Force-controlled floating pipetting gripper of high-flux experimental robot
By combining a six-dimensional force control sensor and a passive floating mechanism, the problems of positioning accuracy and force control in traditional grippers are solved, enabling high-success-rate gripping and pipetting operations, which are suitable for high-throughput experiments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-06
- Publication Date
- 2026-03-27
AI Technical Summary
Traditional rigid grippers require high alignment accuracy in high-throughput experiments, have unadjustable clamping force, and lack force sensing, leading to gripping failures or damage to consumables. Existing passive floating grippers cannot adapt to complex working conditions.
Employing a six-dimensional force control sensor and a passive floating mechanism, combined with an electric gripper drive device and a 3D camera, it achieves active force control and precise position perception. The force is buffered by springs and guide rail sliders to absorb positioning errors and position deviations.
It improves the success rate of grasping, avoids damage to consumables, enables precise pipetting operations, reduces experimental costs, and enhances the intelligence and safety of the system.
Smart Images
Figure CN121733607A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotic arm technology, and in particular to a force-controlled floating liquid handling gripper for high-throughput experimental robots. Background Technology
[0002] In high-throughput experiments, automated workstations need to frequently grasp, transfer, and place pipette beakers. Traditional rigid grippers have significant drawbacks: 1) During the grasping process, the absolute positional accuracy between the robot and the beaker is extremely important; even a small misalignment can lead to grasping failure or beaker loss; 2) The clamping force is fixed; too little force will result in unstable grasping and dropping, while too much force will crush the beaker or cause liquid splashing; 3) They lack force sensing and feedback, making it impossible to determine whether the grasp has been successful and difficult to achieve precise pipetting operations under precise force control.
[0003] While existing technologies employ simple springs to achieve passive floating grippers, their floating direction and force control are open-loop and passive, making them unsuitable for complex working conditions and active, precise control. Therefore, there is an urgent need for a dedicated pipetting gripper that combines passive compliant adaptability with active, precise force control capabilities, and is suitable for high-throughput scenarios. Summary of the Invention
[0004] This invention addresses the problems existing in the prior art by proposing a force-controlled floating liquid handling gripper for high-throughput experimental robots.
[0005] The technical means employed in this invention are as follows:
[0006] A force-controlled floating pipetting gripper for high-throughput laboratory robots includes: gripper mounting base; A connecting flange installed on the gripper mounting base for fixing the floating pipetting gripper to the robot; A six-dimensional force control sensor is installed on the gripper mounting base to acquire the gripper force of the floating pipetting gripper; A 3D camera mounted on the gripper mounting base for acquiring the gripper position of the floating pipetting gripper; An electric gripper drive device installed on the gripper mounting base for driving the gripper to open or close; A gripper mounted on the electric gripper drive device for gripping or releasing an object to be gripped; and a passive floating mechanism mounted on the gripper mounting base for buffering the contact force between the gripper and the object to be gripped.
[0007] Furthermore, the passive floating mechanism includes a spring and two sets of guide rail sliders; The electric gripper drive device is mounted on the gripper mounting base via two sets of guide rail sliders; The spring is mounted on the gripper mounting base and is oriented in the same direction as the guide rail slider, so that when the gripper comes into contact with the object to be gripped, the spring is compressed to generate a buffering force on the gripper.
[0008] Furthermore, the gripper mounting base includes an upper end plate, a rear end plate, and side end plates on both sides; The six-dimensional force control sensor and the connecting flange are sequentially installed on the top of the upper end plate; The upper end plate, the rear end plate, and the side end plates on both sides form a mounting cavity. The guide rail slider is mounted on the inner side of the side end plate of the mounting cavity. The electric gripper drive device is placed in the mounting cavity and connected to the guide rail slider through a transition fixing seat.
[0009] Furthermore, a guide post fixing block is fixed to the rear side of the rear end plate; A guide post is fixed on the guide post fixing block; The transition fixing seat is provided with a guide block, and the guide block is provided with a guide through hole; when the electric gripper drive device is placed in the mounting cavity, the guide post is inserted into the guide through hole; The spring is sleeved on the guide post, with one end abutting against the guide post fixing block and the other end abutting against the guide block.
[0010] Furthermore, it also includes a limiting structure for limiting the movement distance of the gripper on the guide rail slider.
[0011] Furthermore, the limiting structure includes a limiting block and a striking block; The rear end plate is provided with a limiting groove, and the limiting blocks are fixed at both ends of the limiting groove on the rear end plate; The impact block is fixed on the transition fixing seat; The impact block is placed in the limiting slide groove, and the impact block can slide in the limiting slide groove when the transition fixing seat drives the gripper to move along the guide rail slider.
[0012] Furthermore, the limiting structure has two sets; The two sets of limiting structures are located on both sides of the passive floating mechanism.
[0013] Furthermore, the 3D camera is fixedly mounted on the gripper mounting base via a camera adapter plate; The camera adapter plate includes a main body fixing part for fixedly connecting with the gripper mounting base, a camera fixing part for fixing the 3D camera, and a bent part for connecting the main body fixing part and the camera fixing part.
[0014] Furthermore, the camera adapter plate is also equipped with reinforcing ribs.
[0015] Compared with existing technologies, the high-throughput experimental robot force-controlled floating pipetting gripper disclosed in this invention has the following beneficial effects: By setting up a six-dimensional force control sensor and a passive floating mechanism, the high-throughput experimental robot force-controlled floating pipetting gripper disclosed in this invention can effectively absorb robot positioning errors and consumable position deviations when gripping objects, improve the gripping success rate at high speeds, and accurately control the clamping force within the range that consumables can withstand, avoiding gripping failures or damage to expensive experimental consumables and samples. Attached Figure Description
[0016] Figure 1 This is a first-direction axial view of the force-controlled floating pipetting gripper for high-throughput experimental robots disclosed in this invention. Figure 2 This is a second-direction axial view of the force-controlled floating pipetting gripper for high-throughput experimental robots disclosed in this invention; Figure 3 This is a first-direction axial view of the connection between the gripper mounting base and the transition fixing base in the force-controlled floating pipetting gripper of the high-throughput experimental robot disclosed in this invention; Figure 4 This is a second-direction axial view of the connection between the gripper mounting base and the transition fixing base in the force-controlled floating pipetting gripper of the high-throughput experimental robot disclosed in this invention; Figure 5 This is a second-direction axial view (excluding the spring and guide post) of the gripper mounting base and transition fixing base of the force-controlled floating pipetting gripper of the high-throughput experimental robot disclosed in this invention. Figure 6 This is an axial view of the camera adapter plate in the force-controlled floating pipetting gripper of the high-throughput experimental robot disclosed in this invention. Figure 7 This is a side view of the camera adapter plate in the force-controlled floating pipetting gripper of the high-throughput experimental robot disclosed in this invention. In the diagram: 1. Gripper mounting base; 10. Upper end plate; 11. Rear end plate; 12. Side end plate; 13. Mounting cavity; 14. Guide post fixing block; 15. Guide post; 16. Limiting slide groove; 17. Opening groove; 18. Through hole; 2. Connecting flange; 3. Six-dimensional force control sensor; 4. 3D camera; 40. Camera adapter plate; 41. Main body fixing part; 42. Camera fixing part; 43. Bending part; 44. Reinforcing rib plate; 5. Electric gripper drive device; 6. Gripper; 7. Passive floating mechanism; 70. Spring; 71. Guide rail slider; 8. Transition fixing base; 80. Guide block; 81. Guide through hole; 82. Upper plate; 83. Rear plate; 84. Side plate; 9. Limiting structure; 90. Limiting block; 91. Impact block. Detailed Implementation
[0017] A force-controlled floating pipetting gripper for high-throughput laboratory robots includes: Grab mount 1; A connecting flange 2 is installed on the gripper mounting base 1 for fixing the floating pipetting gripper to the robot; A six-dimensional force control sensor 3 is installed on the gripper mounting base 1 to obtain the gripper force of the floating pipetting gripper; A 3D camera 4 is mounted on the gripper mounting base 1 to acquire the gripper position of the floating pipetting gripper; An electric gripper drive device 5 is installed on the gripper mounting base 1 to drive the gripper to open or close; A gripper 6, mounted on the electric gripper drive device 5, for gripping or releasing the object to be gripped; and a passive floating mechanism 7, mounted on the gripper mounting base 1, for buffering the contact force between the gripper and the object to be gripped.
[0018] Specifically, such as Figure 1 and Figure 2 As shown, the high-throughput experimental robot force-controlled floating pipetting gripper disclosed in this invention includes a gripper mounting base 1. A six-dimensional force control sensor 3 is fixed on the gripper mounting base 1. The six-dimensional force control sensor 3 is used to acquire the force exerted by the gripper when grasping the object (beaker). A connecting flange 2 is fixed on the six-dimensional force control sensor 3. The connecting flange 2 is used to fix the floating pipetting gripper to the robot's robotic arm, so as to realize that the robot's robotic arm drives the floating pipetting gripper to perform corresponding spatial movements. A 3D camera 4 is also fixed on the gripper base 1. The 3D camera 4 can acquire the position of the gripper 6, so that the gripper 6 can grasp or release the object to be grasped. An electric gripper drive device 5 is also fixed on the gripper mounting base 1. The gripper 6 is mounted on the electric gripper drive device 5. The electric gripper drive device 5 can control the opening or closing of the gripper 6 to grasp or release the object to be grasped. At the same time, the gripper mounting base 1 is also provided with a passive floating mechanism 7, which is used to buffer the contact force between the gripper and the object to be grasped. The high-throughput experimental robot force-controlled floating pipetting gripper disclosed in this invention, by setting a six-dimensional force control sensor and a passive floating mechanism, can effectively absorb robot positioning errors and consumable position deviations when grasping objects, improve the grasping success rate at high speeds, and accurately control the clamping force within the range that consumables can bear, avoiding grasping failures or damage to expensive experimental consumables and samples.
[0019] Furthermore, the passive floating mechanism 7 includes a spring 70 and two sets of guide rail sliders 71; The electric gripper drive device 5 is mounted on the gripper mounting base 1 via two sets of guide rail sliders 71; The spring 70 is mounted on the gripper mounting base 1 and is set in the same direction as the guide rail slider 71, so that when the gripper 6 comes into contact with the object to be gripped, the spring 70 is compressed to generate a buffering force on the gripper 6.
[0020] Specifically, such as Figure 3 and Figure 4 As shown, in this application, the passive floating mechanism 7 includes a spring 70 and two sets of guide rail sliders 71; Two sets of guide rail sliders 71 are arranged opposite to each other and fixed on the gripper mounting base 1. The direction of the guide rail sliders 71 is consistent with the direction of movement of the gripper 6 when it contacts or separates from the object to be gripped (beaker) (vertical direction in the figure). This allows the gripper 6 to move a certain displacement along the guide rail sliders 71 when it contacts the object to be gripped (beaker). A spring 70 is provided on the gripper mounting base 1. The direction of the spring 70 is the same as the direction of the guide rail sliders 71. This allows the gripper 6 to be compressed and deformed when it contacts the mouth of the beaker and moves along the guide rail sliders 71 due to the contact force. This generates an elastic force, which acts as a buffer, thus avoiding hard contact between the gripper 6 and the mouth of the beaker and preventing damage to the beaker.
[0021] Furthermore, the gripper mounting base 1 includes an upper end plate 10, a rear end plate 11, and side end plates 12 on both sides; The six-dimensional force control sensor 3 and the connecting flange 2 are sequentially installed on the top of the upper end plate 10; The upper end plate 10, the rear end plate 11, and the side end plates 12 on both sides form a mounting cavity 13. The guide rail slider 71 is mounted on the inner side of the side end plate 12 located in the mounting cavity 13. The electric gripper drive device 5 is placed in the mounting cavity 13 and connected to the guide rail slider 71 through the transition fixing seat 8.
[0022] Specifically, such as Figure 3 and Figure 4As shown in this application, the gripper mounting base 1 includes an upper end plate 10, a rear end plate 11, and two side end plates 12 that are fixedly connected to each other. The upper end plate 10, the rear end plate 11, and the two side end plates 12 form a mounting cavity 13. A six-dimensional force control sensor 3 and the connecting flange 2 are sequentially installed on the top of the upper end plate 10. A set of guide rail sliders 71 are respectively installed on the two side end plates 12 located in the mounting cavity 13. The mounting cavity 13 is also provided with a transition fixing seat 8. In this embodiment, the transition fixing seat 8 includes an upper plate 82, a rear plate 83, and two side plates 84. The electric gripper drive device 5 is placed in the space surrounded by the upper plate 82, the rear plate 83, and the two side plates 84 and is fixedly connected to the transition fixing seat 8. The two side plates 84 of the transition fixing seat 8 are connected to the two side end plates 12 of the gripper mounting base 1 through the guide rail sliders 71.
[0023] Furthermore, a guide post fixing block 14 is fixed to the rear side of the rear end plate 11; A guide post 15 is fixed on the guide post fixing block 14; The transition fixing seat 8 is provided with a guide block 80, and the guide block 80 is provided with a guide through hole 81; when the electric gripper drive device 5 is placed in the mounting cavity 13, the guide post 15 is inserted into the guide through hole 81. The spring 70 is sleeved on the guide post 15, with one end abutting against the guide post fixing block 14 and the other end abutting against the guide block 80.
[0024] Specifically, such as Figure 4 and Figure 5 As shown, a guide post fixing block 14 is fixed on the back side (the side opposite to the mounting cavity) of the rear end plate 11 of the gripper mounting base 1. In this application, the guide post fixing block 14 is fixed to the rear end plate 11 by screws. The guide post fixing block 14 has a through hole 18 and an opening groove 17. The opening groove 17 makes the guide post fixing block 14 form an elastic structure. The guide post 15 is inserted into the through hole 18, and the inner diameter of the through hole 18 can be reduced by tightening the screws to clamp and fix the guide post 15. A guide block 80 is fixed on the back side of the rear plate 83 of the transition fixing base 8. The guide block 80 has a guide through hole 81. When the transition fixing base 8 and the gripper mounting base 1 are connected by the guide rail slider 71, the other end of the guide post 15 is inserted into the guide through hole 81. A spring 70 is sleeved on the guide post 15. The two ends of the spring 70 abut against the guide post fixing block 14 and the guide block 80, respectively. The guide post 15 can not only guide and position the spring 70, but also ensure the performance of the passive floating mechanism 7.
[0025] Furthermore, it also includes a limiting structure 9 for limiting the movement distance of the gripper 6 on the guide rail slider 71.
[0026] Specifically, by setting a limiting structure 9 on the gripper mounting base 1, the movement distance of the gripper 6 when it comes into contact with the beaker can be effectively limited, thereby ensuring the performance of the gripper.
[0027] Furthermore, the limiting structure 9 includes a limiting block 90 and a striking block 91; The rear end plate 11 is provided with a limiting groove 16, and the limiting blocks 90 are fixed at both ends of the limiting groove 16 on the rear end plate 11. The impact block 91 is fixed on the transition fixing seat 8; The impact block 91 is placed in the limiting slide groove 16, and the impact block 91 can slide in the limiting slide groove 16 when the transition fixing seat 8 drives the gripper 6 to move along the guide rail slider 71.
[0028] Specifically, such as Figure 4 and Figure 5 As shown, the limiting structure 9 includes a limiting block 90 and a stop block 91. A limiting groove 16 is provided on the rear end plate 11 of the gripper mounting base 1. The setting direction of the limiting groove 16 is consistent with the setting direction of the guide rail slider 71. Limiting blocks 90 are fixed at both ends of the limiting groove 16 on the rear end plate 11. A stop block 91 is fixed on the back of the rear plate 83 of the transition fixing base 8. The stop block 91 is placed in the limiting groove 16. When the transition fixing base 8 drives the gripper 6 to move along the guide rail slider 71, the stop block can slide in the limiting groove 16 and its movement distance is limited by the limiting blocks 90 at both ends of the limiting groove 16. The limiting groove 16 and the limiting block 90 can play a certain guiding role to improve its running stability.
[0029] Furthermore, the limiting structure 9 has two sets; the two sets of limiting structures 9 are respectively located on both sides of the passive floating mechanism 7.
[0030] Specifically, in this embodiment, the limiting structure 9 has two sets; the two sets of limiting structures 9 are located on both sides of the passive floating mechanism 7, thereby further improving the operational stability of the gripper 6.
[0031] Furthermore, the 3D camera 4 is fixedly mounted on the gripper mounting base 1 via a camera adapter plate 40; The camera adapter plate 40 includes a main body fixing part 41 for fixed connection with the gripper mounting base 1, a camera fixing part 42 for fixing the 3D camera 4, and a bending part 43 for connecting the main body fixing part 41 and the camera fixing part 42.
[0032] Specifically, such as Figure 1 , Figure 2 , Figure 6 and Figure 7As shown, the 3D camera 4 is fixedly mounted on one side of the gripper mounting base 1 via a camera adapter plate 40. The camera adapter plate 40 includes a main body fixing part 41, a camera fixing part 42, and a bending part 43. The main body fixing part 41 is fixedly connected to the side end plate 12 of the gripper mounting base 1 via screws or other structures. The 3D camera is fixed on the camera fixing part 42 via screws or other structures. A bending part 43 is provided between the main body fixing part 41 and the camera fixing part 42. The camera adapter plate 40 can effectively fix the 3D camera on the gripper mounting base 1 and can obtain the position of the gripper 6 in real time through the 3D camera, thereby facilitating the robot's robotic arm to control the gripper to move and grasp objects.
[0033] Furthermore, the camera adapter plate 40 is also provided with a reinforcing rib plate 44.
[0034] Specifically, the camera adapter plate 40 is also provided with a reinforcing rib plate 44 to further improve the strength of the camera adapter plate 40, thereby ensuring the stability of the 3D camera and the accuracy of the gripper in grasping objects.
[0035] The process of grasping and releasing a beaker using the high-throughput experimental robot force-controlled floating pipetting gripper disclosed in this invention is as follows: The robot's robotic arm propels the high-throughput experimental robot force-controlled floating pipetting gripper disclosed in this invention to approach the target beaker at a relatively slow speed. It then uses a 3D camera to capture and locate the beaker before grasping it. When the six-dimensional force control sensor detects that the contact force in the Z-axis direction reaches a preset small threshold (e.g., 0.5N), it determines that contact has occurred and stops pressing down.
[0036] The "force-position hybrid control" is activated, which means that the Z-axis force feedback is read in real time during the gripper closure process. If the force value exceeds the protection threshold, the gripper is slightly loosened or the robot is commanded to lift slightly to ensure that the gripping force remains stable within a safe range.
[0037] After successful grasping, the liquid is pipetted. When placing the beaker onto the stirring table, a force sensor is used to achieve a "soft landing" to prevent impact.
[0038] The high-throughput experimental robot force-controlled floating liquid handling gripper disclosed in this invention has the following beneficial effects: high success rate and high adaptability. The passive floating mechanism can effectively absorb robot positioning errors and consumable position deviations, greatly reducing the dependence on absolute positioning accuracy and improving the gripping success rate under high-speed operation.
[0039] Non-destructive operation: Based on real-time force feedback closed-loop control, the clamping force can be precisely controlled within the range that the consumables can withstand, avoiding gripping failure or damage to expensive experimental consumables and samples.
[0040] Intelligent perception: The six-dimensional force control sensor can not only be used for force control, but also to determine whether the grasping is successful or whether abnormal states such as blockage or collision have occurred by monitoring the force curve characteristics during the grasping process, thereby improving the intelligence and safety of the system.
[0041] With features such as rapid deployment, easy expansion, and remote monitoring, it can significantly reduce experimental costs, improve experimental efficiency, and enhance safety, making it particularly suitable for applications in fields such as drug screening, material synthesis, and biochemical analysis.
[0042] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A force-controlled floating pipetting gripper for a high-throughput experimental robot, characterized in that, include: gripper mounting base; A connecting flange installed on the gripper mounting base for fixing the floating pipetting gripper to the robot; A six-dimensional force control sensor is installed on the gripper mounting base to acquire the gripper force of the floating pipetting gripper; A 3D camera mounted on the gripper mounting base for acquiring the gripper position of the floating pipetting gripper; An electric gripper drive device installed on the gripper mounting base for driving the gripper to open or close; A gripper mounted on the electric gripper drive device for gripping or releasing an object to be gripped; and a passive floating mechanism mounted on the gripper mounting base for buffering the contact force between the gripper and the object to be gripped.
2. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 1, characterized in that: The passive floating mechanism includes a spring and two sets of guide rail sliders; The electric gripper drive device is mounted on the gripper mounting base via two sets of guide rail sliders; The spring is mounted on the gripper mounting base and is oriented in the same direction as the guide rail slider, so that when the gripper comes into contact with the object to be gripped, the spring is compressed to generate a buffering force on the gripper.
3. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 2, characterized in that: The gripper mounting base includes an upper end plate, a rear end plate, and side end plates on both sides; The six-dimensional force control sensor and the connecting flange are sequentially installed on the top of the upper end plate; The upper end plate, the rear end plate, and the side end plates on both sides form a mounting cavity. The guide rail slider is mounted on the inner side of the side end plate of the mounting cavity. The electric gripper drive device is placed in the mounting cavity and connected to the guide rail slider through a transition fixing seat.
4. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 3, characterized in that: The rear side of the rear end plate is fixed with a guide post fixing block; A guide post is fixed on the guide post fixing block; The transition fixing seat is provided with a guide block, and the guide block is provided with a guide through hole; when the electric gripper drive device is placed in the mounting cavity, the guide post is inserted into the guide through hole; The spring is sleeved on the guide post, with one end abutting against the guide post fixing block and the other end abutting against the guide block.
5. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 4, characterized in that: It also includes a limiting structure for limiting the movement distance of the gripper on the guide rail slider.
6. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 5, characterized in that: The limiting structure includes a limiting block and a striking block; The rear end plate is provided with a limiting groove, and the limiting blocks are fixed at both ends of the limiting groove on the rear end plate; The impact block is fixed on the transition fixing seat; The impact block is placed in the limiting slide groove, and the impact block can slide in the limiting slide groove when the transition fixing seat drives the gripper to move along the guide rail slider.
7. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 6, characterized in that: The limiting structure has two sets; The two sets of limiting structures are located on both sides of the passive floating mechanism.
8. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 1, characterized in that: The 3D camera is fixedly mounted on the gripper mounting base via a camera adapter plate; The camera adapter plate includes a main body fixing part for fixedly connecting with the gripper mounting base, a camera fixing part for fixing the 3D camera, and a bent part for connecting the main body fixing part and the camera fixing part.
9. The high-throughput experimental robot force-controlled floating pipetting gripper according to claim 8, characterized in that: The camera adapter plate is also equipped with reinforcing ribs.