CN213193458U - Blending device - Google Patents

Abstract

The embodiment of the utility model provides a mixing device, include: a displacement drive assembly including a displacement end configured to move in at least one direction; the gripper assembly comprises a gripper platform, a first driving mechanism and a gripper mechanism, wherein the gripper platform is fixedly arranged on the displacement end, the first driving mechanism and the gripper mechanism are arranged on the gripper platform, the first driving mechanism drives the gripper mechanism to rotate, and the gripper mechanism is switched between an opening state and a closing state. The embodiment of the utility model provides a reduced the location accuracy requirement between container and tongs mechanism to can effectively improve the whole efficiency of snatching the mixing process.

Description

Blending device

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a mixing device.

Background

As is well known, in some applications, there is a need to mix objects in a container, for example, different reagents, and samples in the container; and the blending device can better replace the manual work to realize the function of blending. In general, the blending device needs to grab the container and then blend in a rotating manner and the like, in the prior art, the position of a gripper used for grabbing the container in the blending device is usually fixed, and in the process of grabbing the container, the requirement on the positioning accuracy of the gripper and the container is high, so that the efficiency of the whole grabbing and blending process is low.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a mixing device to solve present mixing device and require than higher to the positioning accuracy of tongs and container, and then lead to the lower problem of whole efficiency of snatching the mixing process.

In order to solve the technical problem, the utility model discloses a realize like this:

in a first aspect, the embodiment of the utility model provides a mixing device, include:

a displacement drive assembly including a displacement end configured to move in at least one direction;

the gripper assembly comprises a gripper platform, a first driving mechanism and a gripper mechanism, wherein the gripper platform is fixedly arranged on the displacement end, the first driving mechanism and the gripper mechanism are arranged on the gripper platform, the first driving mechanism drives the gripper mechanism to rotate, and the gripper mechanism is switched between an opening state and a closing state.

The embodiment of the utility model provides a mixing device, including displacement drive assembly and tongs subassembly, wherein, displacement drive assembly has the displacement end that can move in at least one direction, and the tongs platform that tongs subassembly included is fixed to be set up in the displacement end, and first actuating mechanism and the tongs mechanism that tongs subassembly included are installed on tongs platform; the gripper mechanism can be switched between an opening state and a closing state so as to grasp and fix the container, and the first driving mechanism can drive the gripper mechanism to rotate so as to uniformly mix the objects in the container. The embodiment of the utility model provides an in, tongs mechanism can be along with tongs platform and displacement end motion to have certain motion degree of freedom, can snatch at the container of certain limit, reduced the location accuracy requirement between container and the tongs mechanism, simultaneously, tongs mechanism can directly be rotatory under drive of a actuating mechanism after snatching the container, realizes the mixing to the object in the container, effectively improves the whole efficiency of snatching the mixing process.

Drawings

Fig. 1 is a schematic perspective view of a blending device provided in an embodiment of the present invention;

fig. 2 is a schematic structural view of a blending device provided in an embodiment of the present invention in an open state;

fig. 3 is a schematic structural view of a blending device provided in an embodiment of the present invention in a folded state;

fig. 4 is a sectional view of an assembly structure of the first driving mechanism and the gripper mechanism according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a rotating block according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of the gripper according to an embodiment of the present invention.

The figures show that: the displacement driving assembly 10, the first mounting plate 111, the first motor 112, the first belt 113, the first driving wheel 114, the first driven wheel 115, the horizontal guide rail 116, the second mounting plate 121, the second motor 122, the second belt 123, the second driving wheel 124, the second driven wheel 125, the vertical guide rail 126, the gripper assembly 20, the gripper platform 210, the first driving mechanism 220, the fourth motor 221, the third driving wheel 222, the third driven wheel 223, the third belt 224, the second driving mechanism 230, the driving member 231, the third motor 232, the top plate 233, the second elastic member 234, the guide rod 235, the gripper mechanism 240, the first gripper 241, the second gripper 242, the first elastic member 243, the mounting shaft 244, the first force receiving member 245, the second force receiving member 246, the rotating block 247, the middle shaft 248, the first bearing 252, and the container 30.

Detailed Description

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. In the following description, specific details are provided, such as specific configurations and components, merely to facilitate a thorough understanding of embodiments of the invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs. The use of "first," "second," and similar terms in the description herein do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

As shown in fig. 1, the embodiment of the utility model provides a mixing device, include: a displacement drive assembly 10, the displacement drive assembly 10 comprising a displacement end configured to move in at least one direction; the gripper assembly 20, the gripper assembly 20 includes a gripper platform 210, a first driving mechanism 220 and a gripper mechanism 240, wherein the gripper platform 210 is fixedly disposed on the displacement end, the first driving mechanism 220 and the gripper mechanism 240 are disposed on the gripper platform 210, the first driving mechanism 220 drives the gripper mechanism 240 to rotate, and the gripper mechanism 240 is switched between an open state and a closed state.

It will be readily understood that the displacement drive assembly 10 has a displacement end which may have one or more degrees of freedom in one or more directions, and that the degree of freedom may be achieved by the drive and transmission structure in the displacement drive assembly; for example, if the displacement end needs to have a degree of freedom in the horizontal direction, a horizontal guide rail may be provided, the displacement end corresponding structure is disposed on the horizontal guide rail, and a linear motor, a lead screw, or a belt transmission structure is configured to make the displacement end move in the horizontal direction; for another example, if the displacement end has a degree of freedom in the circumferential direction, the displacement end corresponding structure may be placed on the rotating structure; if the displacement end is required to have a plurality of degrees of freedom in multiple directions, the displacement end can be realized by superposition of a plurality of driving and transmission structures with different degrees of freedom. Of course, the above is merely an example of the implementation structure that the displacement end can have one or more degrees of freedom in one direction, and the specific configuration of the displacement drive assembly 10 can be set according to actual requirements.

The gripper assembly 20 is fixedly connected to the displacement end, so that the gripper assembly 20 also has a degree of freedom corresponding to the displacement end. In this embodiment, the gripper assembly 20 specifically includes a gripper platform 210, a first driving mechanism 220, and a gripper mechanism 240, and the gripper platform is fixedly connected to the displacement end, and mainly plays a role in supporting the first driving mechanism 220 and the gripper mechanism 240, and the gripper mechanism 240 can have a degree of freedom corresponding to the displacement end, so that the gripper mechanism 240 can grip the containers 30 within a certain range.

The specific structure of the gripper mechanism 240 is not specifically limited here, and may be switched between an open state and a closed state; wherein the gripper mechanism 240 is positionable with the container 30 in an open position to facilitate further gripping of the container 30 and is securable with the container 30 in a closed position. When the gripper mechanism 240 grips the container 30, the gripper mechanism 240 is driven to rotate by the first driving mechanism 220, so that the objects in the container 30 can be uniformly mixed; as for the first driving mechanism 220, it may include a rotating motor or a structure capable of transmitting a rotating motion, such as a gear pair, a belt transmission structure, etc., and it is sufficient that the gripper mechanism 240 is driven to rotate, and this is not limited specifically here.

The embodiment of the utility model provides a mixing device, including displacement drive assembly 10 and tongs subassembly 20, wherein, displacement drive assembly 10 has the displacement end that can move in at least one direction, and tongs platform 210 that tongs subassembly 20 includes is fixed to be set up in the displacement end, and first actuating mechanism 220 that tongs subassembly 20 includes and tongs mechanism 240 are installed on tongs platform 210; the gripper mechanism 240 can be switched between an open state and a closed state to grip and fix the container 30, and the first driving mechanism 220 can drive the gripper mechanism 240 to rotate, so that the objects in the container 30 can be uniformly mixed. The embodiment of the utility model provides an in, tongs mechanism 240 can be along with tongs platform 210 and displacement end motion to have certain motion degree of freedom, can snatch at container 30 of certain extent, reduced the location accuracy requirement between container 30 and tongs mechanism 240, and simultaneously, tongs mechanism 240 is in the back of snatching container 30, can directly rotate under the drive of a actuating mechanism 220, realize the mixing to the object in the container 30, effectively improve the whole efficiency of snatching the mixing process.

Optionally, the displacement driving assembly 10 specifically includes a first mounting plate 111, a first motor 112, a first displacement member, a second mounting plate 121, a second motor 122, and a second displacement member;

the first motor 112 is disposed on the first mounting plate 111, the first motor 112 drives the first displacement member to move in a first direction, the second mounting plate 121 is disposed on the first displacement member, the second motor 122 is disposed on the second mounting plate 121, the second motor 122 drives the second displacement member to move in a second direction, the displacement end is disposed on the second displacement member, and the first direction is different from the second direction.

In this embodiment, the displacement end has at least two degrees of freedom in the first direction and the second direction. Referring to fig. 1, in combination with a specific application scenario, the first direction may be a horizontal direction, and the second direction may be a vertical direction, so that the displacement end may move within a certain range of a vertical plane, and the container 30 within the range may be flexibly grabbed, lifted, lowered, and the like. Of course, in other application scenarios, the first direction may be a vertical direction and the second direction may be a horizontal direction; alternatively, the first direction and the second direction may be two directions perpendicular on a horizontal plane; alternatively, the first direction and the second direction are not perpendicular; alternatively, the first direction is a circumferential direction, the second direction is a radial direction, and the like, and the setting can be performed according to actual needs.

The following mainly uses the first direction to explain for the horizontal direction, the second direction is right for vertical direction the embodiment of the utility model provides a mixing device.

The first displacement member and the second displacement member may be at least one of a screw nut, a belt, a chain, a slider, or the like, and may be configured to be linearly displaceable.

The first mounting plate 111 and the second mounting plate 121 mainly play a role of fixing and supporting, in some possible embodiments, some guide structures are arranged on the first mounting plate 111 and the second mounting plate 121, for example, a horizontal guide rail 116 may be arranged on the first mounting plate 111, and a guide structure matched with the horizontal guide rail 116 may be arranged on the second mounting plate 121, so that on one hand, the motion stability of the second mounting plate 121 and components mounted thereon may be improved, on the other hand, the situation that the bearing of the first displacement member is too high is also avoided, and the operation reliability of the first displacement member is improved. Similarly, the second mounting plate 121 may also be provided with a vertical rail 126, and the specific mounting manner and effect are similar to those of the horizontal rail 116, which are not described herein again.

In one example, the first displacement member includes a first belt 113, the first belt 113 is wound around a first driving pulley 114 and a first driven pulley 115 provided on the first mounting plate 111, and the first motor 112 drives the first belt 113 to move in a first direction by the first driving pulley 114.

In this example, the first displacement member may be a first belt 113, the second mounting plate 121 may be connected to the first belt 113, and a vertical portion of the first belt 113 may be driven by the first motor 112 and the first driving wheel 114 to reciprocate in a vertical direction, so as to drive the second mounting plate 121 and the components mounted thereon to move in an up-and-down direction. By adopting the displacement structure of the first belt 113, the movement of the second mounting plate 121 and the like in a long horizontal stroke range can be realized.

In one example, the second displacement member includes a second belt 123, the second belt 123 is wound around a second driving pulley 124 and a second driven pulley 125 disposed on the second mounting plate 121, and the second motor 122 drives the second belt 123 to move in the second direction through the second driving pulley 124.

Similar to the first displacement member described above, in this example, the second displacement member may employ a second belt 123, and the gripper assembly 20 may be coupled to the second belt 123. The second belt 123 is driven by the second motor 122 and the second driving wheel 124 to move in the vertical direction, so as to drive the gripper assembly 20 to move in the vertical direction; in conjunction with the movement of the first belt 113, the gripper assembly 20 may be free to move within a certain range of a vertical plane. The present example can realize the movement of the gripper assembly 20 and the like in a long vertical stroke range by adopting the displacement structure of the second belt 123.

Optionally, the gripper assembly 20 further comprises a second driving mechanism 230, the second driving mechanism 230 being disposed on the gripper platform 210; the second driving mechanism 230 includes a driving member 231 configured to move in a third direction, and the driving member 231 moves in the third direction to drive the gripper mechanism 240 to switch between the open state and the closed state.

It is easy to understand that the gripper mechanism 240 may realize the driving of the switching of the working state through a mechanical transmission structure, for example, the gripper mechanism 240 may include a plurality of grippers, one end of each gripper may be used to grip the container 30, the other end of each gripper serves as a driving end, the middle portion of each gripper may be hinged to a fixed component, the other ends of the plurality of grippers may be connected to the same driving member 231, and the driving member 231 moves along a third direction to drive one end of each of the plurality of grippers to rotate, so as to realize the switching of the gripper mechanism 240 between the open state and the closed state. Of course, this is merely an example of a feasible manner of the gripper mechanism 240, and the specific configuration of the gripper mechanism 240 is not limited in this embodiment, and the gripper mechanism 240 can be driven to switch between the open state and the closed state by the movement of the driving member 231.

It should be noted that the third direction here may be the same as the first direction or the second direction, or may be different from the first direction and the second direction, and the third direction may be set according to actual needs. In a preferred embodiment, the third direction may be a vertical direction.

The driving member 231 is driven by the second driving mechanism 230 to move in the third direction, and the second driving mechanism 230 may be a linear motor, a lead screw, or other mechanism capable of generating displacement in the third direction, and is not limited in particular. The second driving mechanism 230 is mounted on the gripper platform 210, which also makes the entire gripper assembly 20 compact and reliable.

Optionally, the gripper mechanism 240 includes a first gripper 241 and a second gripper 242, and the first gripper 241 is hinged to the second gripper 242;

the first grip 241 and the second grip 242 are further connected by a first elastic member 243;

the first grip 241 and the second grip 242 are respectively provided with a first force-bearing member 245 and a second force-bearing member 246, and a penetrating space is formed between the first force-bearing member 245 and the second force-bearing member 246; the driving member 231 moves in the third direction to reach or leave the penetration space.

In this embodiment, a clamping space may be formed between the first gripper 241 and the second gripper 242 for clamping the container 30, and the first gripper 241 and the second gripper 242 may be directly hinged or may be uniformly hinged on an intermediate member.

Referring to fig. 1 to 3, the first grip 241 and the second grip 242 may be connected by a first elastic member 243, and when the first elastic member 243 is in a released state, the grip mechanism 240 may be in a closed state, so that the container 30 may be clamped by the first elastic member 243 when the container 30 is gripped.

An insertion space is formed between the first force-receiving member 245 and the second force-receiving member 246, as shown in fig. 2, when the driving member 231 extends into the insertion space, the first force-receiving member 245 and the second force-receiving member 246 can be squeezed away from each other. That is, the maximum width of the driving member 231 is greater than the width of the insertion space when the gripper mechanism 240 is in the closed state. When the first force-receiving member 245 and the second force-receiving member 246 are squeezed apart from each other, the first grip 241 and the second grip 242 are also driven to separate from each other, so that the grip mechanism 240 is converted into an open state. As shown in fig. 3, when the driving member 231 is wholly or partially withdrawn from the insertion space, the first grip 241 and the second grip 242 approach each other by the first elastic member 243, so that the grip mechanism 240 is switched to the closed state.

In a possible embodiment, the first elastic member 243 includes a first spring, the first gripper 241 and the second gripper 242 are respectively provided with a mounting shaft 244, and the mounting shaft 244 on the first gripper 241 is opposite to the mounting shaft 244 on the second gripper 242 for mounting two ends of the first spring; when the first grip 241 and the second grip 242 are converted from the closed state to the open state, the first spring is stretched. The number of the first springs is not limited here, and may be one or more; in the case where there are a plurality of first springs, the plurality of first springs may be respectively located on different sides.

The mounting positions and the number of the first force-receiving members 245 and the second force-receiving members 246 may be similar to the mounting shafts 244 described above, and thus the description thereof is omitted.

In one example, the driving member 231 includes a wedge structure to facilitate insertion into the insertion space and to allow smooth separation between the first force receiving member 245 and the second force receiving member 246, thereby improving the smoothness of operation of the gripper mechanism 240. In addition, the driving member 231 includes a wedge structure, and the depth of the driving member 231 extending into the insertion space determines the opening angle between the first and second grips 241 and 242, which facilitates the gripping of containers 30 with different sizes.

Optionally, the gripper mechanism 240 further comprises a rotating block 247, and a first end of the rotating block 247 is connected to the first driving mechanism 220; the second end of the rotating block 247 is provided with a middle shaft 248, and the first handle 241 and the second handle 242 are rotatably connected to the middle shaft 248 through bearings.

Referring to fig. 5, fig. 5 shows one possible configuration of the rotating block 247, and the upper end in fig. 5 may be considered as the first end of the rotating block 247 for connection with the first driving mechanism 220; the lower end in fig. 5 can be considered the second end of the rotating block 247 for mounting the central axle. Fig. 6 shows a schematic perspective view of two grippers, namely a first gripper 241 and a second gripper 242, wherein the first gripper 241 and the second gripper 242 are provided with mounting holes for passing through the middle shaft 248. Fig. 4 shows a detailed view of the first grip 241 and the second grip 242 mounted on the central shaft 248, and both grips are rotatably mounted on the central shaft 248 through bearings to ensure the rotational flexibility of the grips. For the sake of distinction, the bearing herein may be referred to as the first bearing 251.

Optionally, the second driving mechanism 230 further comprises a third motor 232, a top plate 233 and a second elastic member 234;

the third motor 232 is arranged on the gripper platform 210, and the third motor 232 is connected with the top plate 233 and drives the top plate 233 to move along a third direction; the driving member 231 is disposed on the gripper mechanism 240 through the second elastic member 234; the top plate 233 moves in the third direction to drive the driving member 231 to move in the third direction, or to be separated from the driving member 231.

In this embodiment, the third motor 232 is preferably a linear motor, so as to omit the installation requirement of the transmission structure, and the overall structure is relatively simple; of course, in some possible embodiments, the third motor may also be a rotary motor, and the conversion from the rotation to the linear motion is realized by a lead screw, a crank-slider mechanism, a belt, and the like.

As shown in fig. 3, the third motor 232 drives the top plate 233 to move downward, and may contact and push the driving member 231 downward, thereby converting the gripper mechanism 240 into the open state. In conjunction with a specific application scenario, the driving member 231 moves downward to squeeze the first force-receiving member 245 and the second force-receiving member 246 from each other, so as to separate the first grip 241 and the second grip 242.

As shown in fig. 4, the third motor 232 drives the top plate 233 to move upward, and the driving member 231 moves upward by the resilient force of the second elastic member 234, thereby switching the gripper mechanism 240 to the closed state. In combination with a specific application scenario, the driving member 231 moves upward and away from the insertion space shown in the above embodiment, and the first hand grip 241 and the second hand grip 242 approach each other under the action of the first elastic member 243.

In this embodiment, the top plate 233 moves upward to be able to be separated from the driving member 231, so that when the first driving mechanism 220 drives the gripper mechanism 240 to rotate, the top plate 233 does not generate movement interference to the gripper mechanism 240.

Optionally, the top plate 233 is fixedly provided with a guide rod 235, and the gripper platform 210 is provided with a first guide structure; the guide rod 235 is slidably disposed in the first guide structure.

Referring to fig. 1, the gripper platform 210 is provided with a first guiding structure, which may be only an opening on the gripper platform 210, or may further include a tubular structure provided on the gripper platform 210. Through setting up guide arm 235 and first guide structure, can effectively avoid the condition that roof 233 rocked about, improve the motion reliability of roof 233.

Optionally, the first driving mechanism 220 includes a fourth motor 221, a third driving wheel 222, a third driven wheel 223 and a third belt 224;

the third belt 224 is wound around the third driving wheel 222 and the third driven wheel 223, the fourth motor 221 is connected with the third driving wheel 222, and the third driven wheel 223 is connected with the gripper mechanism 240.

In this embodiment, the first driving mechanism 220 adopts a belt transmission structure, on one hand, the arrangement position of the fourth motor 221 can be selected more flexibly, and interference with other components is avoided; on the other hand, the smoothness of transmission can be ensured.

Optionally, the third driven wheel 223 is also mounted to the gripper platform 210 via a second bearing 252, improving the smoothness of rotation of the third driven wheel 223 and the gripper mechanism 240.

The following is directed to a specific application example of the blending device provided in the embodiment of the present invention, in which the container 30 grabbed by the blending device is specifically a reaction cup.

As shown in fig. 1, the blending device includes a handle assembly 20, a vertical movement module and a horizontal movement module, the vertical movement module includes the structures of the vertical guide rail 126, the second motor 122 and the second belt 123, and the horizontal movement module includes the structures of the horizontal guide rail 116, the first motor 112 and the first belt 113. The gripper platform 210 of the gripper assembly 20 is connected to the second belt 123 and is capable of moving along the vertical guide rail 126; the vertical movement module is connected to the first belt 113 and can move along the horizontal guide rail 116.

The gripper assembly 20 can grip the reaction cup and perform blending movement, and specifically, referring to fig. 2, the third motor 232 pushes the top plate 233 to move downward, the top plate 233 presses the driving member 231 downward, and the driving member 231 pushes the first force-receiving member 245 and the second force-receiving member 246 apart, so that the left gripper and the right gripper are opened outward to grip the reaction cup, wherein the driving member 231 includes a wedge-shaped structure, and the downward stroke of the driving member 231 is associated with the opening angle of the left gripper and the right gripper, so that the reaction cups with different sizes can be gripped.

Referring to fig. 3, the third motor 232 pushes the top plate 233 to move upward, the driving member 231 is disengaged from between the first force receiving member 245 and the second force receiving member 246, and the left and right grips are folded inward by the first spring and grip the cuvette. When a certain gap exists between the top plate 233 and the driving member 231, the fourth motor 221 actively drives the third driving wheel 222, the third belt 224 and the third driven wheel 223 to rotate, and then drives the rotating block 247 to rotate, so that the left and right grippers and the reaction cup rotate, and thus, the objects in the reaction cup are uniformly mixed.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A blending device, which is characterized by comprising:

a displacement drive assembly (10), the displacement drive assembly (10) comprising a displacement end configured to move in at least one direction;

the gripper assembly (20) comprises a gripper platform (210), a first driving mechanism (220) and a gripper mechanism (240), wherein the gripper platform (210) is fixedly arranged on the displacement end, the first driving mechanism (220) and the gripper mechanism (240) are arranged on the gripper platform (210), the first driving mechanism (220) drives the gripper mechanism (240) to rotate, and the gripper mechanism (240) is switched between an opening state and a closing state.

2. The blending device according to claim 1, wherein the displacement drive assembly (10) comprises a first mounting plate (111), a first motor (112), a first displacement member, a second mounting plate (121), a second motor (122), and a second displacement member;

wherein, first motor (112) set up in on first mounting panel (111), first motor (112) drive first displacement piece moves in the first direction, second mounting panel (121) set up in on the first displacement piece, second motor (122) set up in on second mounting panel (121), second motor (122) drive second displacement piece moves in the second direction, the displacement end is located on the second displacement piece, first direction is distinguished from the second direction.

3. The blending device according to claim 2, wherein the first displacement member comprises a first belt (113), the first belt (113) is wound on a first driving wheel (114) and a first driven wheel (115) which are arranged on the first mounting plate (111), and the first motor (112) drives the first belt (113) to move in a first direction through the first driving wheel (114).

4. The blending device according to claim 2, wherein the second displacement member comprises a second belt (123), the second belt (123) is wound around a second driving wheel (124) and a second driven wheel (125) which are arranged on the second mounting plate (121), and the second motor (122) drives the second belt (123) to move in the second direction through the second driving wheel (124).

5. The blending device according to claim 1, wherein the gripper assembly (20) further comprises a second driving mechanism (230), and the second driving mechanism (230) is arranged on the gripper platform (210); the second driving mechanism (230) comprises a driving member (231) configured to move in a third direction, and the driving member (231) moves in the third direction to drive the gripper mechanism (240) to switch between the open state and the closed state.

6. The blending device according to claim 5, wherein the gripping mechanism (240) comprises a first gripping hand (241) and a second gripping hand (242), and the first gripping hand (241) is hinged with the second gripping hand (242);

the first gripper (241) and the second gripper (242) are further connected through a first elastic member (243);

a first stress piece (245) and a second stress piece (246) are respectively arranged on the first gripper (241) and the second gripper (242), and an insertion space is formed between the first stress piece (245) and the second stress piece (246); the driving member (231) is movable in the third direction to or from the penetration space.

7. The blending device according to claim 6, wherein the gripping mechanism (240) further comprises a rotating block (247), and a first end of the rotating block (247) is connected with the first driving mechanism (220); the second end of the rotating block (247) is provided with a middle shaft (248), and the first gripper (241) and the second gripper (242) are rotatably connected to the middle shaft (248) through bearings.

8. The blending device according to claim 5, wherein the second driving mechanism (230) further comprises a third motor (232), a top plate (233) and a second elastic member (234);

the third motor (232) is arranged on the gripper platform (210), and the third motor (232) is connected with the top plate (233) and drives the top plate (233) to move along the third direction; the driving piece (231) is arranged on the gripper mechanism (240) through the second elastic piece (234); the top plate (233) moves in the third direction to drive the driving member (231) to move in the third direction, or is separated from the driving member (231).

9. The blending device according to claim 8, wherein the top plate (233) is fixedly provided with a guide rod (235), and the gripper platform (210) is provided with a first guide structure; the guide rod (235) is arranged in the first guide structure in a sliding mode.

10. The blending device according to claim 1, wherein the first driving mechanism (220) comprises a fourth motor (221), a third driving wheel (222), a third driven wheel (223) and a third belt (224);

the third belt (224) is wound around the third driving wheel (222) and the third driven wheel (223), the fourth motor (221) is connected with the third driving wheel (222), and the third driven wheel (223) is connected with the gripper mechanism (240).

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