Method for operating a mechanical gripper

Abstract

The application discloses a mechanical gripper and a running method thereof. The mechanical gripper comprises a gripper body and a gripper head connected with the gripper body. The gripper body comprises a shell, an elastic device arranged in the shell and sequentially connected from top to bottom along the axial direction of the shell, a rotating clamping device and a transmission guide device arranged in the shell, and a guide clamping device arranged on the inner surface of the shell. The mechanical gripper can realize automatic grabbing and placing of objects without a grabbing part driver. The application can improve the overall running speed of the mechanical gripper under the premise of reducing the cost of the mechanical gripper, reducing the failure points and simplifying the structure.

Description

[0001] This application is a divisional application. Parent application number: 201811532286.2, application date: December 14, 2018, invention title: A mechanical gripper and its operating method. Technical Field

[0002] This invention relates to the field of mechanical manufacturing technology, and specifically to a method for operating a mechanical gripper. Background Technology

[0003] Mechanical grippers are primarily used to move objects from one location to another. Currently, the mechanical movements of the gripping part in traditional mechanical grippers require actuators. Actuators can be pneumatic, hydraulic, or electric. Pneumatic and hydraulic actuators require air pumps, valves, and piping, while electric actuators require motors, transmission mechanisms, and wiring. When the gripping part is grasping and placing the object, the actuator drives the gripping part to perform mechanical movements such as tightening, loosening, or raising and lowering the lever. The actuator not only complicates the overall structure of the mechanical gripper but also significantly increases its cost.

[0004] Energy efficiency has become a major theme in the world today. Therefore, improving energy efficiency while fulfilling functional requirements has become a key means of enhancing product competitiveness. Currently, traditional mechanical grippers, regardless of whether the actuator uses pneumatic, hydraulic, or electric drive to grasp and place objects, all increase the overall energy consumption of the instrument.

[0005] With the trend of intelligent manufacturing in industry, mechanical grippers are used to transfer target objects and are widely used in many fields, such as medical devices, petrochemicals, and automobile manufacturing.

[0006] In the field of medical devices, chemiluminescence immunoassay is an immunoassay method that uses chemiluminescent agents to directly label antigens or antibodies. It combines highly sensitive chemiluminescence assay technology with highly specific immune reactions, and is used for the detection and analysis of various antigens, haptens, antibodies, hormones, enzymes, fatty acids, vitamins, and drugs. Chemiluminescence immunoassay involves a large number of reagents (often three or more) and multiple mechanical grippers working simultaneously. This necessitates minimizing the time spent gripping and placing reaction cups during operation, and ensuring a simple and reliable mechanical structure.

[0007] Under current technological conditions, there are many patents for mechanical grippers. The following are some different forms of object gripping devices.

[0008] CN108098811A, "A Mechanical Gripper," proposes a pneumatically driven mechanical gripper. This invention utilizes a cylinder at the top of a support frame to drive a piston rod in piston motion. The movement of the moving arm is driven by a pull rod connected to the piston rod and guide grooves on both sides of the support frame, thereby realizing the opening and closing of the clamping plate.

[0009] CN207155823U, "A Mechanical Gripper", proposes an electrically driven mechanical gripper. This invention utilizes a drive motor to rotate a rotating shaft, which in turn moves an opening / closing rod back and forth, causing the mechanical arm to open or close.

[0010] CN207480627U, "A Mechanical Gripper," proposes a hydraulically driven mechanical gripper. This invention utilizes the movement of two tilting cylinders and several shafts mounted on the side of the robotic arm to clamp or release the clamping plate.

[0011] In existing mechanical grippers, the mechanical movements of the gripping part all require a driver to drive the opening and closing of the mechanism to achieve the purpose of gripping and placing the target object, but the driver increases the cost of the mechanical gripper. Summary of the Invention

[0012] The technical problem to be solved by this invention is to overcome the technical defects of the prior art and provide a mechanical gripper. This mechanical gripper can automatically grasp and place objects without the need for a driver in the gripping part; while reducing the cost of the mechanical gripper, minimizing potential failure points, and simplifying the structure, this invention can improve the overall operating speed of the mechanical gripper.

[0013] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0014] A mechanical gripper includes a gripper body and a gripper head connected to the gripper body; the gripper body includes a housing, an elastic device disposed inside the housing and sequentially connected from top to bottom along the axial direction of the housing, a rotational locking device and a transmission guide device, and a guide locking device disposed on the inner surface of the housing.

[0015] Furthermore, the mechanical gripper grasps the object through the gripper head; the object, through contact with the transmission guide device, transmits the force from the transmission guide device to the elastic device and gradually accumulates elastic potential energy; the locking action of the rotating locking device and the guiding locking device ensures that the elastic potential energy generated by the elastic device is retained; when the mechanical gripper places the object downwards, the object again transmits the force from the transmission guide device to the elastic device through contact with the transmission guide device; driven by the elastic potential energy inside the elastic device, the rotating locking device transmits the force in the opposite direction to the object through the transmission guide device, causing the object to detach from the gripper head, and the mechanical gripper completes the object placement process.

[0016] Furthermore, the rotating snap-fit ​​device includes a rotor; the rotor includes a support column and a plurality of rotating snap-fit ​​plates circumferentially spaced on the outer surface of the support column.

[0017] Furthermore, the rotor includes an inclined meshing surface disposed at the bottom of the rotating snap-fit ​​plate; the rotating snap-fit ​​plate is evenly spaced circumferentially on the outer surface of the support column.

[0018] Furthermore, the transmission guide device includes a push rod; the push rod includes a hollow sleeve rod that matches and sleeves with the support column, a guide tooth circumferentially disposed on the top of the sleeve rod, and a plurality of guide posts circumferentially spaced on the outer surface of the guide tooth.

[0019] Furthermore, the guide teeth are uniformly distributed serrated; the tips of the guide teeth do not fully mesh with the meshing surface; the guide post includes a first guide post and a second guide post; the first guide post and the second guide post are circumferentially evenly spaced on the outer surface of the guide teeth; along the radial direction of the housing, the length of the first guide post is longer than that of the second guide post; along the axial direction of the housing, the outer surface of the first guide post is coaxial with the outer surface of the rotating snap-fit ​​plate.

[0020] Furthermore, the guide snap-fit ​​device includes guide bosses circumferentially spaced on the inner surface of the housing and formed by protrusions from the inner surface of the housing, guide grooves disposed between adjacent guide bosses, guide surfaces disposed on the upper surface of the guide bosses, and snap-fit ​​grooves disposed on the upper surface of the guide bosses; the guide grooves accommodate the guide posts and the rotating snap-fit ​​plates.

[0021] Further, the guide boss includes a first guide boss, a second guide boss, and a third guide boss connected sequentially along the circumference of the housing; the guide bosses are evenly spaced circumferentially on the inner surface of the housing; the first guide boss and the third guide boss have the same shape; the lengths of the first guide boss and the third guide boss along the axial direction of the housing are longer than that of the second guide boss; the guide groove includes a first guide groove and a second guide groove; the outer surfaces of adjacent first guide bosses, the outer surfaces of third guide bosses, and the inner surface of the housing form the first guide groove; the outer surfaces of the first guide boss, the outer surfaces of the third guide boss, and the second guide boss... The outer side of the platform forms the second guide groove; the depth of the first guide groove is greater than that of the second guide groove; the first guide groove accommodates the first guide post and the rotating snap-fit ​​plate; the second guide groove accommodates the second guide post; the guide surface includes a first guide surface and a second guide surface; the upper surfaces of the first guide boss and the second guide boss are connected to form an inclined first guide surface; the upper surface of the third guide boss forms an inclined second guide surface; the inclination angles of the first guide surface and the second guide surface are the same as the inclination angle of the meshing surface; the snap-fit ​​groove is formed on the upper surface of the second guide boss, the outer side of the third guide boss, and the inner surface of the housing.

[0022] Furthermore, the gripper body includes a gripper cover plate connected to the top of the housing.

[0023] Furthermore, the gripper body includes a magnetic ring.

[0024] Furthermore, the elastic device includes a spring.

[0025] A method for operating a mechanical gripper includes the following steps:

[0026] (1) When grasping the object, the mechanical gripper applies a force to the object, and at the same time, the object applies a reaction force to the mechanical gripper, and the mechanical gripper accumulates elastic potential energy internally by means of the reaction force.

[0027] (2) When placing the object to be grabbed, the mechanical gripper applies a force to the object to be grabbed, and at the same time, the object to be grabbed applies a reaction force to the mechanical gripper. The mechanical gripper releases the internally accumulated elastic potential energy through the reaction force to place the object to be grabbed.

[0028] Furthermore, in step (1), the mechanical gripper moves downward and contacts the object being gripped located outside the mechanical gripper. The mechanical gripper exerts a downward force on the object being gripped, and correspondingly, the object being gripped exerts an upward reaction force on the mechanical gripper. The mechanical gripper accumulates elastic potential energy internally through the reaction force.

[0029] Furthermore, in step (2), the mechanical gripper moves downward and contacts the object to be gripped located inside the mechanical gripper. The mechanical gripper exerts a downward force on the object to be gripped, and correspondingly, the object to be gripped exerts an upward reaction force on the mechanical gripper. The mechanical gripper releases the accumulated elastic potential energy inside by means of the reaction force, thereby placing the object to be gripped.

[0030] In the above technical solutions, "several" means ≥1.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] The mechanical gripper of this invention can automatically grasp and place objects without the need for a driver for the gripping part; while reducing the cost of the mechanical gripper, minimizing potential failure points, and simplifying the structure, this invention can improve the overall operating speed of the mechanical gripper. Attached Figure Description

[0033] Figure 1 This is an overall structural diagram of the chemiluminescence immunoassay system including the mechanical gripper of the present invention;

[0034] Figure 2 This is an exploded view of the mechanical gripper of the present invention;

[0035] Figure 3 This is a longitudinal sectional view of the mechanical gripper of the present invention;

[0036] Figure 4 This is a cross-sectional view of the mechanical gripper of the present invention;

[0037] Figure 5 This is a structural diagram showing the combination of the rotating locking device and the transmission guide device of the mechanical gripper of the present invention when it is not gripping an object;

[0038] Figure 6 This is a structural diagram of the guide clamping device in the mechanical gripper of the present invention;

[0039] Figure 7 This is a cross-sectional view of the guide clamping device in the mechanical gripper of the present invention;

[0040] The component names corresponding to the various reference numerals in the figure are: 1-gripper body; 11-housing; 12-elastic device; 121-spring; 13-rotational locking device; 131-rotor; 1311-support column; 1312-rotational locking plate; 1313-meshing surface; 1314-first receiving groove; 1315-second receiving groove; 14-transmission guide device; 141-push rod; 1411-sleeve rod; 1412-guide tooth; 14121-first guide tooth; 14122-second guide tooth; 1413-guide column; 141 31-First guide post; 141-Second guide post; 1414-Contact head; 15-Guide snap-fit ​​device; 151-Guide boss; 1511-First guide boss; 1512-Second guide boss; 1513-Third guide boss; 152-Guide groove; 1521-First guide groove; 1522-Second guide groove; 153-Guide surface; 1531-First guide surface; 1532-Second guide surface; 154-Snap-fit ​​groove; 16-Grip cover plate; 17-Magnetic ring; 2-Grip head; 21-Clamping handle; 3-Grip arm. Detailed Implementation

[0041] To better understand the content of this invention, further description is provided below with reference to specific embodiments and accompanying drawings. It should be understood that these embodiments are only for further illustration of the invention and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the description of this invention, those skilled in the art may make some non-essential modifications or adjustments to the invention, which still fall within the protection scope of this invention.

[0042] Example 1

[0043] A mechanical gripper, such as Figure 2 and Figure 3 As shown, the mechanical gripper includes a gripper body 1 and a gripper head 2 connected to the gripper body 1; the gripper body 1 includes a housing 11, an elastic device 12 disposed inside the housing 11 and sequentially connected from top to bottom along the axial direction of the housing 11, a rotational locking device 13 and a transmission guide device 14, and a guide locking device 15 disposed on the inner surface of the housing 11.

[0044] In this embodiment, the mechanical gripper grasps the reaction cup via the gripper head 2. The reaction cup, through contact with the transmission guide device 14, transmits the force from the transmission guide device 14 to the elastic device 12, gradually accumulating elastic potential energy. The locking action of the rotating locking device 13 and the guiding locking device 15 ensures that the elastic potential energy generated by the elastic device 12 is retained. When the mechanical gripper lowers the reaction cup, the reaction cup again transmits the force from the transmission guide device 14 to the elastic device 12 through contact with the transmission guide device 14. Driven by the elastic potential energy inside the elastic device 12, the rotating locking device 13 transmits the force in the opposite direction to the reaction cup through the transmission guide device 14, causing the reaction cup to detach from the gripper head 2, and the mechanical gripper completes the object placement process.

[0045] The mechanical gripper described in this embodiment can grasp and place objects; at the same time, since the mechanical gripper does not have a pneumatic, hydraulic or electric drive, the cost of the mechanical gripper can be reduced.

[0046] Example 2

[0047] This embodiment is a further optimization based on Embodiment 1, such as... Figures 2-7 As shown, the rotating snap-fit ​​device 13 includes a rotor 131; the rotor 131 includes a support column 1311 and a plurality of rotating snap-fit ​​plates 1312 circumferentially spaced on the outer surface of the support column 1311.

[0048] The transmission guide device 14 includes a push rod 141; the push rod 141 includes a hollow sleeve rod 1411 that matches and is sleeved with the support column 1311, a guide tooth 1412 circumferentially disposed on the top of the sleeve rod 1411, and a plurality of guide columns 1413 circumferentially spaced on the outer surface of the guide tooth 1412.

[0049] The guide locking device 15 includes guide bosses 151 circumferentially spaced on the inner surface of the housing 11 and protruding outward from the inner surface of the housing 11, guide grooves 152 disposed between adjacent guide bosses 151, guide surfaces 153 disposed on the upper surface of the guide bosses 151, and locking grooves 154 disposed on the upper part of the guide bosses 151; the guide grooves 152 accommodate the guide post 1413 and the rotating locking plate 1312.

[0050] In this embodiment, the mechanical gripper grasps the reaction cup via the gripper head 2. The reaction cup, through contact with the push rod 141, transmits the force from the push rod 141 to the elastic device 12, gradually accumulating elastic potential energy. The engagement between the rotor 131 and the locking groove 154 preserves the elastic potential energy generated by the elastic device 12. When the mechanical gripper lowers the reaction cup, the reaction cup again transmits the force from the push rod 141 to the elastic device 12 through contact with the push rod 141. Driven by the elastic potential energy inside the elastic device 12, the rotor 131 transmits the force in the opposite direction to the reaction cup through the push rod 141, causing the reaction cup to detach from the gripper head 2, and the mechanical gripper completes the process of placing the reaction cup.

[0051] The mechanical gripper described in this embodiment has a simple structure and is easy to operate.

[0052] Example 3

[0053] This embodiment is a further optimization based on embodiment 2, such as... Figures 2-7 As shown, the rotor 131 includes an inclined meshing surface 1313 disposed at the bottom of the rotating snap plate 1312; the rotating snap plate 1312 is evenly spaced around the outer surface of the support column 1311.

[0054] The number of rotating snap-fit ​​plates 1312 is three.

[0055] The guide teeth 1412 are uniformly distributed serrated; the tips of the guide teeth 1412 do not fully mesh with the meshing surface 1313; the guide teeth 1412 include a first guide tooth 14121 and a second guide tooth 14122; the guide post 1413 includes a first guide post 14131 and a second guide post 14132; the first guide post 14131 and the second guide post 14132 are circumferentially evenly spaced on the outer surface of the guide teeth 1412; when the mechanical gripper is not gripping an object, the first guide tooth... The guide tooth 1412 directly above the column 14131 is configured as the first guide tooth 14121; when the mechanical gripper is not gripping an object, the guide tooth 1412 directly above the second guide column 14132 is configured as the second guide tooth 14122; along the radial direction of the housing 11, the length of the first guide column 14131 is longer than that of the second guide column 14132; along the axial direction of the housing 11, the outer surface of the first guide column 14131 is coaxial with the outer surface of the rotating snap plate 1312.

[0056] like Figure 5As shown, the angle between the axis of the first guide post and the axis of the first guide tooth is ±5°, preferably 0°, i.e., they are coaxial; the angle between the axis of the second guide post and the axis of the second guide tooth is ±5°, preferably 0°, i.e., they are coaxial.

[0057] The number of the first guide post 14131 and the second guide post 14132 are both six.

[0058] The guide boss 151 includes a first guide boss 1511, a second guide boss 1512, and a third guide boss 1513 sequentially connected along the circumference of the housing 11; the guide bosses 151 are evenly spaced circumferentially on the inner surface of the housing 11; the first guide boss 1511 and the third guide boss 1513 have the same shape; the lengths of the first guide boss 1511 and the third guide boss 1513 along the axial direction of the housing 11 are longer than that of the second guide boss 1512; the guide groove 152 includes a first guide groove 1521 and a second guide groove 1522; the outer surfaces of adjacent first guide bosses 1511, the outer surfaces of third guide bosses 1513, and the inner surface of the housing 11 form the first guide groove 1521; the outer surfaces of the first guide boss 1511, the outer surfaces of the third guide boss 1513, and the outer surfaces of the second guide boss 1512 form The second guide groove 1522; the depth of the first guide groove 1521 is greater than that of the second guide groove 1522; the first guide groove 1521 accommodates the first guide post 14131 and the rotating snap-fit ​​plate 1312; the second guide groove 1522 accommodates the second guide post 14132; the guide surface 153 includes a first guide surface 1531 and a second guide surface 1532; the upper surfaces of the first guide boss 1511 and the second guide boss 1512 are connected to form an inclined first guide surface 1531; the upper surface of the third guide boss 1513 forms an inclined second guide surface 1532; the inclination angles of the first guide surface 1531 and the second guide surface 1532 are the same as the inclination angle of the meshing surface 1313; the upper surface of the second guide boss 1512, the outer surface of the third guide boss 1513, and the inner surface of the housing 11 form the snap-fit ​​groove 154.

[0059] The number of the first guide boss 1511, the second guide boss 1512, the third guide boss 1513, the first guide groove 1521, the second guide groove 1522, the first guide surface 1531, the second guide surface 1532, and the snap-fit ​​groove 154 are all six.

[0060] like Figure 5As shown, in the initial state of the mechanical gripper described in this embodiment, i.e., when it is not gripping the reaction cup, the rotating locking plate 1312 and the first guide post 14131 are accommodated in the first guide groove 1314; from the side view, the rotating locking plate 1312, the first guide tooth 14121 and the first guide post 14131 are coaxial.

[0061] like Figure 1 As shown, when grasping the reaction cup, the mechanical gripper moves downward and grasps the reaction cup in the reagent tray through the gripper head 2; during this process, the top of the push rod 141 contacts the top of the reaction cup in the reagent tray, and the reaction cup generates a reaction force on the push rod 141, pushing the push rod 141 to move vertically upward; since the meshing surface 1313 is not fully meshed with the first guide tooth 14121 at this time, as the push rod 141 moves vertically upward, the rotor 131 moves vertically upward as well; when the rotating locking plate 1312 is pushed away from the top of the first guide boss 1511, under the action of the elastic potential energy released by the elastic device 12, the rotating locking plate 1312 moves obliquely downward along the downward tooth slope of the first guide tooth 14121 with the help of the meshing surface 1313, and at the same time rotates counterclockwise by an angle; the push rod 141, under the action of the elastic potential energy released by the elastic device 12 and its own... Under the influence of gravity, the rotating locking plate 1312 moves downward along the guide groove 152. At this time, the rotating locking plate 1312 gradually disengages from the first guide tooth 14121, and the outer side of the rotating locking plate 1312 gradually contacts the first guide surface 1531, which has the same inclination angle as the meshing surface 1313. The rotating locking plate 1312 moves diagonally downward with the help of the first guide surface 1531, while rotating counterclockwise by an angle, and finally is fixed in the locking groove 154 (i.e., the top of the second guide boss 1512 and the side of the third boss 1513). The elastic potential energy in the elastic device 12 is retained. That is, during the process of grasping the reaction cup, the movement trajectory of the push rod 141 is first vertically upward, and then vertically downward along the original path; the movement trajectory of the rotating locking plate 1312 is first vertically upward along the first guide groove 1521, and then diagonally downward along the first guide surface 1531, while rotating counterclockwise by an angle.

[0062] When placing the reaction cup, viewed from the side, the rotating locking plate 1312, the second guide tooth 14122, and the second guide post 14132 are coaxial. The mechanical gripper moves downwards, and the top of the push rod 141 contacts the top of the reaction cup in the reagent tray. The reaction cup generates a reaction force on the push rod 141, pushing it vertically upwards. Since the meshing surface 1313 and the second guide tooth 14122 are not fully engaged at this time, therefore… As the push rod 141 moves vertically upward, the rotating locking plate 1312 also moves vertically upward. When the rotating locking plate 1312 is pushed away from the top of the third guide boss 1513, under the action of the elastic potential energy released by the elastic device 12, the rotating locking plate 1312 moves downward along the downward tooth slope of the second guide tooth 14122 via the meshing surface 1313, while simultaneously rotating counterclockwise by an angle. The push rod 141 moves vertically upward under the action of the elastic potential energy released by the elastic device 12. Under the influence of potential energy and its own gravity, the reaction cup moves downward along the guide groove 152. At this time, the rotating locking plate 1312 gradually disengages from the second guide tooth 14122, and the outer side of the rotating locking plate 1312 gradually contacts the second guide surface 1532 with the same inclination angle as the meshing surface 1313. The rotating locking plate 1312 moves diagonally downward with the help of the second guide surface 1532, while rotating counterclockwise by an angle, and finally falls back into the first guide groove 1521. The elastic potential energy in the elastic device 12 is released, thereby pushing the reaction cup away from the gripper 2, so that the mechanical gripper can realize the function of automatically placing the reaction cup. That is, during the process of placing the reaction cup, the movement trajectory of the push rod 141 is first vertically upward, and then vertically downward along the original path; the movement trajectory of the rotating locking plate 1312 is first vertically upward along the top of the second guide groove 1522, and then diagonally downward along the second guide surface 1532, while rotating counterclockwise by an angle.

[0063] This embodiment enables the mechanical gripper to automatically grasp and place objects; at the same time, due to the use of a specific structure and number of rotating locking plates, guide posts, guide bosses, guide grooves, guide surfaces and locking slots, the stability of the mechanical gripper's operation is significantly improved.

[0064] Example 4

[0065] This embodiment is a further optimization based on embodiment 3, such as... Figures 1-7 As shown, the gripper body 1 includes a gripper cover plate 16 connected to the top of the housing 11.

[0066] The rotor 131 includes a first receiving groove 1314 and a second receiving groove 1315 disposed around the top of the support column 1311; the inner diameter of the first receiving groove 1314 is larger than that of the second receiving groove 1315; the gripper body 1 includes a magnetic ring 17; the magnetic ring 17 is disposed in the first receiving groove 1314; the elastic device 12 includes a spring 121; one end of the spring 121 is received in the second receiving groove 1315, and the other end is connected to the bottom of the gripper cover plate 16.

[0067] The push rod 141 includes a contact head 1414 disposed at the bottom of the sleeve rod 1411; the contact head 1414 matches the top of the reaction cup.

[0068] The gripper 2 includes a plurality of gripping handles 21 arranged in a circumferentially evenly spaced manner; the number of gripping handles 21 is six.

[0069] The mechanical gripper includes a gripper arm 3 connected to the gripper body 1.

[0070] In this embodiment, the gripper cover plate 16 facilitates the installation of the entire device; the first receiving groove 1314 and the second receiving groove 1315 facilitate the accommodation of the magnetic ring 17 and the spring 121; the magnetic ring 17 is located inside the gripper body 1, and the magnetic ring 17 moves linearly with the push rod 141 to provide a magnetic field to the Hall sensor to determine the current state of the mechanical gripper; the spring 121 can accumulate and release elastic potential energy; during the process of the mechanical gripper gripping and placing the reaction cup, the interaction between the reaction cup and the contact head 1414 causes the force to be transmitted from the push rod 141 to the spring 121; the tension of the clamping handle 21 facilitates the gripping of the reaction cup, while preventing the gripped reaction cup from falling; the gripper arm 3 facilitates the operation of the entire mechanical gripper.

[0071] Operating principle of this invention:

[0072] like Figure 5 As shown, in the initial state, i.e. when the mechanical gripper of the present invention is not gripping the reaction cup, the rotating locking plate 1312 and the first guide post 14131 are accommodated in the first guide groove 1314; from the side view, the rotating locking plate 1312, the first guide tooth 14121 and the first guide post 14131 are coaxial.

[0073] like Figure 1As shown, when grasping the reaction cup, the mechanical gripper moves downward and grasps the reaction cup in the reagent tray through the gripper head 2; during this process, the top of the push rod 141 contacts the top of the reaction cup in the reagent tray, and the reaction cup generates a reaction force on the push rod 141, pushing the push rod 141 to move vertically upward; since the meshing surface 1313 is not fully meshed with the first guide tooth 14121 at this time, as the push rod 141 moves vertically upward, the rotor 131 moves vertically upward as well; when the rotating locking plate 1312 is pushed away from the top of the first guide boss 1511, under the action of the elastic potential energy released by the spring 121, the rotating locking plate 1312 moves obliquely downward along the downward tooth slope of the first guide tooth 14121 with the help of the meshing surface 1313, and at the same time rotates counterclockwise by an angle; the push rod 141, under the action of the elastic potential energy released by the spring 121 and its own... Under the influence of gravity, the rotating locking plate 1312 moves downward along the guide groove 152. At this time, the rotating locking plate 1312 gradually disengages from the first guide tooth 14121, and the outer side of the rotating locking plate 1312 gradually contacts the first guide surface 1531, which has the same inclination angle as the meshing surface 1313. The rotating locking plate 1312 moves diagonally downward with the help of the first guide surface 1531, while rotating counterclockwise by an angle, and finally is fixed in the locking groove 154 (i.e., the top of the second guide boss 1512 and the side of the third boss 1513). The elastic potential energy in the spring 121 is retained. That is, during the process of grasping the reaction cup, the movement trajectory of the push rod 141 is first vertically upward, and then vertically downward along the original path; the movement trajectory of the rotating locking plate 1312 is first vertically upward along the first guide groove 1521, and then diagonally downward along the first guide surface 1531, while rotating counterclockwise by an angle.

[0074] When placing the reaction cup, viewed from the side, the rotating locking plate 1312, the second guide tooth 14122, and the second guide post 14132 are coaxial; the mechanical gripper moves downward, and the top of the push rod 141 contacts the top of the reaction cup in the reagent tray. The reaction cup generates a reaction force on the push rod 141, pushing the push rod 141 vertically upward; since the meshing surface 1313 and the second guide tooth 14122 are not fully engaged at this time, therefore... As the push rod 141 moves vertically upward, the rotating locking plate 1312 also moves vertically upward. When the rotating locking plate 1312 is pushed away from the top of the third guide boss 1513, under the action of the elastic potential energy released by the spring 121, the rotating locking plate 1312 moves obliquely downward along the downward tooth slope of the second guide tooth 14122 via the meshing surface 1313, while simultaneously rotating counterclockwise by an angle. The push rod 141 moves vertically upward under the action of the elastic potential energy released by the spring 121. Under the influence of potential energy and its own gravity, the reaction cup moves downward along the guide groove 152. At this time, the rotating locking plate 1312 gradually disengages from the second guide tooth 14122, and the outer side of the rotating locking plate 1312 gradually contacts the second guide surface 1532 with the same inclination angle as the meshing surface 1313. The rotating locking plate 1312 moves diagonally downward with the help of the second guide surface 1532, while rotating counterclockwise by an angle, and finally falls back into the first guide groove 1521. The elastic potential energy in the spring 121 is released, thereby pushing the reaction cup away from the gripper 2, so that the mechanical gripper can realize the function of automatically placing the reaction cup. That is, during the process of placing the reaction cup, the movement trajectory of the push rod 141 is first vertically upward, and then vertically downward along the original path; the movement trajectory of the rotating locking plate 1312 is first vertically upward along the top of the second guide groove 1522, and then diagonally downward along the second guide surface 1532, while rotating counterclockwise by an angle.

[0075] The foregoing description is not intended to limit the invention, nor is the invention limited to the examples given. Any changes, modifications, additions, or substitutions made by those skilled in the art within the scope of the invention should also be considered within the protection scope of the invention.

Claims

1. A method for operating a mechanical gripper, characterized in that, Includes the following steps: (1) When grasping the object, the mechanical gripper applies a force to the object, and at the same time, the object applies a reaction force to the mechanical gripper, and the mechanical gripper accumulates elastic potential energy internally by means of the reaction force. (2) When placing the object to be grabbed, the mechanical gripper applies a force to the object to be grabbed, and at the same time, the object to be grabbed applies a reaction force to the mechanical gripper. The mechanical gripper releases the internally accumulated elastic potential energy through the reaction force to place the object to be grabbed. The mechanical gripper includes a gripper body (1) and a gripper head (2) connected to the gripper body (1); the gripper body (1) includes a housing (11), an elastic device (12) disposed inside the housing (11) and sequentially connected from top to bottom along the axial direction of the housing (11), a rotational locking device (13) and a transmission guide device (14), and a guide locking device (15) disposed on the inner surface of the housing (11); The rotating snap-fit ​​device (13) includes a rotor (131); the rotor (131) includes a support column (1311) and a plurality of rotating snap-fit ​​plates (1312) circumferentially spaced on the outer surface of the support column (1311); The transmission guide device (14) includes a push rod (141); the push rod (141) includes a hollow sleeve rod (1411) that matches and is sleeved with the support column (1311), a guide tooth (1412) circumferentially disposed on the top of the sleeve rod (1411), and a plurality of guide columns (1413) circumferentially spaced on the outer surface of the guide tooth (1412); The guide snap-fit ​​device (15) includes guide bosses (151) circumferentially spaced on the inner surface of the housing (11) and formed by protrusions from the inner surface of the housing (11), guide grooves (152) disposed between adjacent guide bosses (151), guide surfaces (153) disposed on the upper surface of the guide bosses (151), and snap-fit ​​grooves (154) disposed on the upper part of the guide bosses (151); the guide grooves (152) accommodate the guide post (1413) and the rotating snap-fit ​​plate (1312).

2. The operating method of a mechanical gripper as described in claim 1, characterized in that, The rotor (131) includes an inclined meshing surface (1313) disposed at the bottom of the rotating snap plate (1312); the rotating snap plate (1312) is evenly spaced around the outer surface of the support column (1311).

3. The operating method of a mechanical gripper as described in claim 2, characterized in that, The guide teeth (1412) are uniformly distributed serrated; the tips of the guide teeth (1412) do not fully mesh with the meshing surface (1313); the guide post (1413) includes a first guide post (14131) and a second guide post (14132); the first guide post (14131) and the second guide post (14132) are circumferentially evenly spaced on the outer surface of the guide teeth (1412); along the radial direction of the housing (11), the length of the first guide post (14131) is longer than that of the second guide post (14132); along the axial direction of the housing (11), the outer side of the first guide post (14131) is coaxial with the outer side of the rotating snap plate (1312).

4. The operating method of a mechanical gripper as described in claim 3, characterized in that, The guide boss (151) includes a first guide boss (1511), a second guide boss (1512), and a third guide boss (1513) sequentially connected circumferentially along the housing (11); the guide bosses (151) are evenly spaced circumferentially on the inner surface of the housing (11); the first guide boss (1511) and the third guide boss (1513) have the same shape; the lengths of the first guide boss (1511) and the third guide boss (1513) along the axial direction of the housing (11) are... The guide groove (152) is longer than the second guide boss (1512); the guide groove (152) includes a first guide groove (1521) and a second guide groove (1522); the outer side surface of the adjacent first guide boss (1511), the outer side surface of the third guide boss (1513), and the inner surface of the housing (11) form the first guide groove (1521); the outer side surface of the first guide boss (1511), the outer side surface of the third guide boss (1513), and the outer side surface of the second guide boss (1512) form The second guide groove (1522); the depth of the first guide groove (1521) is greater than that of the second guide groove (1522); the first guide groove (1521) accommodates the first guide post (14131) and the rotating snap plate (1312); the second guide groove (1522) accommodates the second guide post (14132); the guide surface (153) includes a first guide surface (1531) and a second guide surface (1532); the first guide boss (1511) and the second guide boss (1522) The upper surface of the third guide boss (1512) forms an inclined first guide surface (1531); the upper surface of the third guide boss (1513) forms an inclined second guide surface (1532); the inclination angles of the first guide surface (1531) and the second guide surface (1532) are the same as the inclination angle of the meshing surface (1313); the upper surface of the second guide boss (1512), the outer side of the third guide boss (1513) and the inner surface of the housing (11) form the snap-fit ​​groove (154).

5. The operating method of a mechanical gripper as described in claim 1, characterized in that, The gripper body (1) includes a gripper cover plate (16) connected to the top of the housing (11).

6. The method for operating a mechanical gripper as described in claim 1, characterized in that, The gripper body (1) includes a magnetic ring (17).

7. The method for operating a mechanical gripper as described in claim 1, characterized in that, The elastic device (12) includes a spring (121).

8. The method for operating a mechanical gripper as described in claim 1, characterized in that, In step (1), the mechanical gripper moves downward and contacts the object being gripped located outside the mechanical gripper. The mechanical gripper exerts a downward force on the object being gripped, and correspondingly, the object being gripped exerts an upward reaction force on the mechanical gripper. The mechanical gripper accumulates elastic potential energy internally through the reaction force.

9. The method for operating a mechanical gripper as described in claim 1, characterized in that, In step (2), the mechanical gripper moves downward and contacts the object to be gripped inside the mechanical gripper. The mechanical gripper exerts a downward force on the object to be gripped, and correspondingly, the object to be gripped exerts an upward reaction force on the mechanical gripper. The mechanical gripper releases the accumulated elastic potential energy inside by means of the reaction force, thereby placing the object to be gripped.

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