Clamping mechanism, carrying mechanical arm and liquid adding mechanism

Abstract

The application discloses a clamping mechanism, a carrying mechanical arm and a liquid adding mechanism. The clamping mechanism comprises a clamping main body and a first clamping assembly arranged on the clamping main body. The first clamping assembly comprises a first driving assembly arranged on the clamping main body and comprising two first output ends which move synchronously close to and away from each other. The first clamping assembly comprises a first clamping body and a second clamping body which are connected with the two first output ends respectively. The first clamping body and the second clamping body comprise a connecting portion and a clamping portion for clamping a to-be-clamped object. The clamping portion is floatingly connected to the connecting portion. The clamping mechanism allows the clamping portion to uniformly distribute the clamping force after contacting the to-be-clamped object, avoids stress concentration caused by hard contact, and effectively protects the surface quality of the to-be-clamped object. The floating design also enables the clamping portion to automatically and fully adhere to the surface of the to-be-clamped object, so that the to-be-clamped object can be stably clamped even when it is worn out for a long time, and the device stability is improved.

Description

Technical Field

[0001] This application relates to the field of liquid dispensing device technology, and more specifically, to a clamping mechanism, a handling robotic arm, and a liquid dispensing mechanism. Background Technology

[0002] Automated equipment typically uses robotic arms to transfer materials. The end effector of the robotic arm is equipped with a gripping mechanism to hold the material and facilitate transfer between workstations. Currently, the gripping mechanisms used in automated equipment usually consist of two grippers with rubber coating or knurling. The rubber coating or knurling on the grippers increases friction with the material, improving gripping stability.

[0003] However, after prolonged use, the rubber-coated grippers are prone to wear on the rubber coating, leading to unstable gripping and requiring periodic replacement. When gripping materials such as plastic carriers, the knurled grippers can easily damage the plastic carriers, and the knurled surface is also prone to wear with increasing usage time.

[0004] Therefore, how to improve the clamping stability of the clamping mechanism is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this application is to provide a clamping mechanism to improve the clamping stability of the clamping mechanism;

[0006] Another objective of this application is to provide a handling robotic arm and a liquid dispensing mechanism having the above-mentioned clamping mechanism.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] A first aspect of this application provides a clamping mechanism, including a clamping body and a first clamping component disposed on the clamping body, the first clamping component comprising:

[0009] A first drive component is disposed on the clamping body and includes two first output ends that can move closer and further apart synchronously;

[0010] The first clamping assembly includes a first clamping body and a second clamping body respectively connected to the two first output terminals. Both the first clamping body and the second clamping body include a connecting portion and a clamping portion for clamping the object to be clamped. The clamping portion is floatingly connected to the connecting portion through a floating connecting assembly.

[0011] In one possible implementation, the floating connection assembly includes a floating hinge, and the connecting portion and the clamping portion are rotatably connected via the floating hinge, such that the clamping portion can swing along the floating hinge.

[0012] In one possible implementation, the floating connection assembly further includes a limiting member, one of the connecting portion and the clamping portion having a limiting hole, the limiting member being connected to the other of the connecting portion and the clamping portion and inserted into the limiting hole, and having a clearance fit with the limiting hole, the limiting hole being used to limit the movement boundary of the clamping portion.

[0013] In one possible implementation, the limiting member is a cylindrical pin, the limiting hole is a circular hole, and the diameter of the limiting hole is larger than the diameter of the limiting member.

[0014] In one possible implementation, the connecting part is provided with a hinge hole, the floating hinge shaft is connected to the clamping part, and the floating hinge shaft cooperates with the hinge hole, with one end away from the clamping part extending out of the hinge hole and limited by a snap ring.

[0015] In one possible implementation, the distance between the clamping sides of the two clamping portions is less than or equal to the distance between the clamping sides of the two connecting portions; and / or, the clamping sides of the clamping portions are provided with knurled surfaces or rubber-coated portions;

[0016] The clamping side is the side where the first clamping body and the second clamping body face each other.

[0017] In one possible implementation, both the first clamping body and the second clamping body are connected to the two first output terminals via a slider assembly;

[0018] The slider assembly includes a slide rail and a slider that slides along the slide rail, wherein the slider of one slider assembly is connected to the first clamping body and one of the first output ends respectively, and the slider of another slider assembly is connected to the second clamping body and the other first output end respectively.

[0019] In one possible implementation, the connecting part is provided with a positioning pin, which is used to engage with a positioning hole on the object to be clamped.

[0020] In one possible implementation, the clamping mechanism further includes a second clamping component disposed on the clamping body, the second clamping component being used to clamp the bottle on the object to be clamped;

[0021] The clamping body is configured to be driven to rotate in order to switch the correspondence between the first clamping component and the second clamping component and the object to be clamped.

[0022] In one possible implementation, the second clamping component includes:

[0023] The second drive component is disposed on the clamping body and includes two second output ends that move synchronously closer and further apart;

[0024] The second clamping assembly includes a third clamping body and a fourth clamping body respectively connected to the two second output terminals.

[0025] In one possible implementation, the third clamping body and the fourth clamping body have V-shaped clamping portions for clamping the object to be clamped.

[0026] The clamping mechanism provided in this application allows the first and second clamping bodies to move closer together to clamp an object, driven by a first driving component, and also to move further apart to release the object. Both the first and second clamping bodies include a connecting portion and a clamping portion, with the clamping portion floatingly connected to the connecting portion. When the first and second clamping bodies move closer together to clamp the object, the clamping portion acts on the object. Because the clamping portion is floating, it avoids the problems of misalignment, inability to clamp, or even rigid collision with the object, which are common with rigid grippers. The floating clamping portion allows for slight translation or rotation, enabling it to smoothly cover the object. Furthermore, the floating clamping portion allows it to adjust its posture after contacting the object, ensuring a uniform distribution of clamping force, avoiding stress concentration from hard contact, effectively protecting the surface quality of the object, reducing wear and impact on the clamping portion itself, and improving the service life of the clamping mechanism. The floating design also allows the clamping part to automatically and fully fit the surface of the object to be clamped, achieving surface contact. This results in greater and more stable friction when the same clamping force is applied, preventing the object from sliding or falling off during movement. This ensures that the object can be stably clamped even when it is worn over a long period of time, thus improving the stability of the equipment.

[0027] A second aspect of this application provides a handling robotic arm, including a multi-axis robotic arm body and a clamping mechanism disposed at the end of the multi-axis robotic arm body, the clamping mechanism being the clamping mechanism described in any of the preceding claims.

[0028] The handling robotic arm provided in this application has the aforementioned clamping mechanism, and therefore possesses all the technical effects of the aforementioned clamping mechanism, which will not be elaborated upon here.

[0029] A third aspect of this application provides a liquid dispensing mechanism, including a support disposed at the raw material position and a solvent container disposed at the solvent position, wherein a storage bottle for storing the liquid to be added is disposed on the support.

[0030] The liquid dispensing mechanism also includes:

[0031] The handling robotic arm, as described above, is used to move the carrier from the raw material position to the liquid filling position;

[0032] The liquid dispensing assembly includes a pipette for drawing solvent from a solvent container and injecting it into a storage bottle at the dispensing position.

[0033] The liquid dispensing mechanism handling robot arm provided in this application has all the technical effects of the aforementioned handling robot arm, which will not be repeated here. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the clamping mechanism disclosed in the embodiments of this application;

[0036] Figure 2 This is a partial structural schematic diagram of the first clamping component disclosed in an embodiment of this application;

[0037] Figure 3 This is a partial enlarged view of the mating area between the connecting portion and the clamping portion disclosed in the embodiments of this application;

[0038] Figure 4 This is a partial structural diagram of the second clamping component disclosed in an embodiment of this application.

[0039] The meanings of the various reference numerals in the figure are as follows:

[0040] 100 - Clamping body;

[0041] 200-First clamping assembly; 210-First driving assembly; 220-Slider assembly; 230-First clamping body assembly; 231-First clamping body; 232-Second clamping body; 2301-Connecting part; 23011-Limiting hole; 2302-Clamping part; 23021-Knurled surface; 2303-Positioning pin; 2304-Floating hinge shaft; 2305-Snap ring;

[0042] 300 - Second clamping assembly; 310 - Second drive assembly; 320 - Second clamping body assembly; 321 - Third clamping body; 322 - Fourth clamping body; 3201 - V-shaped clamping part. Detailed Implementation

[0043] This application discloses a clamping mechanism to improve the clamping stability;

[0044] This application also discloses a handling robotic arm and a liquid dispensing mechanism having the above-mentioned clamping mechanism.

[0045] Hereinafter, embodiments will be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the application as described in the claims. Additionally, the complete composition represented in the embodiments below is not limited to what is necessary as the solution to the application described in the claims. It should be noted that, for ease of description, only the parts relevant to the application are shown in the drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0046] The extraction and separation of medicinal components mainly relies on manual processing, which is complex, tedious, and difficult to control in terms of dosage accuracy. Customized extraction equipment can replace manual labor, ensuring the consistency of experiments. Current automated extraction equipment can achieve automated extraction of trace amounts of medicinal materials; the specific process includes the entire process of extracting and separating medicinal components, including adding extractant, acid-base adjustment, heating and shaking, centrifugation and layering, filtration extraction, reconstitution and collection.

[0047] Automated extraction equipment typically utilizes robotic arms for material transfer. These arms are equipped with gripping mechanisms at their ends to hold the material and facilitate transfer between workstations. Currently, the gripping mechanisms in automated extraction equipment usually consist of two rubber-coated or knurled jaws. The rubber coating or knurling on the jaws increases friction with the material, improving gripping stability.

[0048] However, after prolonged use, the rubber-coated grippers are prone to wear on the rubber coating, leading to unstable gripping and requiring periodic replacement. When gripping materials such as plastic carriers, the knurled grippers can easily damage the plastic carriers, and the knurled surface is also prone to wear with increasing usage time.

[0049] Based on this, embodiments of this application disclose a clamping mechanism that can ensure clamping stability. For example... Figure 1 As shown, the clamping mechanism disclosed in this application includes a clamping body 100 and a first clamping component 200 disposed on the clamping body 100.

[0050] The first clamping assembly 200 includes a first driving assembly 210 and a first clamping body assembly 230. The first driving assembly 210 is disposed on the clamping body 100 and includes two first output ends that move synchronously closer and further apart.

[0051] The first clamping assembly 230 includes a first clamping body 231 and a second clamping body 232, which are respectively connected to two first output terminals. The first clamping body 231 is connected to one of the first output terminals, and the second clamping body 232 is connected to the other first output terminal. This allows the first clamping body 231 and the second clamping body 232 to move closer together when the two first output terminals of the first driving assembly 210 are close to each other, and the first clamping body 231 and the second clamping body 232 to move away from each other when the two first output terminals of the first driving assembly 210 are far apart, thereby completing the clamping and releasing actions of the first clamping body 231 and the second clamping body 232.

[0052] like Figure 2 and Figure 3 As shown, both the first clamping body 231 and the second clamping body 232 include a connecting part 2301 and a clamping part 2302. The structures of the first clamping body 231 and the second clamping body 232 can be designed to be the same and symmetrical along the mid-plane between them.

[0053] The clamping part 2302 is floatingly connected to the connecting part 2301 via a floating connection assembly. That is, the clamping part 2302 is not locked to the connecting part 2301, and it can move relative to the connecting part 2301. The movement is not limited to rotation and / or movement, as long as it can float relative to the connecting part 2301.

[0054] The clamping mechanism disclosed in this application embodiment allows the first clamping body 231 and the second clamping body 232 to move closer together to clamp the object to be clamped, or to move further apart to release the object to be clamped, driven by the first driving component 210. Both the first clamping body 231 and the second clamping body 232 include a connecting portion 2301 and a clamping portion 2302, with the clamping portion 2302 floatingly connected to the connecting portion 2301. When the first clamping body 231 and the second clamping body 232 move closer together to clamp the object, the clamping portion 2302 acts on the object. Because the clamping portion 2302 is floating, it avoids problems such as misalignment, failure to clamp, or even rigid collision with the object, which are common with rigid grippers. The floating state of the clamping portion 2302 allows for slight translation or rotation, enabling it to smoothly cover the object to be clamped. Furthermore, the floating clamping part 2302 allows it to adjust its posture by floating after contacting the object to be clamped, ensuring a uniform distribution of clamping force. This avoids stress concentration caused by hard contact, effectively protecting the surface quality of the object and reducing wear and impact on the clamping part 2302 itself, thus extending the service life of the clamping mechanism. The floating design also allows the clamping part 2302 to automatically and fully conform to the surface of the object to be clamped, achieving surface contact. This results in greater and more stable friction under the same clamping force, preventing the object from sliding or falling off during movement. This ensures stable clamping even during long-term wear, improving equipment stability.

[0055] In one specific embodiment of this application, the floating connection assembly includes a floating hinge 2304. The connecting part 2301 and the clamping part 2302 are rotatably connected by the floating hinge 2304, so that the clamping part 2302 can swing along the floating hinge 2304, so that the clamping part 2302 is in a floating state swinging along the floating hinge 2304.

[0056] The floating connection assembly may also include a limiting member. One of the connecting part 2301 and the clamping part 2302 is provided with a limiting hole 23011. The limiting member is connected to the other of the connecting part 2301 and the clamping part 2302, and is inserted into the limiting hole 23011 and has a clearance fit with the limiting hole 23011. The limiting hole 23011 is used to limit the movement boundary of the clamping part 2302.

[0057] Since the connection between the connecting part 2301 and the clamping part 2302 is achieved solely by the floating hinge 2304, the clamping part 2302 has excessive swing freedom, which will affect the stable clamping of the object by the first clamping body 231 and the second clamping body 232. Therefore, this embodiment also includes a limiting member, which, through a clearance fit between the limiting member and the limiting hole 23011, allows the clamping part 2302 to float slightly within a limited range. Its swing angle is related to the size of the gap between the limiting member and the limiting hole 23011. A larger gap results in a larger swing amplitude, and a smaller gap results in a smaller swing amplitude. Those skilled in the art can design the aforementioned gap based on requirements to control the swing amplitude of the clamping part 2302.

[0058] The swing direction of the clamping part 2302 can be designed by those skilled in the art based on requirements, so as to... Figure 2 In the illustrated scheme, the axial direction of the floating hinge 2304 is perpendicular to the contact surface between the clamping part 2302 and the connecting part 2301. Of course, the floating hinge 2304 can also be set in other positions to swing the clamping part 2302 in other directions.

[0059] Furthermore, the limiting element can be a cylindrical pin, and the limiting hole 23011 can be a circular hole, with the diameter of the limiting hole 23011 being larger than the diameter of the limiting element. The diameter difference between the limiting hole 23011 and the limiting element can be controlled to control the swing angle of the clamping part 2302. To ensure the reliability of the limiting, there can be two limiting elements, respectively located on both sides of the floating hinge shaft 2304. Correspondingly, there should also be two limiting holes 23011, each corresponding to a limiting element. The two limiting holes 23011 can be arranged symmetrically along the floating hinge shaft 2304. Cylindrical pins and circular holes are easier to machine and easier to ensure machining accuracy, thereby ensuring the swing angle accuracy of the clamping part 2302.

[0060] In one specific embodiment of this application, the connecting portion 2301 is provided with a hinge hole, and the floating hinge shaft 2304 is connected to the clamping portion 2302, and the floating hinge shaft 2304 cooperates with the hinge hole. It should be noted that a hinge hole can also be provided on the clamping portion 2302 to connect the floating hinge shaft 2304 to the connecting portion 2301.

[0061] In this embodiment, a hinge hole is located in the connecting part 2301, and a floating hinge shaft 2304 is located in the clamping part 2302. One end of the floating hinge shaft 2304, away from the clamping part 2302, extends out of the hinge hole and is limited by a retaining spring 2305. That is, the retaining spring 2305 prevents the floating hinge shaft 2304 from disengaging from the hinge hole, thus preventing the clamping part 2302 from disengaging from the connecting part 2301. A retaining groove can be provided at the end of the floating hinge shaft 2304 extending out of the hinge hole. The inner ring of the retaining spring 2305 is embedded in the retaining groove, thus fixing the retaining spring 2305 on the floating hinge shaft 2304. The outer ring diameter of the retaining spring 2305 is larger than the diameter of the hinge hole, thereby limiting the floating hinge shaft 2304 within the hinge hole. A notch is provided radially on the retaining spring 2305, which is engaged with the annular groove of the floating hinge shaft 2304, thus installing the retaining spring 2305 on the floating hinge shaft 2304.

[0062] In one specific embodiment of this application, the distance between the clamping sides of the two clamping portions 2302 is less than or equal to the distance between the clamping sides of the two connecting portions 2301, where the clamping sides are the sides of the first clamping body 231 and the second clamping body 232 facing each other. If the distance between the clamping sides of the two clamping portions 2302 is less than the distance between the clamping sides of the two connecting portions 2301, the two clamping portions 2302 will preferentially clamp onto the object to be clamped, thus maximizing the floating function of the clamping portions 2302. Of course, the distance between the clamping sides of the two clamping portions 2302 can also be designed to be equal to the distance between the clamping sides of the two connecting portions 2301, so that the two clamping portions 2302 and the two connecting portions 2301 are simultaneously clamped onto the object to be clamped, maintaining a larger contact area and increasing friction.

[0063] The clamping side of the clamping part 2302 is provided with a knurled surface 23021. The uneven knurled texture can grip the surface of the object to be clamped, especially when clamping smooth and hard objects (such as plastic carriers), it can effectively prevent slippage. In the presence of a small amount of liquid, the sharp protrusions of the knurling can provide more reliable gripping ability than a smooth surface.

[0064] The clamping side of the clamping part 2302 may also be provided with a rubber coating. The rubber coating involves wrapping a layer of elastic material (such as polyurethane, rubber, silicone, etc.) around the surface of the clamping side of the clamping part 2302. The function of the rubber coating is to increase friction and provide cushioning protection. The soft rubber coating material provides soft contact conditions, evenly distributing the clamping force and effectively preventing damage to the surface of the object to be clamped. The elastic material of the rubber coating can better conform to the microscopic contours of the surface of the object to be clamped, increasing the actual contact area, thereby generating very large static friction, resulting in very firm clamping, especially suitable for clamping objects whose surfaces are not perfectly flat and have slight deformation.

[0065] In one specific embodiment of this application, both the first clamping body 231 and the second clamping body 232 are connected to two first output ends via a slider assembly 220. The slider assembly 220 includes a slide rail and a slider that slides along the slide rail. The slider of one slider assembly 220 is connected to the first clamping body 231 and one of the first output ends, respectively, and the slider of the other slider assembly 220 is connected to the second clamping body 232 and the other first output end, respectively.

[0066] In this embodiment, the slider assembly 220 guides the movement of the first clamping body 231 and the second clamping body 232, thereby separating the driving force provided by the first driving assembly 210 from the guiding function provided by the slider assembly 220. The high-precision slider assembly 220 then bears the lateral force, ensuring precise and smooth movement of the first clamping body 231 and the second clamping body 232, and significantly improving the lifespan and reliability of the entire mechanism. The high-rigidity slider assembly 220 greatly enhances the rigidity of the entire first clamping assembly 200. This results in minimal deformation and extremely high positional accuracy for the first clamping body 231 and the second clamping body 232 when clamping the object, especially under external disturbances.

[0067] In one specific embodiment of this application, a positioning pin 2303 is provided on the connecting portion 2301, which is used to engage with a positioning hole on the object to be clamped. Each time the first clamping assembly 200 clamps the object, the object is guided to a uniquely determined and precise position and angle. This completely eliminates random errors caused by machining errors of the first clamping body 231 and the second clamping body 232 themselves, tolerances of the object to be clamped, or variations in clamping force. In addition to improving positioning accuracy, the positioning pin 2303 also prevents the object from falling, thus improving clamping stability.

[0068] During the handling process by the first clamping assembly 200, the object to be clamped may be affected by centrifugal force, inertial force, or cutting force. The locating pin 2303 can reliably resist these forces and torques, ensuring that the object to be clamped remains stable during handling, thus guaranteeing processing safety and quality.

[0069] The end of the positioning pin 2303 can be chamfered or tapered to guide the object when it comes into contact with it. Even if there is a slight deviation in the position of the object, the positioning pin 2303 can move the object during the closing process of the first clamping body 231 and the second clamping body 232, causing it to slide slightly and eventually smoothly enter the positioning hole, thus achieving automatic correction.

[0070] One locating pin 2303 may be provided on the connecting part 2301, or multiple locating pins 2303 may be provided at intervals, such as... Figure 1In the illustrated scheme, two positioning pins 2303 are provided on each connecting part 2301. This embodiment does not limit the specific number of positioning pins 2303 on the connecting part 2301. Those skilled in the art can design according to their needs.

[0071] In one specific embodiment of this application, the clamping mechanism may further include a second clamping component 300 disposed on the clamping body 100. The second clamping component 300 is used to clamp the bottle on the object to be clamped (the object to be clamped may be a carrier that carries several bottles).

[0072] The gripping body 100 is configured to be driven to rotate, thereby switching the correspondence between the first gripping assembly 200 and the second gripping assembly 300 and the object to be gripped. For example, the gripping body 100 can be driven to rotate by a handling robot (which can be a six-axis robot) to switch the correspondence between the first gripping assembly 200 and the second gripping assembly 300 and the object to be gripped. In practical applications, the first gripping assembly 200 is used to remove a tray from a rotating stack and place it into the workstation. Then, the handling robot rotates to switch to the second gripping assembly 300, sequentially placing the bottles on the tray into the fixture of the centrifuge bottle transfer assembly for subsequent processing.

[0073] The first clamping component 200 and the second clamping component 300 can be at a 90° angle. That is, after rotating 90° in the first direction, the clamping mechanism can be switched from the first clamping component 200 to the second clamping component 300 corresponding to the object to be clamped; after rotating 90° in the second direction, the clamping mechanism can be switched from the second clamping component 300 to the first clamping component 200 corresponding to the object to be clamped. The first rotation direction and the second rotation direction are opposite directions.

[0074] like Figure 1 and Figure 4 As shown, the second clamping assembly 300 includes a second drive assembly 310 and a second clamping body assembly 320. The second drive assembly 310 is disposed on the clamping body 100 and includes two second output ends that move synchronously closer and further apart.

[0075] The second clamping assembly 320 includes a third clamping body 321 and a fourth clamping body 322, which are respectively connected to the two second output terminals. The third clamping body 321 is connected to one of the second output terminals, and the fourth clamping body 322 is connected to the other second output terminal. This allows the third clamping body 321 and the fourth clamping body 322 to move closer together when the two second output terminals of the second driving assembly 310 are close together, and to move further apart when the two second output terminals of the second driving assembly 310 are far apart, thereby completing the clamping and releasing actions of the third clamping body 321 and the fourth clamping body 322.

[0076] Both the third clamping body 321 and the fourth clamping body 322 include a connecting part 2301 and a clamping part 2302. The structures of the third clamping body 321 and the fourth clamping body 322 can be designed to be the same and symmetrical along the mid-plane between them.

[0077] Furthermore, the third clamping body 321 and the fourth clamping body 322 have a V-shaped clamping portion 3201 for clamping the object to be clamped. That is, the portion of the third clamping body 321 and the fourth clamping body 322 used to clamp the object to be clamped has a V-shaped structure, which covers a wider range of sizes of objects to be clamped. When clamping the bottle mouth, it is compatible with both capped and capless bottles, which has the advantage of improving clamping compatibility.

[0078] This application also discloses a handling robot arm, which includes a multi-axis robot arm body and a clamping mechanism disposed at the end of the multi-axis robot arm body. Specifically, the clamping body 100 of the clamping mechanism can be fixed to the end of the multi-axis robot arm body. The clamping mechanism is the clamping mechanism disclosed in the above embodiments. The handling robot arm provided by this application, having the above-mentioned clamping mechanism, possesses all the technical effects of the above-mentioned clamping mechanism, which will not be repeated here.

[0079] This application also discloses a liquid addition mechanism, which includes a carrier disposed at the raw material position and a solvent container disposed at the solvent position, and a storage bottle for storing the liquid to be added is disposed on the carrier.

[0080] The dispensing mechanism also includes a handling robotic arm and a dispensing assembly. The handling robotic arm is the one disclosed in the above embodiment, used to move the carrier from the raw material position to the dispensing position. The dispensing assembly includes a pipette, used to aspirate solvent from the solvent container located at the solvent position and inject it into the storage bottle at the dispensing position. That is, the dispensing assembly first moves the pipette to the solvent position to aspirate solvent from the solvent container, and then moves the pipette to the dispensing position to inject the solvent into the storage bottle on the carrier.

[0081] The liquid dispensing mechanism handling robot arm provided in this application has all the technical effects of the aforementioned handling robot arm, which will not be repeated here.

[0082] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0083] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0084] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0085] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A clamping mechanism, characterized in that, The system includes a clamping body (100) and a first clamping assembly (200) disposed on the clamping body (100), the first clamping assembly (200) comprising: A first drive assembly (210) is disposed on the clamping body (100) and includes two first output ends that can move closer and further away synchronously. The first clamping assembly (230) includes a first clamping body (231) and a second clamping body (232) respectively connected to the two first output ends. The first clamping body (231) and the second clamping body (232) each include a connecting part (2301) and a clamping part (2302) for clamping the object to be clamped. The clamping part (2302) is floatingly connected to the connecting part (2301) through a floating connecting assembly.

2. The clamping mechanism as described in claim 1, characterized in that, The floating connection assembly includes a floating hinge (2304), and the connecting part (2301) and the clamping part (2302) are rotatably connected by the floating hinge (2304) so ​​that the clamping part (2302) can swing along the floating hinge (2304).

3. The clamping mechanism as described in claim 2, characterized in that, The floating connection assembly further includes a limiting member. One of the connecting part (2301) and the clamping part (2302) is provided with a limiting hole (23011). The limiting member is connected to the other of the connecting part (2301) and the clamping part (2302) and is clearance-fitted with the limiting hole (23011). The limiting hole (23011) is used to limit the movement boundary of the clamping part (2302).

4. The clamping mechanism as described in claim 3, characterized in that, The limiting component is a cylindrical pin, the limiting hole (23011) is a circular hole, and the diameter of the limiting hole (23011) is larger than the diameter of the limiting component.

5. The clamping mechanism as described in claim 2, characterized in that, The connecting part (2301) is provided with a hinge hole, the floating hinge shaft (2304) is connected to the clamping part (2302), and the floating hinge shaft (2304) cooperates with the hinge hole, and one end away from the clamping part (2302) extends out of the hinge hole and is limited by a snap ring (2305).

6. The clamping mechanism as described in claim 1, characterized in that, The distance between the clamping sides of the two clamping portions (2302) is less than or equal to the distance between the clamping sides of the two connecting portions (2301); and / or, the clamping sides of the clamping portions (2302) are provided with knurled surfaces (23021) or rubber-coated portions; The clamping side is the side where the first clamping body (231) and the second clamping body (232) face each other.

7. The clamping mechanism as described in claim 1, characterized in that, Both the first clamping body (231) and the second clamping body (232) are connected to the two first output ends via a slider assembly (220); The slider assembly (220) includes a slide rail and a slider that slides along the slide rail, wherein the slider of one slider assembly (220) is connected to the first clamping body (231) and one of the first output ends respectively, and the slider of another slider assembly (220) is connected to the second clamping body (232) and another of the first output ends respectively.

8. The clamping mechanism as described in claim 1, characterized in that, The connecting part (2301) is provided with a positioning pin (2303), which is used to cooperate with the positioning hole on the object to be clamped.

9. The clamping mechanism according to any one of claims 1-8, characterized in that, It also includes a second clamping assembly (300) disposed on the clamping body (100), the second clamping assembly (300) being used to clamp the bottle body on the object to be clamped; The clamping body (100) is configured to be driven to rotate in order to switch the correspondence between the first clamping assembly (200) and the second clamping assembly (300) and the object to be clamped.

10. The clamping mechanism as described in claim 9, characterized in that, The second clamping assembly (300) includes: The second drive assembly (310) is disposed on the clamping body (100) and includes two second output ends that move synchronously closer and further apart; The second clamping assembly (320) includes a third clamping body (321) and a fourth clamping body (322) respectively connected to the two second output terminals.

11. The clamping mechanism as described in claim 10, characterized in that, The third clamping body (321) and the fourth clamping body (322) have a V-shaped clamping part (3201) for clamping the object to be clamped.

12. A robotic arm for handling materials, characterized in that, The invention includes a multi-axis robotic arm body and a clamping mechanism disposed at the end of the multi-axis robotic arm body, wherein the clamping mechanism is the clamping mechanism as described in any one of claims 1-11.

13. A liquid dispensing mechanism, characterized in that, It includes a support tray located at the raw material position and a solvent container located at the solvent position, wherein a storage bottle for storing the liquid to be added is provided on the support tray; The liquid dispensing mechanism also includes: The handling robotic arm, as described in claim 12, is used to move a carrier from the raw material position to the liquid filling position; The liquid dispensing assembly includes a pipette for drawing solvent from a solvent container and injecting it into a storage bottle at the dispensing position.

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