A jaw device

Abstract

The utility model discloses a kind of clamping jaw devices, comprising: first clamping jaw, including oppositely arranged first claw body part and second claw body part;Second clamping jaw, including oppositely arranged third claw body part and fourth claw body part;Third claw body part and first claw body part fixed connection, fourth claw body part and second claw body part fixed connection;Driving part, for driving first claw body part and second claw body part move towards each other or move away from each other, to synchronously drive third claw body part and fourth claw body part move towards each other or move away from each other;Or, driving part for driving third claw body part and fourth claw body part move towards each other or move away from each other, to synchronously drive first claw body part and second claw body part move towards each other or move away from each other.The utility model passes through a set of driving part linkage control two groups of clamping jaw, and it can selectively clamp liquid bag or medicine bottle according to need, effectively simplify equipment structure, reduce control complexity and optimize space layout.

Description

Technical Field

[0001] This utility model relates to the field of liquid preparation technology, and in particular to a gripper device. Background Technology

[0002] In the field of drug preparation, it is necessary to dilute powders in vials or transfer liquid medications from ampoules to infusion bags. Traditionally, this operation relies on manual labor by medical staff, which is inefficient, labor-intensive, and carries risks of occupational exposure and contamination. To improve the efficiency and safety of drug preparation, automated drug preparation equipment has emerged. This type of equipment uses mechanical grippers to grasp and transfer the corresponding medications to the infusion bag according to the doctor's prescription. However, existing equipment often uses independently driven and controlled grippers to hold the vials and infusion bags separately, resulting in a complex system structure, high control precision requirements, and redundant overall spatial layout, which restricts the miniaturization and operational reliability of the equipment. Utility Model Content

[0003] The purpose of this invention is to solve the technical problems of complex system structure, difficult control, and low space utilization caused by the independent setting and independent driving of the medicine bottle gripper and liquid bag gripper in existing automated liquid dispensing equipment. This invention provides a gripper device that controls two sets of grippers through a single drive unit. It can selectively grip liquid bags or medicine bottles as needed, effectively simplifying the equipment structure, reducing control complexity, and optimizing space layout.

[0004] To solve the above-mentioned technical problems, an embodiment of this utility model discloses a gripper device, comprising:

[0005] The first gripper includes a first gripper body and a second gripper body disposed opposite to each other along a first direction. The first gripper body and the second gripper body define a medicine bottle gripping portion in the first direction. The medicine bottle gripping portion is used to grip a medicine bottle.

[0006] The second gripper includes a third gripper body and a fourth gripper body disposed opposite to each other along a first direction. The third gripper body and the fourth gripper body define a liquid bag holding portion in the first direction. The liquid bag holding portion is used to hold a liquid bag. The third gripper body and the first gripper body are fixedly connected, and the fourth gripper body is fixedly connected to the second gripper body.

[0007] A driving unit is configured to drive the first claw body and the second claw body to move towards or away from each other along a first direction, so as to synchronously drive the third claw body and the fourth claw body to move towards or away from each other along the first direction; or

[0008] The driving unit is used to drive the third claw body and the fourth claw body to move towards each other or away from each other along a first direction, so as to synchronously drive the first claw body and the second claw body to move towards each other or away from each other along the first direction.

[0009] By adopting the above technical solution, the third claw body is fixedly connected to the first claw body, and the fourth claw body is fixedly connected to the second claw body. The movement of both sets of grippers is synchronously controlled by the same drive unit, eliminating the need for a separate drive mechanism for each gripper, thus simplifying the structure and reducing costs. Furthermore, by controlling the stroke of the drive unit, the first gripper can be selectively used to hold medicine bottles or the second gripper to hold liquid bags at different workstations as needed. This structure retains the reliability of standard electric grippers while achieving dual-station switching functionality through simple mechanical connections, improving equipment flexibility and work efficiency, reducing control complexity, and optimizing space layout.

[0010] According to another specific embodiment of the present invention, the medicine bottle clamping part is disposed on one side of the second direction of the driving part; the medicine bottle clamping part includes a vial clamping part, and the first claw part and the second claw part are provided with a first arc-shaped groove opposite to each other, and the vial clamping part is defined between the first arc-shaped groove on the first claw part and the first arc-shaped groove on the second claw part; the second direction is perpendicular to the first direction.

[0011] Using the above technical solution, a clamping space matching the contour of the vial is formed between the two first arc-shaped grooves, realizing adaptive envelope clamping. At the same time, the symmetrical layout of the double grooves ensures that the vial is automatically centered during the clamping process, preventing skewing or slippage.

[0012] According to another specific embodiment of the present invention, the medicine bottle clamping part further includes an ampoule clamping part, the ampoule clamping part and the vial clamping part are spaced apart along a second direction; the first claw body part and the second claw body part are provided with opposing second arc-shaped grooves, and the ampoule clamping part is defined between the second arc-shaped groove on the first claw body part and the second arc-shaped groove on the second claw body part.

[0013] Using the above technical solution, a clamping space matching the outer contour of the ampoule is formed between the two second arc-shaped grooves, realizing adaptive envelope clamping. At the same time, the symmetrical layout of the two grooves ensures that the ampoule automatically centers during clamping, preventing tilting or slippage.

[0014] According to another specific embodiment of the present invention, the vial clamping part is used to clamp the neck of the vial, and the ampoule clamping part is used to clamp the body of the ampoule; the thickness of the first claw part and the second claw part at the vial clamping part is less than the thickness at the ampoule clamping part.

[0015] Using the above technical solution, the vial clamping part precisely clamps the neck (smaller diameter area) of the vial through a thinned first and second claw body, achieving stable clamping while avoiding interference with the vial label or special structure; while the ampoule clamping part is thickened to enhance stable grip on the vial body and distribute clamping stress. The combination of the two allows for non-destructive switching between clamping the vial (neck) and the ampoule (body) on the same first claw, avoiding the risk of breakage due to improper selection of clamping parts (such as ampoule neck breakage or vial body slippage).

[0016] According to another specific embodiment of the present invention, the liquid bag clamping part is disposed on the other side of the second direction of the driving part; the third claw body part and the fourth claw body part are provided with a third arc-shaped groove opposite to each other, and the liquid bag clamping part is defined between the third arc-shaped groove on the third claw body part and the third arc-shaped groove on the fourth claw body part.

[0017] Using the above technical solution, a clamping space matching the outer contour of the cylindrical connector of the liquid bag is formed between the two third arc-shaped grooves, realizing adaptive envelope clamping. At the same time, the symmetrical layout of the double grooves ensures that the liquid bag automatically centers during the clamping process, preventing skewing or slippage.

[0018] According to another specific embodiment of the present invention, the driving part includes a driving end and a non-driving end disposed opposite to each other along a second direction. The first claw body and the second claw body are disposed on the driving end and connected to the driving part. The third claw body and the fourth claw body are respectively located on both sides of the driving part in a first direction, and one end of each claw body extends to the driving end of the driving part to be fixedly connected to the first claw body and the second claw body, respectively. The other end of the third claw body and the fourth claw body extends to the non-driving end of the driving part to define the liquid bag clamping part.

[0019] According to another specific embodiment of the present invention, a guide component is further included, the guide component comprising:

[0020] The first fixing seat is fixed to the third claw body portion;

[0021] The second fixing seat is fixed to the fourth claw body part;

[0022] A guide seat is fixed to the non-driving end of the driving part, and the guide seat is located between the first fixed seat and the second fixed seat; the guide seat includes a first guide part and a second guide part that are spaced apart along a first direction;

[0023] The first guide rod is fixedly connected to the first fixed base; the first guide rod is movably connected to the first guide portion in a first direction.

[0024] The second guide rod is fixedly connected to the second fixed base; the second guide rod is movably connected to the second guide portion in a manner that allows it to move along a first direction.

[0025] Using the above technical solution, when the third claw body moves outward along the first direction under the drive of the drive unit (that is, the second gripper performs the opening action), the first fixed seat connected to the third claw body drives the first guide rod to move outward relative to the drive unit; when the third claw body moves inward along the first direction under the drive of the drive unit (that is, the second gripper performs the clamping action), the first fixed seat connected to the third claw body drives the first guide rod to move inward relative to the drive unit, thereby ensuring that the third claw body maintains a precise linear trajectory during movement and avoiding shaking during movement.

[0026] Similarly, when the fourth claw body moves outward along the first direction under the drive of the drive unit (that is, the second gripper performs the opening action), the second fixed seat connected to the fourth claw body drives the second guide rod to move outward relative to the drive unit; when the fourth claw body moves inward along the first direction (that is, the second gripper performs the clamping action), the second fixed seat connected to the fourth claw body drives the second guide rod to move inward relative to the drive unit, thereby ensuring that the fourth claw body maintains a precise linear trajectory during movement and avoiding shaking during movement.

[0027] According to another specific embodiment of the present invention, it further includes:

[0028] The base is fixed to the bottom of the drive unit;

[0029] A support member is used to support the liquid bag along the height direction; the support member and the base are spaced apart along a second direction.

[0030] A connecting shaft connects the base and the support member, and allows the support member to reciprocate linearly relative to the base in a second direction;

[0031] An elastic element is disposed between the base and the support member;

[0032] The support member is configured to compress the elastic element and move toward the base when subjected to an external force toward the base; after the external force is removed, under the restoring force of the elastic element, the support member can extend to below the liquid bag clamping part to support the liquid bag in the height direction.

[0033] According to another specific embodiment of the present invention, the base is provided with a first shaft hole extending in a second direction, and a first abutting surface is provided at one end of the first shaft hole away from the support member.

[0034] The support member is provided with a second shaft hole extending in a second direction. A second abutment surface and a third abutment surface are provided in the second shaft hole. The second abutment surface and the third abutment surface are spaced apart, and the third abutment surface is farther away from the base than the second abutment surface.

[0035] One end of the elastic element abuts against the first abutting surface, and the other end abuts against the second abutting surface;

[0036] One end of the connecting shaft is fixed in the first shaft hole, and the other end extends into the second shaft hole; the other end of the connecting shaft is used to abut against the third abutment surface to restrict the movement of the support member along the second direction and toward the base.

[0037] Using the above technical solution, when the second gripper moves to the gripping position of the liquid bag, if there is an obstacle (such as an equipment platform) below the liquid bag, the support will be pressed back when it contacts the obstacle (the elastic element contracts under force) until the connecting shaft abuts against the third contact surface, thus restricting the support from continuing to move along the second direction and toward the base. The liquid bag gripping part of the second gripper can complete the gripping action without obstruction. After the second gripper clamps the liquid bag and moves out of the gripping position, the support automatically pops out under the restoring force of the elastic element, lifting the liquid bag from below, forming a double stabilizing structure. That is, the liquid bag connector is fixed by the liquid bag gripping part of the second gripper at the top, and the support is supported at the bottom, thereby preventing the liquid bag from shaking or slipping due to single-point suspension during the transfer process.

[0038] According to another specific embodiment of the present invention, it further includes:

[0039] A guide shaft is arranged parallel to the connecting shaft; one end of the guide shaft is slidably connected to the base in a second direction, and the other end is fixedly connected to the support member.

[0040] With the above technical solution, one end of the guide shaft is slidably connected to the base, and the other end is fixed to the support. It provides auxiliary linear guidance during the retraction or extension of the support, ensuring that the support moves smoothly only in the second direction, eliminating the risk of lateral offset or jamming, and at the same time sharing the radial load on the connecting bearing, extending the service life of the elastic element.

[0041] According to another specific embodiment of the present invention, the support member includes a support platform and a slot penetrating the support platform. The slot is used to clamp the liquid outlet tube of the liquid bag, and the support platform is used to support the flange located above the liquid outlet tube.

[0042] Using the above technical solution, the slot and flange of the support platform work together to fix the liquid bag, forming a double anti-detachment structure. The slot clamps the liquid outlet pipe to prevent the liquid bag from shifting in the first direction, and the flange of the support platform supports the liquid bag to prevent the liquid bag from drooping in the height direction. The two, together with the second gripper, further improve the stability of the liquid bag clamping.

[0043] According to another specific embodiment of the present invention, a pipette clamping assembly is also included, the pipette clamping assembly comprising:

[0044] A rotating shaft extends along a first direction; the rotating shaft is fixedly connected to the base;

[0045] A first clamping assembly and a second clamping assembly are respectively disposed at both ends of the rotating shaft in a first direction; both the first clamping assembly and the second clamping assembly include:

[0046] A first clamping arm and a second clamping arm are rotatably connected by the rotating shaft. The first clamping arm includes a first clamping end and a first operating end, and the second clamping arm includes a second clamping end and a second operating end. The first clamping end and the second clamping end are arranged opposite to each other, and the first operating end and the second operating end are arranged opposite to each other.

[0047] The locking member of the first clamping assembly is fixedly connected to the third claw body portion, and the locking member of the second clamping assembly is fixedly connected to the fourth claw body portion; the driving unit is used to drive the locking member to move along a first direction so that the locking member switches between a first position and a second position.

[0048] In the first position, the locking member is inserted between the first operating end and the second operating end, with the first operating end and the second operating end being far apart from each other, and the first clamping end and the second clamping end being close to each other, so as to jointly clamp the pipette;

[0049] In the second position, the locking member is located outside the first operating end and the second operating end, with the first operating end and the second operating end close to each other and the first clamping end and the second clamping end far from each other, so as to release the pipette together.

[0050] Using the above technical solution, when the locking member is inserted between the first and second operating ends under the drive of the driving unit, it restricts the relative movement of the first and second operating ends and causes them to move away from each other. This causes the first and second clamping ends to tend to move towards each other, thus achieving the clamping action. Conversely, when the locking member is withdrawn from between the first and second operating ends under the drive of the driving unit, the first and second operating ends will move towards each other, causing the first and second clamping ends to move away from each other, thus releasing the clamping state and allowing the previously clamped pipette to be released.

[0051] Furthermore, the pipette clamping assembly and the aforementioned first and second clamps can be selectively used as needed to achieve multi-functional on-demand switching, thereby enabling compatibility with three types of operations on a single device: clamping pipettes, clamping liquid bags, and clamping medicine bottles. This avoids the cumbersome process of switching between multiple devices and reduces space occupation.

[0052] According to another specific embodiment of the present invention, it further includes: a pin, which is arranged parallel to the rotating shaft, and the pin is rotatably connected to the first clamping arm and the second clamping arm.

[0053] By adopting the above technical solution, on the one hand, the pin shaft acts as a second fulcrum, sharing the radial load with the rotating shaft, reducing the force on a single axis and preventing the first and second clamping arms from shifting or jamming. On the other hand, the pin shaft and the rotating shaft form a double-point constraint, restricting the degrees of freedom of the first and second clamping arms and ensuring a more stable opening and closing motion trajectory.

[0054] According to another specific embodiment of the present invention, the first clamping arm and the second clamping arm are provided with a fourth arc-shaped groove opposite to each other, and the fourth arc-shaped groove on the first clamping arm and the fourth arc-shaped groove on the second clamping arm define a pipette clamping part.

[0055] By adopting the above technical solution, a clamping space matching the outer contour of the pipette is formed between the two fourth arc-shaped grooves, realizing adaptive envelope clamping. Attached Figure Description

[0056] Figure 1 A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 1 ;

[0057] Figure 2 A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 2 ;

[0058] Figure 3 A perspective view showing the drive unit connected to the first gripper in an embodiment of the present invention is shown;

[0059] Figure 4A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 3 The vial holder holds the vial.

[0060] Figure 5 A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 4 The ampoule holder clamps an ampoule.

[0061] Figure 6 A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 5 Among them, the ampoule holding part holds another type of ampoule;

[0062] Figure 7 A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 6 The liquid bag clamping part clamps the liquid bag;

[0063] Figure 8 A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 7 The drive unit is not shown in the diagram.

[0064] Figure 9 A perspective view of the support assembly and pipette clamping assembly according to an embodiment of the present invention is shown;

[0065] Figure 10 A cross-sectional view of the support component according to an embodiment of the present invention is shown;

[0066] Figure 11 A three-dimensional view of the gripper device according to an embodiment of the present invention is shown. Figure 8 The pipette clamp holds the pipette.

[0067] Figure 12 A perspective view of the first clamping component according to an embodiment of the present invention is shown. Detailed Implementation

[0068] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0069] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0070] In the description of this embodiment, it should be noted that the terms "upper," "lower," "inner," "bottom," 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 that the utility model product is usually placed in during use. They are only for the convenience of describing the 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 the utility model.

[0071] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0072] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" 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 embodiment based on the specific circumstances.

[0073] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0074] refer to Figure 1 and Figure 2 This application provides a gripper device 100, including a first gripper 200, a second gripper 300, and a drive unit 400. The first gripper 200 is used to grip a medicine bottle, including a vial 10 (e.g., a syringe). Figure 4 (as shown) and 20 ampoules (as shown) Figure 5 and Figure 6 (As shown). The second gripper 300 is used to hold the liquid bag 30 (as shown). Figure 7 (As shown). The drive unit 400 is used to drive the opening and closing of the first gripper 200 and the second gripper 300.

[0075] like Figure 1 and Figure 2As shown, the first gripper 200 includes a first gripper body portion 210 and a second gripper body portion 220 spaced apart and arranged opposite to each other along the first direction X. The driving unit 400 is connected to the first gripper body portion 210 and the second gripper body portion 220, and can drive the first gripper body portion 210 and the second gripper body portion 220 to move towards each other or away from each other along the first direction X, so as to realize the gripping state and the open state of the first gripper 200.

[0076] Specifically, such as Figure 3 As shown, the drive unit 400 includes a motor (not shown) and a transmission mechanism (not shown). The transmission mechanism is used to convert the rotational motion of the motor into linear motion. In this embodiment, the drive unit 400 includes a drive end 401 and a non-drive end 402 disposed opposite to each other in the second direction Y. The drive end 401 is provided with two grooves 403 spaced apart along the height direction Z. A slider 404 is slidably connected in each groove 403. The two sliders 404 corresponding to the two grooves 403 are fixedly connected to the first claw body 210 and the second claw body 220, respectively. At the same time, the two sliders 404 are connected to the transmission mechanism of the drive unit 400, thereby realizing power transmission through the motor, the transmission mechanism and the sliders 404 to drive the first claw body 210 and the second claw body 220 to move towards each other or away from each other in the first direction X.

[0077] It should be noted that the drive unit 400 in this embodiment adopts an existing standard electric gripper drive module (such as a servo electric gripper), which drives the first gripper body 210 and the second gripper body 220 to move through a motor and a transmission mechanism. Those skilled in the art will understand that in other embodiments, the opening and closing of the first gripper 200 can also be achieved by other means or structures, such as a cylinder.

[0078] refer to Figure 1 , Figure 2 and Figure 4 ,in Figure 4 A schematic diagram is shown of the vial clamping part 240 of the vial clamping part 230 clamping the vial 10. It should be noted that, for ease of viewing, the vial clamping part 240 is not tightly clamping the vial 10. The first claw part 210 and the second claw part 220 define the vial clamping part 230 in the first direction X, and the vial clamping part 230 is used to clamp the vial.

[0079] In this embodiment, the vial clamping part 230 includes a vial clamping part 240 and an ampoule clamping part 250 spaced apart in the second direction Y, wherein the second direction Y is perpendicular to the first direction X.

[0080] Specifically, a first arcuate groove 241 is provided opposite to the first claw body portion 210 and the second claw body portion 220, and a vial clamping portion 240 is defined between the first arcuate groove 241 on the first claw body portion 210 and the first arcuate groove 241 on the second claw body portion 220. For example, the vial clamping portion 240 is used to clamp the neck of the vial 10.

[0081] For example, both the first claw body portion 210 and the second claw body portion 220 are plate-shaped, and their opposing surfaces in the first direction X are concave in the first direction X and smoothly transition to form arc-shaped grooves, so that a clamping space matching the outer contour of the bottle neck is formed between the two first arc-shaped grooves 241, realizing adaptive envelope clamping. At the same time, the symmetrical layout of the double grooves ensures that the bottle 10 is automatically centered during the clamping process, preventing skewing or slippage.

[0082] Further, refer to Figure 1 , Figure 2 and Figure 5 ,in Figure 5 A schematic diagram is shown of the ampoule clamping part 250 of the medicine bottle clamping part 230 clamping the ampoule 20. It should be noted that, for ease of viewing, the ampoule clamping part 250 does not clamp the ampoule 20 tightly. Second arc-shaped grooves 251 are provided opposite to each other on the first claw part 210 and the second claw part 220, defining the ampoule clamping part 250 between the second arc-shaped grooves 251 on the first claw part 210 and the second arc-shaped grooves 251 on the second claw part 220. Exemplarily, the ampoule clamping part 250 is used to clamp the body of the ampoule 20, avoiding the fragile neck of the ampoule 20 and specifically clamping its sturdy cylindrical body, achieving dual protection of safety and reliability. Furthermore, it facilitates clamping the ampoule 20 after the opening (i.e., after the neck is separated from the body).

[0083] For example, the surfaces of the first claw body 210 and the second claw body 220 that are opposite each other in the first direction X are both concave in the first direction X and smoothly transition to form an arc-shaped groove, so that the two second arc-shaped grooves 251 together form a clamping space that matches the outer contour of the ampoule 20, realizing adaptive envelope clamping. At the same time, the symmetrical layout of the double grooves ensures that the ampoule 20 is automatically centered during the clamping process, preventing skewing or slippage, which is especially suitable for zero-damage stable gripping in high-speed liquid handling scenarios.

[0084] It should be noted that, in this embodiment, by controlling the stroke of the drive unit 400, the ampoule clamping unit 250 can clamp ampoules 20 of different sizes, for example... Figure 5 The ampoule 21 and Figure 6 Ampoule 22 is shown.

[0085] like Figures 4 to 6As shown, in this embodiment, compared to the ampoule clamping portion 250, the vial clamping portion 240 is closer to the side of the first claw portion 210 and the second claw portion 220 that is away from the driving portion 400. Those skilled in the art will understand that in other embodiments, the ampoule clamping portion 250 may be located at the end of the first claw portion 210 and the second claw portion 220 that is away from the driving portion 400, while the vial clamping portion 240 may be located between the driving portion 400 and the ampoule clamping portion 250.

[0086] In this embodiment, the thickness of the first claw portion 210 and the second claw portion 220 at the vial clamping portion 240 is less than the thickness at the ampoule clamping portion 250. That is, the thickness of the first claw portion 210 and the second claw portion 220 when clamping the ampoule 20 is greater than their thickness when clamping the vial 10. It can be understood that this thickness corresponds to the height of the first claw portion 210 and the second claw portion 220 on the corresponding medicine bottle when in the clamping state.

[0087] For example, the first claw body portion 210 and the second claw body portion 220 achieve a thickness transition between the ampoule holding portion 250 and the vial holding portion 240 by setting steps in their extending direction (i.e., in the second direction Y).

[0088] Thus, the vial clamping part 240 precisely clamps the neck (smaller diameter area) of the vial 10 through the thinned first claw part 210 and second claw part 220, achieving stable clamping while avoiding interference with the label or special structure of the vial body; while the ampoule clamping part 250 is thickened to strengthen the stable grip on the vial body and distribute clamping stress. The combination of the two can achieve non-destructive switching clamping of the vial (neck) and ampoule (body) on the same first claw 200, avoiding the risk of breakage due to improper selection of clamping parts (such as breakage of the ampoule 20 neck or slippage of the vial 10 body).

[0089] like Figure 1 and Figure 2 As shown, the medicine bottle holding part 230 of the first gripper 200 is provided on the second direction Y side of the drive part 400, while the liquid bag holding part 301 of the second gripper 300 is provided on the other side of the second direction Y of the drive part 400.

[0090] Specifically, similar to the first gripper 200, the second gripper 300 includes a third gripper body portion 310 and a fourth gripper body portion 320 spaced apart and disposed opposite to each other along the first direction X. The third gripper body portion 310 and the fourth gripper body portion 320 define a liquid bag holding portion 301 in the first direction X. The liquid bag holding portion 301 is used to hold the liquid bag 30.

[0091] refer to Figure 1 , Figure 2 and Figure 7A third arcuate groove 302 is provided opposite to the third claw body portion 310 and the fourth claw body portion 320, and a liquid bag clamping portion 301 is defined between the third arcuate groove 302 on the third claw body portion 310 and the third arcuate groove 302 on the fourth claw body portion 320. By way of example, the liquid bag clamping portion 301 clamps the connector 31 of the liquid bag 30.

[0092] For example, both the third claw body portion 310 and the fourth claw body portion 320 are plate-shaped, and their opposing surfaces in the first direction X are concave in the first direction X and smoothly transition to form a nearly semi-circular groove, so that a clamping space matching the outer contour of the cylindrical connector 31 of the liquid bag 30 is formed between the two third arc-shaped grooves 302, realizing adaptive envelope clamping. At the same time, the symmetrical layout of the double grooves ensures that the liquid bag 30 is automatically centered during the clamping process, preventing skewing or slippage.

[0093] It should be noted that the first claw body portion 210 and the second claw body portion 220 of the aforementioned first gripper 200 are directly driven by the drive unit 400 to move horizontally in the first direction X. The second gripper 300 is connected to the first gripper 200 so that while the drive unit 400 drives the first gripper 200 to move, it simultaneously drives the second gripper 300 to move.

[0094] Specifically, the third claw portion 310 is fixedly connected to the first claw portion 210, and the fourth claw portion 320 is fixedly connected to the second claw portion 220. Thus, the driving unit 400 drives the first claw portion 210 and the third claw portion 310 to move synchronously along the first direction X, and also drives the second claw portion 220 and the fourth claw portion 320 to move synchronously along the first direction X. For example, one end of the first claw portion 210 and the second claw portion 220 in the second direction Y is directly connected to the driving end 401 of the driving unit 400. One end of the third claw portion 310 and one end of the fourth claw portion 320 are located at the non-driving end 402 of the driving unit 400, jointly defining the liquid bag clamping portion 301. The other end of the third claw portion 310 extends to the driving end 401 of the driving unit 400 and connects to the first claw portion 210. Similarly, the other end of the fourth claw portion 320 extends to the driving end 401 of the driving unit 400 and connects to the second claw portion 220.

[0095] That is, in this embodiment, the third claw body portion 310 and the fourth claw body portion 320 are two independent one-piece structures. One end of the third claw body portion 310 extends to the driving end 401 of the driving part 400 and is directly connected to the first claw body portion 210. Similarly, one end of the fourth claw body portion 320 extends to the driving end 401 of the driving part 400 and is directly connected to the second claw body portion 220. Those skilled in the art will understand that in other embodiments, the third claw body portion 310 and the fourth claw body portion 320 can also be separate structures. For example, they each include a clamping portion and a connecting portion. The clamping portion is located at the non-driving end 402 of the driving part 400, while the connecting portion fixes the clamping portion to the first claw body portion 210 or the second claw body portion 220. This also allows the same driving part 400 to synchronously control the movement of the first gripper 200 and the second gripper 300.

[0096] Therefore, by fixing the third claw body 310 to the first claw body 210 and the fourth claw body 320 to the second claw body 220, and using the same drive unit 400 to synchronously control the movement of the two sets of grippers, there is no need to set up a separate drive mechanism for each gripper, which simplifies the structure and reduces costs. At the same time, by controlling the stroke of the drive unit 400, the first gripper 200 can be selectively used to grip medicine bottles or the second gripper 300 to grip liquid bags 30 at different workstations as needed. This structure retains the reliability of standard electric grippers and realizes dual-workstation switching function through simple mechanical connection, improving the flexibility and work efficiency of the equipment.

[0097] In this embodiment, the movement of the third claw body 310 and the fourth claw body 320 is achieved by the drive unit 400 driving the movement of the first claw body 210 and the second claw body 220.

[0098] In another embodiment, the drive unit 400 is directly connected to the third claw body 310 and the fourth claw body 320, and directly controls the opening and closing of the second gripper 300. The first claw body 210 and the third claw body 310 are fixedly connected, and the second claw body 220 and the fourth claw body 320 are fixedly connected. The movement of the first claw body 210 and the second claw body 220 is achieved by the drive unit 400 driving the third claw body 310 and the fourth claw body 320 to move.

[0099] refer to Figure 7 and Figure 8 ,in Figure 8For simplicity, the drive unit 400 is not shown. The gripper device 100 of this embodiment also includes a guide assembly 500 for achieving stable translation of the third gripper body 310 and the fourth gripper body 320 of the second gripper 300 in the first direction X. Specifically, the guide assembly 500 includes a first fixing seat 510, a second fixing seat 520, a guide seat 530, a first guide rod 540, and a second guide rod 550. The first fixing seat 510 is fixed to the third gripper body 310, and the second fixing seat 520 is fixed to the fourth gripper body 320, with the first fixing seat 510 and the second fixing seat 520 arranged opposite to each other along the first direction X.

[0100] The aforementioned guide seat 530 is fixed to the non-driving end 402 of the driving unit 400, and the guide seat 530 is located between the first fixed seat 510 and the second fixed seat 520. The guide seat 530 includes a first guide portion 531 and a second guide portion 533 spaced apart along a first direction X, wherein the first guide portion 531 is disposed near the first fixed seat 510, and the second guide portion 533 is disposed near the second fixed seat 520. Exemplarily, the guide seat 530 further includes a connecting plate 535, which is located between the first guide portion 531 and the second guide portion 533, and is fixedly connected to the non-driving end 402 of the driving unit 400.

[0101] The first guide rod 540 is fixedly connected to the first fixed base 510; the first guide rod 540 is movably connected to the first guide portion 531 in a manner movably along the first direction X. For example, the first fixed base 510 is provided with a first connecting hole 511, the first guide portion 531 is provided with a first sliding hole 532 extending along the first direction X, the first guide rod 540 passes through the first connecting hole 511, and one end of the first guide rod 540 is fixedly connected to the first fixed base 510; the other end of the first guide rod 540 extends into the first sliding hole 532 of the first guide portion 531 and is slidably connected thereto. When the third claw body 310 is driven by the drive unit 400 to move outward along the first direction X (that is, the second gripper 300 performs an opening action), the first fixed seat 510 connected to the third claw body 310 drives the first guide rod 540 to perform a pulling action relative to the drive unit 400 in the first sliding hole 532; when the third claw body 310 is driven by the drive unit 400 to move inward along the first direction X (that is, the second gripper 300 performs a clamping action), the first fixed seat 510 connected to the third claw body 310 drives the first guide rod 540 to perform a pushing action relative to the drive unit 400 in the first sliding hole 532, thereby ensuring that the third claw body 310 maintains a precise linear trajectory during movement and avoiding shaking during movement.

[0102] Correspondingly, the second guide rod 550 is fixedly connected to the second fixed base 520; the second guide rod 550 is movably connected to the second guide portion 533 in a manner movably along the first direction X. For example, the second fixed base 520 is provided with a second connecting hole 521, and the second guide portion 533 is provided with a second sliding hole 534 extending along the first direction X. The second guide rod 550 passes through the second connecting hole 521, and one end of it is fixedly connected to the second fixed base 520. The other end of the second guide rod 550 extends into the second sliding hole 534 of the second guide portion 533 and is slidably connected thereto. When the fourth claw body 320 is driven by the drive unit 400 to move outward along the first direction X (that is, the second gripper 300 performs an opening action), the second fixed seat 520 connected to the fourth claw body 320 drives the second guide rod 550 to perform a pulling action relative to the drive unit 400 in the second sliding hole 534; when the fourth claw body 320 is moved inward along the first direction X (that is, the second gripper 300 performs a clamping action), the second fixed seat 520 connected to the fourth claw body 320 drives the second guide rod 550 to perform a pushing action relative to the drive unit 400 in the second sliding hole 534, thereby ensuring that the fourth claw body 320 maintains a precise linear trajectory during movement and avoiding shaking during movement.

[0103] like Figure 2 , Figure 7 , Figure 9 and Figure 10 As shown, the gripper device 100 of this embodiment also includes a support assembly 600 to assist the second gripper 300 in improving the stability of the second gripper 300 in holding the liquid bag 30. Specifically, the support assembly 600 includes a support member 610, a connecting shaft 620, and an elastic element 640. A base 410 is fixed to the bottom of the drive unit 400, and the support member 610 and the base 410 are spaced apart along the second direction Y. The support member 610 is used to support the liquid bag 10 along the height direction Z.

[0104] like Figure 9 and Figure 10As shown, the connecting shaft 620 connects the base 410 and the support member 610, allowing the support member 610 to reciprocate linearly relative to the base 410 along the second direction Y. In this embodiment, the base 410 has a first shaft hole 411 extending along the second direction Y, and a first abutment surface 412 is provided at one end of the first shaft hole 411 away from the support member 610. The support member 610 has a second shaft hole 611 extending along the second direction Y, and a second abutment surface 612 and a third abutment surface 613 are provided in the second shaft hole 611. The second abutment surface 612 and the third abutment surface 613 are spaced apart, and the third abutment surface 613 is farther away from the base 410 than the second abutment surface 612. One end of the connecting shaft 620 is fixed in the first shaft hole 411, and the other end extends into the second shaft hole 611; the other end of the connecting shaft 620 is used to abut against the third abutment surface 613 to restrict the support member 610 from moving along the second direction Y toward the base 410.

[0105] An elastic element 640 is disposed around the connecting shaft 620 and between the base 410 and the support member 610. One end of the elastic element 640 abuts against the first abutment surface 412, and the other end abuts against the second abutment surface 612. For example, the elastic element 640 is a spring.

[0106] The support member 610 is configured to compress the elastic element and move toward the base 410 when subjected to an external force toward the base 410; after the external force is removed, under the restoring force of the elastic element 640, the support member 610 can perform an extension movement to extend below the liquid bag clamping part 301, thereby supporting the liquid bag 30.

[0107] like Figure 10 As shown, when the support member 610 is not subjected to an external force toward the base 410, the connecting shaft 620 and the third abutment surface 613 are spaced apart. When the support member 610 is subjected to an external force toward the base 410, the support member 610 moves toward the base 410, thereby the third abutment surface 613 abuts against the connecting shaft 620, restricting the support member 610 to move along the second direction Y toward the base 410.

[0108] For example, refer to Figure 7 , Figure 9 and Figure 10When the second gripper 300 moves to the gripping position of the liquid bag 30, if there is an obstacle (such as a machine platform) below the liquid bag 30, the support member 610 will be pressed back when it contacts the obstacle (the elastic element contracts under force) until the connecting shaft 620 abuts against the third contact surface 613, so as to restrict the support member 610 from continuing to move along the second direction Y and toward the base 410. The liquid bag gripping part 301 of the second gripper 300 can complete the gripping action without obstruction. After the second gripper 300 clamps the liquid bag 30 and moves out of the gripping position, the support member 610 automatically pops out under the restoring force of the elastic element, lifting the liquid bag 30 from below, forming a double stabilizing structure. That is, the upper part is fixed by the liquid bag gripping part 301 of the second gripper 300 to fix the connector 31 of the liquid bag 30, and the lower part is supported by the support member 610, thereby preventing the liquid bag 30 from shaking or slipping due to single-point suspension during the transfer process.

[0109] Furthermore, such as Figure 7 and Figure 9 As shown, the support member 610 includes a support platform 614 and a slot 615 penetrating the support platform 614. The slot 615 is used to hold the liquid outlet tube 33 of the liquid bag 30, and the support platform 614 is used to support the flange 32 located above the liquid outlet tube 33.

[0110] like Figure 7 As shown, the liquid bag 30 includes a connector 31, a flange 32, and a liquid outlet pipe 33 connected sequentially from top to bottom. The connector 31 is held by the liquid bag clamping part 301, the flange 32 is located on the support platform 614 and abuts against the support platform 614, thereby providing support for the liquid bag 30, and the liquid outlet pipe 33 is held by the slot 615. That is, the support platform 614 and the slot 615 work together to fix the liquid bag 30, forming a double anti-detachment structure. The slot 615 clamps the liquid outlet pipe 33 to prevent the liquid bag 30 from displacing in the first direction X, and the support platform 614 supports the flange 32 of the liquid bag 30 to prevent the liquid bag 30 from drooping in the height direction Z. The two, together with the second gripper 300, further improve the stability of the liquid bag 30 clamping.

[0111] like Figure 2 and Figure 9 As shown, the gripper device 100 also includes a guide shaft 630, which is arranged parallel to the connecting shaft 620; one end of the guide shaft 630 is slidably connected to the base 410 in the second direction Y, and the other end is fixedly connected to the support member 610.

[0112] One end of the guide shaft 630 is slidably connected to the base 410, and the other end is fixed to the support member 610. It provides auxiliary linear guidance during the retraction or extension of the support member 610, ensuring that the support member 610 moves smoothly only in the second direction Y, eliminating the risk of lateral offset or jamming, and at the same time sharing the radial load borne by the connecting shaft 620, extending the service life of the elastic element.

[0113] In this embodiment, two guide shafts 630 are provided, which are respectively located on both sides of the connecting shaft 620. Those skilled in the art will understand that in other embodiments, other numbers of guide shafts 630 can also be provided to achieve the guiding function, such as four, that is, two guide shafts 630 are provided on each side of the connecting shaft 620.

[0114] refer to Figure 2 , Figures 9 to 11 In addition to the first gripper 200 and the second gripper 300, the gripper device 100 of this embodiment also includes a pipette holding assembly 700 for holding the pipette 40. Specifically, the pipette holding assembly 700 includes a rotating shaft 710 and a first holding assembly 720 and a second holding assembly 730 located at both ends of the rotating shaft 710. The rotating shaft 710 extends along a first direction X; the rotating shaft 710 passes through a through hole 413 on the base 410 and is fixedly connected thereto.

[0115] like Figure 11 As shown, the pipette 40 includes a tubing 41 and a first needle 42 and a second needle 43 located at both ends of the tubing 41. The first needle 42 and the tubing 41 are connected by a first connector 44, and the second needle 43 and the tubing 41 are connected by a second connector 45. The first clamping assembly 720 is used to clamp the first connector 44, and the second clamping assembly 730 is used to clamp the second connector 45.

[0116] In this embodiment, the first clamping component 720 and the second clamping component 730 have the same structure. This embodiment will only describe the structure of the first clamping component 720.

[0117] like Figure 9 , Figure 11 and Figure 12 As shown, the first clamping assembly 720 includes a first clamping arm 721, a second clamping arm 722, and a locking member 723. The first clamping arm 721 and the second clamping arm 722 are rotatably connected via a rotating shaft 710. The first clamping arm 721 includes a first clamping end 721a and a first operating end 721b, and the second clamping arm 722 includes a second clamping end 722a and a second operating end 722b. The first clamping end 721a and the second clamping end 722a are arranged opposite to each other, as are the first operating end 721b and the second operating end 722b. The first clamping end 721a and the second clamping end 722a are used to clamp the first connector 44 of the pipette 40. It can be understood that the first clamping end and the second clamping end of the second clamping assembly 730 are used to clamp the second connector 45 of the pipette 40.

[0118] refer to Figure 9 , Figure 11 and Figure 12 and combined Figure 2As shown, the locking member 723 of the first clamping assembly 720 is fixedly connected to the third claw body 310. The driving unit 400 is used to drive the locking member 723 to move along the first direction X, so that the locking member 723 switches between a first position and a second position. That is, the driving unit 400 directly drives the first claw body 210 to move horizontally along the first direction X, and the third claw body 310, which is fixedly connected to the first claw body 210, also moves synchronously with the first claw body 210. Furthermore, the locking member 723 of the first clamping assembly 720, which is fixedly connected to the third claw body 310, also moves synchronously along the first direction X.

[0119] First position ( Figure 9 As shown), the locking member 723 is inserted between the first operating end 721b and the second operating end 722b. The first operating end 721b and the second operating end 722b are far apart from each other, while the first clamping end 721a and the second clamping end 722a are close to each other, thus performing a clamping action.

[0120] In the second position ( Figure 12 As shown), the locking member 723 is located outside the first operating end 721b and the second operating end 722b. The first operating end 721b and the second operating end 722b are close to each other, while the first clamping end 721a and the second clamping end 722a are far apart from each other, thus releasing the clamping state and jointly releasing the pipette 40.

[0121] Understandably, when the locking member 723 is inserted between the first operating end 721b and the second operating end 722b under the drive of the drive unit 400, it restricts the opposing movement of the first operating end 721b and the second operating end 722b and causes them to move away from each other. This results in the first clamping end 721a and the second clamping end 722a tending to move towards each other, thus achieving the clamping action. Conversely, when the locking member 723 is withdrawn from between the first operating end 721b and the second operating end 722b under the drive of the drive unit 400, the first operating end 721b and the second operating end 722b will move towards each other, and the first clamping end 721a and the second clamping end 722a will move away from each other, thus releasing the clamping state and allowing the first connector 44 of the pipette 40, which was originally clamped, to be released.

[0122] like Figure 2 and Figure 9 As shown, unlike the first clamping assembly 720, the locking member 733 of the second clamping assembly 730 is fixedly connected to the fourth claw body 320. That is, the switching between the clamping and open states of the second clamping assembly 730 is achieved by the fourth claw body 320 driving its corresponding locking member 733 to move along the first direction X. For details, please refer to the above discussion of the first clamping assembly 720; this application will not repeat them here.

[0123] Furthermore, such as Figure 12 As shown, in this embodiment, based on the rotating shaft 710 rotatably connecting the first clamping arm 721 and the second clamping arm 722, a pin 740 is provided parallel below the rotating shaft 710, rotatably connecting the first clamping arm 721 and the second clamping arm 722. Thus, on the one hand, the pin 740 acts as a second fulcrum, sharing the radial load with the rotating shaft 710, reducing uniaxial force and preventing the first clamping arm 721 and the second clamping arm 722 from shifting or jamming. On the other hand, the pin 740 and the rotating shaft 710 form a two-point constraint, restricting the degrees of freedom of the first clamping arm 721 and the second clamping arm 722, ensuring a more stable opening and closing motion trajectory.

[0124] For example, both the first clamping arm 721 and the second clamping arm 722 are provided with a fourth arc-shaped groove 750, and a pipette clamping portion 751 is defined between the two fourth arc-shaped grooves 750. A clamping space matching the outer contour of the first connector 44 and the second connector 45 of the pipette 40 is formed between the two fourth arc-shaped grooves 750, so as to realize adaptive envelope clamping.

[0125] It should be noted that, as Figure 4 , Figure 7 and Figure 11 As shown, in this embodiment, the first gripper 200, the second gripper 300, and the pipette clamping assembly 700 of the gripper device 100 can be selectively used as needed. That is, when it is necessary to clamp the vial 10, the first gripper 200 is driven by the drive unit 400 to open and close to clamp the vial 10. During this process, the locking members (723, 733) of the second gripper 300 and the pipette clamping assembly 700 move synchronously with the movement of the first gripper 200, but the liquid bag clamping part 301 and the pipette clamping part 751 are both in an unloaded state. Similarly, when it is necessary to hold the liquid bag 30, the drive unit 400 drives the first gripper 200 and the second gripper 300 to move synchronously, so that the second gripper 300 opens and closes to hold the liquid bag 30. During this process, the locking members (723, 733) of the pipette clamping assembly 700 move synchronously with the movement of the second gripper 300, but the medicine bottle clamping part 230 and the pipette clamping part 751 are both in an unloaded state. When it is necessary to clamp the pipette 40, the drive unit 400 drives the first gripper 200, the second gripper 300 and the locking members (723, 733) of the pipette clamping assembly 700 to move synchronously, so that the locking members enter between the first operating end 721b and the second operating end 722b. The first clamping end 721a and the second clamping end 722a perform the clamping action of the pipette 40. During this process, the vial clamping part 230 and the liquid bag clamping part 301 are both in an unloaded state.

[0126] Although the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the present invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the present invention to these descriptions. Those skilled in the art can make various changes in form and detail, including some simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A gripper device, characterized in that include: The first gripper includes a first gripper body and a second gripper body disposed opposite to each other along a first direction. The first gripper body and the second gripper body define a medicine bottle gripping portion in the first direction. The medicine bottle gripping portion is used to grip a medicine bottle. The second gripper includes a third gripper body and a fourth gripper body disposed opposite to each other along a first direction. The third gripper body and the fourth gripper body define a liquid bag gripping portion in the first direction. The liquid bag gripping portion is used to grip a liquid bag. The third claw body portion is fixedly connected to the first claw body portion, and the fourth claw body portion is fixedly connected to the second claw body portion; The driving unit is used to drive the first claw body and the second claw body to move towards each other or away from each other along a first direction, so as to synchronously drive the third claw body and the fourth claw body to move towards each other or away from each other along the first direction; or the driving unit is used to drive the third claw body and the fourth claw body to move towards each other or away from each other along the first direction, so as to synchronously drive the first claw body and the second claw body to move towards each other or away from each other along the first direction.

2. The gripper device as described in claim 1, characterized in that, The vial clamping part is located on one side of the drive part in the second direction; the vial clamping part includes a vial clamping part, and the first claw part and the second claw part are provided with a first arc-shaped groove opposite to each other, and the vial clamping part is defined between the first arc-shaped groove on the first claw part and the first arc-shaped groove on the second claw part. The second direction is perpendicular to the first direction.

3. The gripper device as described in claim 2, characterized in that, The medicine bottle clamping part also includes an ampoule clamping part, which is spaced apart from the vial clamping part along a second direction; the first claw part and the second claw part are provided with opposing second arc-shaped grooves, and the ampoule clamping part is defined between the second arc-shaped groove on the first claw part and the second arc-shaped groove on the second claw part.

4. The gripper device as described in claim 3, characterized in that, The vial clamping part is used to clamp the neck of the vial, and the ampoule clamping part is used to clamp the body of the ampoule; the thickness of the first claw part and the second claw part at the vial clamping part is less than the thickness at the ampoule clamping part.

5. The gripper device as described in claim 2, characterized in that, The liquid bag clamping part is located on the other side of the second direction of the driving part; the third claw body and the fourth claw body are provided with a third arc-shaped groove opposite to each other, and the liquid bag clamping part is defined between the third arc-shaped groove on the third claw body and the third arc-shaped groove on the fourth claw body.

6. The gripper device as described in claim 5, characterized in that, The driving unit includes a driving end and a non-driving end disposed opposite each other along a second direction. The first claw body and the second claw body are disposed on the driving end and connected to the driving unit. The third claw body and the fourth claw body are respectively located on both sides of the driving unit in a first direction, and one end of each claw body extends to the driving end of the driving unit to be fixedly connected to the first claw body and the second claw body, respectively. The other end of the third claw body and the fourth claw body extends to the non-driving end of the driving unit to define the liquid bag clamping part.

7. The gripper device as described in claim 6, characterized in that, It also includes a guide component, the guide component comprising: The first fixing seat is fixed to the third claw body portion; The second fixing seat is fixed to the fourth claw body part; A guide seat is fixed to the non-driving end of the driving part, and the guide seat is located between the first fixed seat and the second fixed seat; the guide seat includes a first guide part and a second guide part that are spaced apart along a first direction; The first guide rod is fixedly connected to the first fixed base; the first guide rod is movably connected to the first guide portion in a first direction. The second guide rod is fixedly connected to the second fixed base; the second guide rod is movably connected to the second guide portion in a manner that allows it to move along a first direction.

8. The gripper device as described in claim 6, characterized in that, Also includes: The base is fixed to the bottom of the drive unit; A support member is used to support the liquid bag along the height direction; the support member and the base are spaced apart along a second direction. A connecting shaft connects the base and the support member, and allows the support member to reciprocate linearly relative to the base in a second direction; An elastic element is disposed between the base and the support member; The support member is configured to compress the elastic element and move toward the base when subjected to an external force toward the base; After the external force is removed, under the restoring force of the elastic element, the support can extend below the liquid bag clamping part to support the liquid bag in the height direction.

9. The gripper device as described in claim 8, characterized in that, The base is provided with a first shaft hole extending in a second direction, and a first abutting surface is provided at one end of the first shaft hole away from the support member. The support member is provided with a second shaft hole extending in a second direction. A second abutment surface and a third abutment surface are provided in the second shaft hole. The second abutment surface and the third abutment surface are spaced apart, and the third abutment surface is farther away from the base than the second abutment surface. One end of the elastic element abuts against the first abutting surface, and the other end abuts against the second abutting surface; One end of the connecting shaft is fixed in the first shaft hole, and the other end extends into the second shaft hole; the other end of the connecting shaft is used to abut against the third abutment surface to restrict the movement of the support member along the second direction and toward the base.

10. The gripper device as claimed in claim 9, characterized in that, Also includes: A guide shaft is arranged parallel to the connecting shaft; one end of the guide shaft is slidably connected to the base in a second direction, and the other end is fixedly connected to the support member.

11. The gripper device as claimed in claim 10, characterized in that, The support includes a support platform and a slot extending through the support platform. The slot is used to hold the liquid outlet tube of the liquid bag, and the support platform is used to support the flange located above the liquid outlet tube.

12. The gripper device as claimed in claim 8, characterized in that, It also includes a pipette clamping assembly, the pipette clamping assembly comprising: A rotating shaft extends along a first direction; the rotating shaft is fixedly connected to the base; A first clamping assembly and a second clamping assembly are respectively disposed at both ends of the rotating shaft in a first direction; both the first clamping assembly and the second clamping assembly include: A first clamping arm and a second clamping arm are rotatably connected by the rotating shaft. The first clamping arm includes a first clamping end and a first operating end, and the second clamping arm includes a second clamping end and a second operating end. The first clamping end and the second clamping end are arranged opposite to each other, and the first operating end and the second operating end are arranged opposite to each other. The locking member of the first clamping assembly is fixedly connected to the third claw body portion, and the locking member of the second clamping assembly is fixedly connected to the fourth claw body portion; the driving unit is used to drive the locking member to move along a first direction so that the locking member switches between a first position and a second position. In the first position, the locking member is inserted between the first operating end and the second operating end, with the first operating end and the second operating end being far apart from each other, and the first clamping end and the second clamping end being close to each other, so as to jointly clamp the pipette; In the second position, the locking member is located outside the first operating end and the second operating end, with the first operating end and the second operating end close to each other and the first clamping end and the second clamping end far from each other, so as to release the pipette together.

13. The gripper device as claimed in claim 12, characterized in that, Also includes: A pin is arranged parallel to the rotating shaft, and the pin rotatably connects the first clamping arm and the second clamping arm.

14. The gripper device as claimed in claim 13, characterized in that, The first clamping arm and the second clamping arm are provided with a fourth arc-shaped groove opposite to each other, and the fourth arc-shaped groove on the first clamping arm and the fourth arc-shaped groove on the second clamping arm define a pipette clamping part.

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