Full-automation laboratory large-torque intelligent cap screwing instrument and operation method thereof

Abstract

The application discloses a full-automatic large-torque intelligent cap screwing instrument for a laboratory and a working method thereof, which comprises a fixed base, a clamping electric claw, a large-torque rotating claw and a force control sliding table. The clamping electric claw is arranged on the fixed base, the large-torque rotating claw is arranged on the force control sliding table, the force control sliding table is arranged on the fixed base, the large-torque rotating claw and the clamping electric claw are arranged in a position corresponding to each other in an up-down direction, the reaction kettle body can be fixed through the clamping electric claw, and the reaction kettle cover body can be opened and closed through the cooperation of the large-torque rotating claw and the force control sliding table. The clamping electric motor and the rotating motor are arranged in a biasing mode, so that the best tensile transmission and torque transmission are realized. The motor interference problem is solved, and the L-shaped speed reduction layout can be realized, the torque of the rotating head can be continuously increased, the clamping force motor is arranged in a vertical direction, the best tensile transmission is realized, and the structure is simple and compact while the force loss is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical gripper, in particular to a full-automatic large-torque intelligent cap screwing instrument for laboratory and a working method thereof. BACKGROUND

[0002] With the continuous advancement of realizing the full-process unmanned process in the room, more and more experimental operations can be replaced by intelligent equipment, for example, the laboratory cap opening and closing action. In the past, experimental personnel manually operated the operation process, which was tedious, time-consuming and laborious, and had a certain risk. For large-torque threaded experimental devices such as reaction kettles, it is difficult to open manually, and there is currently no suitable intelligent operation device. For small-torque cap opening operations such as opening and closing the cap of a new crown virus test tube, some cap opening devices are provided in the prior art, such as:

[0003] Patent application No. 2021101657006, patent name: new crown virus sampling tube intelligent cap opening robot, the invention realizes the intelligent opening of new crown virus test tubes through the setting of the drive and control integrated cap opening device, the robot and the two-finger gripper. However, this type of mechanism cannot realize intelligent operation of large-torque threaded workpieces. If larger grippers and robots with greater load are required to achieve greater torque operation, the entire cap opening robot device will be too large, the structure will not be compact, installation will be inconvenient, and the cost will be high.

[0004] Patent application No. 2020107438883, patent name: test tube cap opening machine and cap opening method using the test tube cap opening machine, the invention arranges the push mechanism horizontally and the working channel with a test tube rack on one side, sets the sample inlet mechanism on the front side of the push mechanism, and installs the sample outlet mechanism on the rear side of the push mechanism. The clamping end of the test tube clamping mechanism and the clamping end of the test tube cap clamping mechanism are located directly above the middle position of the working channel. The test tube is clamped by the test tube clamping mechanism and moved upward, the test tube cap is clamped by the test tube cap clamping mechanism, the test tube cap and the test tube are separated, and the separated test tube is clamped by the test tube clamping mechanism and returned to the initial position. The device can effectively reduce human involvement in the process. During the cap opening process, the test tube only needs to be clamped once, and the complex alternate clamping operation is saved. However, for reaction kettles that require greater torque, larger torque is required, and the entire machine needs to be upgraded to increase the size, which is complex and bulky.

[0005] Based on the above, the cap opening device structure design in the prior art still has certain defects, therefore, the present application provides a full-automatic large-torque intelligent cap screwing instrument for laboratory. SUMMARY

[0006] In order to solve the problems in the prior art, the application provides a full-automatic large-torque intelligent cap screwing instrument for a laboratory and a working method thereof.

[0007] The technical scheme of the application is as follows:

[0008] The full-automatic large-torque intelligent cap screwing instrument for a laboratory comprises a fixed base, a clamping electric claw, a large-torque rotating claw and a force control sliding table; the clamping electric claw is arranged on the fixed base, the large-torque rotating claw is arranged on the force control sliding table, the force control sliding table is arranged on the fixed base, the large-torque rotating claw and the clamping electric claw are in position correspondence, the reaction kettle body can be fixed through the clamping electric claw, and the reaction kettle cover body can be opened and closed through cooperation of the large-torque rotating claw and the force control sliding table.

[0009] Further, the clamping electric claw comprises a first clamping motor, a first fixed seat, a first clamping seat and a first sliding block, the first clamping motor is connected with a first drive controller through signals and mechanical connection, the first clamping motor is fixedly connected with the first fixed seat, the first fixed seat is fixedly connected with the first clamping seat, the first clamping seat is internally matched with the first sliding block and a first umbrella-shaped push rod, the first umbrella-shaped push rod is in transmission connection with the rotor of the first clamping motor through the first fixed seat, the first clamping motor is controlled to rotate through the first drive controller, the first umbrella-shaped push rod moves up and down along the axial direction of the first clamping motor, the first sliding block moves left and right along the radial direction of the first clamping seat, the first finger fixed on the first sliding block moves towards or away from the first clamping seat along the radial direction, and clamping and loosening actions are realized.

[0010] Further, the large torque rotating clamp jaw comprises a rotating motor, an integrated base, a bottom cover, a rotating head, a second clamping motor and a second slider; the rotating motor and the second clamping motor are arranged side by side on the top of the integrated base, the rotating motor is provided with a second drive controller, the second clamping motor is provided with a third drive controller, the integrated base and the bottom cover are fixedly connected through screws, the rotating head is arranged below the bottom cover, the second slider is arranged in the rotating head, and the second slider is provided with a second finger; a groove type pull rod is arranged on the output shaft of the second clamping motor in a threaded manner, a screw bearing is arranged in the groove type pull rod in a matched manner, and a second umbrella-shaped push rod is connected to the screw bearing; the second umbrella-shaped push rod is matched with the second slider, a second gear is arranged on the second umbrella-shaped push rod in a matched manner, a third gear is arranged on the rotating motor output shaft of the rotating motor, and a first gear is arranged between the third gear and the second gear in a meshing manner. The third drive controller controls the output motor inner rotor of the second clamping motor to rotate, so that the groove type pull rod moves up and down in the base first through hole, the screw bearing arranged in the groove type pull rod moves up and down when the groove type pull rod moves up, the second umbrella-shaped push rod moves up and down when the screw bearing moves up and down, the second umbrella-shaped push rod moves along the radial direction of the rotating head, and the clamping and loosening of the reactor cover body are realized; the second drive controller drives the rotating motor to rotate, so that the rotating motor output shaft rotates, the first gear drives the third gear to rotate, the third gear drives the second gear to rotate, and the rotating head rotates with the second slider and the second finger.

[0011] Further, the integrated base is provided with a base first through hole, a base first groove is arranged below the base first through hole in the integrated base, and a base second groove is arranged at a position beside the base first groove in the integrated base; the bottom cover is provided with a bottom cover through hole, and the bottom cover through hole is provided with a bottom cover groove at the upper portion; the groove type pull rod is arranged in the base first through hole of the integrated base in a sliding matched manner, and the second gear is arranged in the base first groove of the integrated base and the bottom cover groove of the bottom cover in a limited manner through the first bearing arranged in an upper and lower symmetrical manner.

[0012] Further, the force control sliding table comprises a sliding table motor, a linear sliding table, a linear slider and a fourth drive controller, the sliding table motor is in transmission connection with the linear sliding table, the linear slider is arranged on the linear sliding table in a matched manner, and the large torque rotating clamp jaw is connected to the linear sliding table through the first connecting plate and the second connecting plate.

[0013] Further, the full-automatic large torque intelligent cap rotating instrument for laboratory also comprises a touch screen for automatically or manually controlling the clamping electric claw, the large torque rotating clamp jaw and the force control sliding table.

[0014] The operation method of the full-automatic large torque intelligent cap rotating instrument for laboratory comprises the following steps:

[0015] 1) The first drive controller controls the rotation of the internal rotor of the first clamping motor, so that the first umbrella-shaped push rod moves up and down along the direction of the first clamping motor axis, thereby driving the first sliding block to move left and right along the radial direction of the first clamping seat, so that the first finger fixed on the first sliding block also moves along the radial direction of the first clamping seat, thereby realizing the clamping and loosening of the reaction kettle body;

[0016] 2) The third drive controller controls the rotation of the output motor internal rotor of the second clamping motor, and drives the T-shaped screw on the upper part of the groove type pull rod to move up and down, thereby driving the groove type pull rod to move up and down in the first through hole of the base. When the groove type pull rod moves upward, the screw bearing arranged in the groove type pull rod moves upward, and when the screw bearing moves upward, the second umbrella-shaped push rod moves upward, and the second umbrella-shaped push rod moves upward, thereby driving the second sliding block to move inward along the radial direction of the rotating head. If the groove type pull rod moves downward, the second sliding block moves outward, and the second sliding block drives the second finger to realize the clamping and loosening of the reaction kettle cover body;

[0017] 3) The second drive controller controls the rotating motor, so that the output shaft of the rotating motor rotates, thereby driving the first gear to drive the third gear to rotate, and the third gear drives the second gear to rotate, thereby realizing the rotation of the rotating head with the second sliding block and the second finger;

[0018] 4) The fourth drive controller controls the slide table motor to drive the linear slide table to move, so that the large torque rotating clamp jaw rotates upward or downward with the reaction kettle cover body, and the reaction kettle body is clamped and fixed by the clamping claw, and does not move relative to the fixed base, thereby realizing the intelligent opening and closing of the reaction kettle cover (the force control slide table automatically compensates the Z-direction lifting movement of the reaction kettle cover caused by the rotation of the threaded cover during opening and closing).

[0019] The beneficial effects of the present application are as follows:

[0020] 1) The clamping motor and the rotating motor are arranged in a biased manner, which realizes the best tension transmission and torque transmission. The left and right biased arrangement of the motor also better solves the motor interference problem. The present application can also realize a multi-stage reduction layout in the shape of "L" (the rotating motor is a reduction motor), which saves horizontal space and continuously increases the torque of the rotating head. The clamping force motor is arranged vertically, which realizes the linear motion of the tension in the vertical direction without eccentric motion and additional bending moment, has the highest transmission efficiency, realizes the best tension transmission, and reduces the force loss.

[0021] 2) The present application adopts the integrated combination design of force control clamp, force control slide table and large torque rotating clamp, which realizes the automatic operation problem of opening and closing of the reaction kettle and the like which requires large torque and large clamping force.

[0022] 3) By integrated base and bottom cover to achieve closed transmission structure design, can effectively prevent sample overflow pollution rotating clamp or rotating clamp internal lubricating oil in the movement fly out pollution sample.

[0023] 4) "L" type deceleration layout, "I" type tension layout, both realize that the motor force is directly transmitted to the rotating claw head through the optimal path, realize clamping and rotating action, at the same time, it is not easy to make the rotating clamp in one direction size too large, and also can obtain larger transmission ratio. If the existing patent structure needs to increase the transmission ratio, it needs to increase or decrease a certain transmission part, which cannot realize the best torque transmission. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic diagram of the whole machine structure of the application;

[0025] Figure 2 It is an exploded view of the whole machine structure of the application;

[0026] Figure 3 It is a cross-sectional view of the large torque rotating clamp of the application;

[0027] Figure 4 It is an exploded view of the large torque rotating clamp of the application;

[0028] Figure 5 It is an exploded view of the clamping electric claw of the application;

[0029] In the figure: 1 - clamping jaw, 11 - first clamping motor, 111 - first drive controller, 12 - first fixed seat, 121 - first through hole, 122 - first fixed seat groove, 13 - first clamping seat, 131 - first clamping seat groove, 132 - first clamping seat through hole, 133 - first clamping seat protrusion, 14 - first slider, 141 - first slider first groove, 15 - first finger, 16 - first umbrella-shaped push rod, 161 - first umbrella-shaped push rod groove, 2 - reaction kettle, 21 - reaction kettle body, 22 - reaction kettle cover, 3 - large torque rotary clamp, 31 - rotary motor, 311 - rotary motor output shaft, 312 - first gear, 313 - second drive controller, 32 - integrated base, 321 - base first through hole, 322 - base first groove, 323 - base second groove, 324 - base first plane, 325 - base second plane, 33 - bottom cover, 331 - bottom cover groove, 332 - bottom cover through hole, 34 - rotary head, 341 - second umbrella-shaped push rod, 342 - first bearing, 343 - second gear, 344 - third gear, 345 - screw bearing, 35 - second clamping motor, 351 - groove type pull rod, 352 - third drive controller, 36 - second slider, 37 - second finger, 4 - force control sliding table, 41 - sliding table motor, 42 - linear sliding table, 43 - linear sliding block, 44 - first connecting plate, 45 - second connecting plate, 46 - fourth drive controller, 47 - mounting plate, 5 - touch screen, 6 - fixed base, 61 - fixed plate, 62 - support leg. DETAILED DESCRIPTION

[0030] The application is further described below in conjunction with the accompanying drawings.

[0031] As Figures 1-5 shown, a full-automatic laboratory large-torque intelligent cap screwing instrument for micro-reaction kettle intelligent cap opening mainly includes a clamping jaw 1 for fixing a reaction kettle body 21, a large-torque rotary clamp 3 for opening and closing a reaction kettle cover 22, a force control sliding table 4 for driving the vertical movement of the large-torque rotary clamp 3, a touch screen 5 for automatically or manually controlling the clamping jaw 1, the large-torque rotary clamp 3 and the force control sliding table 4, and a fixed base 6.

[0032] The clamping claw 1 is fixedly mounted on the fixed plate 61 via the first fixed base 12. The upper part of the first fixed base 12 is fixedly mounted with a first clamping seat 13. The first clamping seat 13 is internally matched with a first slider 14 and a first umbrella-shaped push rod 16. The bottom of the first fixed base 12 is fixedly connected to a first clamping motor 11. The bottom of the first clamping motor 11 is connected to a first drive controller 111 via signal and mechanical connection. The first drive controller 111 can control the rotation of the rotor inside the first clamping motor 11, so that the first umbrella-shaped push rod 16 moves up and down along the axis of the first clamping motor 11, thereby driving the first slider 14 to move left and right radially along the first clamping seat 13, thereby driving the first finger 15 fixed on the first slider 14 to move radially towards or away from the first clamping seat 13, thereby realizing the clamping and loosening of the reactor body 21.

[0033] The high-torque rotating gripper 3 is vertically positioned directly above component 1, and the axis of the rotating head 34, the axis of the first clamping seat 13, and the axis of the reactor 2 are collinear. High torque generally refers to the torque required to open a bottle cap without external assistance. For example, an adult hand can twist a bottle cap with a maximum torque of approximately 5 Nm. With external assistance, such as setting the bottle cap to a specific geometric shape like a wrench, theoretically, infinite force could be applied. This is clearly impractical for automated laboratory operations, and existing cap openers or machines, even by increasing their size, cannot fundamentally solve this problem. The high-torque rotating gripper of this invention has a torque exceeding 30 Nm, approximately six times that of a human hand. The clamping force of this invention generally refers to a force exceeding what a human hand can maintain for an extended period. An adult hand's clamping force is approximately 100 N, while this invention achieves a clamping force of approximately 900 N, ensuring the reactor is firmly secured.

[0034] The high-torque rotary gripper 3 includes a rotary motor 31, an integrated base 32, a bottom cover 33, a rotating head 34, a second gripping motor 35, a second slider 36, and a second finger;

[0035] The rotary motor 31 is equipped with a second drive controller 313, and the second clamping motor 35 is equipped with a third drive controller 352; the rotary motor 31 and the second clamping motor 35 are arranged side by side on the first plane 324 and the second plane 325 of the base on the top of the integrated base 32; the integrated base 32 and the bottom cover 33 are fixedly connected by screws, the rotating head 34 is located below the bottom cover 33, and the rotating head 34 is equipped with a second slider 36, which is provided with a second finger;

[0036] A grooved pull rod 351 is screwed onto the output shaft of the second clamping motor 35. A screw bearing 345 is fitted inside the grooved pull rod 351. A second umbrella-shaped push rod 341 is connected to the screw bearing 345. The second umbrella-shaped push rod 341 cooperates with the second slider 36. A second gear 343 is fitted onto the second umbrella-shaped push rod 341. A third gear 344 is provided on the output shaft 311 of the rotary motor 31. A first gear 312 meshes between the third gear 344 and the second gear 343.

[0037] The integrated base 32 has a first through hole 321, and the groove-shaped tie rod 351 is slidably fitted in the first through hole 321 of the integrated base 32. The integrated base 32 has a first groove 322 located below the first through hole 321, and a second groove 323 located parallel to the first groove 322. The first groove 322 and the second groove 323 are respectively used for mounting the third gear 344 and the second gear 343, and the first groove 322 and the second groove 323 are connected.

[0038] The bottom cover 33 is provided with a bottom cover through hole 332, and the bottom cover through hole 332 is provided with a bottom cover groove 331 (forming a limiting step, the upper structure of the first groove 322 of the base is the same); the second gear 343 is fixed in the first groove 322 of the base of the integrated base 32 and the bottom cover groove 331 of the bottom cover 33 through the first bearing 342 arranged symmetrically above and below.

[0039] The high-torque rotating gripper 3 is fixedly connected to the linear slider 43 via the second connecting plate 45 and the first connecting plate 44. The linear slider 43, the first connecting plate 44, the second connecting plate 45 and the high-torque rotating gripper 3 can move up and down along the axis of the reactor 2 under the control of the slide table motor 41 by the fourth drive controller 46.

[0040] Working process, principles, and design ideas:

[0041] The third drive controller 352 controls the rotation of the rotor inside the output motor of the second clamping motor 35, and drives the T-shaped screw on the upper part of the grooved pull rod 351, which is threaded with the rotor inside the second clamping motor 35, to move up and down. This causes the grooved pull rod 351 to move up and down within the first through hole 321 of the base. When the grooved pull rod 351 moves upward, it drives the screw bearing 345, which is engaged with the grooved pull rod 351, to move up and down. When the screw bearing 345 moves upward, it drives the second umbrella-shaped push rod 341 to move upward. The upward movement of the second umbrella-shaped push rod 341 drives the second slider 36 to move inward along the radial direction of the rotating head 34. Three sliders are evenly distributed in the circumferential direction.

[0042] Since the force is mutual, the screw bearing 345 is driven by the groove type pull rod 351 to move upward, and the second gear 343 has a downward movement tendency. Therefore, the second gear 343 is fixed in the base first groove 322 of the integrated base 32 and the bottom cover groove 331 of the bottom cover 33 through the first bearing 342 symmetrically arranged above and below, the integrated base 32 and the bottom cover 33 are fixed and connected by screws, the bottom cover 33 is fixed and connected with the first connecting plate 44 through the second connecting plate 45, the first connecting plate 44 is fixed and connected with the linear slide 43 through screws, and the linear slide 43 can move up and down along the linear slide 42 under the drive of the slide motor 41. The linear slide 42 is fixed and connected with the fixed plate 61 through the mounting plate 47. If the slide motor 41 does not move, the linear slide 43, the first connecting plate 44, the second connecting plate 45, the integrated base 32 and the bottom cover 33 will be relatively stationary. At this time, the second gear 343 cannot move downward, so the second slide block 36 will move left and right along the radial direction of the rotating head 34 under the drive of the second umbrella-shaped push rod 341 and the screw bearing 345 fixedly connected with the second umbrella-shaped push rod 341. If the groove type pull rod 351 moves downward, the second slide block 36 moves outward. At this time, the second slide block 36 can completely drive the second finger 37 to realize the clamping and loosening of the reactor cover body 22.

[0043] In order to realize the rotary motion of the rotating head 34, the second slide block 36 and the second finger 37, the groove type pull rod 351 is matched and slidably connected through the base first through hole 321 arranged on the integrated base 32, and can only realize upward and downward movement and cannot realize relative rotary motion. If rotary motion is required, the second gear 343 is driven to rotate the rotating head 34 and the auxiliary connecting piece, and the third gear 344 and the first gear 312 are arranged beside the second gear 343. The first gear 312 can drive the third gear 344 to rotate under the control of the second drive controller 313 driving the rotary motor 31, so that the second gear 343 is driven to rotate, thereby realizing the rotation of the rotating head 34 with the second slide block 36 and the second finger 37. In order to solve the mechanical interference problem of the upward and downward linear motion of the groove type pull rod 351 and the rotation of the second gear 343, the screw bearing 345 can be used to solve the mechanical transmission interference problem, thereby realizing the transmission of large clamping force and large torque. Under the drive of the force control slide table 4, the large torque rotary clamp jaw 3 rotates upward or downward with the reactor cover body 22, and the reactor body 21 is clamped and fixed by the clamping electric jaw 1, which does not move relative to the fixed base 6. Therefore, the opening and closing of the reactor cover are realized.

[0044] The above are only specific embodiments of the present application. Obviously, the present application is not limited to the above embodiments, and there are many variations, such as switch bottle cap diameter greater than 100mm large torque thread type reagent bottle cap, rotating M20 or more thread type parts, switch oil drum thread bottle cap, etc., all variations that can be directly derived or inferred from the disclosed content by those skilled in the art should be considered within the protection scope of the present application.

Claims

1. A fully automated laboratory high-torque intelligent capping machine, characterized in that: It includes a high-torque rotating gripper (3), a clamping electric gripper (1), a force-controlled slide (4), and a fixed base (6); the clamping electric gripper (1) is set on the fixed base (6), the high-torque rotating gripper (3) is set on the force-controlled slide (4), the force-controlled slide (4) is set on the fixed base (6), the high-torque rotating gripper (3) and the clamping electric gripper (1) are vertically corresponding, the clamping electric gripper (1) can automatically fix the reactor body, and the high-torque rotating gripper (3) and the force-controlled slide (4) can intelligently open and close the reactor cover; The high-torque rotary gripper (3) includes a rotary motor (31), an integrated base (32), a bottom cover (33), a rotating head (34), a second clamping motor (35), and a second slider (36). The rotary motor (31) and the second clamping motor (35) are arranged side by side on the top of the integrated base (32). The rotary motor (31) is equipped with a second drive controller (313), and the second clamping motor (35) is equipped with a third drive controller (352). The integrated base (32) and the bottom cover (33) are fixedly connected by screws. The rotating head (34) is located below the bottom cover (33), and the second slider (36) is fitted inside the rotating head (34). The second slider (36) is provided with a second finger; a grooved pull rod (351) is screwed onto the output shaft of the second clamping motor (35), and a screw bearing (345) is fitted inside the grooved pull rod (351). A second umbrella-shaped push rod (341) is connected to the screw bearing (345); the second umbrella-shaped push rod (341) cooperates with the second slider (36), and a second gear (343) is fitted onto the second umbrella-shaped push rod (341). A third gear (344) is provided on the output shaft (311) of the rotary motor (31), and a first gear (312) meshes between the third gear (344) and the second gear (343). The integrated base (32) is provided with a first through hole (321), and the integrated base (32) is provided with a first groove (322) located below the first through hole (321). The integrated base (32) is provided with a second groove (323) located side by side with the first groove (322). The bottom cover (33) is provided with a bottom cover through hole (332), and the bottom cover groove (331) is provided above the bottom cover through hole (332). The groove-shaped tie rod (351) is slidably fitted in the first through hole (321) of the integrated base (32). The second gear (343) is limited by the first bearing (342) arranged symmetrically above and below in the first groove (322) of the integrated base (32) and the bottom cover groove (331) of the bottom cover (33). The clamping electric gripper (1) includes a first clamping motor (11), a first fixed base (12), a first clamping seat (13), and a first slider (14). The first clamping motor (11) is connected to a first drive controller (111) via signal and mechanical connection. The first clamping motor (11) is fixedly connected to the first fixed base (12), and the first fixed base (12) is fixedly connected to the first clamping seat (13). The first clamping seat (13) is internally equipped with a first slider (14) and a first umbrella-shaped push rod (16). (16) The rotor of the first clamping motor (11) is connected through the first fixed seat (12) and controlled by the first drive controller (111) to rotate the internal rotor of the first clamping motor (11), so that the first umbrella-shaped push rod (16) moves up and down along the axis of the first clamping motor (11), thereby driving the first slider (14) to move left and right along the first clamping seat (13) radially, thereby driving the first finger (15) fixed on the first slider (14) to move in opposite directions or in opposite directions along the first clamping seat (13) radially, thus realizing the clamping and releasing action; The force-controlled slide (4) includes a slide motor (41), a linear slide (42), a linear slider (43), and a fourth drive controller (46). The slide motor (41) is connected to the linear slide (42) for transmission. The linear slider (43) is fitted on the linear slide (42). The high-torque rotating gripper (3) is connected to the linear slide (42) through the first connecting plate (44) and the second connecting plate (45).

2. The fully automated laboratory high-torque intelligent capping machine according to claim 1, characterized in that, It also includes a touch screen (5) for automatic or manual control of the electric gripper (1), the high-torque rotary gripper (3) and the force-controlled slide (4).

3. The operating method of the fully automated laboratory high-torque intelligent capping machine according to claim 2, characterized in that, Includes the following steps: 1) The first drive controller (111) controls the internal rotor of the first clamping motor (11) to rotate, so that the first umbrella-shaped push rod (16) moves up and down along the axis of the first clamping motor (11), thereby driving the first slider (14) to move left and right along the first clamping seat (13) radially, and driving the first finger (15) fixed on the first slider (14) to move in the opposite or opposite direction along the first clamping seat (13) radially, thereby realizing the clamping and loosening of the reactor body (21); 2) The third drive controller (352) controls the output motor of the second clamping motor (35) to rotate the rotor inside the motor, and drives the T-shaped screw on the upper part of the grooved pull rod (351) that is threaded with the rotor inside the second clamping motor (35) to move up and down, thereby driving the grooved pull rod (351) to move up and down in the first through hole (321) of the base. When the grooved pull rod (351) moves upward, it will drive the screw bearing (345) that is locked inside the grooved pull rod (351) to move up and down. When the screw bearing (345) moves upward, it will drive the second umbrella-shaped push rod (341) to move upward. When the second umbrella-shaped push rod (341) moves upward, it will drive the second slider (36) to move inward along the radial direction of the rotating head (34). If the grooved pull rod (351) moves downward, then the second slider (36) will move outward, so that the second slider (36) drives the second finger (37) to achieve the clamping and releasing of the reactor lid (22). 3) The second drive controller (313) controls the rotary motor (31), causing the output shaft (311) of the rotary motor to rotate, which in turn drives the first gear (312) to drive the third gear (344) to rotate. The third gear (344) drives the second gear (343) to rotate, thereby realizing the rotation of the rotating head (34) with the second slider (36) and the second finger (37) rotating. 4) The fourth drive controller (46) controls the slide motor (41) to drive the linear slide to run, so that the high torque rotating gripper (3) carries the reactor cover (22) to rotate up or down, while the reactor body (21) is clamped and fixed by the clamping electric gripper (1) and does not move relative to the fixed base (6). Then, the force control slide automatically compensates for the Z-direction lifting and lowering movement of the reactor cover caused by the rotation of the threaded cover during the opening and closing process.

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