Cup-grabbing device

Abstract

The present invention discloses a cup-gripping device, comprising: a bracket; a first driving member connected to the bracket; a cam connected to the driving end of the first driving member; a finger mechanism including a connecting member, a first finger assembly and a second finger assembly, the connecting member being connected to the bracket, and both the first finger assembly and the second finger assembly being slidably connected to the connecting member; a first elastic member for providing a restoring force, with two ends respectively connected to the first finger assembly and the second finger assembly; wherein the cam is disposed between the first finger assembly and the second finger assembly, the first driving member drives the cam to rotate, the cam drives the first finger assembly and the second finger assembly to slide away from each other relative to the connecting member to an open state, and the first finger assembly and the second finger assembly slide relative to the connecting member to a closed state under the action of the restoring force and form a cup-gripping space with one end open. The cup-gripping device provided by the present invention has a relatively high service life and improves the reliability of cup gripping.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping, and particularly to a cup grasping device. Background Art

[0002] Automation equipment is used more and more widely in people's daily lives. For example, the automatic analysis equipment used in the medical field is mainly used to detect and analyze biochemical substances. The cup grasping device used in the automatic analysis equipment realizes the movement of the reaction cup in space by grasping the reaction cup.

[0003] There are three traditional cup grasping devices, namely: a plunger type cup grasping device, an electromagnetic type cup grasping device, and a cam type cup grasping device. The plunger type cup grasping device clamps an object by squeezing a flexible finger to make it bend and deform. However, the flexible finger has a short service life due to the limitation of material properties. The electromagnetic type cup grasping device drives a driving roller by an electromagnet to push the swing arms on the left and right clamping bodies to open the left and right clamping bodies. However, due to the large friction between the driving roller and the swing arm, the driving roller is easily worn, resulting in a short service life of the device. The cam type cup grasping device rotates an eccentric wheel through a driving mechanism to realize the opening and closing of the grasping components. However, since the two grasping parts use the same rotating shaft, when opening, the angular amplitude of the grasping part forms a radial external force with the cup being grasped, and the cup can be extruded out of the grasping part and slide off, resulting in low reliability of cup grasping. Summary of the Invention

[0004] Based on this, in view of the problems of short service life and low grasping reliability of traditional cup grasping devices, it is necessary to provide a cup grasping device with a longer service life and higher grasping reliability.

[0005] A cup grasping device, comprising:

[0006] A bracket;

[0007] A first driving member, assembled on the bracket;

[0008] A cam, drivingly connected to the driving end of the first driving member;

[0009] A finger mechanism, including a connecting member, a first finger assembly and a second finger assembly. The connecting member is connected to the bracket, and both the first finger assembly and the second finger assembly are slidably connected to the connecting member;

[0010] A first elastic member for providing a restoring force, with two ends respectively connected to the first finger assembly and the second finger assembly;

[0011] Wherein, the cam is disposed between the first finger assembly and the second finger assembly. The first driving member drives the cam to rotate, and the cam drives the first finger assembly and the second finger assembly to slide away from each other relative to the connecting member to an open state. Under the action of the restoring force, the first finger assembly and the second finger assembly slide relative to the connecting member to a closed state and form a cup-gripping space with one end open.

[0012] The cup-gripping device provided by the present invention uses a cam to drive the first finger assembly and the second finger assembly to slide away from each other relative to the connecting member and cooperates with a first elastic member to enable the first finger assembly and the second finger assembly to slide relative to the connecting member. Compared with a plunger-type cup-gripping device and an electromagnetic cup-gripping device, it has a higher service life. Moreover, both the first finger assembly and the second finger assembly slide relative to or away from the connecting member. Thus, when the first finger assembly and the second finger assembly open, the first finger assembly and the second finger assembly will move simultaneously in two opposite directions, and the movement directions of the two do not cross each other, and no radial external force will be formed on the cup being gripped. In this way, the reliability of cup gripping is improved.

[0013] In one embodiment, the first finger assembly includes a first mounting plate, a first abutting member and a first finger respectively connected to the upper and lower ends of the first mounting plate. The second finger assembly includes a second mounting plate, a second abutting member and a second finger respectively connected to the upper and lower ends of the second mounting plate. The finger mechanism further includes a first linear guide rail and a second linear guide rail respectively disposed on both sides of the connecting member. The first mounting plate is connected to the first linear guide rail, the second mounting plate is connected to the second linear guide rail. The cam is disposed between the first abutting member and the second abutting member. Two ends of the first elastic member are respectively connected to the first mounting plate and the second mounting plate. The first finger and the second finger form the cup-gripping space.

[0014] In one embodiment, the first abutting member includes a first shaft connected to the first mounting plate and a first bearing connected to the first shaft. The second abutting member includes a second shaft connected to the second mounting plate and a second bearing connected to the second shaft. First cam track surfaces and second cam track surfaces are circumferentially and oppositely disposed on both end surfaces of the cam. The heights of the first cam track surface and the second cam track surface from one end to the other end of the cam gradually increase from both end surfaces of the cam. The first bearing abuts against the first cam track surface, and the second bearing abuts against the second cam track surface.

[0015] In one embodiment, the cross-sections of the first finger and the second finger are arc-shaped with openings facing each other.

[0016] In one embodiment, the finger mechanism further includes a first opto-coupler and a first opto-coupler baffle. The first opto-coupler is connected to one of the first finger assembly and the second finger assembly and is provided with a first opening groove. One end of the first opto-coupler baffle is connected to the other of the first finger assembly and the second finger assembly, and the other end enters and exits the first opening groove.

[0017] In one embodiment, the cup-gripping device further includes a second opto-coupler and a second opto-coupler baffle. The second opto-coupler is connected to the bracket and is provided with a second opening groove. The second opto-coupler baffle is disposed on the outer peripheral surface of the cam and enters and exits the second opening groove as the cam rotates.

[0018] In one embodiment, the cup-gripping device further includes a support, a second driving member, and an anti-collision mechanism. The bracket is slidably disposed on the support. The second driving member is disposed on the support and drives the bracket to move up and down relative to the support. The anti-collision mechanism is disposed on the top of the bracket.

[0019] In one embodiment, the anti-collision mechanism includes an anti-collision block, a first anti-collision guide shaft, and a second elastic member. The anti-collision block is connected to the bracket through the first anti-collision guide shaft and slides relative to the first anti-collision guide shaft. The second elastic member is disposed between the anti-collision block and the bracket.

[0020] In one embodiment, the anti-collision mechanism further includes a third opto-coupler and a third opto-coupler baffle. The third opto-coupler is connected to the bracket and is provided with a third opening groove. The third opto-coupler baffle is connected to the anti-collision block, and one end of the third opto-coupler baffle enters and exits the third opening groove as the anti-collision block moves.

[0021] In one embodiment, the support includes a third guide rail. The bracket is mounted on the support through the third guide rail. The second driving member drives the bracket to slide relative to the support through the third guide rail by belt drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a structural diagram of a cup-gripping device provided by an embodiment of the present invention;

[0023] Figure 2 is Figure 1 an exploded view of the cup-gripping device provided in

[0024] Figure 3 is Figure 1 a bottom view of the cup-gripping device provided in

[0025] Figure 4 is Figure 1 a partial structural diagram of the cup-gripping device provided in

[0026] Figure 5 Another part of the cup-gripping device provided in Figure 1 is a structural diagram;

[0027] Figure 6 is a structural diagram of the cup-gripping device provided in another embodiment of the present invention. Specific embodiments

[0028] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0029] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0031] Referring to Figures 1-3 , a preferred embodiment of the present invention provides a cup-gripping device 100, including a bracket 10, a first driving member 20, a cam 30, a finger mechanism 40 and a first elastic member 50.

[0032] The bracket 10 mainly plays a supporting role. The first driving member 20 is assembled on the bracket 10, and the cam 30 is drivingly connected to the driving end of the first driving member 20. The finger mechanism 40 includes a connecting member 411, a first finger assembly 42 and a second finger assembly 43. The connecting member 411 is connected to the bracket 10, and both the first finger assembly 42 and the second finger assembly 43 are slidably connected to the connecting member 411. The cam 30 is disposed between the first finger assembly 42 and the second finger assembly 43, and both ends of the first elastic member 50 are respectively connected to the first finger assembly 42 and the second finger assembly 43.

[0033] When the first driving member 20 drives the cam 30 to rotate, the cam 30 drives the first finger assembly 42 and the second finger assembly 43 to slide away from each other relative to the connecting member 411 to an open state. Under the restoring force of the first elastic member 50, the first finger assembly 42 and the second finger assembly 43 slide relative to the connecting member 411 to a closed state and form a cup-grabbing space 60 to grab the reaction cup. That is, the cam 30 has a first limit position and a second limit position. For example, it is set that the first finger assembly 42 and the second finger assembly 43 are in an open state when the cam 30 rotates to the first limit position, and it is set that the first finger assembly 42 and the second finger assembly 43 are in a closed state when the cam 30 rotates to the second limit position. When the cam 30 rotates from the first limit position to the second limit position, the restoring force of the first elastic member 50 will cause the first finger assembly 42 and the second finger assembly 43 to slide relative to the connecting member 411 and finally to a closed state. When the cam 30 rotates from the second limit position to the first limit position, the cam 30 will apply a force to the first finger assembly 42 and the second finger assembly 43. At this time, the first elastic member 50 is gradually stretched and the first finger assembly 42 and the second finger assembly 43 slide away from each other relative to the connecting member 411 and finally to an open state.

[0034] The cup-grabbing device 100 provided in this embodiment uses the cam 30 to drive the first finger assembly 42 and the second finger assembly 43 to slide away from each other relative to the connecting member 411 and cooperates with the first elastic member 50 to realize the relative sliding of the first finger assembly 42 and the second finger assembly 43 relative to the connecting member 411. Compared with the plunger-type cup-grabbing device and the electromagnetic cup-grabbing device, it has a higher service life; and both the first finger assembly 42 and the second finger assembly 43 slide relative to or away from the connecting member 411. In this way, when the first finger assembly 42 and the second finger assembly 43 are opened, the first finger assembly 42 and the second finger assembly 43 will move in two opposite directions at the same time, and the movement directions of the two do not cross each other, and no radial external force will be formed on the cup-grabbing, thus improving the reliability of the cup-grabbing.

[0035] The bracket 10 includes a first vertical plate 11. The first vertical plate 11 is provided with a first support hole 111. The first driving member 20 passes through the first support hole 111 from one side of the bracket 10 and its driving end extends from the other side of the bracket 10. Specifically, the first driving member 20 is a driving motor. The cam 30 is connected to the driving shaft of the first driving member 20, and the driving shaft of the first driving member 20 extends from the other side of the bracket 10.

[0036] Refer to Figure 4 and Figure 5 , more specifically, the cam 30 is connected to the driving end of the first driving member 20 through a camshaft 31. That is, one end of the cam 30 facing the first driving member 20 is first connected to the camshaft 31, and then the camshaft 31 is fixedly connected to the driving end of the first driving member 20.

[0037] On both end faces of the cam 30, a first cam track surface 32 and a second cam track surface (not shown in the figure) are provided opposite to each other in the circumferential direction. The heights of the first cam track surface 32 and the second cam track surface from the end faces of this end gradually increase from one end to the other end. That is, first grooves and second grooves are formed on the circumferences of both end faces of the cam 30. The bottom of the first groove forms the first cam track surface 32, and the distance from the bottom of the first groove to the end face of the cam 30 at this end without the groove gradually increases from one end to the other end. That is, the depth of the first groove gradually decreases from one end to the other end. The bottom of the second groove forms the second cam track surface, and the distance from the bottom of the second groove to the end face of the cam at this end without the groove gradually increases from one end to the other end. That is, the depth of the second groove gradually decreases from one end to the other end. Specifically, the first groove and the second groove are respectively formed in parts of the circumferences of both end faces of the cam.

[0038] The first finger assembly 42 and the second finger assembly 43 respectively abut against the first cam track surface 32 and the second cam track surface. In this way, the first finger assembly 42 and the second finger assembly 43 respectively slide relative to the connecting member 411 under the action of the first cam track surface 32 and the second cam track surface to realize their mutual approach / departure.

[0039] Continue to refer to Figure 2 , the finger mechanism 40 further includes a first linear guide rail 412 and a second linear guide rail 413 respectively arranged on both sides of the connecting member 411. The connecting member 411 is connected to the lower part of the bracket 10. The first finger assembly 42 is connected to the connecting member 411 through the first linear guide rail 412, and the second finger assembly 43 is connected to the connecting member 411 through the second linear guide rail 413. Specifically, the first linear guide rail 412 includes a first guide rail 4121 and a first slider 4122 installed on the first guide rail 4121. The first guide rail 4121 is arranged on one side of the connecting member 411, and the first finger assembly 42 is slidably connected to the first guide rail 4121 through the first slider 4122; the second linear guide rail 413 includes a second guide rail 4131 and a second slider 4132 installed on the second guide rail 4131. The second guide rail 4131 is arranged on the other side of the connecting member 411, and the second finger assembly 43 is slidably connected to the second guide rail 4131 through the second slider 4132.

[0040] The first finger assembly 42 includes a first mounting plate 421, a first abutting member 422 and a first finger 423. The first abutting member 422 and the first finger 423 are respectively connected to the upper and lower ends of the first mounting plate 421. The first mounting plate 421 is connected to the first linear guide 412. Specifically, the first mounting plate 421 is connected to the first slider 4122. The second finger assembly 43 includes a second mounting plate 431, a second abutting member 432 and a second finger 433. The second abutting member 432 and the second finger 433 are respectively connected to the upper and lower ends of the second mounting plate 431. The second mounting plate 431 is connected to the second linear guide 413. Specifically, the second mounting plate 431 is connected to the second slider 4132. The cam 30 is located between the first abutting member 422 and the second abutting member 432, that is, the first abutting member 422 and the second abutting member 432 respectively abut against the first cam track surface 32 and the second cam track surface. The first driving member 20 drives the cam 30 to rotate. The cam 30 applies a force to the first abutting member 422 and the second abutting member 432. The first abutting member 422 drives the first mounting plate 421 and the first finger 423 to slide relative to the connecting member 411. The second abutting member 432 drives the second mounting plate 431 and the second finger 433 to slide relative to the connecting member 411. The first finger 423 and the second finger 433 form the above-mentioned cup-gripping space 60.

[0041] Specifically, the first abutting member 422 includes a first shaft 4221 and a first bearing 4222. The two ends of the first shaft 4221 are respectively connected to the first mounting plate 421 and the first bearing 4222. The second abutting member 432 includes a second shaft 4321 and a second bearing 4322. The two ends of the second shaft 4321 are respectively connected to the second mounting plate 431 and the second bearing 4322. The cam 30 is located between the first bearing 4222 and the second bearing 4322, that is, the first bearing 4222 and the second bearing 4322 respectively abut against the first cam track surface 32 and the second cam track surface. In this way, by respectively abutting the first bearing 4222 and the second bearing 4322 against the cam 30, rolling friction is formed between both the first bearing 4222 and the second bearing 4322 and the cam 30, reducing the friction force between the two, reducing the wear of the cam 30, and increasing the service life of the cam 30.

[0042] More specifically, the first abutting member 422 further includes a first fastener 4223. The first bearing 4222 is fixed to the first shaft 4221 through the first fastener 4223. The second abutting member 432 further includes a second fastener 4323. The second bearing 4322 is fixed to the second shaft 4321 through the second fastener 4323.

[0043] The first mounting plate 421 is a U-shaped plate with an opening facing the first linear guide 412. The first mounting plate 421 is clamped on the first linear guide 412 through the opening. The second mounting plate 431 is a U-shaped plate with an opening facing the second linear guide 413. The second mounting plate 431 is clamped on the second linear guide 413 through the opening. In other embodiments, the shapes of the first mounting plate 421 and the second mounting plate 431 are not limited, as long as the normal installation of the first finger assembly 42 and the second finger assembly 43 can be achieved.

[0044] Both ends of the first elastic member 50 are respectively connected to the first mounting plate 421 and the second mounting plate 431. Specifically, the first elastic member 50 is a spring. The finger mechanism 40 further includes a first mounting post 44 and a second mounting post 45. The first mounting post 44 is connected to the first mounting plate 421, and the second mounting post 45 is connected to the second mounting plate 431. Both ends of the first elastic member 50 are respectively connected to the first mounting post 44 and the second mounting post 45.

[0045] The cross-section of the outer peripheral surface of a general reaction cup is circular. At this time, the cross-sections of the first finger 423 and the second finger 433 are both arc-shaped with openings facing each other. When the first finger 423 and the second finger 433 are closed to grasp the reaction cup, the inner surfaces of the first finger 423 and the second finger 433 are in contact with the outer peripheral surface of the reaction cup. In other embodiments, the cross-sectional shapes of the first finger 423 and the second finger 433 may not be set as arc-shaped, and they can be set according to the specific shape of the reaction cup.

[0046] The finger mechanism 40 further includes a first opto-coupler 46 and a first opto-coupler baffle 47. The first opto-coupler 46 is connected to one of the first finger assembly 42 and the second finger assembly 43 and is provided with a first opening groove 461. One end of the first opto-coupler baffle 47 is connected to the other of the first finger assembly 42 and the second finger assembly 43, and the other end enters and exits the first opening groove 461 to feedback the opening or closing of the first finger assembly 42 and the second finger assembly 43, that is, to feedback the opening or closing of the first finger 423 and the second finger 433. Specifically, it can be set that when the first finger assembly 42 and the second finger assembly 43 are closed, the first opto-coupler baffle 47 enters the first opening groove 461, and at this time, the level jumps to feedback to the control device. When the first finger assembly 42 and the second finger assembly 43 are opened, the first opto-coupler baffle 47 disengages from the first opening groove 461, and at this time, the level jumps to feedback to the control device.

[0047] The cup grasping device 100 further includes a second opto-coupler 71 and a second opto-coupler baffle 72. The second opto-coupler 71 is connected to the bracket 10 and is provided with a second opening groove 711. The second opto-coupler baffle 72 is disposed on the outer peripheral surface of the cam 30 and enters and exits the second opening groove 711 as the cam 30 rotates, so as to feedback the rotation signal of the cam 30, and then control the rotation direction of the first driving member 20 to control the rotation direction of the cam 30. Specifically, the bracket 10 includes a first horizontal plate 12, and the second opto-coupler 71 is disposed on the first horizontal plate 12. More specifically, it can be set that when the cam 30 is at the first limit position or the second limit position, the second opto-coupler baffle 72 is located in the second opening groove 711, and when the cam 30 is in other positions, the second opto-coupler baffle 72 extends out of the second opening groove 711.

[0048] Refer to Figure 6 In this embodiment, the cup grasping device 100 further includes a support 81, a second driving member 82 and an anti-collision mechanism 83. The bracket 10 is slidably disposed on the support 81. The second driving member 82 is disposed on the support 81 and drives the bracket 10 to move up and down relative to the support 81. The anti-collision mechanism 83 is disposed on the top of the bracket 10. Specifically, the second driving member 82 is a driving motor. The second driving member 82 drives the bracket 10 to move up and down relative to the support 81 through belt transmission, so as to drive the first driving member 20, the cam 30, the finger mechanism 40 and the first elastic member 50 to move up and down. More specifically, the cup grasping device 100 further includes a third guide rail 84. The third guide rail 84 is connected to the support 81, and the bracket 10 slides relative to the bracket 10 through the third guide rail 84.

[0049] The bracket 10 further includes a second vertical plate 13 and a second horizontal plate 14. The second vertical plate 13 is connected to the first vertical plate 11, and the second horizontal plate 14 is connected to the second vertical plate 13. The anti-collision mechanism 83 is disposed on the second horizontal plate 14. Specifically, the anti-collision mechanism 83 includes an anti-collision block 831, a first anti-collision guide shaft 832 and a second elastic member 833. The anti-collision block 831 is connected to the bracket 10 through the first anti-collision guide shaft 832 and slides relative to the first anti-collision guide shaft 832. The second elastic member 833 is disposed between the anti-collision block 831 and the bracket 10. When the bracket 10 slides upward relative to the support 81 and is impacted, the anti-collision block 831 compresses the second elastic member 833 and moves relative to the first anti-collision guide shaft 832 to buffer the impact received, so as to protect the finger assembly 40. More specifically, the second elastic member 833 is a spring. The anti-collision mechanism 83 further includes a second anti-collision guide shaft 834. One end of the second anti-collision guide shaft 834 is connected to the second horizontal plate 14, and the other end passes through the second elastic member 833 and is connected to the anti-collision block 831. The setting of the second anti-collision guide shaft 834 facilitates guiding the direction of the second elastic member 833.

[0050] In this embodiment, the anti-collision mechanism 83 further includes a third optocoupler 835 and a third optocoupler baffle 836. The third optocoupler 835 is connected to the bracket 10 and is provided with a third opening groove 8351. The third optocoupler baffle 836 is connected to the anti-collision block 831, and one end of the third optocoupler baffle 836 enters and exits the third opening groove 8351 as the anti-collision block 831 moves. It can be set that when the anti-collision block 831 moves downward relative to the bracket 10, one end of the third optocoupler baffle 836 enters the third opening groove 8351, and at this time, the output level of the optocoupler jumps to feedback that the anti-collision mechanism 83 plays a role.

[0051] For the cup-gripping device 100 provided in this embodiment, when it is necessary to grip the reaction cup, the second driving member 82 drives the transmission belt to move through the synchronous pulley, thereby driving the bracket 10 to move up and down relative to the support 81 so that the bracket 10 is lifted to a suitable position. At this time, the first driving member 20 drives the cam 30 to rotate so that the first elastic member 50 contracts, and the first finger 423 and the second finger 433 are closed to grip the reaction cup; when it is necessary to release the reaction cup, the second driving member 82 drives the transmission belt to move through the synchronous pulley, thereby driving the bracket 10 to move up and down relative to the support 81 so that the bracket 10 is lifted to a suitable position. At this time, the first driving member 20 drives the cam 30 to rotate so that the first elastic member 50 expands, and the first finger 423 and the second finger 433 open to release the reaction cup.

[0052] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0053] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A cup-gripping device, characterized in that, Comprising: A bracket; A first driving member, assembled on the bracket; A cam, drivingly connected to the driving end of the first driving member; A finger mechanism, including a connecting member, a first finger assembly and a second finger assembly, the connecting member is connected to the bracket, and both the first finger assembly and the second finger assembly are slidably connected to the connecting member; A first elastic member for providing a restoring force, with both ends respectively connected to the first finger assembly and the second finger assembly; Wherein, the cam is arranged between the first finger assembly and the second finger assembly, the first driving member drives the cam to rotate, the cam drives the first finger assembly and the second finger assembly to slide away from each other relative to the connecting member to an open state, and the first finger assembly and the second finger assembly slide relative to the connecting member under the action of the restoring force to a closed state and form a cup-gripping space with one end open; The first finger assembly includes a first mounting plate, a first abutting member and a first finger respectively connected to the upper and lower ends of the first mounting plate, the second finger assembly includes a second mounting plate, a second abutting member and a second finger respectively connected to the upper and lower ends of the second mounting plate, first cam track surfaces and second cam track surfaces are circumferentially provided on opposite end faces of the cam, the heights of the first cam track surfaces and the second cam track surfaces from one end to the other end of the cam are gradually increasing, the first abutting member abuts against the first cam track surface, the second abutting member abuts against the second cam track surface, a first boss protruding relative to the first cam track surface is formed at a non-recessed position of one end face of the cam, the first cam track surface is arranged around the first boss, a second boss protruding relative to the second cam track surface is formed at a non-recessed position of the other end face of the cam, and the second cam track surface is arranged around the second boss; The cup-gripping device further includes a second opto-coupler and a second opto-coupler baffle, the second opto-coupler is connected to the bracket and is provided with a second opening groove, the second opto-coupler baffle is arranged on the outer peripheral surface of the cam and enters and exits the second opening groove as the cam rotates, the cam has a first limit position and a second limit position, when the cam is at the first limit position or the second limit position, the second opto-coupler baffle is located in the second opening groove; when the cam is at other positions, the second opto-coupler baffle extends out of the second opening groove.

2. The cup-gripping device according to claim 1, wherein, The finger mechanism further includes a first linear guide rail and a second linear guide rail respectively arranged on both sides of the connecting member, the first mounting plate is connected to the first linear guide rail, the second mounting plate is connected to the second linear guide rail, the cam is arranged between the first abutting member and the second abutting member, both ends of the first elastic member are respectively connected to the first mounting plate and the second mounting plate, and the first finger and the second finger form the cup-gripping space.

3. The cup-grabbing device according to claim 2, wherein, The first abutting member includes a first shaft connected to the first mounting plate and a first bearing connected to the first shaft, the second abutting member includes a second shaft connected to the second mounting plate and a second bearing connected to the second shaft, the first bearing abuts against the first cam track surface, and the second bearing abuts against the second cam track surface.

4. The cup-gripping device according to claim 2, wherein, The cross-sections of the first finger and the second finger are arc-shaped with openings facing each other.

5. The cup-grabbing device according to claim 1, wherein The finger mechanism further includes a first opto-coupler and a first opto-coupler baffle. The first opto-coupler is connected to one of the first finger assembly and the second finger assembly and is provided with a first opening slot. One end of the first opto-coupler baffle is connected to the other of the first finger assembly and the second finger assembly, and the other end enters and exits the first opening slot.

6. The cup-grabbing device according to claim 1, wherein The orthographic projection of the first boss along the axis of the first abutting member covers a part of the first abutting member, and the orthographic projection of the second boss along the axis of the second abutting member covers a part of the second abutting member.

7. The cup-gripping device according to any one of claims 1-6, characterized in that, The cup-gripping device further includes a support, a second driving member, and an anti-collision mechanism. The bracket is slidably disposed on the support. The second driving member is disposed on the support and drives the bracket to move up and down relative to the support. The anti-collision mechanism is disposed at the top of the bracket.

8. The cup-gripping device according to claim 7, wherein, The anti-collision mechanism includes an anti-collision block, a first anti-collision guide shaft, and a second elastic member. The anti-collision block is connected to the bracket through the first anti-collision guide shaft and slides relative to the first anti-collision guide shaft. The second elastic member is disposed between the anti-collision block and the bracket.

9. The cup-gripping device according to claim 8, wherein, The anti-collision mechanism further includes a third opto-coupler and a third opto-coupler baffle. The third opto-coupler is connected to the bracket and is provided with a third opening slot. The third opto-coupler baffle is connected to the anti-collision block, and one end of the third opto-coupler baffle enters and exits the third opening slot as the anti-collision block moves.

10. The cup-grabbing device according to claim 7, characterized in that, The support includes a third guide rail. The bracket is mounted on the support through the third guide rail. The second driving member drives the bracket to slide relative to the support through the third guide rail by belt drive.

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