Multi-axis gripper for laboratory automation robots

Abstract

A laboratory automation robot (10) includes: a fixed base (12); a rotating tower (14) rotatably mounted to the fixed base (12) about a first vertical axis; an arm (18) vertically translatably mounted to the tower (14); an articulated forearm (20) coupled to the arm (18) at an elbow joint (22) and pivotable relative to the arm about a second vertical axis; and a wrist assembly (30) including a multi-axis gripper (32) operably coupled to the forearm (20) at a wrist joint (34) and rotatable relative to the forearm about a third vertical axis. The gripper (32) is further rotatable relative to at least the forearm (20) about a first horizontal axis and about a second horizontal axis.

Description

Technical Field

[0001] The present invention relates generally to automated laboratory systems for performing scientific processes such as experiments, and more particularly to grippers for laboratory automation robots for use with such automated laboratory systems. Background Art

[0002] Conventional automated laboratory system comprises laboratory automation robot and various instruments around it.The laboratory automation robot can be, for example, a selection of compliance assembly robot arm (SCARA) type, and the instrument can include, for example, a liquid handler, an incubator, a reagent dispenser, a sealer, a microplate spectrophotometer, a thermal cycler, a thermal cycler controller, or any other suitable instrument for carrying out, for example, required scientific processes such as tests.In order to test, the gripper arranged at the end effector of the robot can grab the microtiter plate containing the sample and transfer the sample between various instruments.More specifically, the gripper can selectively retrieve specific microtiter plates from a surface or "nest set" associated with an instrument as needed and place the microtiter plates on the nest set associated with another instrument.

[0003] Many SCARA type robotic devices, such as those sold under the Spinnaker XT trademark by Thermo Fisher Scientific, Inc., are configured to position the end effector, and thus the gripper, with four degrees of freedom consisting of three translational degrees of freedom and one orientational degree of freedom. For example, such a robotic device may include a fixed base, a rotating tower rotatably mounted to the fixed base about a first vertical axis, a lift and accompanying arm mounted vertically translatably to the tower, an articulated forearm pivotally coupled to the arm about a second vertical axis, and a rotating gripper rotatably mounted to the forearm about a third vertical axis.

[0004] Thus, the robotic device can have a total positioning capability of four degrees of freedom, wherein the position and orientation of the gripper in three-dimensional space is adjustable in all three translational components and in one rotational component. More specifically, the gripper can define a Cartesian coordinate system, wherein Z is a vertical or yaw axis, X is a longitudinal or roll axis, and Y is a lateral or pitch axis, wherein translation of the gripper in the Z direction (e.g., up and down) is achieved by vertical translation of the elevator along the tower, translation of the gripper in the X direction (e.g., forward and backward) is achieved primarily by articulating the forearm relative to the arm about a second vertical axis, translation of the gripper in the Y direction (e.g., left and right) is achieved primarily by articulating the forearm relative to the arm about a second vertical axis, and rotation of the gripper relative to the Z direction (e.g., yaw) is achieved primarily by rotating the gripper relative to the forearm about a third vertical axis.

[0005] However, such robotic devices do not provide for rotation of the gripper relative to the X direction (e.g., roll) or rotation of the gripper relative to the Y direction (e.g., pitch) because it is generally assumed that the nest from which the microtiter plate is retrieved / placed is horizontal relative to the gripper, more specifically, relative to the fingers of the gripper, so it is generally not considered desirable or necessary to adjust the gripper in these two rotatable components. Despite this assumption, such nests are typically at least slightly uneven relative to the gripper. For example, the nest can be tilted or pivoted up to 3° horizontally relative to the gripper. Therefore, the gripper may not be able to reliably retrieve a microtiter plate from a relatively uneven nest or place a microtiter plate on a relatively uneven nest. In some cases, for example, in order to perform continuous operations using one or more relatively uneven nests, the entire robotic device must be replaced with a completely different robotic device having a total positioning capability of six degrees of freedom.

[0006] It would therefore be desirable to provide an improved gripper for a laboratory automation robot that compensates for the problem of nests not being flush relative to the gripper, thereby enabling the gripper to reliably retrieve / place microtiter plates from / onto such nests. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] After reading the following detailed description of one or more exemplary embodiments in conjunction with the accompanying drawings, various additional features and advantages of the present invention will become more apparent to those of ordinary skill in the art. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate one or more embodiments of the present invention and are used together with the general description given above and the specific implementation given below to explain one or more embodiments of the present invention.

[0008] Figure 1 is a perspective view of an exemplary laboratory robot including a wrist assembly with a multi-axis gripper in accordance with an embodiment of the present invention.

[0009] Figure 2 yes Figure 1 A perspective view of the wrist assembly shown in FIG.

[0010] Figure 3 is similar to Figure 2 A perspective view of the embodiment of the present invention showing the various external components of the wrist assembly to illustrate the various internal components of the multi-axis gripper.

[0011] Figure 4A yes Figure 1 An exploded view of the upper portion of the wrist assembly.

[0012] Figure 4B yes Figure 1A partially exploded view of the lower portion of the wrist assembly.

[0013] Figure 5A yes Figure 1 Longitudinal cross-sectional view of the wrist assembly, showing the rotation of the multi-axis gripper from a horizontal orientation about the pitch axis.

[0014] Figure 5B is similar to Figure 5A A longitudinal cross-sectional view showing a multi-axis gripper rotated about a pitch axis to a non-horizontal orientation.

[0015] Fig. 6A yes Figure 1 Cross-sectional view of the wrist assembly showing the rotation of the multi-axis gripper from a horizontal orientation about the roll axis.

[0016] Figure 6B is similar to Fig. 6A , showing a multi-axis gripper rotated about a roll axis to a non-horizontal orientation.

[0017] Figure 7 yes Figure 1 Side view of the wrist assembly showing the multi-axis gripper rotating about the pitch and roll axes.

[0018] Figure 8 yes Figure 1 Rear view of the wrist assembly showing the multi-axis gripper rotating about the pitch and roll axes. DETAILED DESCRIPTION

[0019] refer to Figure 1 , an exemplary robotic device 10 configured to perform at least one scientific process according to one embodiment of the present invention is shown. The robotic device 10 may be a SCARA-type robotic device, such as the device sold under the Spinnaker XT trademark by Thermo Fisher Scientific, Inc. Other types of robotic devices may be used, such as an articulated robotic device, a spider robotic device, or any other suitable type of robotic device. The robotic device 10 shown includes a fixed base 12, a rotating tower 14 rotatably mounted to the fixed base 12 about a first vertical axis (not shown), an elevator 16 and an accompanying arm 18 mounted to the tower in a vertically translatable manner, an articulated forearm 20 coupled to the arm 18 at an elbow joint 22 and pivotable relative to the arm about a second vertical axis (not shown), and a wrist assembly 30, the wrist assembly including a multi-axis gripper 32 operably coupled to the forearm 20 at a wrist joint 34 via an end effector 36 and pivotable relative to the forearm about a third vertical axis or "yaw axis" Z ( Figure 4AAs described in further detail below, the gripper 32 may further be rotated relative to at least the forearm 20 about a first horizontal axis or "roll axis" Y and about a second horizontal axis or "pitch axis" X ( Figure 4A ) is rotated so that the gripper 32 can compensate for the problem of the nest being not flush with the gripper 32, so that the gripper 32 can reliably retrieve the microtiter plate from the nest / place the microtiter plate on the nest. The features of the robotic device 10, wrist assembly 30, and its multi-axis gripper 32 are further described in detail below to illustrate each of these functional advantages and other benefits provided in the present disclosure.

[0020] Reference now Figure 2 and 3 , the gripper 32 of the wrist assembly 30 shown includes a housing 40 and a top cover 42 for enclosing various internal components of the gripper 32, including a rigid frame or body 44 of the gripper. The gripper 32 further includes a pair of fingers 46 extending longitudinally from the body 44 (e.g., parallel to the longitudinal centerline of the body 44) out of the housing 40 and configured to be movable laterally toward and away from each other (e.g., parallel to the transverse or lateral centerline of the body 44) to selectively grip and release a microtiter plate placed therebetween.

[0021] Now the main reference Figure 4A , and continue to refer to Figure 2 and 3 , the end effector 36 of the wrist assembly 30 shown includes a generally Y-shaped plate 50 having a base portion 52 and a pair of fork portions 54 extending outwardly from the base portion. Figure 4A As best shown in FIG. 1 , the end effector 36 includes a generally square aperture 56 extending through the base portion 52 and a plurality of through holes 58 arranged about the periphery of the aperture. The end effector 36 further includes a pair of through holes 60 extending through each of the fork-shaped portions 54 and, along with accompanying counterbores 62 and a plurality of threaded holes 64 arranged circumferentially about the through holes 60, the purposes of which are described below, the through holes 60 being equally spaced from the square aperture 56 on the same side thereof and equally spaced from the longitudinal centerline of the plate 50 on the opposite side thereof.

[0022] In the illustrated embodiment, the end effector 36 is operably coupled to the forearm 20 via a rotatable hub 70 of the wrist assembly 30 and is rotatable relative to the forearm about the yaw axis Z. Figure 4AAs best shown in FIG. 1 , the hub 70 includes an upper cylindrical portion 72 configured to be rotatably received by a corresponding hole (not shown) disposed in a lower surface of the forearm 20 such that the upper cylindrical portion 72 and the corresponding hole can collectively define a yaw axis Z, and a generally square lower rod portion 74 configured to be received by and mechanically engage the square aperture 56 of the end effector 36 to transmit torque directed about the yaw axis Z between the hub 70 and the end effector 36. The upper cylindrical portion 72 of the illustrated hub 70 defines at least one outer bearing surface 76 for facing and sliding along an inner bearing surface (not shown) of a corresponding hole of the forearm 20. As shown, the hub 70 includes a keyway 78 disposed in the upper cylindrical portion 72 for receiving and mechanically engaging a rotatable drive shaft (not shown) of the motor so that a torque directed about the yaw axis Z can be supplied by the drive shaft to the hub 70, e.g., for rotating the hub 70 relative to the forearm 20 about the yaw axis Z. In the illustrated embodiment, the lower rod portion 74 is sized and shaped similarly to the aperture 56 of the end effector 36 so that a torque directed about the yaw axis Z received by the hub 70 from the drive shaft can be transmitted from the hub 70 to the end effector 36, e.g., for rotating the end effector 36 relative to the forearm 20 about the yaw axis Z. In one embodiment, the hub 70 may include a plurality of threaded holes corresponding to the plurality of through holes 58 disposed about the periphery of the aperture 56 of the end effector 36 for axially aligning with the through holes and receiving fasteners (not shown) to securely secure the end effector 36 to the hub 70 and / or to maintain the end effector 36 in a generally horizontal orientation during use. In any event, the illustrated hub 70 also includes a first pair of axially aligned pivot holes 80 extending through opposite sides of the lower rod portion 74 and configured to receive corresponding flange bushings 82 having bearing surfaces (not shown) for rotatably receiving corresponding pivot pins 84 therethrough, the purpose of which is described below.

[0023] like Figure 4AAs best shown in FIG. 1 , the gripper 32 is operably coupled to the hub 70 via a dual-axis yoke 90 of the wrist assembly 30 and is rotatable relative to the hub about both the roll axis Y and the pitch axis X. The illustrated yoke 90 includes a generally square peripheral wall 92 defining a generally square aperture 94 configured to receive the square lower rod portion 74 of the hub 70 beneath the end effector 36. As shown, the yoke 90 includes a second pair of axially aligned pivot holes 96 extending through a first pair of opposing sides of the wall 92 and a third pair of axially aligned pivot holes 98 extending through a second pair of opposing sides of the wall 92 such that the second pair of pivot holes 96 are axially perpendicular to the third pair of pivot holes 98. In the illustrated embodiment, the second pair of pivot holes 96 are configured to axially align with the first pair of pivot holes 80 of the lower rod portion 74 of the hub 70 and receive the corresponding pivot pins 84 therethrough, such that the first pair of pivot holes 80, the second pair of pivot holes 96, and the corresponding bushings 82 and pivot pins 84 can collectively define the roll axis Y, and such that torque directed about the yaw axis Z received by the hub 70 from the drive shaft can be transmitted from the hub 70 to the yoke 90, for example, for rotating the yoke 90 relative to the forearm 20 about the yaw axis Z. As shown, the yoke 90 also includes a pair of threaded holes 100 adjacent each of the second pair of pivot holes 96 for threadably receiving a corresponding fastener 102 so that the head of the fastener 102 can clamp the corresponding pivot pin 84 against the wall 92 of the yoke 90, thereby helping to prevent the corresponding pivot pin 84 from being accidentally displaced from the corresponding bushing 82 and / or the pivot holes 80, 96. Similarly, the third pair of pivot holes 98 are configured to receive corresponding flanged bushings 106 having bearing surfaces (not shown) for rotatably receiving corresponding pivot pins 108 therethrough, the purpose of which is described below.

[0024] Now the main reference Figure 4B , and continue to refer to Figure 4A , the body 44 of the gripper 32 includes: a laterally extending front platform portion 110 for supporting a pair of finger-shaped members 46 in a laterally movable relationship relative to each other; a rear mounting portion 112 for facilitating the movable coupling of the gripper 32 to the end effector 36; and an intermediate support portion 114 extending longitudinally between the front platform portion and the rear mounting portion. As described in more detail below, the front platform portion 110 defines a gripping plane P2 ( Figure 7 and 8 ) of the support plane P1( Figures 5A-6B). The illustrated body 44 further includes a generally square aperture 120 extending through the rear mounting portion 112 and configured to receive the square wall 92 of the yoke 90 beneath the end effector 36. As shown, the rear mounting portion 112 includes a pair of longitudinally extending side walls 122 disposed on opposite lateral sides of the generally square aperture 120, and a fourth pair of axially aligned pivot holes 124 extending through the side walls. In the illustrated embodiment, the fourth pair of pivot holes 124 is configured to be axially aligned with the third pair of pivot holes 98 of the wall 92 of the yoke 90 and to receive corresponding pivot pins 108 therethrough, so that the third pair of pivot holes 98, the fourth pair of pivot holes 124, and the corresponding bushings 106 and pivot pins 108 can jointly define the pitch axis X, and so that the torque directed about the yaw axis Z received by the yoke 90 from the hub 70 can be transmitted from the yoke 90 to the main body 44, for example, to rotate the main body 44 together with the yoke 90, the end effector 36 and the hub 70 about the yaw axis Z relative to the forearm 20. As shown, the body 44 also includes a pair of threaded holes 126 adjacent to each of the fourth pair of pivot holes 124 for receiving a corresponding fastener 128 in a threaded manner so that the head of the fastener 128 can clamp the corresponding pivot pin 108 against the corresponding side wall 122 of the body 44, thereby helping to prevent the corresponding pivot pin 108 from being accidentally displaced from the corresponding bushing 106 and / or pivot hole 98, 124.

[0025] Thus, the gripper body 44 can rotate with the yoke 90, the end effector 36, and the hub 70 relative to the forearm 20 about the yaw axis Z, and can also rotate with the yoke 90 relative to the end effector 36, the hub 70, and the forearm 20 about the roll axis Y, and can further rotate with the yoke 90 relative to the end effector 36, the hub 70, and the forearm 20 about the pitch axis X. In the illustrated embodiment, the yaw, roll, and pitch axes Z, Y, X intersect at the center C of the wrist joint 34 between the end effector 36 and the gripper body 44, and more specifically, intersect within the square aperture 94 of the yoke 90. As shown, the pitch axis X is perpendicular to the longitudinal centerline of the gripper body 44 and the roll axis Y is parallel to or coaxial with the longitudinal centerline of the gripper body 44 so that the roll axis Y can be fixed perpendicular to the pitch axis X regardless of the orientation of the gripper body 44 about any of the axes Z, Y, X. The roll axis Y shown may also be fixed perpendicular to the yaw axis Z regardless of the orientation of the holder body 44 about any of the axes Z, Y, and X, but the pitch axis X may only be perpendicular to the yaw axis Z when the holder body 44 is oriented horizontally about the roll axis Y, because rotation of the holder body 44 about the roll axis Y may change the orientation of the pitch axis X relative to the yaw axis Z.

[0026] Continue to refer Figure 4B, the intermediate support portion 114 of the illustrated gripper body 44 includes a pair of laterally extending apertures 130 defining respective through-holes 132, together with the accompanying counterbore 134 and a pair of threaded holes 136 adjacent thereto, the through-holes being equidistantly spaced from the square aperture 120 on the same side thereof so that the through-holes 132 are equidistantly spaced from the pitch axis X on the same side thereof, and further equidistantly spaced from the longitudinal centerline of the gripper body 44 on the opposite side thereof so that the through-holes 132 are equidistantly spaced from the roll axis Y on the opposite side thereof. In the illustrated embodiment, the through-holes 132 are configured to be axially aligned with the through-holes 60 of the fork portion 54 of the end effector 36 and receive at least a portion of the respective linear actuator 140 of the wrist assembly 30 therethrough.

[0027] In this regard, each of the linear actuators 140 of the illustrated wrist assembly 30 is electromechanical and includes a sleeve 142 and a shaft 144 that can be selectively extended from and retracted into the sleeve 142 along a translation axis T of the actuator 140. Each shaft 144 includes a plurality of radially extending detents 146 for mechanically engaging corresponding notches (not shown) disposed in the corresponding sleeve 142 to prevent the shaft 144 from rotating relative to the corresponding sleeve 142 about the corresponding translation axis T. As shown, each of the linear actuators 140 further includes a motor 150 configured to linearly move the shaft 144 relative to the sleeve 142 along the corresponding translation axis T. In one embodiment, a controller (not shown) can be in operative communication with each of the motors 150 to send a signal thereto, thereby instructing the motor 150 to activate or deactivate the corresponding actuator 140, for example, to extend or retract the corresponding shaft 144 by a desired distance.

[0028] In any event, at least a portion of each illustrated sleeve 142 is received by the through hole 132 of the corresponding eyelet 130 of the gripper body 44, and at least a portion of each illustrated shaft 144 is received by the through hole 60 of the corresponding fork portion 54 of the end effector 36, such that the translation axis T is equidistantly spaced from the pitch axis X on the same side thereof and further equidistantly spaced from the roll axis Y on the opposite side thereof. In the illustrated embodiment, each of the sleeves 142 is secured to prevent movement relative to the gripper body 44 along the corresponding translation axis T, and each of the shafts 144 is secured to prevent movement relative to the end effector 36 along the corresponding translation axis T. Alternatively, one or both of the actuators 140 may be inverted, with at least a portion of the sleeve 142 being received by the through hole 60 of the corresponding fork portion 54 of the end effector 36, and at least a portion of the shaft 144 being received by the through hole 132 of the corresponding eyelet 130 of the gripper body 44. In this way, linear movement of each shaft 144 relative to the corresponding sleeve 142 along the corresponding translation axis T can cause the corresponding hole 130 of the clamp body 44 to move relative to the end effector 36 along the corresponding translation axis T, thereby causing the clamp body 44 to rotate correspondingly around the pitch axis X and / or the roll axis Y.

[0029] To this end, each of the illustrated sleeves 142 is supported in an angled rotatable manner within a respective through hole 132 of the holder body 44 via a respective lower spherical bearing assembly 160, each of which includes an inner race 162 and an outer race 164, the inner race and outer race having complementary annular outer and inner surfaces, respectively, configured to slide against one another. Each inner race 162 is fixedly coupled to the sleeve 142, and each outer race 164 is fixedly coupled to the holder body 44. In this regard, each outer race 164 is received within the counterbore 134 of the respective eyelet 130 and is captured thereon by a respective lower collar 170. As shown, each lower collar 170 includes a respective central through hole 172 and an accompanying counterbore 174 ( Figure 6B ), and a pair of peripheral through holes 176 adjacent to the central through hole 172. The central through holes 172 are each configured to receive at least a portion of a corresponding sleeve 142, and the outer ring 164 is each configured to be sandwiched between the counterbore 134 of the corresponding eyelet 130 and the counterbore 174 of the collar 170. The peripheral through hole 176 of each collar 170 is configured to axially align with the threaded hole 136 of the corresponding eyelet 130 and receive a corresponding fastener 178, thereby fixing the collar 170 to the clamp body 44 in a fixed manner. In this way, each sleeve 142 can be angularly rotated relative to the clamp body 44 and can be fixed to prevent it from moving relative to the clamp body along the corresponding translation axis T.

[0030] Likewise, each of the illustrated shafts 144 is supported in an angled rotatable manner within a respective throughbore 60 of the end effector 36 via a respective upper spherical bearing assembly 180, each upper spherical bearing assembly 180 including an inner race 182 and an outer race 184 having complementary annular outer and inner surfaces, respectively, configured to slide against one another. Each inner race 182 is fixedly coupled to the shaft 144, and each outer race 184 is fixedly coupled to the end effector 36. In this regard, and again with reference to Figure 4A , each outer ring 184 is received within the counterbore 62 of the corresponding fork-shaped portion 54 and is captured on the counterbore by the corresponding upper collar 190. As shown, each upper collar 190 includes a corresponding central through hole 192 and an accompanying counterbore 194, and a plurality of peripheral through holes 196 arranged circumferentially thereabout. The central through holes 192 are each configured to receive at least a portion of the corresponding shaft 144, and the outer ring 184 is configured to be sandwiched between the corresponding fork-shaped portion 54 and the counterbore 194 of the collar 190. The peripheral through hole 196 of each collar 190 is configured to axially align with the threaded hole 64 of the corresponding fork-shaped portion 54 and receive a corresponding fastener 198, thereby fixing the collar 190 to the end effector 36 in a fixed manner. In this way, each shaft 144 can be angularly rotated relative to the end effector 36 and can be fixed to prevent it from moving relative to the end effector along the corresponding translation axis T.

[0031] Thus, the spherical bearing assemblies 160, 180 can cooperate with the corresponding actuator 140 to permit, for example, the angular alignment of the translation axis T (e.g., relative to the yaw axis Z) of the actuator 140 to be changed in response to extension or retraction of at least one of the shafts 144 relative to one or more corresponding sleeves 142 to accommodate various corresponding movements of the clamp body 44 relative to the end effector 36.

[0032] As described above, the actuators 140 disposed within the through-holes 60, 132 are equally spaced from the pitch axis X on the same side thereof, and are also equally spaced from the roll axis Y on the opposite side thereof. Thus, various operations of one or both of the actuators 140 may be capable of adjusting the orientation of the gripper body 44 (and thus the gripper 32) relative to the pitch and / or roll axes X, Y. More specifically, extension or retraction of at least one of the shafts 144 relative to one or more corresponding sleeves 142 may apply a torque to the gripper body 44 at the eyelet 130 relative to the pitch and / or roll axes X, Y, for example, to rotate the gripper body 44 along with the yoke 90 relative to the end effector 36, the hub 70, and the forearm 20 about the roll axis Y, and / or to rotate the gripper body 44 relative to the yoke 90, the end effector 36, the hub 70, and the forearm 20 about the pitch axis X.

[0033] In this regard, and now mainly referring to Figure 5A and 5B , the clamp 32 may initially be relative to the pitch and roll axes X, Y ( Figure 5A ) is in an intermediate orientation. For example, the gripper 32 may initially be horizontally flush (e.g., support plane P1 is parallel to the horizon H), and the translation axis T of the actuator 140 may be parallel to the yaw axis Z. The actuator 140 may then be activated, for example by receiving a signal sent from the controller to the motor 150, to extend / retract the respective shafts 144 from the respective sleeves 142 in the same direction and by the same distance therein, thereby rotating the gripper 32 about the pitch axis X relative to the yoke 90, the end effector 36, the hub 70, and the forearm 20, as indicated by arrow A1. For example, the actuator 140 may be activated to extend the respective shafts 144 from the respective sleeves 142 in the same direction and by the same distance, thereby rotating the gripper 32 about the pitch axis X, thereby oriented the support plane P1 of the gripper 32 at an angle α relative to the horizon H (and / or relative to the roll axis Y) ( Figure 5B ). As shown, such rotation of the gripper 32 about the pitch axis X can slightly tilt the translation axis T of the actuator 140 relative to the yaw axis Z via the cooperation of the spherical bearing assemblies 160, 180. In one embodiment, the rotation of the gripper 32 about the pitch axis X can be limited to a predetermined range. For example, the angle α can be between -3° and 3° relative to the horizontal.

[0034] Likewise, and now mainly referring to Fig. 6A and 6B , the clamp 32 may initially be in an intermediate orientation relative to the pitch and roll axes X, Y ( Fig. 6A ). For example, the gripper 32 may initially be horizontal and the translation axis T of the actuator 140 may be parallel to the yaw axis Z. The actuator 140 may then be activated, for example by receiving a signal sent from the controller to the motor 150, to extend / retract the corresponding shaft 144 from the corresponding sleeve 142 in opposite directions and by the same distance, thereby rotating the gripper 32 and the yoke 90 about the roll axis Y relative to the end effector 36, the hub 70, and the forearm 20, as indicated by arrow A2. For example, the left actuator 140 may be activated to retract the corresponding shaft 144 a certain distance into the corresponding sleeve 142, and the right actuator 140 may be activated to extend the corresponding shaft 144 a certain distance from the corresponding sleeve 142 to rotate the gripper 32 about the roll axis Y, thereby oriented the support plane P1 (and the pitch axis X) of the gripper 32 at an angle β relative to the horizontal line H ( Figure 6B). As shown, such rotation of the holder 32 about the roll axis Y can slightly tilt the translation axis T of the actuator 140 relative to the yaw axis Z via the cooperation of the spherical bearing assemblies 160, 180, and can further cause the pitch axis X to be non-perpendicular relative to the yaw axis Z. In one embodiment, the rotation of the holder 32 about the roll axis Y can be limited to a predetermined range. For example, the angle β can be between -3° and 3° relative to the horizontal.

[0035] Thus, the actuator 140 can provide automated adjustment of the gripper 32 about the pitch and roll axes X, Y. Figure 7 and 8 As shown in , synchronously or otherwise coordinated extension and / or retraction of the shaft 144 of the actuator 140 by varying the distance can provide controllable adjustment of the gripper 32 about the pitch and roll axes X, Y. In this regard, the gripper 32 is shown rotated about the pitch axis X to orient the gripping plane P2 of the gripper 32 at an angle α relative to the horizontal line H, thereby orienting the finger 46 slightly downward ( ) from the pitch axis X. Figure 7 ), the gripper 32 is further rotated about the roll axis Y to orient the gripping plane P2 of the gripper 32 at an angle β relative to the horizontal line H, thereby orienting the left finger 46 slightly upward relative to the right finger 46 ( Figure 8 In this way, the gripper 32 can be rotated about the pitch and / or roll axis X, Y to compensate for the problem of the nest being not flush with respect to the gripper 32, so that the gripper 32 can reliably retrieve the microtiter plate from / place the microtiter plate on such a nest via the fingers 46 of the gripper 32.

[0036] Although not shown, the gripper 32 may include one or more sensors configured to detect the horizontal orientation of the nest and / or the microtiter plate held thereby relative to the gripper 32 and may be in operative communication with a controller of the actuator 140 to send a signal thereto indicative of the detected relative horizontal orientation. The controller may be configured to determine a desired orientation of the gripper 32 about the pitch and / or roll axis X, Y based on the detected relative horizontal orientation and instruct the motor 150 accordingly so that the gripper 32, and more specifically the finger 46, may be oriented to be horizontally flush relative to the nest and / or the microtiter plate.

[0037] Thus, the robotic device 10 may have a total positioning capability of six degrees of freedom, wherein the position and orientation of the gripper 32 in three-dimensional space is adjustable in all three translational components and in all three rotational components. In one embodiment, the robotic device 10 may initially be equipped with a default "fixed" gripper so that the robotic device 10 may initially have a total positioning capability of only four degrees of freedom, and may then be easily retrofitted with a wrist assembly 30 including at least a multi-axis gripper 32 to provide the robotic device 10 with an additional two degrees of freedom without requiring a complete modification or replacement of the robotic device 10.

[0038] Although not shown, the gripper 32 may further include various other components, such as one or more racks, pinions, and associated actuators, as is well known, for laterally moving the fingers 46 toward and away from each other to selectively grip and release a microtiter plate placed therebetween.

[0039] Although the present invention has been illustrated by describing various embodiments of the present invention, and although the embodiments have been described in considerable detail, it is not intended that the scope of the appended claims be limited or in any way restricted to such details. Therefore, the various features discussed herein may be used alone or in any combination. Additional advantages and modifications will be readily apparent to those skilled in the art. Therefore, the present invention in its broader aspects is not limited to the specific details and illustrative examples shown and described. Therefore, such details may be changed without departing from the scope of the overall inventive concept.

Claims

1. A laboratory automation robot, comprising: Fixed base; a rotating tower rotatably mounted to the fixed base about a first vertical axis; an arm vertically translatably mounted to the tower; an articulated forearm coupled to the arm at an elbow joint and pivotable relative to the arm about a second vertical axis; as well as a wrist assembly including a multi-axis gripper operably coupled to the forearm at a wrist joint and rotatable relative to the forearm about a third vertical axis, The multi-axis gripper is further rotatable relative to at least the forearm about a first horizontal axis and about a second horizontal axis, the multi-axis gripper comprising: a gripper body having a front platform portion and a rear mounting portion for facilitating movably coupling the multi-axis gripper to an end effector of the laboratory automation robot; a pair of fingers extending longitudinally from the front platform portion of the body and configured to be laterally movable toward and away from each other to selectively grasp and release an object placed therebetween; and an aperture extending through the rear mounting portion, wherein the rear mounting portion includes a pair of side walls disposed on opposite sides of the aperture, and an axially aligned first pair of pivot holes extending through the side walls and configured to at least partially define a second horizontal axis of the multi-axis gripper.

2. The laboratory automation robot of claim 1 , wherein the first pair of axially aligned pivot holes are configured to at least partially define a second horizontal axis of the multi-axis gripper relative to the end effector.

3. The laboratory automation robot according to claim 1, wherein the first pair of axially aligned pivot holes are configured to receive a torque directed about a yaw axis from a hub of the laboratory automation robot so that the torque can be transmitted to the gripper body.

4. A laboratory automation robot according to claim 1, wherein the rear mounting portion includes a pair of threaded holes adjacent to each of the pivot holes, for receiving corresponding fasteners in a threaded manner, and the fasteners are configured to clamp the corresponding pivot pins received in the corresponding pivot holes against the clamp body.

5. A laboratory automation robot according to claim 1, wherein the clamp body has an intermediate support portion extending between the front platform portion and the rear mounting portion, and wherein the intermediate support portion includes a pair of laterally extending holes defining corresponding through holes, the corresponding through holes are equidistantly spaced from the orifice on the same side thereof and further equidistantly spaced from the longitudinal centerline of the clamp body on the opposite side thereof, wherein the through holes are configured to receive at least a portion of the corresponding linear actuator passing therethrough.

6. The laboratory automation robot according to claim 1, comprising a wrist assembly, the wrist assembly comprising: the multi-axis gripper; a yoke including a wall and a second pair of axially aligned pivot holes extending through a first pair of opposite sides of the wall, wherein the yoke is received by the multi-axis holder apertures such that the first pair of pivot holes are axially aligned with the second pair of pivot holes and receive respective pivot pins therethrough, The first and second pairs of pivot holes and corresponding pivot pins at least partially define a first rotational axis of the multi-axis gripper.

7. A laboratory automation robot according to claim 6, wherein the yoke includes a third pair of axially aligned pivot holes extending through a second pair of opposite sides of the wall so that the first pivot hole and the second pair of pivot holes are axially perpendicular to the third pair of pivot holes, and wherein the third pair of pivot holes at least partially defines a second rotational axis of the multi-axis gripper.

8. The laboratory automation robot according to claim 7, further comprising: a hub including an upper cylindrical portion, a lower stem portion, and a fourth pair of axially aligned pivot holes extending through a pair of opposing sides of the lower stem portion, the upper cylindrical portion being configured to be rotatably received by the holes of the forearm of the laboratory automation robot, the fourth pair of pivot holes being axially aligned with the third pair of pivot holes and receiving respective pivot pins therethrough, wherein the third pair of pivot holes, the fourth pair of pivot holes, and the corresponding pivot pins together define the second rotational axis of the multi-axis clamp, and wherein the upper cylindrical portion at least partially defines the third rotational axis of the multi-axis clamp, wherein the wall of the yoke defines a yoke aperture, and wherein the yoke aperture receives the lower rod portion of the hub.

9. The laboratory automation robot of claim 8, wherein the first, second, and third axes of rotation of the multi-axis gripper intersect each other at a center of a wrist joint located within the yoke aperture.

10. The laboratory automation robot according to claim 8, further comprising: An end effector includes a plate fixedly coupled to the hub and a pair of upper through holes extending through the plate and equidistantly spaced from the first rotation axis on a same side thereof and further equidistantly spaced from the second rotation axis on an opposite side of the plate.

11. The laboratory automation robot of claim 10, wherein the end effector includes an end effector aperture extending through the plate, and wherein the end effector aperture receives a lower rod portion of the hub above the yoke.

12. A laboratory automation robot according to claim 10, wherein the gripper body has a front platform portion for movably supporting a pair of finger-like members, and an intermediate support portion extending between the front platform portion and the rear mounting portion, wherein the intermediate support portion includes a pair of laterally extending holes defining corresponding lower through holes, the corresponding lower through holes are equidistantly spaced from the first rotation axis on the same side thereof, and further equidistantly spaced from the second rotation axis on the opposite side thereof, and wherein each of the lower through holes is configured to be axially aligned with a corresponding one of the upper through holes of the end effector.

13. The laboratory automation robot according to claim 12, further comprising: a pair of linear actuators, each linear actuator comprising a first portion and a second portion configured to selectively translate relative to each other along a respective translation axis, wherein the first portion is received by the respective upper through hole of the end effector and the second portion is received by the respective lower through hole of the gripper body, whereby translation of the first portion and the second portion of each linear actuator relative to each other along the respective translation causes the multi-axis gripper to rotate about at least one of the first and second rotation axes.

14. The laboratory automation robot of claim 13, wherein each of the first and second portions is supported in an angled rotatable manner within a corresponding one of the upper and lower through-holes by a spherical bearing assembly.

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