Mechanical gripper system of liquid treatment workstation

Abstract

The utility model discloses a mechanical gripper system of a liquid processing workstation, which comprises a plurality of different types of clamping jaw groups, a clamping jaw driving mechanism, a clamping jaw switching mechanism, a mounting rack and an outer cover, each clamping jaw group comprises two clamping jaws, the mounting rack is fixed on the inner side of the outer cover, and the outer cover is fixed on the mounting rack. The clamping jaw switching mechanism comprises two switching pins, two anti-rotating pins and two connecting seats, the two connecting seats are connected with the clamping jaw driving mechanism, one switching pin and one anti-rotating pin are vertically fixed to the lower side of each connecting seat, each clamping jaw is provided with a limiting hole and a mounting hole, a plurality of ball plungers are horizontally mounted in each clamping jaw, and the ball plungers are connected with the connecting seats. An elastic ball head of each ball head plunger extends into the corresponding mounting hole, the outer side of each switching pin is provided with an annular groove allowing the multiple ball head plungers to be connected in an inserted mode, and the mechanical gripper system is provided with a clamping jaw storage mechanism in a matched mode. The mechanical gripper system is small in size, convenient to disassemble, assemble and maintain, capable of simply, rapidly and efficiently completing automatic unloading and loading operation of the clamping jaw sets and capable of being matched with different types of clamping jaw sets.

Description

Technical Field

[0001] The utility model relates to the field of automated liquid handling equipment, and particularly relates to a mechanical gripper system of a liquid handling workstation. Background Art

[0002] Currently, the mainstream large liquid handling workstations are usually equipped with two robotic arms. The two robotic arms are usually arranged on both sides of the platform system of the liquid handling workstation. A multi-channel pipette or multiple single-channel pipettes are installed on one robotic arm, and a mechanical gripper is installed on the other robotic arm. Since a separate robotic arm needs to be specially equipped for the mechanical gripper, it occupies a large space, thus making the overall volume of the liquid handling workstation relatively large. In addition, the mechanical gripper is integrated on the robotic arm, which also increases the difficulty of maintenance. Moreover, the gripper type of the mechanical gripper usually has only one type, which only supports the handling of specific types of consumables (such as well plate consumables), and does not support the handling of multiple characteristic consumables (such as well plates and test tubes), so the function is relatively single. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a mechanical gripper system of a liquid handling workstation aiming at the deficiencies of the prior art. The mechanical gripper system is small in volume, convenient for disassembly, installation and maintenance, can complete the automatic unloading and loading operations of the gripper group, the action process is simple, fast and efficient, can realize the automatic switching and installation of different types of gripper groups, match different types of gripper groups, realize the picking and placing and capping operations of different experimental consumables, and can improve the working efficiency of the liquid handling workstation.

[0004] The technical solution adopted by the present utility model to solve the above technical problems is as follows: A mechanical gripper system for a liquid handling workstation. The mechanical gripper system includes multiple groups of different types of jaw groups, a jaw driving mechanism, a jaw switching mechanism, a mounting frame, and an outer cover. Each group of the jaw groups includes two jaws. The mounting frame is fixed inside the outer cover. The outer cover is connected to the output end of the Z-axis movement assembly of the liquid handling workstation. The Z-axis movement assembly is connected to the output end of the Y-axis movement assembly of the liquid handling workstation. The Z-axis movement assembly and the Y-axis movement assembly are respectively installed on the side of the robotic arm of the liquid handling workstation. The up-and-down movement and left-and-right movement of the mechanical gripper system are respectively driven by the Z-axis movement assembly and the Y-axis movement assembly. The jaw switching mechanism is used to realize the automatic unloading and loading of different types of jaw groups. The jaw switching mechanism includes two switching pins, two anti-rotation pins, and two connecting seats. The two connecting seats are respectively connected to the jaw driving mechanism. A switching pin and an anti-rotation pin are vertically fixed to the lower side of each connecting seat. A limiting hole and a mounting hole are provided on each jaw. The limiting hole is used to insert one of the anti-rotation pins. The mounting hole is used to insert one of the switching pins. A plurality of ball plungers are horizontally installed inside each jaw. The plurality of ball plungers are evenly distributed around the radial direction of the mounting hole. The ball head of each ball plunger extends into the mounting hole. A ring groove for inserting the plurality of ball plungers is provided on the outer side of each switching pin. The jaw driving mechanism is used to drive the two jaws connected to the two connecting seats to move towards each other, move away from each other, or rotate, so as to realize the functions of clamping, picking and placing, and screwing the cap of experimental consumables through the two jaws. The mechanical gripper system is equipped with a jaw storage mechanism. The jaw storage mechanism includes a plurality of storage seats. The plurality of storage seats are vertically installed on the platform substrate of the liquid handling workstation. A plurality of positioning columns are horizontally fixed to both sides of each storage seat. A plurality of positioning holes for inserting the plurality of positioning columns are provided on the side of each jaw. Each storage seat is used to side-hang a group of the jaw groups through the cooperation of the plurality of positioning columns and the plurality of positioning holes.

[0005] The mechanical gripper system of the present utility model is small in volume and can be independently installed on the side of the robotic arm of the liquid handling workstation originally used to install a multi-channel pipette or multiple single-channel pipettes through a modular assembly method, without the need to separately equip a robotic arm for this mechanical gripper system. Thus, it can save a robotic arm and a number of driving elements for the liquid handling workstation, which is beneficial to reducing the overall volume of the liquid handling workstation. Moreover, the jaw group of this mechanical gripper system adopts a separable design, which is convenient for disassembly, installation, and maintenance. Only by moving the switching pin in the vertical direction can the automatic unloading and loading operations of the jaw group be completed. The action process is simple, fast, and efficient.

[0006] After the mechanical gripper system automatically unloads the old jaw group to the jaw storage mechanism for storage, when a new jaw group needs to be loaded, first, the Y-axis motion assembly works to drive the mechanical gripper system to move horizontally to just above the storage seat where the new jaw group is located; then, the Z-axis motion assembly works to drive the mechanical gripper system to move downward as a whole, so that the two switching pins and the two anti-rotation pins on the jaw switching mechanism are respectively inserted into the two mounting holes and the two limit holes on the two jaws of the new jaw group at the same time. When each switching pin contacts the ball heads of the multiple ball plungers radially around the mounting hole and continues to move downward, the multiple ball heads will be squeezed horizontally out of the mounting hole. When the annular groove on the outside of the switching pin reaches the position of multiple pinball heads, the multiple pinball heads will rebound and get stuck in the annular groove, so that the switching pin is clamped and will not fall off naturally. A certain amount of force is required to pull the switching pin out of the mounting hole, and the anti-rotation pin can prevent the clamping jaws from rotating. At this time, the two clamping jaws are connected to the two connecting seats through two switching pins; finally, the clamping jaw driving mechanism works, driving the two clamping jaws to move backwards through the two connecting seats until the two clamping jaws are opened to their positioning holes and separated from the positioning columns on the storage seat. At this time, the two clamping jaws are loaded on the mechanical gripper system, and the Z-axis motion assembly and the Y-axis motion assembly can drive the mechanical gripper system to move away from the storage seat as a whole.

[0007] Basically opposite to the above-mentioned loading process, when the jaw group needs to be unloaded, first, the jaw drive mechanism works, driving the two jaws to move in opposite directions through the two connecting seats, so that the two jaws are opened a certain distance; then, the Y-axis motion component works, driving the mechanical gripper system to move horizontally as a whole to the top of the empty storage seat where the jaw group to be unloaded is to be placed, and then the Z-axis motion component works, driving the mechanical gripper system to move downward as a whole to the outside of the positioning columns on both sides of the storage seat where the two jaws are located, and aligning the several positioning holes on each jaw with the several positioning columns on the storage seat respectively, thereafter, the jaw drive mechanism works, driving the two jaws to move toward each other through the two connecting seats, so that the two jaws are gradually retracted until the two jaws are placed in place on the storage seat; finally, the Z-axis motion component works, driving the mechanical gripper system to move upward as a whole, and while the switching pin moves upward, multiple pinball heads are squeezed out of the mounting hole horizontally and disengaged from the annular groove, so that the switching pin can continue to move upward to the disengagement mounting hole, and the anti-rotation pin will synchronously disengage from the limit hole, at this time, the unloading of the two jaws is completed, and the mechanical gripper system can perform the loading operation of the next group of jaw groups.

[0008] After each set of grippers is assembled and loaded, the operations of gripping, picking up and placing, and screwing the caps of the experimental consumables are driven by the gripper drive mechanism. Preferably, the gripper drive mechanism includes a first motor, a first motor base, a bearing, a second motor, a second motor base, a first gear, a second gear, a third gear, two racks, and a guide seat. The first motor is installed upside down on the first motor base. The first motor base is rotatably installed on the bearing. The bearing is fixed inside the outer cover. The mounting bracket is fixed to the top of the first motor. The first gear is fixed to the output shaft of the first motor. The second motor is installed upside down on the second motor base. The second motor base is fixed inside the outer cover. The second gear is fixed to the upper end of the first motor base. The third gear is fixed to the output shaft of the second motor. The third gear meshes with the second gear. The guide seat is fixed to the lower end of the first motor base. Two guide grooves are horizontally arranged inside the guide seat. Each guide groove is provided with a rack. Both racks mesh with the first gear. A connecting seat is fixed to the lower side of each rack. When the first motor works, its power is transmitted to the two racks through the first gear, driving the two racks to move towards each other or away from each other, thereby driving the two grippers to move towards each other to close or away from each other to open, and further enabling the two grippers to clamp or loosen the experimental consumables. When the second motor works, its power is transmitted to the second gear through the third gear, and the second gear drives the first motor base and the first motor to rotate around the bearing, so that the two grippers rotate synchronously, realizing the function of screwing the caps of the experimental consumables by the two grippers (such as rotating the cap of a test tube).

[0009] Preferably, each switching pin includes a wide-diameter section and a narrow-diameter section integrally arranged up and down. The wide-diameter section is fixedly connected to a connecting seat. The diameter of the wide-diameter section is larger than the diameter of the mounting hole. The diameter of the narrow-diameter section is adapted to the diameter of the mounting hole. A ring groove is formed on the outer side of the narrow-diameter section. The wide-diameter section plays a role in longitudinal limit, which can prevent the switching pin from moving down too much and separating from the multiple ball heads.

[0010] Preferably, a number of first permanent magnets are installed on each of the jaws, a first Hall sensor and a number of second permanent magnets are respectively installed on both sides of each of the storage seats, and a second Hall sensor is installed at the bottom of the outer cover. The first Hall sensor and the second Hall sensor are respectively triggered by the first permanent magnets at different positions on each of the jaws. The first Hall sensor is used to detect the type of the jaw group stored on each of the storage seats, and the second Hall sensor is used to detect the type of the jaw group loaded on the mechanical gripper system. The number of second permanent magnets is used to magnetically adsorb the number of first permanent magnets. The type of the jaw group stored on the storage seat can be detected in real time and in situ by the first Hall sensor, and the type of the jaw group loaded on the mechanical gripper system can be detected in real time and in situ by the second Hall sensor, effectively avoiding the risk of human judgment errors. In addition, the number of first permanent magnets cooperates with the number of second permanent magnets to realize the mutual positioning of the two jaws in each jaw group, ensuring the reliability of the storage of each jaw group on the storage seat.

[0011] Preferably, a clamping portion is provided on the side surface of each of the jaws, a rough surface for increasing the friction force is provided on the surface of the clamping portion, and the number of positioning holes and the clamping portion are arranged on the same side of each of the jaws. The design of the rough surface is beneficial to increasing the clamping force on the experimental consumables, making the clamping action of the jaws smoother and more stable.

[0012] Specifically, the types of the jaw groups include test tube jaws and plate jaws. In addition to tube jaws and plate jaws, other types of jaw groups can also be equipped for this mechanical gripper system according to needs.

[0013] Compared with the prior art, the present utility model has the following advantages: The mechanical gripper system of the liquid handling workstation of the present utility model is small in volume and can be independently installed on the side of the robotic arm originally used for installing a multi-channel pipette or a plurality of single-channel pipettes in the liquid handling workstation through a modular assembly method, without the need to specially equip a robotic arm for this mechanical gripper system alone. Thus, a robotic arm and a number of driving elements can be saved for the liquid handling workstation, which is beneficial to reducing the overall volume of the liquid handling workstation. Moreover, the jaw groups of this mechanical gripper system adopt a separable design, which is convenient for disassembly, assembly and maintenance. Only by moving the switching pin in the vertical direction can the automatic unloading and loading operations of the jaw groups be completed. The action process is simple, fast and efficient. It supports the automatic unloading and loading use of different types of jaw groups, can realize the automatic switching and installation of different types of jaw groups, match different types of jaw groups, and realize the picking, placing and capping operations of different experimental consumables, which can improve the working efficiency of the liquid handling workstation. Description of the Drawings

[0014] Figure 1Appearance diagram of the mechanical gripper system in the embodiment (jaw closed state);

[0015] Figure 2 Partial appearance diagram of the mechanical gripper system in the embodiment (jaw open state);

[0016] Figure 3 For removal Figure 2 Appearance diagram of the mechanical gripper system in the embodiment after removing the shown outer cover;

[0017] Figure 4 For Figure 2 Bottom view of the shown mechanical gripper system;

[0018] Figure 5 Effect diagram after a single jaw in the embodiment is connected to the connecting seat;

[0019] Figure 6 Corresponding to Figure 5 Longitudinal sectional view;

[0020] Figure 7 Effect diagram after a group of jaws is hung on the upper side of a single storage seat in the embodiment;

[0021] Figure 8 Effect diagram when a jaw is separated from the storage seat;

[0022] Figure 9 Effect diagram after two storage seats are installed on the platform substrate of the liquid handling workstation;

[0023] Figure 10 Appearance diagram of the test tube type jaw in the embodiment;

[0024] Figure 11 Appearance diagram of the plate type jaw in the embodiment;

[0025] Figure 12 Effect diagram after the mechanical gripper system in the embodiment is assembled on the robotic arm of the liquid handling workstation;

[0026] Figure 13 Schematic diagram of the relative positions of the mechanical gripper system and the storage seat before and after loading in the embodiment. The schematic diagram of the relative positions of the two before the gripper assembly is loaded is shown in Figure 13 (a), and the schematic diagram of the relative positions of the two after the gripper assembly is loaded is shown in Figure 13 (b);

[0027] The specific reference numerals in the figure are as follows:

[0028] 1-Jaw group, 11-Jaw, 12-Limit hole, 13-Mounting hole, 14-Ball head plunger, 15-Ball head, 16-Locating hole, 17-Clamping part, 18-First magnet, 21-Switching pin, 22-Anti-rotation pin, 23-Connecting seat, 24-Wide diameter section, 25-Narrow diameter section, 26-Groove, 31-First motor, 32-First motor base, 33-Bearing, 34-Second motor, 35-Second motor base, 36-First gear, 37-Second gear, 38-Rack, 39-Guide seat, 30-Guide groove, 41-Mounting bracket, 42-Housing, 43-Second Hall sensor, 51-Storage seat, 52-Locating post, 53-First Hall sensor, 54-Second magnet, 61-Z-axis motion component, 62-Y-axis motion component, 63-Robot arm, 64-Platform substrate. Detailed implementation mode

[0029] The following further describes the present utility model in detail in conjunction with the embodiments of the drawings. The devices, components or structures not defined in the present utility model all adopt the conventional technical means in the art.

[0030] The mechanical gripper system of the liquid handling workstation in the embodiment is as Figures 1 to 4 shown, and includes multiple groups of different types of jaw groups 1, a jaw driving mechanism, a jaw switching mechanism, a mounting bracket 41 and a housing 42. Each jaw group 1 includes two jaws 11. The mounting bracket 41 is fixed inside the housing 42. The housing 42 is connected to the output end of the Z-axis motion component 61 of the liquid handling workstation. The Z-axis motion component 61 is connected to the output end of the Y-axis motion component 62 of the liquid handling workstation. The Z-axis motion component 61 and the Y-axis motion component 62 are respectively installed on the side of the robot arm 63 of the liquid handling workstation. The up and down movement and left and right movement of the mechanical gripper system are respectively driven by the Z-axis motion component 61 and the Y-axis motion component 62. The jaw switching mechanism is used to realize the automatic unloading and loading of different types of jaw groups 1, such as Figure 2 , Figure 3 , Figure 5 and Figure 6As shown in the figure, the jaw switching mechanism includes two switching pins 21, two anti-rotation pins 22 and two connecting seats 23. The two connecting seats 23 are respectively connected to the jaw driving mechanism. A switching pin 21 and an anti-rotation pin 22 are vertically fixed to the lower side of each connecting seat 23. A limiting hole 12 and a mounting hole 13 are provided on each jaw 11. The limiting hole 12 is used for inserting an anti-rotation pin 22, and the mounting hole 13 is used for inserting a switching pin 21. A plurality of ball plungers 14 are horizontally installed in each jaw 11. The plurality of ball plungers 14 are evenly distributed around the radial direction of the mounting hole 13. The ball head 15 of each ball plunger 14 extends into the mounting hole 13. Each switching pin 21 includes a wide-diameter section 24 and a narrow-diameter section 25 which are integrally arranged up and down. The wide-diameter section 24 is fixedly connected to a connecting seat 23. The diameter of the wide-diameter section 24 is larger than the aperture of the mounting hole 13. The diameter of the narrow-diameter section 25 is adapted to the aperture of the mounting hole 13. A ring groove 26 for inserting a plurality of ball plungers 14 is provided on the outer side of the narrow-diameter section 25. The jaw driving mechanism is used to drive the two jaws 11 connected to the two connecting seats 23 to move towards each other, move away from each other or rotate, and the clamping, picking and placing and capping functions of the experimental consumables are realized through the two jaws 11. The mechanical gripper system is equipped with a jaw storage mechanism, such as Figures 7 to 9 As shown in the figure, the jaw storage mechanism includes a plurality of storage seats 51. The plurality of storage seats 51 are vertically installed on the platform substrate 64 of the liquid handling workstation. A plurality of positioning posts 52 are horizontally fixed to both sides of each storage seat 51. A plurality of positioning holes 16 for inserting the plurality of positioning posts 52 are provided on the side surface of each jaw 11. Each storage seat 51 is used to side-hang a set of jaws 1 through the cooperation of the plurality of positioning posts 52 and the plurality of positioning holes 16.

[0031] In this embodiment, as shown in Figure 3 and Figure 4 As shown in the figure, the jaw driving mechanism includes a first motor 31, a first motor seat 32, a bearing 33, a second motor 34, a second motor seat 35, a first gear 36, a second gear 37, a third gear (not shown in the figure), two racks 38 and a guide seat 39. The first motor 31 is installed upside down on the first motor seat 32. The first motor seat 32 is rotatably installed on the bearing 33. The bearing 33 is fixed to the inner side of the outer cover 42. The mounting frame 41 is fixed to the top of the first motor 31. The first gear 36 is fixed to the output shaft of the first motor 31. The second motor 34 is installed upside down on the second motor seat 35. The second motor seat 35 is fixed to the inner side of the outer cover 42. The second gear 37 is fixed to the upper end of the first motor seat 32. The third gear is fixed to the output shaft of the second motor 34. The third gear meshes with the second gear 37. The guide seat 39 is fixed to the lower end of the first motor seat 32. Two guide grooves 30 are horizontally arranged in the guide seat 39. A rack 38 is installed in each guide groove 30. The two racks 38 both mesh with the first gear 36. A connecting seat 23 is fixed to the lower side of each rack 38 by screws.

[0032] In this embodiment, a clamping portion 17 is provided on the side surface of each jaw 11, and a rough surface for increasing the friction force (not shown in the figure) is provided on the surface of the clamping portion 17. A plurality of positioning holes 16 and the clamping portion 17 are provided on the same side of each jaw 11; a plurality of first magnets 18 are installed on each jaw 11, a first Hall sensor 53 and a plurality of second magnets 54 are respectively installed on both sides of each storage seat 51, and a second Hall sensor 43 is installed at the bottom of the outer cover 42. The first Hall sensor 53 and the second Hall sensor 43 are respectively triggered by the first magnets 18 at different positions on each jaw 11. The first Hall sensor 53 is used to detect the type of the jaw group 1 stored on each storage seat 51, and the second Hall sensor 43 is used to detect the type of the jaw group 1 loaded on the mechanical gripper system. The plurality of second magnets 54 are used to magnetically adsorb the plurality of first magnets 18.

[0033] The above-mentioned mechanical gripper system is small in volume and can be independently installed on the side of the robotic arm 63 originally used for installing multi-channel pipettes or multiple single-channel pipettes in the liquid handling workstation through modular assembly (the assembly effect diagram is shown in Figure 12 ), without the need to specially equip a robotic arm 63 for the mechanical gripper system alone, thereby saving a robotic arm and a number of driving elements for the liquid handling workstation, which is beneficial to reducing the overall volume of the liquid handling workstation. After the mechanical gripper system is assembled, only by moving the switching pin 21 in the vertical direction can the automatic unloading and loading operations of the jaw group 1 be completed, and the action process is simple, fast and efficient.

[0034] The types of the jaw group 1 include test tube jaws and plate jaws, as shown in Figure 10 and Figure 11 respectively. In addition to the tube jaws and plate jaws, other types of jaw groups can also be equipped for the mechanical gripper system according to needs.

[0035] When the first motor 31 works, its power is transmitted to the two racks 38 through the first gear 36, driving the two racks 38 to move towards each other or away from each other, thereby driving the two jaws 11 to move towards each other to close or away from each other to open, and further enabling the two jaws 11 to clamp or loosen the experimental consumables; when the second motor 34 works, its power is transmitted to the second gear 37 through the third gear, and the second gear 37 drives the first motor base 32 and the first motor 31 to rotate around the bearing 33, so that the two jaws 11 rotate synchronously, realizing the function of screwing the cap of the experimental consumables by the two jaws 11 (such as rotating the cap of a test tube).

[0036] After the mechanical gripper system automatically unloads the old jaw group 1 onto the jaw storage mechanism for storage and needs to load a new jaw group 1, first, the Y-axis motion component 62 works, driving the whole mechanical gripper system to translate to directly above the storage seat 51 where the new jaw group 1 is located, as shown inFigure 13 (a) (i.e., Figure 13 the upper and lower two figures on the left in Figure 13 (b) (i.e., Figure 13 the upper and lower two figures on the right in

[0037] After each set of jaw groups 1 is loaded, the clamping, picking, placing, and capping operations of the experimental consumables are driven by the jaw driving mechanism.

[0038] Basically opposite to the above loading process, when it is necessary to unload the gripper group 1, first, the gripper driving mechanism works, and drives the two grippers 11 to move away from each other through the two connecting seats 23, so that the two grippers 11 are opened by a certain distance; then, the Y-axis movement component 62 works, driving the whole mechanical gripper system to translate above the empty storage seat 51 where the gripper group 1 to be unloaded is to be placed. Next, the Z-axis movement component 61 works, driving the whole mechanical gripper system to move down until the two grippers 11 are located outside the positioning posts 52 on both sides of the storage seat 51, and several positioning holes 16 on each gripper 11 are respectively aligned with several positioning posts 52 on the storage seat 51. After that, the gripper driving mechanism works, driving the two grippers 11 to move towards each other through the two connecting seats 23, so that the two grippers 11 gradually close until the two grippers 11 are placed in place on the storage seat 51; finally, the Z-axis movement component 61 works, driving the whole mechanical gripper system to move up. While the switching pin 21 moves up, multiple ball heads 15 are horizontally extruded out of the mounting hole 13 and separated from the annular groove 26, so that the switching pin 21 can continue to move up to be separated from the mounting hole 13, and the anti-rotation pin 22 will synchronously disengage from the limiting hole 12. At this time, the unloading of the two grippers 11 is completed, and the mechanical gripper system can perform the loading operation of the next group of gripper groups 1.

Claims

1. A mechanical gripper system for a liquid handling workstation, characterized in that, The described mechanical gripper system includes multiple sets of different types of gripper groups, a gripper drive mechanism, a gripper switching mechanism, a mounting frame, and a housing. Each set of the gripper groups includes two grippers. The mounting frame is fixed inside the housing. The housing is connected to the output end of the Z-axis movement component of the liquid handling workstation. The Z-axis movement component is connected to the output end of the Y-axis movement component of the liquid handling workstation. The Z-axis movement component and the Y-axis movement component are respectively installed on the side of the robotic arm of the liquid handling workstation. The up-and-down movement and left-and-right movement of the mechanical gripper system are respectively driven by the Z-axis movement component and the Y-axis movement component. The gripper switching mechanism is used to achieve the automatic unloading and loading of different types of gripper groups. The gripper switching mechanism includes two switching pins, two anti-rotation pins, and two connecting seats. The two connecting seats are respectively connected to the gripper drive mechanism. A switching pin and an anti-rotation pin are vertically fixed to the lower side of each connecting seat. A limiting hole and a mounting hole are provided on each gripper. The limiting hole is used to insert one of the anti-rotation pins, and the mounting hole is used to insert one of the switching pins. A plurality of ball plungers are horizontally installed inside each gripper. The plurality of ball plungers are evenly distributed around the radial direction of the mounting hole. The ball head of each ball plunger extends into the mounting hole. A ring groove for the plurality of ball plungers to be inserted is provided on the outer side of each switching pin. The gripper drive mechanism is used to drive the two grippers connected to the two connecting seats to move towards each other, move away from each other, or rotate, and the clamping, picking, placing, and capping functions of the experimental consumables are realized through the two grippers. The mechanical gripper system is equipped with a gripper storage mechanism. The gripper storage mechanism includes a plurality of storage seats. The plurality of storage seats are vertically installed on the platform substrate of the liquid handling workstation. A plurality of positioning columns are horizontally fixed to both sides of each storage seat. A plurality of positioning holes for the plurality of positioning columns to be inserted are provided on the side of each gripper. Each storage seat is used to side-hang a set of the gripper groups through the cooperation of the plurality of positioning columns and the plurality of positioning holes.

2. The mechanical gripper system of the liquid handling workstation according to claim 1, characterized in that, The described jaw driving mechanism includes a first motor, a first motor base, a bearing, a second motor, a second motor base, a first gear, a second gear, a third gear, two racks and a guide seat. The first motor is installed upside down on the first motor base. The first motor base is rotatably installed on the bearing. The bearing is fixed to the inner side of the outer cover. The mounting bracket is fixed to the top end of the first motor. The first gear is fixed to the output shaft of the first motor. The second motor is installed upside down on the second motor base. The second motor base is fixed to the inner side of the outer cover. The second gear is fixed to the upper end of the first motor base. The third gear is fixed to the output shaft of the second motor. The third gear meshes with the second gear. The guide seat is fixed to the lower end of the first motor base. Two guide grooves are horizontally arranged in the guide seat. Each guide groove is provided with a rack. Both racks mesh with the first gear. A connecting seat is fixed to the lower side of each rack.

3. The mechanical gripper system of the liquid handling workstation according to claim 1, characterized in that, Each of the switching pins includes a wide-diameter section and a narrow-diameter section integrally arranged up and down. The wide-diameter section is fixedly connected to a connecting seat. The diameter of the wide-diameter section is larger than the aperture of the mounting hole. The diameter of the narrow-diameter section is adapted to the aperture of the mounting hole. A ring groove is formed on the outer side of the narrow-diameter section.

4. The mechanical gripper system of the liquid handling workstation according to claim 1, characterized in that, A number of first permanent magnets are installed on each jaw. A first Hall sensor and a number of second permanent magnets are respectively installed on both sides of each storage seat. A second Hall sensor is installed at the bottom of the outer cover. The first Hall sensor and the second Hall sensor are respectively triggered by the first permanent magnets at different positions on each jaw. The first Hall sensor is used to detect the type of jaw group stored on each storage seat. The second Hall sensor is used to detect the type of jaw group loaded on the mechanical gripper system. The number of second permanent magnets is used to magnetically adsorb the number of first permanent magnets.

5. The mechanical gripper system of the liquid handling workstation according to claim 1, characterized in that, A clamping portion is provided on the side surface of each jaw. The surface of the clamping portion is provided with a rough surface for increasing friction. The number of positioning holes and the clamping portion are arranged on the same side of each jaw.

6. The mechanical gripper system of the liquid handling workstation according to claim 5, characterized in that, The types of the jaw groups include test tube jaws and plate jaws.

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