Gripper mechanism and reaction cup gripping device

Abstract

The invention relates to a gripper mechanism and a reaction cup gripping device, the gripper mechanism comprises a first finger piece and a second finger piece, the first finger piece is provided with a clamping groove, the second finger piece is provided with a limiting groove and a plurality of sawtooth grooves arranged at intervals, and the sawtooth grooves intersect with the limiting groove. At least two groove faces in the clamping groove are tangent to the reaction cup, the surface of the side, opposite to the clamping groove, of the reaction cup is in contact with the clamping face provided with the limiting groove and the multiple sawtooth grooves, and due to the fact that the limiting groove and the sawtooth grooves are arranged in an intersecting mode, the limiting groove is divided into multiple contact points with the reaction cup through the sawtooth grooves. On the premise of ensuring the applicability of the gripper mechanism for gripping the reaction cup, the stability of gripping the reaction cup by the finger sheets is enhanced by reducing the contact area and improving the pressure intensity.

Description

Technical Field

[0001] The present application relates to the field of biological detection equipment, and in particular to a gripper mechanism and a reaction cup gripping device. Background Art

[0002] In existing biological detection equipment, the reaction cup is a container for samples and a common transfer carrier for detection equipment. A clamp is required in the process of transferring the reaction cup. The existing clamp uses an open and close finger piece to take and place the reaction cup. At the same time, in order to improve fault tolerance, the common contour shape of the reaction cup is circular. Different types of reaction cups result in different reaction cup diameters. In order to improve applicability, the finger piece needs to adapt to reaction cups of different diameters. The finger piece and the reaction cup are clamped in a multi-angle tangent manner.

[0003] Due to the clamping method between the reaction cup and the finger piece, the stability of the finger piece in grabbing the reaction cup is poor. If the clamping force of the finger piece on the reaction cup is increased, the stability of grabbing the reaction cup is improved, but the finger piece is more likely to damage the reaction cup. Summary of the invention

[0004] In order to solve the above technical problems, this application provides the following technical solutions:

[0005] On the one hand, the present application provides a gripping mechanism, including a first finger piece and a second finger piece, the first finger piece is provided with a clamping groove, the second finger piece is provided with a limiting groove and a plurality of spaced serrated grooves, and the serrated grooves intersect with the limiting grooves.

[0006] In one embodiment, the clamping groove has at least two first clamping surfaces, the second finger piece has a second clamping surface, and both the first clamping surface and the second clamping surface are tangentially matched with the reaction cup.

[0007] In one embodiment, two first clamping surfaces in the clamping groove are arranged to be inclined relative to each other.

[0008] In one embodiment, the sawtooth groove passes through the limiting groove.

[0009] In one embodiment, one end of the sawtooth groove is connected to the limiting groove.

[0010] In one embodiment, the sawtooth groove is perpendicular to the limiting groove.

[0011] In one embodiment, the sawtooth groove intersects with the limiting groove to form an acute angle.

[0012] In one embodiment, the second finger piece includes a stopper having a step surface.

[0013] On the other hand, the present application provides a device for grabbing a reaction cup, comprising:

[0014] The gripper mechanism in the above embodiment; and

[0015] A driving module cooperates with the first finger piece and / or the second finger piece to drive the first finger piece and the second finger piece to close or separate.

[0016] In one embodiment, it further includes a first steering block and a second steering block, the first finger piece is mounted on the first steering block, and the second finger piece is mounted on the second steering block;

[0017] A cam is installed on the power output end of the driving module, and the cam is in conflict with the first steering block and the second steering block. The first steering block and the second steering block are provided with elastic reset units.

[0018] This application has at least the following beneficial effects:

[0019] In the present application, at least two groove surfaces in the clamping groove are arranged tangent to the reaction cup, and the surface of the reaction cup opposite to the clamping groove is contacted by a clamping surface provided with a limit groove and a plurality of sawtooth grooves. Since the limit groove and the sawtooth groove are arranged to intersect, the limit groove is divided into a plurality of contact points with the reaction cup by the sawtooth groove. Under the premise of ensuring the applicability of the gripper mechanism to grasp the reaction cup, the contact area is reduced and the pressure is increased, thereby enhancing the stability of the finger piece grasping the reaction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of the material collection assembly and the reaction cup provided in one embodiment of the present application.

[0021] Figure 2 A schematic diagram of the three-dimensional structure of a material picking assembly provided in one embodiment of the present application at a first viewing angle.

[0022] Figure 3 A schematic diagram of the three-dimensional structure of a material picking assembly provided in one embodiment of the present application at a second viewing angle.

[0023] Figure 4 for Figure 3 A local enlarged schematic diagram of point A in the middle.

[0024] Figure 5 A partial structural schematic diagram of a material taking assembly provided in one embodiment of the present application.

[0025] Figure 6 A partial structural schematic diagram of a material retrieving assembly provided in another embodiment of the present application.

[0026] Figure 7 A schematic diagram of the three-dimensional structure of a first finger piece provided in one embodiment of the present application.

[0027] Figure 8A schematic diagram of the three-dimensional structure of a second finger piece provided in one embodiment of the present application.

[0028] Fig. 9 This is a schematic diagram of a first finger piece and a second finger piece clamping a reaction cup according to an embodiment of the present application.

[0029] Reference numerals:

[0030] 10. Material taking component;

[0031] 11. Power source unit; 12. Fixed seat unit; 13. Floating unit; 14. Buffer unit; 15. Grabbing piece unit; 16. Reset unit; 17. Detection unit;

[0032] 111, Cam;

[0033] 151, first finger piece; 152, second finger piece; 153, first steering block; 154, second steering block;

[0034] 1511, first clamping portion; 1512, clamping groove;

[0035] 1521, second clamping portion; 1522, sawtooth groove; 1523, limiting groove; 1524, stopper portion;

[0036] 1531. first steering block body; 1532. buffer part;

[0037] 1541. Second steering block body; 1542. Gear portion; 1543. Shaft portion;

[0038] 161. mounting bracket; 162. elastic block;

[0039] 1611, substrate; 1612, limiting portion;

[0040] 1621, a first torsion spring; 1622, a second torsion spring;

[0041] 171. PCB board; 172. Cup collision detector; 173. Empty cup detector;

[0042] 1721, a first optical coupler; 1722, a first sensing unit;

[0043] 1731. a second optical coupler; 1732. a second sensing unit;

[0044] 20. Reaction cup. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0046] In the description of the present application, it should be understood that if the terms "length", "width", "thickness", "up", "down", "vertical", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0047] In addition, if the terms "first", "second", and "third" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0049] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] It should be noted that if an element is referred to as being "fixed to" or "disposed on" or "set on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0051] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0052] Reference Figure 1 , 2 As shown, in some embodiments of the present application, the present application provides a device for grabbing a reaction cup, including a material picking component 10, the material picking component 10 includes a driving module and a gripper mechanism, the gripper mechanism includes a gripper unit 15, the gripper unit 15 has a first finger piece 151 and a second finger piece 152, and the driving module drives the two finger pieces to close or separate. Exemplarily, the first finger piece 151 and the second finger piece 152 are arranged opposite to each other.

[0053] On the one hand, combined with Figure 7As shown, the first finger piece 151 includes a first clamping portion 1511, and a clamping groove 1512 is provided on the first clamping portion 1511. The clamping groove 1512 extends along the straight line direction N to one end of the first finger piece 151 to form an opening, and the reaction cup 20 can extend into the clamping groove 1512 from the opening, and the opening can play a role of avoidance. The clamping groove 1512 includes at least two first clamping surfaces, and the two first clamping surfaces in the clamping groove 1512 are arranged tangent to the reaction cup 20. Exemplarily, the two first clamping surfaces are the inner wall surfaces of the clamping groove 1512, the inner wall surfaces of the groove are arranged oppositely, and the two first clamping surfaces are inclined relative to each other, so that the two first clamping surfaces are V-shaped, that is, the width of the clamping groove 1512 gradually decreases toward the bottom of the groove. Part of the reaction cup 20 is located in the clamping groove 1512, and the circular contour of the reaction cup 20 is arranged tangent to the two first clamping surfaces. It is understandable that the reaction cup 20 can also contact the three first clamping surfaces of the clamping groove 1512, and the three first clamping surfaces can be two oppositely arranged groove inner wall surfaces and a groove bottom surface.

[0054] On the other hand, combined Figure 8 As shown, the second finger piece 152 has a second clamping surface, and the second clamping surface can be a plane. The second clamping surface of the second finger piece 152 is tangent to the circular contour of the reaction cup 20, so that the clamping groove 1512 and the second finger piece 152 fix the reaction cup 20, and by adjusting the distance between the first finger piece 151 and the second finger piece 152, the position where the clamping groove 1512 and the second finger piece 152 contact the reaction cup 20 changes, and because the clamping groove 1512 and the second finger piece 152 are tangent to the reaction cup 20, it is ensured that the clamping groove 1512 and the second finger piece 152 stably contact the reaction cup 20, so that the first finger piece 151 and the second finger piece 152 can grab the reaction cups 20 of different sizes. Further, a plurality of sawtooth grooves 1522 arranged at intervals are provided on the second clamping surface of the second finger piece 152, and the friction between the second finger piece 152 and the reaction cup 20 is increased by providing the sawtooth grooves 1522.

[0055] It is understandable that the second clamping surface may also be arc-shaped, and the arc-shaped second clamping surface protruding outwards is tangentially matched with the reaction cup 20 .

[0056] Furthermore, a limiting groove 1523 is further provided on the second clamping surface of the second finger piece 152, and the limiting groove 1523 and the sawtooth groove 1522 are arranged to intersect. Exemplarily, the limiting groove 1523 and the sawtooth groove 1522 are arranged vertically, and the extending direction of the limiting groove 1523 is arranged parallel to the extending direction of the clamping groove 1512, that is, the limiting groove 1523 extends along the straight line direction N. The limiting groove 1523 located on the same second clamping surface is arranged to intersect with multiple sawtooth grooves 1522.

[0057] It can be understood that the intersection of the limiting groove 1523 and the sawtooth groove 1522 includes but is not limited to the sawtooth groove 1522 passing through the limiting groove 1523, and can also be arranged so that one end of the sawtooth groove 1522 is connected to the limiting groove 1523, and the sawtooth groove 1522 can be located on the same side of the limiting groove 1523, or can be arranged on both sides of the limiting groove 1523. In addition, the positional relationship between the limiting groove 1523 and the sawtooth groove 1522 includes but is not limited to the limiting groove 1523 and the sawtooth groove 1522 being arranged vertically, and can also be the limiting groove 1523 and the sawtooth groove 1522 forming an angle including at least one acute angle.

[0058] In this embodiment, two edges of the limiting groove 1523 contact the circular contour of the reaction cup 20. In this embodiment, multiple sawtooth grooves 1522 intersect with the limiting groove 1523, dividing the single edge in contact with the reaction cup 20 into multiple contact positions. By reducing the contact area between the limiting groove 1523 and the reaction cup 20, the pressure of the second finger piece 152 on the reaction cup 20 is increased, so that the gripper mechanism can grasp the reaction cup more stably.

[0059] Furthermore, the angle formed by the limiting groove 1523 and the sawtooth groove 1522 is chamfered, and / or the edges of the limiting groove 1523 and the sawtooth groove 1522 are chamfered. By chamfering the limiting groove 1523 and the sawtooth groove 1522, stress concentration is avoided, the sharp corners and burrs between the edges and the limiting groove 1523 and the sawtooth groove 1522 are reduced, and safety is improved.

[0060] In some embodiments of the present application, the second finger piece 152 includes a second clamping portion 1521 having a second clamping surface and a stopper 1524. The cross-sectional area of ​​the second clamping portion 1521 is smaller than the cross-sectional area of ​​the stopper 1524. The second clamping portion 1521 and the stopper 1524 are connected, so that the second finger piece 152 is stepped. The limiting groove 1523 and the sawtooth groove 1522 are provided in the second clamping portion 1521.

[0061] The clamping groove 1512 of the first finger piece 151 and the second clamping surface of the second finger piece 152 are arranged facing each other. Fig. 9 As shown, the second clamping portion 1521 is arranged corresponding to the clamping groove 1512, the width of the second clamping portion 1521 is smaller than the width of the clamping groove 1512, and the clamping groove 1512 and the limiting groove 1523 are arranged symmetrically with the plane SL where the central axis of the clamping groove 1512 is located as the center. That is, along the central axis direction SL, the limiting groove 1523 is projected into the clamping groove 1512.

[0062] In this embodiment, the limiting groove 1523 extends along the linear direction N to form an opening on the other side of the second clamping portion 1521 relative to the connecting stopper 1524. The reaction cup 20 contacts the limiting groove 1523 and the clamping groove 1512, and the reaction cup 20 abuts against the stopper 1524 to fix the position of the reaction cup 20.

[0063] In some embodiments of the present application, the material taking assembly 10 further includes a base module, and the driving module is installed on the base module. The grabbing piece unit 15 further includes a first steering block 153 and a second steering block 154, and the first steering block 153 and the second steering block 154 are connected to the first finger piece 151 and the second finger piece 152 in a one-to-one correspondence, and at least one of the first steering block 153 and the second steering block 154 is rotatably connected to the base module. The driving module drives the first steering block 153 and / or the second steering block 154 to rotate.

[0064] The rotation of the first steering block 153 and / or the second steering block 154 may be the rotation of the first steering block 153, the rotation of the second steering block 154, or the rotation of the first steering block 153 and the second steering block 154. Preferably, the first steering block 153 and the second steering block 154 rotate, specifically, the first steering block 153 and the second steering block 154 rotate in opposite directions, so that the first steering block 153 and the second steering block 154 drive the first finger piece 151 and the second finger piece 152 to close or separate.

[0065] Further, the driving module includes a power source unit 11, a cam 111 is installed on the power output end of the power source unit 11, and the cam 111 conflicts with the first steering block 153 and / or the second steering block 154. An elastic reset unit 16 is arranged between the first steering block 153 and / or the second steering block 154 and the base module.

[0066] Specifically, the cam 111 has two protrusions arranged opposite to each other, and the two protrusions are in contact with the first steering block 153 and the second steering block 154 at the same time, so that the cam 111 pushes the first steering block 153 and the second steering block 154 at the same time, and drives the first steering block 153 and the second steering block 154 away from each other. When the cam 111 pushes the first steering block 153 and the second steering block 154 away from each other, the elastic reset unit 16 is deformed. After the two protrusions are separated from the first steering block 153 and the second steering block 154, the reset unit 16 elastically recovers, driving the first steering block 153 and the second steering block 154 to move closer to each other.

[0067] The cam 111 in this solution drives the first steering block 153 and the second steering block 154 to move away from each other, and the reset unit 16 drives the first steering block 153 and the second steering block 154 to move toward each other, so that the gripper mechanism can automatically take and place the reaction cup 20. At the same time, since the first steering block 153 and the second steering block 154 are connected by the reset unit 16, after the first finger piece 151 and the second finger piece 152 clamp the reaction cup 20, the first steering block 153 and the second steering block 154 are restricted by the reset unit 16. If an external obstacle hits the reaction cup 20, the reset unit 16 can absorb the impact force generated between the obstacle and the reaction cup 20 by deformation, thereby protecting the reaction cup 20.

[0068] More specifically, if Figure 2 As shown, combined with Figure 5 As shown, the reset unit 16 includes a mounting bracket 161 and an elastic block 162, and the first steering block 153 and the second steering block 154 are both rotatably connected to the mounting bracket 161. The mounting bracket 161 includes a C-shaped base plate 1611, and the first steering block 153 and the second steering block 154 are respectively rotatably connected to the two ends of the base plate 1611. The base plate 1611 is connected to the base module.

[0069] In addition, the elastic block 162 includes a first torsion spring 1621 and a second torsion spring 1622 . The first torsion spring 1621 is disposed between the mounting bracket 161 and the first steering block 153 , and the second torsion spring 1622 is disposed between the mounting bracket 161 and the second steering block 154 .

[0070] In this solution, the first torsion spring 1621 and the second torsion spring 1622 are deformed to drive the first steering block 153 and the second steering block 154 to move. During use, due to the restoring effect of the first torsion spring 1621 and the second torsion spring 1622, the moving distances of the first steering block 153 and the second steering block 154 have a certain deviation, so that the positions of the first finger piece 151 and the second finger piece 152 relative to the driving module each time they clamp the reaction cup 20 are different.

[0071] Furthermore, in the present embodiment, the first steering block 153 includes a first steering block body 1531 and a buffer portion 1532, one end of the first steering block body 1531 is rotatably connected to the mounting bracket 161, and the buffer portion 1532 is mounted on the other end of the first steering block body 1531. A limiting portion 1612 is provided on the mounting bracket 161, and the limiting portion 1612 is arranged close to the second steering block 154. When the first torsion spring 1621 and the second torsion spring 1622 are elastically restored, the buffer portion 1532 contacts the limiting portion 1612 during the closing process of the first steering block 153 and the second steering block 154. In the present embodiment, the limiting portion 1612 has a limiting surface in contact with the buffer portion 1532, and the rotation axis of the driving module is located on the limiting surface.

[0072] At the same time, the torsion of the first torsion spring 1621 is greater than the torsion of the second torsion spring 1622. When the first torsion spring 1621 is elastically restored, the first steering block 153 rotates toward the second steering block 154, and the buffer portion 1532 contacts the limiting portion 1612, limiting the terminal position of the first steering block 153 after reset. Since the torsion of the first torsion spring 1621 is greater than the torsion of the second torsion spring 1622, when there is a difference in the position of the clamped reaction cup 20 relative to the driving module, the first steering block 153 can push the second steering block 154 to ensure that the buffer portion 1532 contacts the limiting portion 1612. By determining the reset position of the first steering block 153, the grabbed reaction cup 20 is in the center position.

[0073] In another specific embodiment, referring to Figure 6 As shown, the first steering block 153 is meshed and connected with the second steering block 154 through the tooth portion 1542. The tooth portion 1542 is provided on the surface close to the first steering block 153 and the second steering block 154, and the tooth portions 1542 on the first steering block 153 and the second steering block 154 are meshed. The elastic block 162 is arranged between the first steering block 153 and the second steering block 154. More specifically, the first steering block 153 and the second steering block 154 have similar structures, and the second steering block 154 includes a second steering block body 1541, and the tooth portion 1542 is arranged on a side surface of the second steering block body 1541. The axis of the tooth portion 1542 realizes the rotation connection of the second steering block 154 or the second steering block 154 and the mounting bracket 161 through the shaft portion 1543.

[0074] In this specific embodiment, the tooth portion 1542 between the first steering block 153 and the second steering block 154 is engaged, so that the angles of the first steering block 153 and the second steering block 154 remain consistent when they are closed or separated. After adjustment, it can be ensured that the reaction cup 20 is in the center position each time the reaction cup 20 is grabbed.

[0075] It can be understood that the reaction cup 20 is in a central position, specifically, the axial direction of the reaction cup 20 is in the same straight line as the rotation axis of the driving module.

[0076] In some embodiments of the present application, reference Figure 3 , 4 As shown, the base module includes a fixed seat unit 12 and a floating unit 13, the fixed seat unit 12 is connected to the floating unit 13 and the floating unit 13 can move relative to the fixed seat unit 12, and a buffer unit 14 is connected between the fixed seat unit 12 and the floating unit 13. Among them, the driving module is installed on the floating unit 13, and the first steering block 153 and / or the second steering block 154 are rotatably connected to the floating unit 13.

[0077] The buffer unit 14 can achieve elastic deformation. After the first finger piece 151 and the second finger piece 152 grab the reaction cup 20, if the reaction cup 20 or the first finger piece 151 or the second finger piece 152 collides with an obstacle, the floating unit 13 can move toward the fixed seat unit 12, and the reaction cup 20, the first finger piece 151 and the second finger piece 152 avoid the obstacle. After the reaction cup grabbing device is separated from the obstacle, the buffer unit 14 elastically recovers and the floating unit 13 is reset.

[0078] Furthermore, the gripper mechanism further includes a detection unit 17, which includes a cup collision detector 172 and an empty cup detector 173. The cup collision detector 172 is used to detect the relative position of the floating unit 13 relative to the fixed seat unit 12. The empty cup detector 173 is used to detect the rotation position of the first steering block 153 or the second steering block 154.

[0079] Specifically, on the one hand, the cup collision detector 172 includes a first optocoupler 1721 and a first sensing unit 1722 that are adapted to each other. When the first optocoupler 1721 is inductively connected to the first sensing unit 1722, at this time, the floating unit 13 moves toward the fixed seat unit 12, and the interval between the floating unit 13 and the fixed seat unit 12 is small, and it is determined that the gripper mechanism has a cup collision failure. On the other hand, the empty cup detector 173 includes a second optocoupler 1731 and a second sensing unit 1732 that are adapted to each other. When the second optocoupler 1731 is inductively connected to the second sensing unit 1732, at this time, the gap between the first steering block 153 and the second steering block 154 is small, and it is determined that the gripper mechanism has an empty cup failure.

[0080] It can be understood that the gap between the first steering block 153 and the second steering block 154 is smaller than the diameter of the reaction cup 20 .

[0081] Furthermore, the detection unit 17 further includes a PCB board 171. The first optical coupler 1721 is mounted on the fixed seat unit 12, and the second optical coupler 1731 is mounted on the rotatable first steering block 153 or the second steering block 154. The PCB board 171 is connected to the floating unit 13, and the first sensing part 1722 and the second sensing part 1732 are electrically connected to the PCB board 171.

[0082] In this solution, the first sensing part 1722 and the second sensing part 1732 are simultaneously mounted on the PCB board 171. A single power line is connected to the PCB board 171, and the first sensing part 1722 and the second sensing part 1732 are powered by a single power source. This design simplifies the wiring layout.

[0083] The above embodiments are used to further illustrate the present application, but the present application is not limited to these specific implementations. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be understood to be within the scope of protection of the present application.

Claims

1. A gripper mechanism, characterized in that: The invention comprises a first finger piece (151) and a second finger piece (152), wherein the first finger piece (151) is provided with a clamping groove (1512), and the second finger piece (152) is provided with a limiting groove (1523) and a plurality of sawtooth grooves (1522) arranged at intervals, wherein the sawtooth grooves (1522) intersect with the limiting grooves (1523).

2. The gripper mechanism according to claim 1, characterized in that: The clamping groove (1512) has at least two first clamping surfaces, the second finger piece (152) has a second clamping surface, and the first clamping surface and the second clamping surface are both arranged tangent to the reaction cup (20).

3. The gripper mechanism according to claim 2, characterized in that: The two first clamping surfaces in the clamping groove (1512) are arranged to be inclined relative to each other.

4. The gripper mechanism according to claim 1, characterized in that: The sawtooth groove (1522) passes through the limiting groove (1523).

5. The gripper mechanism according to claim 1, characterized in that: One end of the sawtooth groove (1522) is connected to the limiting groove (1523).

6. The gripper mechanism according to claim 4 or 5, characterized in that: The sawtooth groove (1522) is perpendicular to the limiting groove (1523).

7. The gripper mechanism according to claim 4 or 5, characterized in that: The sawtooth groove (1522) and the limiting groove (1523) intersect to form an acute angle.

8. The gripper mechanism according to claim 1, characterized in that: The second finger piece (152) comprises a stopper (1524), and the stopper (1524) has a step surface.

9. A device for grabbing a reaction cup, characterized in that: include: The gripping mechanism according to any one of claims 1 to 8; as well as A driving module, wherein the driving module cooperates with the first finger piece (151) and / or the second finger piece (152) to drive the first finger piece (151) and the second finger piece (152) to close or separate.

10. The device for grabbing a reaction cup according to claim 9, characterized in that: It also comprises a first steering block (153) and a second steering block (154), wherein the first finger piece (151) is mounted on the first steering block (153), and the second finger piece (152) is mounted on the second steering block (154); A cam (111) is installed on the power output end of the driving module, and the cam (111) is in conflict with the first steering block (153) and the second steering block (154). The first steering block (153) and the second steering block (154) are provided with elastic reset units (16).

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