is provided with a camera (2), the uncapping station (C) is provided with a clamping assembly (3) and an uncapping mechanism (4), the clamping assembly (3) is used for fixing a test tube when the test tube is uncapped, and the uncapping mechanism (4) is used for separating a test tube cap from the test tube;
wherein, fixed subassembly (13) are used for fixing the test tube, carousel mechanism (1) makes the test tube be in through the pivoted mode material loading station (A), discernment station (B) uncap station (C) flow in proper order between unloading station (D) and change.
2. The automatic test tube uncapping machine according to claim 1, wherein the turntable mechanism (1) is provided with a first motor (11) and a mounting plate (12), the mounting plate (12) is in a cross shape, the number of the fixing assemblies (13) is four, the fixing assemblies (13) are mounted on the mounting plate (12), the first motor (11) drives the mounting plate (12) to rotate through a connecting shaft (14), and a recovery funnel (5) is arranged below the uncapping station (C);
the fixing assembly (13) comprises a positioning block (131), a locking ring (133) and elastic sheets (134), the positioning block (131) is provided with positioning grooves (132), the number of the elastic sheets (134) is three or more, the elastic sheets (134) are circumferentially and uniformly distributed around the positioning block (131), the locking ring (133) is used for tightly locking the elastic sheets (134) on the positioning block (131), and the elastic sheets (134) are provided with guide inclined planes (135).
3. The automatic test tube decapping machine according to claim 1, wherein the clamping assembly (3) comprises a second motor (31), an output shaft of the second motor (31) is connected with a first lead screw (32), the first lead screw (32) is adapted with a first nut block (33), the first nut block (33) is connected with a first push-pull rod (34), the first push-pull rod (34) is connected with a clasping assembly (35), the clasping assembly (35) comprises a mounting block (351), the mounting block (351) is provided with a first clasping block (352) and a second clasping block (353), the ends of the first clasping block (352) and the second clasping block (353) are provided with clamping blocks (354), the first clasping block (352) and the second clasping block (353) can rotate at the mounting block (351), and the first clasping block (352) and the second clasping block (353) are symmetrically arranged on the push-pull rod (34) The first push-pull rod (34) is connected with the end part, away from the clamping block (354), of the first holding block (352), and the first push-pull rod (34) is connected with the end part, away from the clamping block (354), of the second holding block (353).
4. The automatic test tube uncapping machine according to claim 1, wherein the uncapping mechanism (4) comprises a lifting assembly (41), a clamping assembly (42) and a rotating assembly (43), the lifting assembly (41) drives the clamping assembly (42) and the rotating assembly (43) to ascend or descend, the clamping assembly (42) is used for clamping test tube caps, and the rotating assembly (43) is used for driving the clamping assembly (42) to rotate.
5. The automatic test tube decapping machine according to claim 4, wherein the clamping assembly (42) comprises a third motor (421), an output shaft of the third motor (421) is connected with a second screw rod (422), the second screw rod (422) is adapted with a second nut block (423), the second nut block (423) is connected with a second push-pull rod (424), the second push-pull rod (424) is connected with a clamping jaw assembly (427), the clamping jaw assembly (427) comprises a first connecting rod (4271) and a second connecting rod (4272), the first connecting rod (4271) and the second connecting rod (4272) are symmetrically arranged at two sides of the second push-pull rod (424), the ends of the first connecting rod (4271) and the second connecting rod (4272) are both connected with clamping jaw blocks (4273), the clamping jaw blocks (4273) are provided with clamping cap grooves (4274), and the second push-pull rod (424) is pushed out, the first connecting rod (4271) and the second connecting rod (4272) both rotate to drive the two clamping jaw blocks (4273) to be away from each other, and when the second push-pull rod (424) is driven to be pulled back, the first connecting rod (4271) and the second connecting rod (4272) both rotate to drive the two clamping jaw blocks (4273) to be close to each other;
the lifting assembly (41) comprises a fifth motor (411), a gear (412) is installed on an output shaft of the fifth motor (411), a rack (413) is matched with the gear (412), the rack (413) and the cap removing machine are fixed relatively, when the fifth motor (411) rotates, the fifth motor (411) is driven by the gear (412) to ascend or descend relative to the rack (413), and the clamping assembly (42) and the rotating assembly (43) ascend or descend synchronously with the fifth motor (411).
6. Automatic test tube decapping machine according to claim 4, wherein the gripping assembly (42) is further provided with an anti-sticking member (425), the anti-sticking member (425) being provided with a flap (426), the flap (426) corresponding to the cap slot (4274).
7. The automatic test tube decapping machine according to claim 5, wherein the rotating assembly (43) comprises a fourth motor (431), an output shaft of the fourth motor (431) is connected with a transmission mechanism (432), the transmission mechanism (432) comprises a driving synchronizing wheel (433) and a driven synchronizing wheel (434), the driving synchronizing wheel (433) is connected with the driven synchronizing wheel (434) through a synchronous belt (435), and the driven synchronizing wheel (434) is connected with the clamping assembly (42).
8. A control method for an automatic test tube decapping machine, for controlling the automatic test tube decapping machine according to any one of claims 1 to 7, and sending a control signal to a clamp controller (7) through a main controller (6), wherein a control algorithm of the clamp controller (7) includes PID control algorithm control, a current loop system is used as an inner loop, a speed loop system is used as an outer loop, and the steps include:
s1, feeding the test tube to the feeding station (A), and clamping the test tube by the fixing assembly (13);
s2, the main controller (6) controls the first motor (11) to rotate, and the turntable mechanism (1) drives the test tube to the identification station (B);
s3, the camera (2) photographs the test tube, and the main controller (6) judges whether a blood sample in the test tube is qualified, whether a test tube label is clear and the model of the test tube according to the image information of the test tube;
s4, the main controller (6) controls the first motor (11) to rotate, and the turntable mechanism (1) drives the test tube to the uncapping station (C);
s5, the clamp controller (7) controls the second motor (31) to rotate through a speed loop system to drive the first screw rod (32) to rotate, and drives the clasping component (35) to act;
s6, when the clamping component (35) touches the test tube, the current loop system of the clamp controller (7) immediately corresponds to the test tube, constant current control is carried out by constant torque current, the second motor (31) stops, and the test tube is clamped by constant torque;
s7, the main controller (6) controls the fifth motor (411) to rotate, and the lifting assembly (41) drives the clamping assembly (42) and the rotating assembly (43) to descend together;
s8, the clamp controller (7) controls the third motor (421) to rotate through a speed ring system, and the clamping jaw assembly (427) acts;
s9, when the clamping jaw assembly (427) touches the test tube cap, the current loop system of the clamp controller (7) immediately corresponds to the test tube cap, constant current control is carried out by constant torque current, the third motor (421) stops, and the test tube cap is held tightly by constant torque;
s10, the main controller (6) controls the fourth motor (431) to rotate, and the rotating assembly (43) drives the clamping assembly (42) to rotate so as to take the test tube cap out of the test tube head;
s11, the clamp controller (7) controls the second motor (31) to rotate to drive the first screw rod (32) to rotate, and the holding assembly (35) releases holding of the test tube;
s12, the clamp controller (7) controls the first motor (11) to rotate, the turntable mechanism (1) drives test tubes with test tube caps removed to the blanking station (D), the third motor (421) rotates, and the clamping jaw assembly (427) loosens the test tube caps to drop the test tube caps to the recovery funnel (5).
9. The control method of the automatic test tube uncapping machine, according to claim 8, characterized in that the main controller (6) sends a control signal to the clamp controller (7) through an H-bridge topology structure, when the clamp controller (7) controls, the ARM chip sends a PWM driving signal to a signal amplifier, the power amplifier controls the motor to run, and the monitored data is fed back to the ARM chip after the current of the motor is monitored, so that the motor is servo-controlled.
10. The control method of the automatic test tube uncapping machine according to claim 8, wherein the clamp controller (7) is provided with a high-power insulated gate transistor, and the clamp controller (7) is provided with a constant current control system provided with a high-power insulated gate transistor.
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| CN202210600118.2A CN115043367A (en) | 2022-05-30 | 2022-05-30 | Automatic test tube uncapping machine and control method thereof |
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| CN202210600118.2A CN115043367A (en) | 2022-05-30 | 2022-05-30 | Automatic test tube uncapping machine and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116021252A (en) * | 2023-03-29 | 2023-04-28 | 中电科风华信息装备股份有限公司 | Automatic uncapping device for B-pillar camera and operation method thereof |
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