Reaction cup gripper

Abstract

The utility model provides a reaction cup gripper, which relates to the technical field of medical instruments and comprises a gripper, a rotating shaft, a fixing plate, a gripper clamping spring and a cam. The gripper is used for gripping the reaction cup; the grippers are divided into a left gripper and a right gripper, and the left gripper and the right gripper are oppositely mounted on the rotating shaft and rotate around the rotating shaft; the rotating shaft is longitudinally mounted at the bottom of the fixing plate; one end of the gripper clamping spring is connected with the left gripper, the other end of the gripper clamping spring is connected with the right gripper, and the gripper clamping spring is used for clamping the left gripper and the right gripper mutually; the cam is arranged between the left gripper and the right gripper and used for ejecting the left gripper and the right gripper to the left side and the right side respectively. According to the reaction cup gripper provided by the utility model, a reaction cup can be clamped, so that the failure rate during taking and placing of the reaction cup is reduced; and whether the gripper grabs the reaction cup or whether the reaction cup falls off in the moving process can be judged.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a reaction cup gripper. Background Art

[0002] At present, fully automatic immunoassay analyzers have been widely used in many fields such as medicine, chemistry, biology, etc., and are in vitro diagnostic instruments. With the continuous development of the medical industry, people's demand for fully automatic immunoassay analyzers is also increasing.

[0003] The cuvette gripper is an important component of the fully automatic immunoassay analyzer and is usually used to grab and place the cuvette. During the operation of the fully automatic immunoassay analyzer, the cuvette gripper often needs to grab and place the cuvette multiple times to move the cuvette to different positions and perform different tests and analyses on the samples in the cuvette. For example: After the fully automatic immunoassay analyzer realizes automatic sorting of cuvettes, the cuvette gripper needs to be used to place the cuvette in the incubation reaction tray. Since the cuvette needs to be transferred between multiple different positions, whether the cuvette gripper can accurately grab and place the cuvette and whether the cuvette gripper can clamp the cuvette when moving the cuvette have become important criteria for designing the cuvette gripper.

[0004] There are two types of reaction cup grippers commonly used in the prior art. One type of reaction cup gripper uses a motor to directly drive the gripper to clamp the reaction cup, and the other type of reaction cup gripper uses an electromagnet to drive the gripper to clamp the reaction cup. However, both of these two existing reaction cup grippers have the problem of not being able to clamp the reaction cup tightly, which may increase the risk of the reaction cup falling from the reaction cup gripper during movement. Utility Model Content

[0005] The purpose of the utility model is to provide a reaction cup gripper to solve at least one of the above-mentioned technical problems existing in the prior art.

[0006] In order to solve the above technical problems, the utility model provides a reaction cup gripper, comprising: a gripper, a rotating shaft, a fixing plate, a gripper clamping spring and a cam;

[0007] The gripper is used to grab the reaction cup;

[0008] The gripper is divided into a left gripper and a right gripper, and the left gripper and the right gripper are relatively installed on the rotating shaft and rotate around the rotating shaft;

[0009] The rotating shaft is longitudinally mounted at the bottom of the fixing plate;

[0010] One end of the gripper clamping spring is connected to the left gripper, and the other end is connected to the right gripper, so as to clamp the left gripper and the right gripper to each other;

[0011] The cam is arranged between the left gripper and the right gripper, and is used for pushing the left gripper and the right gripper to the left and right sides respectively.

[0012] When grabbing the reaction cup, the cam rotates to push the left gripper and the right gripper to the left and right sides respectively, and the gripper clamping spring is stretched; after the gripper is moved to the gripping position of the reaction cup, the cam rotates in the opposite direction, and the gripper clamps the reaction cup inward under the clamping force provided by the gripper clamping spring.

[0013] Furthermore, the reaction cup gripper also includes a gripper center positioning mechanism for keeping the right gripper in contact with the cam at all times.

[0014] Further, the gripper center positioning mechanism is a gripper center positioning spring, one end of the gripper center positioning spring is connected to the spring fixing rod of the fixing plate, and the other end is connected to the right gripper, and the right gripper is always in contact with the cam under the tension provided by the gripper center positioning spring, thereby ensuring that the center position of the reaction cup grasped by the reaction cup gripper is fixed;

[0015] The spring fixing rod is longitudinally arranged at the bottom of the fixing plate.

[0016] When grabbing the reaction cup, the cam rotates to push the left gripper and the right gripper to the left and right sides respectively, and the gripper center positioning spring is stretched; after the gripper is moved to the gripping position of the reaction cup, the cam rotates in the opposite direction, and the right gripper still keeps in contact with the cam under the tension provided by the gripper center positioning spring, thereby ensuring that the center position of the reaction cup grabbed by the reaction cup gripper is fixed.

[0017] Furthermore, the cross section of the cam is nearly elliptical, and the diameter is divided into a major axis and a minor axis;

[0018] The cam is an eccentric cam, the shaft hole of the cam is arranged on the long axis, the cam always keeps in contact with the right gripper under the action of the center positioning mechanism, and the cam is divided into a long end and a short end by the shaft hole along the long axis direction.

[0019] When the gripper is opened, the long end of the cam contacts the left gripper, and the short end of the cam contacts the right gripper, thereby ensuring that the right gripper moves smoothly when the cam rotates, avoiding the right gripper from impacting the reaction cup when gripping the cup, and reducing the shaking of the right gripper.

[0020] Furthermore, a left roller and a right roller are respectively provided on the top of the left gripper and the right gripper, and the left gripper and the right gripper are respectively in contact with the cam via the left roller and the right roller, thereby reducing friction between the gripper and the cam.

[0021] The right roller is always in contact with the cam to ensure the stability of the gripper, thereby ensuring that the gripper of the reaction cup can grip and place the cup smoothly;

[0022] When the cam rotates to a certain position, the left roller contacts the cam.

[0023] Furthermore, the fixing plate is provided with a through hole.

[0024] Furthermore, the reaction cup gripper also includes a motor, which is installed on the top of the fixed plate. The rotating shaft of the motor passes through the through hole and is connected to the shaft hole of the cam to drive the cam to rotate.

[0025] Furthermore, the reaction cup gripper also includes a gripper opening sensor, which is installed below the fixing plate and is used to detect the degree of opening of the gripper.

[0026] Furthermore, the gripper opening sensor is a groove-type photoelectric sensor, and the groove of the gripper opening sensor is arranged in a horizontal direction with an opening facing the cam.

[0027] A light emitter and a receiver are usually arranged opposite to each other in the groove of the slot-type photoelectric sensor. The light emitter is a light source that can emit infrared light or visible light. The receiver can receive the light signal emitted by the light emitter under unobstructed conditions. When an object passes through the groove of the slot-type photoelectric sensor, the light emitted by the light emitter will be blocked, and the light signal received by the receiver will weaken or disappear, and an electrical signal will be generated. The electrical signal can be recognized by the processor or controller to achieve the detection function.

[0028] Furthermore, the reaction cup gripper further comprises the gripper opening sensor baffle, which is arranged on the cam and is used to shield the light source in the gripper opening sensor groove when the gripper is opened to the maximum extent;

[0029] In the height direction, the height of the gripper opening sensor baffle is the same as the height of the groove of the gripper opening sensor, so the gripper opening sensor baffle can enter the groove of the gripper opening sensor in the horizontal direction to block the light source in the groove of the gripper opening sensor, hinder the transmission of the light signal in the groove of the gripper opening sensor, and then detect the degree of opening of the gripper.

[0030] The gripper opening sensor baffle is used to cooperate with the gripper opening sensor to detect the degree of gripper opening. When grabbing the reaction cup, the motor drives the cam to rotate, and pushes the left gripper and the right gripper to both sides respectively. When the gripper is opened to the maximum extent, the gripper opening sensor baffle enters the groove of the gripper opening sensor, shielding the light source in the gripper opening sensor groove, hindering the transmission of the light signal in the gripper opening sensor groove, so that the gripper opening sensor detects that the gripper has been opened to the maximum extent, and then controls the rotating shaft of the motor to stop rotating.

[0031] Furthermore, the reaction cup gripper also includes a cup-free sensor, which is installed on the right gripper and is used to detect whether the gripper holds a reaction cup.

[0032] Furthermore, the cupless sensor is a slot-type photoelectric sensor, the slot of the cupless sensor is arranged in a horizontal direction, and the opening faces away from the rotating shaft.

[0033] Furthermore, the reaction cup gripper further comprises a cupless sensor baffle, which is mounted on the left gripper and is used to shield the light source in the cupless sensor groove;

[0034] In the height direction, the height of the cupless sensor baffle is the same as the height of the groove of the cupless sensor, so the cupless sensor baffle can enter the groove of the cupless sensor in the horizontal direction to block the light source in the groove of the cupless sensor, hinder the transmission of the light signal in the groove of the cupless sensor, and then detect whether the gripper grabs the reaction cup.

[0035] The cupless sensor baffle is used to cooperate with the cupless sensor to detect whether the gripper has grasped a reaction cup. If the gripper has grasped a reaction cup, when the left gripper and the right gripper are clamped together, the cupless sensor baffle will not enter the groove of the cupless sensor and will not block the light source in the groove of the cupless sensor; if the gripper does not grasp a reaction cup, when the left gripper and the right gripper are clamped together, the cupless sensor baffle will enter the groove of the cupless sensor and block the light source in the groove of the cupless sensor, thereby hindering the transmission of the light signal in the groove of the cupless sensor, so that the cupless sensor detects that the gripper has not grasped the reaction cup or the reaction cup has fallen from the gripper during movement.

[0036] By adopting the above technical solution, the utility model has the following beneficial effects:

[0037] The utility model provides a reaction cup gripper, which provides a clamping force through a gripper clamping spring so that a left gripper and a right gripper clamp the reaction cup inwardly, so that the reaction cup is not easy to fall from the reaction cup gripper during movement; a gripper center positioning spring provides a pulling force so that the right gripper always keeps in contact with a cam, so as to ensure that the center position of the reaction cup gripped by the reaction cup gripper is fixed, so that the reaction cup gripper can accurately grip and place the reaction cup, and reduce the failure rate when taking and placing the reaction cup; and whether the reaction cup gripper grips the reaction cup can also be detected according to whether the cupless sensor baffle blocks the light source in the cupless sensor groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of the structure of the reaction cup gripper provided in an embodiment of the utility model when gripping the reaction cup;

[0040] Figure 2 for Figure 1 The front view of the reaction cup gripper when grabbing the reaction cup;

[0041] Figure 3 for Figure 1 The reaction cup gripper shown is a left view when grabbing the reaction cup;

[0042] Figure 4 for Figure 1 The structure diagram of the reaction cup gripper at the cam when the reaction cup is grabbed by the gripper is viewed from above;

[0043] Figure 5 for Figure 1 The schematic diagram of the structure of the reaction cup gripper shown is when the gripper is opened to the maximum extent;

[0044] Figure 6 for Figure 1 The structure diagram of the reaction cup gripper shown is a top view of the cam when the gripper is opened to the maximum extent;

[0045] Figure 7 A schematic diagram of the structure of a reaction cup gripper provided by another embodiment of the utility model;

[0046] Figure 8 for Figure 7 The schematic diagram of the structure of the reaction cup gripper when the reaction cup is not grasped;

[0047] Fig. 9 for Figure 7 The reaction cup gripper shown is a top view of the cam structure when the reaction cup is not gripped.

[0048] Reference numerals:

[0049] 1-fixed plate; 101-spring fixing rod; 2-rotating shaft; 3-gripper; 301-left gripper; 302-right gripper; 303-left roller; 304-right roller; 4-gripper clamping spring; 5-cam; 6-motor; 7-gripper center positioning spring; 8-gripper opening sensor; 9-cupless sensor; 10-cupless sensor baffle; 11-gripper opening sensor baffle. DETAILED DESCRIPTION

[0050] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0051] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In order to facilitate understanding of the embodiments of the present application, the main concepts of the present application are first introduced as follows:

[0054] In view of the problem in the prior art that the reaction cup gripper cannot clamp the reaction cup tightly, which easily causes the reaction cup to fall off from the reaction cup gripper during movement, the present application provides a gripper clamping spring, through which the left gripper and the right gripper clamp the reaction cup inwardly, so that the reaction cup is not easy to fall off from the reaction cup gripper during movement;

[0055] In view of the problem in the prior art that the reaction cup gripper is not accurate enough in grabbing and placing the reaction cup, the present application sets a gripper center positioning mechanism, which makes the right gripper always keep in contact with the cam through the gripper center positioning spring to ensure that the center position of the reaction cup grabbed by the reaction cup gripper is fixed, so that the reaction cup gripper can accurately grab and place the reaction cup, reducing the failure rate during picking and placing;

[0056] In view of the problem in the prior art that the reaction cup gripper cannot automatically determine whether the reaction cup is grasped, and whether the reaction cup falls off from the reaction cup gripper during movement, the present application provides a cupless sensor and a cupless sensor baffle to detect whether the reaction cup gripper grasps the reaction cup according to whether the cupless sensor baffle blocks the light source in the cupless sensor groove.

[0057] The present invention will be further explained below in conjunction with specific implementation methods.

[0058] It should also be noted that the following specific embodiments or specific implementations are a series of optimized settings listed in the present invention to further explain the specific contents of the utility model, and these settings can be used in combination or in association with each other.

[0059] Example 1

[0060] like Figure 1-6 As shown, a reaction cup gripper provided in this embodiment includes: a gripper 3, a rotating shaft 2, a fixed plate 1, a gripper clamping spring 4 and a cam 5; the gripper 3 is used to grab the reaction cup; the gripper 3 is divided into a left gripper 301 and a right gripper 302, the left gripper 301 and the right gripper 302 are relatively installed on the rotating shaft 2 and rotate around the rotating shaft 2; the rotating shaft 2 is longitudinally installed at the bottom of the fixed plate 1; one end of the gripper clamping spring 4 is connected to the left gripper 301, and the other end is connected to the right gripper 302, so as to clamp the left gripper 301 and the right gripper 302 to each other; the cam 5 is arranged between the left gripper 301 and the right gripper 302, so as to push the left gripper 301 and the right gripper 302 to the left and right sides respectively.

[0061] When grabbing the reaction cup, the cam 5 rotates to push the left gripper 301 and the right gripper 302 to the left and right sides respectively, and the gripper clamping spring 4 is stretched; after the gripper 3 is moved to the gripping position of the reaction cup, the cam 5 rotates in the opposite direction, and the gripper 3 clamps the reaction cup inward under the clamping force provided by the gripper clamping spring 4.

[0062] More preferably, the reaction cup gripper further includes a gripper center positioning mechanism for keeping the right gripper 302 in contact with the cam 5. In this embodiment, the gripper center positioning mechanism is a gripper center positioning spring 7, one end of which is connected to the spring fixing rod 101 of the fixing plate 1, and the other end is connected to the right gripper 302. The right gripper 302 is always in contact with the cam 5 under the tension provided by the gripper center positioning spring 7, thereby ensuring that the center position of the reaction cup gripped by the reaction cup gripper is fixed; the spring fixing rod 101 is longitudinally arranged at the bottom of the fixing plate 1 close to the left gripper 301.

[0063] When grabbing the reaction cup, the cam 5 rotates to push the left gripper 301 and the right gripper 302 to the left and right sides respectively, and the gripper center positioning spring 7 is stretched; after the gripper 3 is moved to the gripping position of the reaction cup, the cam 5 rotates in the opposite direction, and the right gripper 302 still keeps in contact with the cam 5 under the tension provided by the gripper center positioning spring 7, thereby ensuring that the center position of the reaction cup grabbed by the reaction cup gripper is fixed.

[0064] More preferably, the cross section of the cam 5 is nearly elliptical, and the diameter is divided into a long axis and a short axis; the cam 5 is an eccentric cam, and the axial hole of the cam 5 is set on the long axis, and the cam 5 is divided into a long end and a short end by the axial hole along the long axis. When the gripper 3 is opened, the long end of the cam 5 contacts the left gripper 301, and the short end of the cam 5 contacts the right gripper 302, so that when the cam 5 rotates, the right gripper 302 is guaranteed to move smoothly, avoiding the right gripper 302 from impacting the reaction cup when grabbing the cup, and reducing the shaking of the right gripper 302.

[0065] In this embodiment, one end of the cam 5 along the short axis direction is a plane and the other end is a curved surface; during the clamping process of the gripper 3, the right gripper 302 is always in contact with the curved surface of the cam 5, further ensuring that the right gripper 302 moves smoothly.

[0066] On the basis of the above technical solution, more preferably, the tops of the left gripper 301 and the right gripper 302 are respectively provided with a left roller 303 and a right roller 304, and the left gripper 301 and the right gripper 302 are respectively in contact with the cam 5 through the left roller 303 and the right roller 304, thereby reducing the friction between the gripper 3 and the cam 5. The right roller 304 is always in contact with the cam 5, ensuring the stability of the gripper 3, thereby ensuring the smooth action of the reaction cup gripper to grip and place the cup; when the cam 5 rotates to a certain position, the left roller 303 is in contact with the cam 5.

[0067] In this embodiment, a through hole is provided on the fixing plate 1, and the through hole is circular and is provided at the center of the fixing plate 1. More preferably, the reaction cup gripper further comprises a motor 6, and the motor 6 is installed on the top of the fixing plate 1, and the rotating shaft of the motor 6 passes through the through hole and is connected to the shaft hole of the cam 5, so as to drive the cam 5 to rotate.

[0068] More preferably, the reaction cup gripper further comprises a gripper opening sensor 8, which is installed below the fixing plate 1 and is used to detect the degree of opening of the gripper 3. In this embodiment, the gripper opening sensor 8 is a slot-type photoelectric sensor, and the slot of the gripper opening sensor 8 is arranged in the horizontal direction, with the opening facing the cam 5.

[0069] In addition, the reaction cup gripper also includes the gripper opening sensor baffle 11, which is laterally arranged on the cam 5, and is used to block the light source in the groove of the gripper opening sensor 8 when the gripper 3 is opened to the maximum extent; in the height direction, the height of the gripper opening sensor baffle 11 is the same as the height of the groove of the gripper opening sensor 8, so the gripper opening sensor baffle 11 can enter the groove of the gripper opening sensor 8 in the horizontal direction to block the light source in the groove of the gripper opening sensor 8, hinder the transmission of the light signal in the groove of the gripper opening sensor 8, and then detect the degree of opening of the gripper 3.

[0070] The gripper opening sensor baffle 11 is used to cooperate with the gripper opening sensor 8 to detect the degree of opening of the gripper 3. When grabbing the reaction cup, the motor 6 drives the cam 5 to rotate, and pushes the left gripper 301 and the right gripper 302 to both sides respectively. When the gripper 3 is opened to the maximum extent, the gripper opening sensor baffle 11 will enter the groove of the gripper opening sensor 8, blocking the light source in the groove of the gripper opening sensor 8, and hindering the transmission of the light signal in the groove of the gripper opening sensor 8, so that the gripper opening sensor 8 detects that the gripper 3 has been opened to the maximum extent, and then controls the rotating shaft of the motor 6 to stop rotating.

[0071] When the reaction cup gripper provided by the present embodiment is used to grasp the reaction cup, the motor 6 is first controlled to drive the cam 5 to rotate from left to right. When the gripper opening sensor 8 detects that the gripper 3 is opened to the maximum extent, the motor 6 is controlled to stop rotating, so that the gripper 3 remains opened to the maximum extent. Then, the reaction cup gripper is moved to the top of the reaction cup, and the left gripper 301 and the right gripper 302 are suspended on the left and right sides of the reaction cup. Then, the motor 6 is controlled to drive the cam 5 to rotate 90° from right to left, and the left gripper 301 and the right gripper 302 are suspended on the left and right sides of the reaction cup. 301 and the right gripper 302 clamp the reaction cup inwardly under the clamping force provided by the gripper clamping spring 4, and at the same time, the right roller 304 on the top of the right gripper 302 still keeps in contact with the cam 5 under the pulling force provided by the gripper center positioning spring 7, so as to ensure that the center position of the reaction cup grasped by the reaction cup gripper is fixed; finally, the reaction cup gripper is moved to move the reaction cup to the specified position, and the motor 6 is controlled to drive the cam 5 to push the left gripper 301 and the right gripper 302 to the left and right sides respectively to put down the reaction cup.

[0072] Example 2

[0073] This embodiment is basically the same as Embodiment 1, except that:

[0074] like Figure 7-9 As shown, in this embodiment, the reaction cup gripper further includes a cupless sensor 9, which is mounted on the right gripper 302 and is used to detect whether a reaction cup is gripped on the gripper 3. The cupless sensor 9 is a slot-type photoelectric sensor, and the slot of the cupless sensor 9 is arranged in the horizontal direction, with the opening facing away from the rotating shaft 2.

[0075] More preferably, the reaction cup gripper further comprises a cupless sensor baffle 10, which is laterally mounted on the left gripper 301 and is used to shield the light source in the groove of the cupless sensor 9; in the height direction, the height of the cupless sensor baffle 10 is the same as the height of the groove of the cupless sensor 9, so the cupless sensor baffle 10 can enter the groove of the cupless sensor 9 in the horizontal direction to shield the light source in the groove of the cupless sensor 9, hinder the transmission of the optical signal in the groove of the cupless sensor 9, and further detect whether the gripper 3 has grasped the reaction cup.

[0076] The cupless sensor baffle 10 is used to cooperate with the cupless sensor 9 to detect whether the gripper 3 has grasped a reaction cup. If the gripper 3 has grasped a reaction cup, when the left gripper 301 and the right gripper 302 are clamped together, the cupless sensor baffle 10 will not enter the groove of the cupless sensor 9, and will not block the light source in the groove of the cupless sensor 9; if the gripper 3 has not grasped a reaction cup, when the left gripper 301 and the right gripper 302 are clamped together, the cupless sensor baffle 10 will enter the groove of the cupless sensor 9, block the light source in the groove of the cupless sensor 9, and hinder the transmission of the light signal in the groove of the cupless sensor 9, so that the cupless sensor 9 detects that the gripper 3 has not grasped the reaction cup or the reaction cup has fallen from the gripper 3 during the movement.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A reaction cup gripper, characterized in that: include: Gripper, rotating shaft, fixing plate, gripper clamping spring and cam; The gripper is used to grab the reaction cup; The gripper is divided into a left gripper and a right gripper, and the left gripper and the right gripper are relatively installed on the rotating shaft and rotate around the rotating shaft; The rotating shaft is longitudinally mounted at the bottom of the fixing plate; One end of the gripper clamping spring is connected to the left gripper, and the other end is connected to the right gripper, so as to clamp the left gripper and the right gripper to each other; The cam is arranged between the left gripper and the right gripper, and is used for pushing the left gripper and the right gripper to both sides respectively.

2. The reaction cup gripper according to claim 1, characterized in that: It also includes a gripper center positioning mechanism for keeping the right gripper in contact with the cam at all times.

3. The reaction cup gripper according to claim 2, characterized in that: The gripper center positioning mechanism is a gripper center positioning spring, one end of the gripper center positioning spring is connected to the spring fixing rod of the fixing plate, and the other end is connected to the right gripper; The spring fixing rod is arranged at the bottom of the fixing plate.

4. The reaction cup gripper according to claim 2, characterized in that: The cross section of the cam is nearly elliptical, and the diameter is divided into a major axis and a minor axis; the cam is an eccentric cam, the axial hole of the cam is arranged on the major axis, and the cam always keeps in contact with the right gripper under the action of the center positioning mechanism.

5. The reaction cup gripper according to claim 1, characterized in that: A left roller and a right roller are respectively arranged on the top of the left gripper and the right gripper, and the left gripper and the right gripper are respectively in contact with the cam through the left roller and the right roller, and the cam always keeps in contact with the right roller.

6. The reaction cup gripper according to claim 1, characterized in that: It also includes a motor, which is installed on the top of the fixing plate. The rotating shaft of the motor passes through the fixing plate and is connected with the shaft hole of the cam to drive the cam to rotate.

7. The reaction cup gripper according to claim 1, characterized in that: It also includes a gripper opening sensor, which is installed below the fixing plate and is used to detect the degree of opening of the gripper.

8. The reaction cup gripper according to claim 7, characterized in that: Also included is the gripper opening sensor baffle; The gripper opening sensor is a slot-type photoelectric sensor; The gripper opening sensor blocking piece is arranged on the cam, and is used for shielding the light source in the gripper opening sensor groove when the gripper is opened to the maximum extent.

9. The reaction cup gripper according to claim 1, characterized in that: It also includes a cup-free sensor, which is installed on the right gripper and is used to detect whether the gripper holds a reaction cup.

10. The reaction cup gripper according to claim 9, characterized in that: Also included is a cupless sensor blank; The cupless sensor is a slot-type photoelectric sensor; The cupless sensor blocking piece is installed on the left gripper and is used to block the light source in the cupless sensor groove.

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