A cup gripping device

Abstract

The utility model discloses a kind of cup grasping devices, including gripper assembly and drive mechanism, drive mechanism includes motor, cam, motor and cam transmission connection;Gripper assembly includes guide rail block, linear guide rail, gripper body, gripper guide block, bearing, grab hand, guide rail block has extension arm, extension arm two sides are used to install linear guide rail respectively, extension arm and motor pivot axis central axis is set to certain angle, linear guide rail is slidably provided with sliding block, gripper body is fixedly connected with sliding block, grab hand is symmetrically fixed and installed below gripper body, gripper guide block is fixedly installed above gripper body, bearing is rotatably connected with gripper guide block, the curved surface of bearing abuts on the surface of cam, cam rotates, so that bearing drives gripper body relatively close or far away along linear guide rail and slide, and then drive grab hand to open and close action.The utility model positioning accuracy is high, and the precision of grasping is high, offset error is small, and can avoid touching and interference to adjacent consumable cup.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, specifically to a cup-grabbing device. Background Technology

[0002] In the field of in vitro diagnostics, the sample gripper is a key component for automating sample processing, and its performance directly affects the efficiency and accuracy of diagnosis. Currently, the sample grippers used in automated biochemical and immunoassay analyzers on the market are mainly categorized into linear gripping and rotary gripping types based on their movement trajectory. Linear grippers offer advantages such as precise path selection, simple structure, and high stability; however, they can only perform gripping and transfer operations in a straight line. For complex tasks involving gripping samples at multiple different positions and angles, they may require the use of other auxiliary mechanisms, thus increasing the complexity and cost of the device. Furthermore, the switching between different linear paths to grip reaction consumables at multiple positions may require a long travel distance and time, resulting in relatively low gripping efficiency. In contrast, the rotary cup gripper, through its rotational motion, can quickly switch between different angles and positions, efficiently gripping and transferring cups from multiple locations. It is particularly suitable for scenarios that require processing large quantities of reaction consumables distributed at different angles, such as on automated inspection lines. The rotary cup gripper can quickly grip cups from different positions and perform inspections. Furthermore, it can perform gripping operations at multiple positions within a small space, resulting in high space utilization. It can also be integrated with other functional modules, and so on.

[0003] Although rotary cup-gripping devices have the advantages mentioned above, in recent years, with continuous technological innovation and stringent requirements for product performance, existing cup-gripping devices still have some drawbacks. For example, patent CN214772053U describes a gripper device based on a cam-driven mechanism. This device includes a motor, a base, a rhomboid, elliptical, or waist-shaped cam, a power arm, and a clamping plate. The motor drives the cam to rotate, controlling the opening and closing of the power arm. The motor, base, cam, and clamping plate are arranged sequentially from top to bottom. When gripping a cup, the motor drives the cam to rotate to a parallel state. At this time, the two power arms tangent to the bearing are spread to their maximum distance, and the compression springs are compressed by the two power arms. Then, the motor reverses, driving the cam to rotate to its initial position angle, and the two compression springs return to their original length and push the power arm to close. Although the device employs a dual-spring guide rail mechanism, these two springs only provide symmetrical compressive and tensile forces to the power arm, which cannot guarantee that the clamping plate can be accurately positioned at the center of the consumable cup. Furthermore, to ensure the accurate installation position of the clamping plate, higher requirements are inevitably placed on the assembly precision of the motor, cam, and power arm. Additionally, the top-down layout of the motor, base, cam, and clamping plate makes rapid assembly, replacement, and maintenance inconvenient for assembly personnel. Patent CN221140138U provides a rotating cup-grabbing device including a lifting drive assembly, a rotating drive assembly, and a detection mechanism. It achieves cup grabbing and release through the lifting and rotation of the gripper, and uses sensors to detect the state of the gripper and collision conditions, enabling automatic repair measures. While this device integrates multiple functional components, the cup-grabbing assembly relies on the rotation of the cam to drive the opening and closing of the first and second connecting blocks to grasp the consumable cup. It does not mention the relevant technical means for the gripper assembly to accurately position and grasp the cup, and the gripper assembly has a complex structure and large size. Patent CN203191387U discloses a cup-gripping device and an automatic analysis device having the cup-gripping device. The cam component used to control the opening and closing of the first gripping part and the second gripping part includes a base, an eccentric wheel, a first bearing, and a second bearing. The entire device has a complex structure and suffers from high wear and maintenance difficulties as the usage time increases. Furthermore, the center positions of the first gripping part and the second gripping part are parallel to the straight line of the drive shaft of the drive source, which has the disadvantage that when gripping the rectangular jig arranged reaction cups, the open gripper will collide and interfere with adjacent cups.

[0004] Therefore, developing a medical device cup-grabbing device that is simple and compact in structure, has a reasonable layout, provides precise and stable gripping, and is easy to maintain is of great practical significance. Utility Model Content

[0005] The purpose of this invention is to provide a cup-gripping device that offers precise guidance and stability, addressing the aforementioned problems.

[0006] The technical solution adopted in this utility model is as follows: A cup-gripping device, the cup-gripping device comprising a gripper assembly and a drive assembly; The gripper assembly includes a guide rail block, on which are provided two gripper bodies that can slide towards each other or away from each other. Each of the two gripper bodies is provided with a gripper at one end away from the guide rail block, and the other end of the two gripper bodies is rotatably connected to a bearing through the gripper guide block. The drive assembly includes a motor. The central axis of the motor spindle is set at a certain angle to the sliding direction of the gripper body. The motor spindle is connected to a cam. The curved surfaces of the bearings at the ends of the two gripper bodies symmetrically abut against the surface of the cam. The motor drives the cam to rotate, and the bearings can rotate along the cam surface, thereby driving the two gripper bodies to move towards / away from each other along the guide block, and thus driving the gripper to open and close symmetrically.

[0007] Furthermore, the guide block includes an extension arm, with linear guide rails on both sides of the extension arm, and sliders that cooperate with the linear guide rails. The sliders are connected to the gripper bodies, and the movement of the sliders causes the gripper bodies to move towards each other.

[0008] Furthermore, the distance the slider slides along the linear guide rail is less than 5.8 mm.

[0009] Furthermore, the angle between the extension arm and the central axis of the motor spindle is 45°±1°.

[0010] Furthermore, a central positioning post is provided at the center of the extension arm, and the gripper guide blocks on the two gripper bodies are respectively connected to the central positioning post through elastic elements. The elastic elements are used to position the center of the gripper directly below the central positioning post.

[0011] Furthermore, the elastic element includes a spring or a tension spring, and the number of elastic elements is 2 to 4.

[0012] Furthermore, one of the grippers has a groove in its inner wall cross-section, while the inner wall of the other gripper has a straight surface opposite to the groove.

[0013] Furthermore, the cup-gripping device also includes a monitoring component, which is used to identify the working status of the drive component and the gripper component; The monitoring component includes a motor origin optical coupler sensor and a gripper gripping-empty optical coupler sensor mounted on a fixed base. The fixed base is located above the cam. The cam is provided with a motor origin optical coupler baffle that cooperates with the motor origin optical coupler sensor. The gripper assembly is connected to a gripping-empty baffle that cooperates with the gripper gripping-empty optical coupler sensor. The motor origin optical coupler sensor monitors the motor's operating status by identifying the motor origin optical coupler baffle. The gripper gripping-empty optical coupler sensor monitors the working status of the gripper assembly by identifying the gripping-empty baffle.

[0014] Furthermore, the cup-gripping device also includes an anti-collision component, which is located below the motor and is slidably connected to the cup-gripping device; The anti-collision component includes upper and lower anti-collision optical couplers. The cup-gripping device is provided with upper and lower optical coupler anti-collision baffles that cooperate with the upper and lower anti-collision optical couplers. When the cup-gripping device is impacted, the anti-collision component slides relative to the cup-gripping device, causing the upper and lower optical coupler anti-collision baffles to move to the position that cooperates with the anti-collision optical couplers.

[0015] Furthermore, a buffer is provided between the anti-collision component and the cup-grabbing device for sliding buffering.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: 1. This utility model features a detachable cup-gripping device. The gripper body is a modular unit that can be used with swing arms of different lengths, making it compatible with various machine models and improving the device's versatility and applicability. When the gripper body malfunctions, it is easy to disassemble and replace, while the swing arm positioning remains unchanged, greatly simplifying the maintenance process and reducing maintenance costs. 2. This utility model improves the spatial layout of the gripper assembly by setting up a precise positioning guide system, thereby enhancing the device's positioning accuracy and gripping precision. Specifically, it employs a guide rail block extension arm tilted at 45°±1°, symmetrically distributed elastic elements, and a central positioning post. This ensures the gripper's center is positioned directly below the central positioning post. Furthermore, the symmetrical tension of the elastic elements prevents significant shifts in the gripper's center position during opening and closing, and allows it to adapt to the next consumable cup station. The gripping position offset error is controlled within ±0.3mm. Simultaneously, the rotational motion of the motor shaft is converted into the gripper's 45° horizontal opening angle for gripping the consumable cup, solving the problem of the gripper interfering with adjacent consumable cups.

[0017] 3. By setting up monitoring components and anti-collision components, this utility model can monitor the motor operation status and gripper working status in real time and prevent collisions, thereby improving the reliability and safety of the device.

[0018] 4. By optimizing the cross-sectional structure of the gripper, this utility model ensures that the reaction cup and the two grippers make contact on three sides, which improves the stability of the gripping and effectively avoids the risk of the reaction cup shaking or falling off during the transfer process. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a cup-grabbing device according to the present invention. Figure 1 ; Figure 2 This is a three-dimensional structural diagram of a cup-grabbing device according to the present invention. Figure 2 ; Figure 3 This is a three-dimensional structural diagram of a cup-grabbing device according to the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the gripper body in a cup-gripping device according to the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the gripper body in a cup-gripping device according to the present invention. Figure 2 ; Figure 6 This is a schematic diagram of the gripper body in a cup-gripping device according to the present invention. Figure 3 ; Figure 7 This is an exploded view of the main body of the gripper in a cup-gripping device according to this utility model; Figure 8 This is a schematic diagram of the gripper assembly in a cup-gripping device according to the present invention. Figure 1 ; Figure 9 This is a schematic diagram of the gripper assembly in a cup-gripping device according to the present invention. Figure 2 ; Figure 10 This is a top view of the assembly of the mounting plate and guide rail block in a cup-grabbing device according to this utility model; Figure 11 This is a perspective view of the assembly of the mounting plate and guide rail block in a cup-grabbing device according to this utility model; Figure 12 This is a schematic diagram of the anti-collision component in a cup-gripping device according to the present invention. Figure 1 ; Figure 13 This is a schematic diagram of the anti-collision component in a cup-gripping device according to the present invention. Figure 2 ; Figure 14 (a) is a cross-sectional view of the gripper in the empty gripping state of a cup-gripping device of this utility model; Figure 14 (b) is a cross-sectional view of the gripper gripping the reaction cup in a cup-gripping device of this utility model; Figure 15This is a schematic diagram showing the state of the gripper, the state of the motor origin optocoupler and the baffle, and the state of the gripper holding empty optocoupler and the baffle in a cup-grabbing device according to this utility model.

[0020] Marked in the image: 100-Grabber body, 110-Drive mechanism, 120-Gripper assembly, 130-Monitoring assembly, 1101-Motor, 1102-Spatial cam, 1103-Mounting plate; 11024 - Motor origin optocoupler baffle; 1201-Guide rail block, 12010-Fixed end, 12011-Extension arm, 1202-Linear guide rail one, 1203-Linear guide rail two, 1204-Gripper body one, 1205-Gripper body two, 1206-Gripper guide block one, 1207-Gripper guide block two, 1208-Bearing one, 1209-Bearing two, 1210-Support column, 1211-Gripper one, 1212-Gripper two, 1213-Elastic element, 1214-Guide rail baffle, 1215-Reaction cup, 1216-Central positioning column; 1301-Fixed base, 1302-Motor origin optocoupler sensor, 1303-Grab-empty optocoupler sensor, 1304-Emptying baffle, 1305-Accommodation slot one, 1306-Accommodation slot two; 140-Anti-collision component, 1401-Upper and lower anti-collision optical coupler sensors, 1402-Identification slot, 1403-Upper and lower optical coupler anti-collision baffles, 1404-Bracket, 1405-Guide rail, 1406-Slider, 1407-Limit block one, 1408-Limit block two, 1409-Spring, 1410-L-shaped moving block; 200-Grab arm. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings.

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0023] Example This embodiment provides a cup-gripping device, such as... Figure 1-4 As shown, the device includes a gripper arm 200 and a gripper body 100, which are connected by threaded holes and screws. This design allows the gripper body 100 to function as a modular unit, compatible with gripper arms of different lengths and various machine models. Furthermore, it facilitates disassembly and replacement in case of gripper body 100 malfunction, while maintaining the gripper arm's positioning for easy maintenance. The cup-gripping device provided in this embodiment is adaptable to gripper arms with a length of 100mm or more.

[0024] like Figure 4-7 As shown, in this embodiment, the gripper body 100 includes a drive mechanism 110, a monitoring component 130, a gripper assembly 120, and a mounting plate 1103. The drive mechanism 110 includes a motor 1101 and a cam 1102, with the cam 1102 being drive-connected to the motor 1101. The mounting plate 1103 is a plate with a geometric shape, serving as a support component for fixing the drive mechanism 110, the monitoring component 130, and the gripper assembly 120. The motor 1101 is fixedly mounted on one side of the mounting plate 1103, which is a rectangular plate with a hollow center, facilitating the passage of the motor 1101's shaft through the mounting plate 1103 and its drive-connection to the cam 1102.

[0025] In this embodiment, the monitoring component 130 includes a motor origin optical coupler sensor 1302, a gripper empty-grip optical coupler sensor 1303, an empty-grip baffle 1304, and a mounting base 1301. The mounting base 1301 is fixed to the mounting plate 1103 by screws. The mounting base 1301 is located above the cam 1102 and is used to install the motor origin optical coupler sensor 1302 and the gripper empty-grip optical coupler sensor 1303. The motor origin optical coupler sensor 1302 is used to identify the origin position of the motor 1101 and send the operating status data of the motor 1101 to the control mechanism. The gripper empty-grip optical coupler sensor 1303 is used to monitor whether the gripper assembly 120 is in an empty-grip state, thereby providing an alarm prompt. In addition, the bottom of the motor origin optocoupler sensor 1302 and the gripper grasping air optocoupler sensor 1303 is respectively provided with a receiving groove 1305 and a receiving groove 1306. The receiving groove 1305 is used to identify the motor origin optocoupler baffle 11024, and the receiving groove 1306 is used to identify the grasping air baffle 1304. Specifically, when the motor drives the cam to rotate, the cam drives the motor origin optical coupler baffle 11024 to move in and out of the receiving groove 1305. When the motor origin optical coupler sensor 1302 is triggered by the motor origin optical coupler baffle 11024, the cup gripping device immediately stops and completes the return to the origin process. Similarly, the empty gripping baffle 1304 is set on any one of the gripper bodies. When the gripper body slides, the empty gripping baffle 1304 moves in and out of the receiving groove 2 1306 along with the gripper body. When the gripper empty gripping optical coupler sensor 1303 is triggered by the empty gripping baffle 1304, it means that the gripper assembly 120 has not gripped the reaction cup at this time, and the device will issue an alarm.

[0026] like Figure 7-9As shown, in this embodiment, the gripper assembly 120 includes a guide block 1201, a linear guide rail, two sets of gripper bodies, two sets of gripper guide blocks, two sets of bearings, one set of support column 1210, two sets of grippers, and two sets of elastic elements 1213. The guide block 1201 includes a fixed end 12010 and an extension arm 12011. The fixed end 12010 and the extension arm 12011 are integrally formed. The fixed end 12010 is flush with and fixedly installed at the edge of the side wall of the mounting plate 1103. The two sides of the extension arm 12011 are used to fix the first linear guide rail 1202 and the second linear guide rail 1203, respectively. Slider blocks are slidably arranged on the first linear guide rail 1202 and the second linear guide rail 1203, and the sliders can slide left and right along the first linear guide rail 1202 and the second linear guide rail 1203. In addition, in order to limit the movement distance of the sliders on linear guide rail 1202 and linear guide rail 2 1203, guide rail baffles 1214 are fixedly installed at both ends of the long arm of guide rail block 1201 to limit the movement distance of the sliders to within 5.8mm. Gripper body 1204 and gripper body 2 1205 are respectively fixed to the sliders of linear guide rail 1202 and linear guide rail 2 1203. Grippers 1211 and 1212 are respectively fixedly connected to the bottom of gripper body 1204 and gripper body 2 1205. Gripper guide block 1206 and 1207 are respectively fixedly installed on the top of gripper body 1204 and gripper body 2 1205. Gripper guide block 1206 and 1207 are L-shaped structural components. The horizontal sections of the two L-shaped structural components are fixedly connected to the gripper body, and their vertical sections are respectively connected to bearing 1208 and bearing 1209. Furthermore, to facilitate the assembly of the grabbing stop plate 1304, two support columns 1210 are arranged parallel to each other on the vertical section of gripper guide block 1206. The support columns 1210 are fixedly connected to the grabbing stop plate 1304. Bearing 1208 and bearing 1209 are symmetrically abutted against the surface of cam 1102. When cam 1102 rotates, bearing 1208 and bearing 1209 rotate along the surface of cam 1102. Claw guide block 1206 and claw guide block 1207 drive claw body 1204 and claw body 1205 to slide relative to each other along linear guide rail 1202 and linear guide rail 1203, thereby further enabling gripper 1211 and gripper 1212 to complete the opening and closing action.

[0027] To avoid the gripper interfering with adjacent consumable cups during the gripping process, and to ensure the gripper body can accurately, flexibly, and effectively complete the gripping action within a limited space, the gripping device provided in this embodiment has the extension arm 12011 of the guide rail block 1201 tilted, such as... Figure 10 and Figure 11As shown, specifically, the angle between the extension arm 12011 and the central axis of the motor shaft is 45°±1°, which converts the rotational motion of the motor shaft 1101 into the 45° opening and closing of the gripper 1211 and gripper 2 1212 on the horizontal plane. After the gripper 1211 and gripper 2 1212 are opened, they are located at the maximum gap between adjacent consumable cups, which makes it convenient for the gripper to grab the consumable cup.

[0028] In addition, to further improve the gripping accuracy of gripper 1211 and gripper 2212 and the structural compactness of the gripper body, reduce the offset of the center position of gripper 1211 and gripper 2212 when opening and closing, and solve the problem of uncentered position after gripper 1211 and gripper 2212 clamp the reaction cup, such as Figure 8-11 As shown, a central positioning post 1216 is provided at the center of the extension arm 12011 of the guide rail block 1201. Elastic element fixing positions are symmetrically arranged on the vertical sections of the gripper guide block 1206 and the gripper guide block 2207 near the linear guide rail 1202 and the linear guide rail 2203, respectively. One end of the elastic element is suspended on the central positioning post 1216 of the guide rail block 1201, and the other end is suspended on the elastic element fixing position of the gripper guide block. The elastic element is in a stretched state. By positioning the center of the extension arm of the guide rail block 1201 and symmetrically pulling the gripper guide blocks 1206 and 1207 by the two elastic elements 1213, the center positions of grippers 1211 and 1212 are positioned directly below the center positioning post 1216. This ensures that the positional offset error of grippers 1211 and 1212 in the next adaptive station remains within ±0.3mm, thereby reducing positioning errors and improving gripping accuracy and precision. Specifically, the elastic element 1213 is either a spring or a tension spring, made of 304 stainless steel, with a preload of 2.16N.

[0029] Optionally, the number of fixed positions of the elastic elements on the central positioning post 1216 and the gripper guide block can also be set to 2, corresponding to 4 elastic elements, to ensure that the gripper maintains a highly stable state during the gripping process.

[0030] like Figure 12 and Figure 13As shown, the cup-grabbing device in this embodiment is also equipped with an anti-collision component 140, which is located directly below the motor 1101. The anti-collision component 140 includes a support bracket 1404, upper and lower anti-collision optical couplers 1401, an identification groove 1402, upper and lower optical coupler anti-collision baffles 1403, a guide rail 1405 and a slider 1406, a spring 1409, and an L-shaped moving block 1410. The guide rail 1405 is vertically installed in the middle of the support bracket 1404, and the slider 1406 is slidably mounted on it. The slider 1406 is fixedly connected to the mounting plate 1103. The upper and lower anti-collision optical couplers 1401 are fixedly installed on the other side of the support bracket 1404. An identification groove 1402 is provided on the upper and lower anti-collision optical couplers 1401, and the opening end of the identification groove 1402 is opposite to the mounting plate 1103. The baffle 1403 is fixedly installed on the mounting plate 1103 and can freely pass through the identification slot 1402; the spring 1409 is set between the L-shaped moving block 1410 and the bracket 1404, and the L-shaped moving block is fixedly connected to the mounting plate 1103; under normal operation, the upper and lower optical coupler anti-collision baffle 1403 and the upper and lower anti-collision optical coupler sensor 1401 are normally open. When the motor fails and the cup gripping device is impacted, the mounting plate 1103 will drive the gripper assembly 120 to move upward relative to the bracket 1404, thereby turning the upper and lower optical coupler anti-collision baffle 1403 and the upper and lower anti-collision optical coupler sensor 1401 into a closed circuit state, triggering the upper and lower anti-collision alarm program and causing the cup gripping device to stop immediately. At this time, the L-shaped moving block 1410 squeezes the spring 1409 to achieve the movement buffering effect on the mounting plate. In addition, to ensure double anti-collision function, the upper and lower ends of the bracket 1404 are also provided with limit block 1407 and limit block 2 1408, which can further limit the movement distance of the slider 1406.

[0031] To more securely clamp the consumables, the cross-sections of gripper 1211 and gripper 2212 were optimized, such as... Figure 14 As shown, the outer walls of gripper 1211 and gripper 2212 are semi-circular arcs, which are common in this field. The cross-section of the inner wall of one of the grippers is provided with a groove, and the inner wall of the other gripper is straight on the surface opposite to the groove. Therefore, when the cup is gripped, the reaction cup is in contact with the contact surfaces of the two grippers on three sides, which improves stability.

[0032] Example 2 This embodiment provides the working process of the gripping device shown in Embodiment 1, as follows: S1: Return to origin process: Upon initial motor startup, motor 1101 drives cam 1102 to rotate counterclockwise. When the motor origin optocoupler baffle 11024 on cam 1102 triggers motor origin optocoupler sensor 1302, the cup-gripping device immediately trips and stops, completing the return-to-origin process. At this time, the gripper empty optocoupler sensor 1303 and the gripper empty baffle 1304 are in the triggered state, and the distance between the inner walls of gripper one 1211 and gripper two 1212 is less than the reaction cup outline 1215. Figure 15 As shown in (a), the origin calibration work is completed before grabbing.

[0033] S2: Grab the reaction vessel: Subsequently, motor 1101 drives cam 1102 to rotate 135° clockwise. The motor origin optocoupler baffle 11024 is in a stable state that triggers the motor origin optocoupler sensor 1302. Grippers 1211 and 2212 gradually open to their maximum spacing. Simultaneously, the gripper-empty optocoupler sensor 1303 and the gripper-empty baffle 1304 are in an untriggered state. The distance between the inner walls of grippers 1211 and 2212 is greater than the consumable outline 1215. Figure 15 As shown in (b).

[0034] Motor 1101 continues to drive cam 1102 to rotate counterclockwise. When the structure of the motor origin optocoupler baffle 11024 triggers the motor origin optocoupler sensor 1302, the cup gripping device immediately stops. At the same time, the inner walls of gripper one 1211 and gripper two 1212 are tangent to the contour 1215 of the reaction cup. Figure 15 As shown in (c), at this time, a cup-grabbing action is completed, and the photocoupler sensor 1303 and the baffle plate 1304 are in an untriggered state, which means that the two grippers of the cup-grabbing device have grasped the reaction cup.

[0035] S3: Remove the reaction vessel: Motor 1101 drives cam 1102 to rotate 135° clockwise again. Motor origin optocoupler baffle 11024 is in a stable trigger state for motor origin optocoupler sensor 1302. Grippers 1211 and 1212 gradually open to their maximum spacing. When the opening distance between grippers 1211 and 1212 is greater than the diameter of the reaction cup, ... Figure 15 As shown in (b), the reaction cup falls from gripper 1211 and gripper 2212, completing one unloading action. At the same time, the gripper empty photocoupler sensor 1303 and the gripper empty baffle 1304 are in an untriggered state. This process is repeated in steps S2 and S3 to achieve uninterrupted gripping of the reaction cup.

[0036] When the gripper device malfunctions or is damaged, it inevitably experiences a situation where the gripper misses its target. To more comprehensively monitor the gripper's working status, the gripper device immediately stops when the motor origin optocoupler baffle 11024 triggers the motor origin optocoupler sensor 1302. At this time, the gripper miss optocoupler sensor 1303 and the miss baffle 1304 are in the triggered state, and the distance between the inner walls of gripper one 1211 and gripper two 1212 is less than the reaction cup outline 1215. Figure 15 As shown in (a), it indicates that grippers 1211 and 1212 have not grasped the reaction cup, and the cup-grabbing device will issue an alarm.

[0037] This document uses specific embodiments to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

[0038] In the description of this utility model, it should be noted that the terms "upper", "lower", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0039] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A cup-gripping device, characterized in that, The cup-gripping device includes a gripper assembly and a drive assembly; The gripper assembly includes a guide rail block, on which are provided two gripper bodies that can slide towards each other or away from each other. Each of the two gripper bodies is provided with a gripper at one end away from the guide rail block, and the other end of the two gripper bodies is rotatably connected to a bearing through the gripper guide block. The drive assembly includes a motor. The central axis of the motor spindle is set at a certain angle to the sliding direction of the gripper body. The motor spindle is connected to a cam. The curved surfaces of the bearings at the ends of the two gripper bodies symmetrically abut against the surface of the cam. The motor drives the cam to rotate, and the bearings can rotate along the cam surface, thereby driving the two gripper bodies to move towards / away from each other along the guide block, and thus driving the gripper to open and close symmetrically.

2. The cup-gripping device according to claim 1, characterized in that, The guide block includes an extension arm, and linear guide rails are provided on both sides of the extension arm. Sliders that cooperate with the linear guide rails are provided on the linear guide rails. The sliders are connected to the gripper bodies. The movement of the sliders causes the gripper bodies to move towards each other or away from each other.

3. The cup-grabbing device according to claim 2, characterized in that, The distance the slider slides along the linear guide rail is less than 5.8 mm.

4. A cup-gripping device according to claim 2, characterized in that, The angle between the extension arm and the central axis of the motor spindle is 45°±1°.

5. A cup-grabbing device according to claim 2, characterized in that, The extension arm has a central positioning post at its center. The gripper guide blocks on the two gripper bodies are connected to the central positioning post through elastic elements. The elastic elements are used to position the center of the gripper directly below the central positioning post.

6. A cup-gripping device according to claim 5, characterized in that, The elastic element includes a spring or a tension spring, and the number of elastic elements is 2 to 4.

7. A cup-gripping device according to claim 1, characterized in that, One of the grippers has a groove in its inner wall cross-section, while the inner wall of the other gripper opposite the groove is straight.

8. A cup-gripping device according to any one of claims 1 to 7, characterized in that, The cup-gripping device also includes a monitoring component, which is used to identify the working status of the drive component and the gripper component. The monitoring component includes a motor origin optical coupler sensor and a gripper gripping-empty optical coupler sensor mounted on a fixed base. The fixed base is located above the cam. The cam is provided with a motor origin optical coupler baffle that cooperates with the motor origin optical coupler sensor. The gripper assembly is connected to a gripping-empty baffle that cooperates with the gripper gripping-empty optical coupler sensor. The motor origin optical coupler sensor monitors the motor's operating status by identifying the motor origin optical coupler baffle. The gripper gripping-empty optical coupler sensor monitors the working status of the gripper assembly by identifying the gripping-empty baffle.

9. A cup-gripping device according to claim 8, characterized in that, The cup-gripping device also includes an anti-collision component, which is located below the motor and is slidably connected to the cup-gripping device. The anti-collision component includes upper and lower anti-collision optical couplers. The cup-gripping device is provided with upper and lower optical coupler anti-collision baffles that cooperate with the upper and lower anti-collision optical couplers. When the cup-gripping device is impacted, the anti-collision component slides relative to the cup-gripping device, causing the upper and lower optical coupler anti-collision baffles to move to the position that cooperates with the anti-collision optical couplers.

10. A cup-gripping device according to claim 9, characterized in that, A buffer is also provided between the anti-collision component and the cup-grabbing device for sliding buffering.

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