CN112621812B - 用于实验室自动化机器人的多轴夹持器 - Google Patents

用于实验室自动化机器人的多轴夹持器 Download PDF

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Publication number
CN112621812B
CN112621812B CN202011007831.3A CN202011007831A CN112621812B CN 112621812 B CN112621812 B CN 112621812B CN 202011007831 A CN202011007831 A CN 202011007831A CN 112621812 B CN112621812 B CN 112621812B
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CN
China
Prior art keywords
axis
pair
holes
gripper
laboratory automation
Prior art date
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CN202011007831.3A
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English (en)
Chinese (zh)
Other versions
CN112621812A (zh
Inventor
M·P·里弗
J·威特辰
G·达尼尔
S·W·约翰逊
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Thermo CRS Ltd
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Thermo CRS Ltd
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Publication date
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Publication of CN112621812A publication Critical patent/CN112621812A/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202011007831.3A 2019-09-24 2020-09-23 用于实验室自动化机器人的多轴夹持器 Active CN112621812B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962904732P 2019-09-24 2019-09-24
US62/904,732 2019-09-24

Publications (2)

Publication Number Publication Date
CN112621812A CN112621812A (zh) 2021-04-09
CN112621812B true CN112621812B (zh) 2025-04-08

Family

ID=72643977

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011007831.3A Active CN112621812B (zh) 2019-09-24 2020-09-23 用于实验室自动化机器人的多轴夹持器

Country Status (4)

Country Link
US (1) US11254015B2 (enExample)
EP (1) EP3797934B1 (enExample)
JP (1) JP2021049636A (enExample)
CN (1) CN112621812B (enExample)

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US20220331992A1 (en) * 2021-03-30 2022-10-20 Ats Automation Tooling Systems Inc. Robotic gripper with offset gripping elements
DE102021115853B3 (de) * 2021-06-18 2022-06-23 Uwe Beier Roboter zur Handhabung flacher Substrate sowie Ausrichtungseinrichtung
WO2024148500A1 (en) * 2023-01-10 2024-07-18 Beckman Coulter Laboratory Systems (Suzhou) Co., Ltd. Handling tool and clinical lab automation device including the same
US12485535B2 (en) 2023-01-23 2025-12-02 Simbiotix Control Inc. Object manipulator with extendible arms
CN117506958B (zh) * 2023-12-13 2024-07-05 东莞市亚安自动化科技有限公司 一种磁芯六轴抓放毛坯料机械手

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Also Published As

Publication number Publication date
EP3797934B1 (en) 2024-05-01
US11254015B2 (en) 2022-02-22
EP3797934A1 (en) 2021-03-31
US20210086373A1 (en) 2021-03-25
EP3797934C0 (en) 2024-05-01
CN112621812A (zh) 2021-04-09
JP2021049636A (ja) 2021-04-01

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