Clamping device and collaborative robot

Abstract

The utility model relates to a clamping device and a collaborative robot. The clamping device comprises a rotating arm mechanism and a clamping jaw mechanism. One end of the rotating arm mechanism is connected to a to-be-mounted object and can rotate relative to the to-be-mounted object; the other end of the rotating arm mechanism is connected with the clamping jaw mechanism; a clamping part of the clamping jaw mechanism is driven by a clamping driving part to realize clamping in the same direction or opening in the reverse direction; and when the rotating arm mechanism rotates relative to the to-be-mounted object, the clamping jaw mechanism is always kept in a parallel state with the horizontal plane. In the invention, the clamping jaw mechanism can always keep parallel to the horizontal plane, so that a motor and a corresponding control element of a joint of the rotating arm mechanism can be omitted, the reliability is improved, and the consumable clamped by the clamping jaw mechanism is always kept in a stable state. And the rotating arm mechanism is higher in flexibility and more compact in structure, so that the clamping device can adapt to high-precision and high-load application environments such as the field of biological medicine.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical grippers, and more specifically, to a gripping device and a collaborative robot. Background Art

[0002] In the field of biomedicine, in order to replace manual biomedicine and other experimental operations, various types of collaborative robots have appeared on the market. Collaborative robots are mainly used for the integration of laboratory instruments to achieve the automatic transfer of consumables, reagents, samples, etc. between instruments.

[0003] When transferring consumables, reagents, and samples, an automated mechanical gripper or gripping device is required. The mechanical gripper or gripping device can automatically adjust the gripping size of the gripper according to the size of the consumables or the size of the reagent tube, so it can adapt to more sizes of consumables, reagents, and samples. When the transfer path is long and far, the mechanical gripper or gripping device is usually equipped with an extended-range arm that can increase the moving distance. The extension length of the mechanical gripper or gripping device is increased by telescoping and folding the extended-range arm.

[0004] For example, the utility model patent with patent announcement number CN213499202U discloses a horizontal joint robot, on the shell of which a horizontal arm is mounted, and at the end of which a gripper for gripping objects is arranged. The horizontal arm can only change its stroke by horizontal unidirectional reciprocating extension and retraction. When the horizontal arm is fully extended, the structural rigidity is low, and the rotation flexibility between the gripper and the horizontal arm is poor.

[0005] Therefore, some robots have appeared on the market, which design the horizontal arm installed on the robot to be able to fold in an "S-shape" in the horizontal direction, instead of a structure that can only achieve horizontal unidirectional reciprocating telescopic extension. However, the horizontal arm of this structure is still too large, which is not conducive to working in a small space, and the telescopic flexibility is low, which is not suitable for application environments requiring high precision or high load. Utility Model Content

[0006] The purpose of the present application is to provide a clamping device, in which the clamping mechanism can always remain parallel to the horizontal plane, thereby ensuring that the load clamped by the clamping mechanism always remains stable, avoiding the consumables from falling, and the samples loaded in the consumables from scattering, etc. Since this design allows the clamping mechanism to always remain in a horizontal state, the motor and corresponding control components of the rotating arm mechanism joint can be omitted, thereby improving reliability, making the rotating arm mechanism more flexible and more compact in structure, so that the clamping device can adapt to high-precision and high-load application environments such as the biomedical field.

[0007] The embodiment of the present application is implemented as follows:

[0008] In the first aspect, the present application provides a clamping device, comprising: a rotating arm mechanism and a clamping claw mechanism; one end of the rotating arm mechanism is connected to an object to be installed and can rotate relative to the object to be installed; the other end of the rotating arm mechanism is connected to the clamping claw mechanism; the clamping portion of the clamping claw mechanism is driven by a clamping drive portion to achieve same-direction clamping or reverse opening; when the rotating arm mechanism rotates relative to the object to be installed, the clamping claw mechanism always remains parallel to the horizontal plane.

[0009] In the above technical solution, the rotating arm mechanism can rotate relative to the object to be installed, that is, with the object to be installed as a static reference object, the rotating arm mechanism can rotate, and the angle of rotation can be set according to the structure of the rotating arm mechanism and the structure formed by connecting with the object to be installed. The clamping claw mechanism is arranged at one end of the rotating arm mechanism away from the connection of the object to be installed. The clamping claw mechanism can realize automatic clamping and automatic opening of the clamping part through the clamping driving part, so that the opening distance of the clamping part can be adjusted according to the size of the consumables to realize the clamping of consumables of different sizes. When the rotating arm mechanism rotates relative to the object to be installed, the clamping claw mechanism can always keep itself parallel to the horizontal plane, so as to ensure that the consumables clamped by the clamping claw mechanism always keep a stable state, and can avoid the consumables from falling and the samples loaded in the consumables from scattering. This design structure can save the motor and corresponding control components of the rotating arm mechanism joint, improve reliability, make the rotating arm mechanism more flexible, and make the structure more compact, so that the clamping device can adapt to high-precision and high-load application environments such as the biomedical field.

[0010] In one embodiment, the rotating arm mechanism includes: an arm body bracket; a rotating arm driving part arranged on one side of the arm body bracket, the rotating arm driving part is used to drive the arm body bracket to rotate; a first rotating member and a second rotating member arranged on the other side of the arm body bracket, the rotating arm driving part is coaxially arranged with the first rotating member, and the first rotating member and the second rotating member can rotate relative to the arm body bracket; a transmission member, connecting the first rotating member and the second rotating member; the clamping mechanism is fixedly connected to the second rotating member.

[0011] In the above technical solution, the arm support, as the core supporting component of the rotating arm mechanism, has a certain rigidity and strength. The rotating arm driving unit is arranged on one side of the arm support, while the first rotating member and the second rotating member are arranged on the other side of the arm support at the same time, which can maintain the balance of the two sides of the arm support, and avoid the rotating arm driving unit and the first rotating member and the second rotating member being arranged on the same side of the arm support at the same time, which causes the overall center of gravity of the arm support to shift, affecting the stability of the overall structure of the rotating arm mechanism. The rotating arm driving unit is coaxially arranged with the first rotating member, which can avoid the imbalance of the connecting components on both sides of the arm support and cause the center of gravity of the clamping claw mechanism to shift. The rotating arm driving unit drives the arm support on one side to rotate, and the arm support on one side drives the arm support on the other side fixedly connected to it to rotate.

[0012] In one embodiment, the rotating arm driving part includes: a first driving member, a first driving pulley, a first driven pulley, a first transmission belt and an electromagnetic brake assembly; the outer shell of the first driving member is connected to the arm body bracket, the rotor of the first driving member is connected to the first driving pulley, and is used to drive the first driving pulley to rotate, and the first driving pulley and the first driven pulley are connected to each other through the first transmission belt; an electromagnetic brake assembly is provided on the arm body bracket, and the electromagnetic brake assembly is used to brake the first driven pulley.

[0013] In the above technical solution, when the rotor of the first driving member drives the first driving pulley to rotate, the stator (housing) of the first driving member rotates relative to the first driving pulley (or the rotor of the first driving member), driving one side of the arm body bracket connected to the stator (housing) of the first driving member to rotate. Since one side of the arm body bracket is connected and fixed to the other side by a connecting component (such as a connecting rod), the other side of the arm body bracket can rotate together. When the power is off, the electromagnetic brake assembly locks the first driven pulley to stop the first driven pulley from rotating, and then locks the first driving pulley through the action of the first transmission belt to stop the first driving pulley from rotating, and then locks the arm body bracket to stop the arm body bracket from rotating.

[0014] In one embodiment, the number of teeth of the first rotating member is equal to the number of teeth of the second rotating member.

[0015] In the above technical solution, when the arm body bracket rotates, the first rotating member rotates in the opposite direction relative to the arm body bracket, and the teeth on the first rotating member rotate by an angle. Under the transmission action of the transmission member, the teeth on the second rotating member will follow the teeth of the first rotating member to rotate by the same angle, and the clamping mechanism is fixedly connected to the second rotating member, and the second rotating member transmits the same rotation angle to the clamping mechanism, so that the clamping mechanism can always remain parallel to the horizontal plane when it rotates in the opposite direction relative to the arm body bracket.

[0016] In one embodiment, a tensioning wheel is further provided on the arm support between the first rotating member and the second rotating member, one end of the transmission member is provided on the first rotating member and is adjusted by the tensioning wheel, and the other end is provided on the second rotating member.

[0017] In the above technical solution, a tensioning wheel is arranged on the arm support between the first rotating member and the second rotating member, and the initial tension or tensioning force of the transmission member is adjusted by the tensioning wheel. When the center distance of the transmission member cannot be adjusted, the transmission member is tensioned by the tensioning wheel, and the two rotating members are transmitted by friction.

[0018] In one embodiment, a counterweight is provided at one end of the arm support away from the clamping mechanism.

[0019] In the above technical solution, the counterweight is fixed to the bottom of one end of the arm support away from the clamping claw structure, and is used to balance the weight of the arm support and reduce the load of the rotating arm drive.

[0020] In one embodiment, the clamping mechanism includes: a clamping bracket, the clamping drive unit and the clamping unit; the clamping bracket is fixedly connected to the rotating arm mechanism; the clamping drive unit is arranged on the clamping bracket; and the clamping drive unit is connected to the clamping unit.

[0021] In the above technical solution, the clamping part is a clamping hand for clamping the consumables, which is driven to open and tighten by the clamping driving part to clamp the consumables. The clamping claw mechanism is fixedly connected to the second rotating member, and the first rotating member rotates to drive the movement of the transmission member, and the movement of the transmission member drives the second rotating member to rotate relative to the arm body bracket, and the rotation of the second rotating member can drive the rotation of the clamping claw mechanism.

[0022] In one embodiment, the clamping drive portion includes: a second driving member, a second driving pulley, a second driven pulley, a second transmission belt, a transmission rod and a nut seat; the rotor of the second driving member is connected to the second driving pulley for driving the second driving pulley to rotate, and the second driving pulley and the second driven pulley are connected to each other through the second transmission belt; the second driven pulley is connected to the transmission rod, the nut seat is rotationally connected to the transmission rod, and the nut seat is connected to the clamping portion.

[0023] In the above technical solution, the rotor output end of the second driving member is connected to the second driving pulley and drives the second driving pulley to rotate, and through the transmission action of the second transmission belt, the second driven pulley is driven to rotate at the same time, so as to realize the linkage between the second driving pulley and the second driven pulley. The transmission rod can be a screw rod, and when the transmission rod rotates, the nut seat can move relative to the transmission rod, thereby driving the clamping part connected to the nut seat to move.

[0024] In one embodiment, the clamping portion includes a first clamping portion and a second clamping portion, and the nut seat includes a first nut seat and a second nut seat; the transmission rod is provided with a first threaded structure and a second threaded structure which are opposite, the first nut seat is rotatably connected to the first threaded structure, and the first nut seat is connected to the first clamping portion; the second nut seat is rotatably connected to the second threaded structure, and the second nut seat is connected to the second clamping portion.

[0025] In the above technical solution, by arranging thread structures with different rotation directions on the transmission rod, the movement directions of the first clamping part and the second clamping part are always opposite, thereby achieving the grasping and releasing of the consumables.

[0026] In one embodiment, a first slide rail is further provided on the clamping jaw bracket, the first nut seat is connected to a first slider, the first slider is connected to the first clamping portion, the second nut seat is connected to a second slider, the second slider is connected to the second clamping portion, and both the first slider and the second slider can slide along the first slide rail.

[0027] In the above technical solution, by setting the first slide rail, the first slider and the second slider can support and limit the first slider and the second slider during the movement of the first slide rail, so that the first slider and the second slider can avoid offset during the movement, thereby improving the stability of the first clamping part connected to the first slider and the second clamping part connected to the second slider when they make linear motion; on the other hand, the setting of the first slide rail can enable part of the overturning torque to be transmitted to the first slide rail, and under the support provided by the first slide rail, the overall stability of the clamping mechanism is improved.

[0028] In one embodiment, a photoelectric detection unit is provided in the clamping jaw bracket, and the photoelectric detection unit includes a photoelectric detection part and a light shielding sheet; the light shielding sheet is provided on the first nut seat and / or the second nut seat, and the photoelectric detection part is used to identify and detect the light shielding sheet.

[0029] In the above technical solution, by setting a photoelectric detection unit, when the first nut seat makes a linear motion, it drives the light blocking sheet to move. When the light blocking sheet passes through the groove of the photoelectric detection part, the photoelectric detection part detects the light blocking sheet, indicating that the first nut seat is in place. The photoelectric detection unit can send a detection signal to the clamping drive part, and the clamping drive part can stop working after receiving the instruction.

[0030] In a second aspect, the present application provides a collaborative robot, comprising a clamping device, a vertical lifting device, a chassis rotation device and a main control module as described in any one of the embodiments of the first aspect of the present application; wherein, when the object to be installed is the vertical lifting device, the vertical lifting device is connected to the clamping device to drive the clamping device to achieve lifting and lowering, and the vertical lifting device is arranged on the chassis rotation device, and the chassis rotation device is used to drive the vertical lifting device and the clamping device to achieve horizontal rotation; the main control module is arranged on the vertical lifting device, and the main control module is electrically connected to the clamping device, the vertical lifting device and the chassis rotation device.

[0031] In the above technical scheme, the collaborative robot of the present application can replace manual labor to complete high-precision experimental operations in the biomedical field according to the application environment requirements. Its structure is more compact, more flexible, and can operate in a small space, further improving work efficiency. By setting a chassis rotating device at the bottom of the vertical lifting device, the vertical lifting device and the clamping device are driven by the chassis rotating device to achieve 360° full-scale rotation to adapt to the clamping and transfer of consumables, reagents, samples and other loads in different directions, so that the collaborative robot can better adapt to high-precision operation requirements.

[0032] Since the gripper structure and the rotating arm mechanism achieve relative rotation, this design allows the gripper mechanism to always remain in a horizontal state, so the motor of the rotating joint and the corresponding control elements can be omitted, making the structure and control of the collaborative robot simpler and improving reliability.

[0033] In one embodiment, the vertical lifting device includes: a column bracket, a lifting sliding assembly, and a lifting drive unit; the column bracket is arranged on the chassis rotating device, the lifting drive unit is arranged on the column bracket, the lifting drive unit is connected to the lifting sliding assembly, and the lifting sliding assembly is connected to the clamping device.

[0034] In the above technical solution, the main control module can be installed on the column bracket to control the operation of the collaborative robot. The lifting drive unit is fixedly arranged on the column bracket, and the lifting drive unit drives the lifting sliding assembly to adjust the height in the longitudinal direction, thereby driving the clamping device connected to the lifting sliding assembly to lift in the height direction.

[0035] In one embodiment, the lifting drive unit includes: a third driving member, a third driving pulley, a third driven pulley, a third transmission belt, a transmission shaft, a fourth driven pulley, a fourth transmission belt and a fourth driving pulley; a rotor of the third driving member is connected to the third driving pulley for driving the third driving pulley to rotate, and the third driving pulley and the third driven pulley are connected to each other through the third transmission belt; the third driven pulley is connected to the transmission shaft, the fourth driven pulley is arranged on the transmission shaft, the fourth driving pulley is arranged on the column bracket, and the fourth transmission belt connects the fourth driven pulley and the fourth driving pulley.

[0036] In the above technical solution, the rotor output end of the third driving member is connected to the third driving pulley, and drives the third driving pulley to rotate, and through the transmission action of the third transmission belt, the third driven pulley is driven to rotate at the same time, so as to realize the linkage between the first driving pulley and the first driven pulley. The third driven pulley is connected to the transmission shaft, and the rotation of the third driven pulley drives the rotation of the transmission shaft, and then through the transmission action of the fourth transmission belt, the fourth driven pulley is driven to rotate.

[0037] In one embodiment, the lifting drive unit further includes: a fourth driving member, a rotor of the fourth driving member is drivingly connected to the fourth driving pulley.

[0038] In the above technical solution, by synchronously driving the fourth driving member and the third driving member, it is possible to avoid that when only one third driving member is provided for driving, the driving force is transmitted to the fourth driven pulley and the loss is large, resulting in a reduction in the working efficiency of the third driving member and affecting the driving of the lifting driving unit. The third driving member and the fourth driving member are driven synchronously, which further improves the driving accuracy and driving efficiency of the lifting driving unit.

[0039] In one embodiment, the lifting and sliding assembly includes: a mounting plate, a second slide rail and a third slider; the mounting plate is connected to the fourth transmission belt, the third slider is arranged on the mounting plate, the second slide rail is arranged on the column bracket, the third slider can slide along the second slide rail, and the mounting plate is connected to the rotating arm mechanism.

[0040] In the above technical solution, by setting the second slide rail, the third slider can support and limit the third slider during the movement of the second slide rail, so that the third slider can avoid offset during the movement, thereby improving the stability of the mounting plate connected to the third slider during linear motion; on the other hand, the setting of the second slide rail can enable part of the overturning torque to be transmitted to the second slide rail, and under the support provided by the second slide rail, the overall stability of the lifting and sliding assembly is improved.

[0041] In one embodiment, the mounting plate includes: a first mounting plate and a second mounting plate; a first strip groove and a second strip groove are provided on the column bracket; the first mounting plate is passed through the first strip groove, and the first mounting plate is connected to the fourth transmission belt; one end of the second mounting plate is connected to the first mounting plate, and the third slider is provided on the second mounting plate; the bent portion of the other end of the second mounting plate passes through the second strip groove and is connected to one end of the rotating arm mechanism away from the clamping mechanism.

[0042] In the above technical solution, the first mounting plate and the second mounting plate adopt an enclosing connection structure, which can improve the structural strength of the lifting and sliding assembly to a certain extent. The first strip groove and the second strip groove can further limit the moving direction of the first mounting plate and the second mounting plate, so that the mounting plate always moves in the vertical direction without deviation.

[0043] In one embodiment, the chassis rotating device includes: a base, a chassis driving part and a turntable; the vertical lifting device is arranged on the turntable; the chassis driving part includes: a fifth driving member, a fifth driving pulley, a fifth driven pulley and a fifth transmission belt; the fifth driving member is arranged on the turntable, the rotor of the fifth driving member is connected to the fifth driving pulley, the fifth driving member is used to drive the fifth driving pulley to rotate, the fifth driving pulley and the fifth driven pulley are connected through the fifth transmission belt, the fifth driven pulley is connected to the turntable, and the rotating axis of the fifth driven pulley is arranged in the base; the base and the turntable are detachably connected.

[0044] In the above technical solution, the fifth driving member drives the fifth driving pulley to rotate, and through the transmission action of the fifth transmission belt, drives the fifth driven pulley to rotate, and then drives the turntable connected to the fifth driven pulley to rotate, thereby driving the vertical lifting device arranged on the turntable and the clamping device connected to the vertical lifting device to rotate. The turntable can realize 0° to 360° rotation.

[0045] In one embodiment, a conductive slip ring is installed on the rotating shaft of the fifth driven pulley, and the conductive slip ring includes a rotor and a terminal that can rotate infinitely relative to each other. The terminal rotates synchronously with the rotating shaft of the fifth driven pulley, and the rotor is fixed in the base.

[0046] In the above technical solution, when the fifth driven pulley rotates, the conductive slip ring can achieve infinite rotation, so the lead wires on the terminals for signal transmission can avoid twisting and winding when rotating, and the rotation angle of the fifth driven pulley will not be limited.

[0047] In one embodiment, a mounting slot is provided on the turntable, and a chuck is also provided at one end of the fifth driven pulley. The chuck protrudes from the turntable, abuts against the bottom of the vertical lifting device, and enables the bottom of the vertical lifting device to be clamped in the mounting slot.

[0048] In the above technical solution, the chuck is arranged at one end of the rotating shaft of the fifth driven pulley, the surface of the chuck protrudes from the turntable, and the chuck can rotate with the rotation of the fifth driven pulley. The bottom of the column bracket on the vertical lifting device can be embedded in the installation slot, and the bottom of the column bracket abuts against the chuck, and the column bracket can be fixedly installed and connected to the turntable through the restrictions of the chuck and the installation slot.

[0049] In one embodiment, the base is also provided with a power interface and / or an I / O interface.

[0050] In the above technical solution, the collaborative robot can be powered by providing a power interface on the base. The collaborative robot can be connected to a wired and / or wireless communication by providing an I / O interface on the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A schematic diagram of the structure of a clamping device provided in one embodiment of the present application;

[0053] Figure 2 A schematic diagram of the internal structure of a clamping device provided in one embodiment of the present application;

[0054] Figure 3 A top view of the internal structure of a clamping device provided in one embodiment of the present application;

[0055] Figure 4 A schematic diagram of a rotating arm structure provided in an embodiment of the present application Figure 1 ;

[0056] Figure 5 A schematic diagram of a rotating arm structure provided in an embodiment of the present application Figure 2 ;

[0057] Figure 6 A left side view of a rotating arm structure provided in one embodiment of the present application;

[0058] Figure 7A right side view of a rotating arm structure provided in one embodiment of the present application;

[0059] Figure 8 A schematic diagram of a clamping mechanism provided in one embodiment of the present application;

[0060] Fig. 9 An exploded schematic diagram of a clamping mechanism provided in one embodiment of the present application;

[0061] Fig.10 A schematic diagram of the overall structure of a collaborative robot provided in one embodiment of the present application;

[0062] Fig.11 A top view of a collaborative robot provided in one embodiment of the present application;

[0063] Fig.12 A schematic diagram of the structure of a vertical lifting device provided in one embodiment of the present application;

[0064] Fig.13 Schematic diagram of the internal structure of the vertical lifting device provided in one embodiment of the present application Figure 1 ;

[0065] Fig.14 Schematic diagram of the internal structure of the vertical lifting device provided in one embodiment of the present application Figure 2 ;

[0066] Fig.15 A connection structure between a vertical lifting device and a clamping device provided in an embodiment of the present application Figure 1 ;

[0067] Fig.16 A connection structure between a vertical lifting device and a clamping device provided in an embodiment of the present application Figure 2 ;

[0068] Fig.17 A schematic diagram of the structure of a chassis rotating device provided in one embodiment of the present application;

[0069] Fig.18 An exploded schematic diagram of a chassis rotating device provided in one embodiment of the present application.

[0070] icon:

[0071] 1-cooperative robot; 10-gripping device; 100-rotating arm mechanism; 110-arm support; 120-rotating arm driving part; 121-first driving member; 122-first driving pulley; 123-first driven pulley; 124-first transmission belt; 125-electromagnetic brake assembly; 130-first rotating member; 131-pulley baffle; 140-second rotating member; 150-transmission member; 160-tensioning wheel; 170-counterweight; 200-gripping mechanism; 210-gripping part; 211- First clamping part; 212-second clamping part; 213-gasket; 220-gripping driving part; 221-second driving member; 222-second driving pulley; 223-second driven pulley; 224-second transmission belt; 225-transmission rod; 226-nut seat; 2261-first nut seat; 2262-second nut seat; 230-gripping jaw bracket; 231-first slide rail; 232-first slider; 233-second slider; 240-photoelectric detection unit; 241-photoelectric detection part; 242 -light shielding sheet; 30-vertical lifting device; 300-column bracket; 301-first strip groove; 302-second strip groove; 310-lifting and sliding assembly; 311-mounting plate; 3111-first mounting plate; 3112-second mounting plate; 312-second slide rail; 313-third slider; 314-drag chain; 320-lifting drive unit; 321-third driving member; 322-third driving pulley; 323-third driven pulley; 324-third transmission belt; 325-transmission shaft; 326 -fourth driven pulley; 327-fourth transmission belt; 328-fourth driving pulley; 330-fourth driving member; 40-chassis rotating device; 400-base; 401-power interface; 402-I / O interface; 410-chassis driving unit; 411-fifth driving member; 412-fifth driving pulley; 413-fifth driven pulley; 414-fifth transmission belt; 415-conductive slip ring; 416-chuck; 420-turntable; 421-installation slot; 50-main control module; 60-consumables. DETAILED DESCRIPTION

[0072] The terms “first”, “second”, “third”, etc. are only used for distinguishing descriptions and do not indicate the order of arrangement, nor can they be understood as indicating or implying relative importance.

[0073] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0074] In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "up", "down", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the products of the present application are usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0075] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0076] The technical solution of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0077] In the field of biomedicine, consumables, reagents, samples, etc. can be transferred by gripping manipulators. The application of gripping manipulators can improve the efficiency of gripping transfer on the one hand, and reduce the pollution problem during manual transfer on the other hand. However, the existing gripping manipulators are relatively poor in both structural rigidity and rotation flexibility, which makes the gripping manipulators unable to adapt well to high-precision and high-load application environments, thus reducing the working efficiency of the gripping manipulators.

[0078] Based on this, the present application provides a clamping device 10 to solve the above technical problems. Figure 1 , Figure 2 , Figure 3 The clamping device 10 includes: a rotating arm mechanism 100 and a clamping claw mechanism 200. One end of the rotating arm mechanism 100 is connected to the object to be installed and rotates relative to the object to be installed; the other end of the rotating arm mechanism 100 is connected to the clamping claw mechanism 200; the clamping part of the clamping claw mechanism 200 is driven by the clamping driving part to achieve same-direction clamping or reverse opening. When the rotating arm mechanism 100 rotates relative to the object to be installed, the clamping claw mechanism 200 always remains parallel to the horizontal plane.

[0079] In this embodiment, the object to be installed can be set according to the application environment of the clamping device 10. Exemplarily, the clamping device 10 can be applied in the field of surgical robot technology to clamp and transfer surgical instruments, medical drugs, etc., and the object to be installed can be a movable trolley. The clamping device 10 can also be applied in the field of warehousing and logistics technology to clamp and transfer goods and other items, and the object to be installed can be a mobile gantry frame. In this embodiment, the clamping device 10 can be applied in the field of biomedical technology to clamp consumables, reagents, samples and other loads. This article will take the clamping device 10 clamping consumables as an example, and the object to be installed can be a collaborative robot and a lifting mechanism on the collaborative robot for adjusting the vertical height, which will be described in detail below.

[0080] The rotating arm mechanism 100 can rotate relative to the object to be installed, that is, with the object to be installed as a stationary reference object, the rotating arm mechanism 100 can rotate, and the angle of rotation can be set according to the structure of the rotating arm mechanism 100 and the structure formed by connecting with the object to be installed. The clamping claw mechanism 200 is arranged at one end of the rotating arm mechanism 100 away from the connection of the object to be installed. The clamping claw mechanism 200 can realize automatic clamping and automatic opening of the clamping part through the clamping driving part, so that the opening distance of the clamping part can be adjusted according to the size of the consumables to realize the clamping of consumables of different sizes. When the rotating arm mechanism 100 rotates relative to the object to be installed, the clamping claw mechanism 200 can always keep itself parallel to the horizontal plane, so as to ensure that the consumables clamped by the clamping claw mechanism 200 always keep a stable state, which can avoid the consumables from falling and the samples loaded in the consumables from scattering. This design structure can save the motor and corresponding control components of the joint of the rotating arm mechanism 100, and improve reliability.

[0081] For further information, please refer to Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The rotating arm mechanism 100 includes: an arm body support 110, a rotating arm driving unit 120, a first rotating member 130, a second rotating member 140, and a transmission member 150; wherein the rotating arm driving unit 120 is arranged on one side of the arm body support 110, and the rotating arm driving unit 120 is used to drive the arm body support 110 to rotate; the first rotating member 130 and the second rotating member 140 are arranged on the other side of the arm body support 110, and the rotating arm driving unit 120 is coaxially arranged with the first rotating member 130, and the first rotating member 130 and the second rotating member 140 can rotate relative to the arm body support 110; the transmission member 150 connects the first rotating member 130 and the second rotating member 140; the clamping mechanism 200 is fixedly connected to the second rotating member 140.

[0082] In this embodiment, the arm support 110, as the core supporting component of the rotating arm mechanism 100, should have a certain rigidity and strength. Optionally, the arm support 110 can be made of sheet metal. The appearance welding and polishing of the sheet metal are consistent. The color of the sheet metal is uniform and soft, the bonding force is strong, the surface is flawless, and the color is mostly light, which can meet the high precision requirements of various connectors in medical equipment.

[0083] Please refer to Figure 3 , Figure 4 , Figure 5 The rotating arm driving unit 120 is arranged on one side of the arm body support 110, and the first rotating member 130 and the second rotating member 140 are arranged on the other side of the arm body support 110. Such a design structure can maintain the balance of both sides of the arm body support 110, and avoid setting the rotating arm driving unit 120 and the first rotating member 130 and the second rotating member 140 on the same side of the arm body support 110, which will cause the overall center of gravity of the arm body support 110 to shift, affecting the stability of the overall structure of the rotating arm mechanism 100.

[0084] The first rotating member 130 and the second rotating member 140 are transmitted via the transmission member 150. Optionally, the first rotating member 130 and the second rotating member 140 may be gears, and the transmission member 150 may be a belt, a chain, or other structures. The first rotating member 130 and the second rotating member 140 may be connected to the other side of the arm support 110 via a bearing, so that when the rotating arm driving unit 120 drives the arm support 110 to rotate, the first rotating member 130 and the second rotating member 140 may rotate relative to the arm support 110.

[0085] The rotating arm driving unit 120 is coaxially arranged with the first rotating member 130, which can avoid the imbalance of the connecting parts on both sides of the arm body bracket 110 and cause the center of gravity of the clamping claw mechanism 200 to shift. The rotating arm driving unit 120 drives the arm body bracket 110 on one side to rotate, and the arm body bracket 110 on one side drives the arm body bracket 110 on the other side fixedly connected thereto to rotate.

[0086] For further information, please refer to Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The rotating arm driving part 120 includes: a first driving member 121, a first active pulley 122, a first driven pulley 123, a first transmission belt 124 and an electromagnetic brake assembly 125; the shell of the first driving member 121 is connected to the arm body bracket 110, and the rotor of the first driving member 121 is connected to the first active pulley 122 for driving the first active pulley 122 to rotate, and the first active pulley 122 and the first driven pulley 123 are connected through the first transmission belt 124.

[0087] Optionally, the first transmission belt 124 can be a belt or a chain. The first driving member 121 can be a servo motor, and the housing of the first driving member 121 can be fixed on the arm support 110. The housing of the first driving member 121 can be defined as the stator of the first driving member 121; the rotor output end of the first driving member 121 is connected to the first active pulley 122. According to the principle of relative motion of objects, the rotation of the first active pulley 122 can be used as a reference object. When the rotor of the first driving member 121 drives the first active pulley 122 to rotate, the stator (housing) of the first driving member 121 rotates relative to the first active pulley 122 (or the rotor of the first driving member 121), thereby driving one side of the arm support 110 connected to the stator (housing) of the first driving member 121 to rotate.

[0088] As mentioned above, the first rotating member 130 and the second rotating member 140 are connected to the other side of the arm support 110 through a bearing. When the rotor of the first driving member 121 drives the first active pulley 122 to rotate, the stator (housing) of the first driving member 121 rotates relative to the first active pulley 122 (or the rotor of the first driving member 121), driving one side of the arm support 110 connected to the stator (housing) of the first driving member 121 to rotate. Since one side of the arm support 110 is connected and fixed to the other side by a connecting member (such as a connecting rod), the other side of the arm support 110 can rotate together. Similarly, according to the principle of relative motion of objects, with the rotation of the arm support 110 as a reference object, the first rotating member 130 and the second rotating member 140 rotate in the opposite direction relative to the arm support 110. Therefore, when the first rotating member 130 rotates in the opposite direction relative to the arm body support 110, the second rotating member 140 is driven to rotate in the opposite direction relative to the arm body support 110 through the transmission member 150, and the second rotating member 140 is fixedly connected to the clamping mechanism 200. Therefore, the reverse rotation of the second rotating member 140 drives the clamping mechanism 200 to rotate in the opposite direction relative to the arm body support 110.

[0089] Furthermore, the number of teeth of the first rotating member 130 and the second rotating member 140 is equal. As mentioned above, when the arm support 110 rotates, the first rotating member 130 rotates in the opposite direction relative to the arm support 110, and the teeth on the first rotating member 130 rotate by an angle. Under the transmission action of the transmission member 150, the teeth on the second rotating member 140 will follow the teeth of the first rotating member 130 and rotate by the same angle. The clamping mechanism 200 is fixedly connected to the second rotating member 140, and the second rotating member 140 transmits the same rotation angle to the clamping mechanism 200, so that the clamping mechanism 200 can always remain parallel to the horizontal plane when rotating in the opposite direction relative to the arm support 110.

[0090] Similarly, according to the principle of relative motion of objects, if the rotor of the first driving member 121 is taken as a reference object, the first driving pulley 122 is rotating. When the first driving pulley 122 rotates, the first driven pulley 123 is driven to rotate at the same time through the transmission action of the first transmission belt 124, so as to realize the linkage between the first driving pulley 122 and the first driven pulley 123.

[0091] Furthermore, an electromagnetic brake assembly 125 is provided on the arm support 110, and the electromagnetic brake assembly 125 is used to brake the first driven pulley 123. According to the structure of the servo motor, when the servo motor of the first driving member 121 is energized, the stator coil of the servo motor will generate a magnetic field, and the magnetic field will be transmitted to the rotor through the iron core, so that the rotor will generate a magnetic field. Due to the interaction force of the magnetic field, the rotor will be subjected to the action of the torque and begin to rotate. By controlling the current size and direction of the stator coil, the speed and direction of the servo motor are controlled. The electromagnetic brake assembly 125 is generally composed of a brake pad, a brake disc fixing device and an electromagnetic coil. The electromagnetic coil generates a magnetic field by adjusting the current and fixes the brake disc by suction. After the brake disc is fixed, the rotor of the servo motor stops moving. When braking is required, it is only necessary to energize the electromagnetic coil to generate a sufficiently large magnetic field, thereby fixing the brake disc by suction. When the power is off, the electromagnetic brake assembly 125 locks the first driven pulley 123 to stop the first driven pulley 123 from rotating, and then locks the first driving pulley 122 through the action of the first transmission belt 124 to stop the first driving pulley 122 from rotating, and then locks the arm body bracket 110 to stop the arm body bracket 110 from rotating.

[0092] Optionally, an absolute encoder (not shown in the figure) is also installed on the rotor output shaft of the first driving member 121 , and the absolute encoder is used to record the rotation angle of the first driving member 121 and further record the rotation angle of the arm support 110 .

[0093] For further information, please refer to Figure 2 , Figure 4 , Figure 6 A tensioning wheel 160 is also provided on the arm support 110 between the first rotating member 130 and the second rotating member 140 . One end of the transmission member 150 is provided on the first rotating member 130 and is adjusted by the tensioning wheel 160 , and the other end is provided on the second rotating member 140 .

[0094] In this embodiment, a tensioning wheel 160 is provided on the arm support 110 between the first rotating member 130 and the second rotating member 140, and the initial tension or tensioning force of the transmission member 150 is adjusted by the tensioning wheel 160. When the center distance of the transmission member 150 cannot be adjusted, the transmission member 150 is tensioned by the tensioning wheel 160, and the two rotating members are transmitted by friction.

[0095] Furthermore, a counterweight 170 is provided at one end of the arm support 110 away from the clamp mechanism 200. In this embodiment, the counterweight 170 is fixed to the bottom of one end of the arm support 110 away from the clamp mechanism 200 to balance the weight of the arm support 110 and reduce the load of the rotating arm drive 120.

[0096] Please note that, please refer to Figure 1 A housing for protecting the various components in the rotating arm mechanism 100 may be provided outside the rotating arm mechanism 100 .

[0097] Please refer to Figure 2 , Figure 8 , Fig. 9 The clamping mechanism 200 includes: a clamping portion 210, a clamping driving portion 220, and a clamping bracket 230; the clamping bracket 230 is fixedly connected to the rotating arm mechanism 100; the clamping driving portion 220 is disposed on the clamping bracket 230; and the clamping driving portion 220 is connected to the clamping portion 210.

[0098] In this embodiment, the gripping part 210 is a gripper for gripping consumables, and is driven to open and tighten by the gripping driving part 220 to grip the consumables. The gripping driving part 220 is mounted on the gripping jaw bracket 230. As mentioned above, the gripping jaw mechanism 200 is fixedly connected to the second rotating member 140. The first rotating member 130 rotates to drive the movement of the transmission member 150. The movement of the transmission member 150 drives the second rotating member 140 to rotate relative to the arm bracket 110. The rotation of the second rotating member 140 can drive the rotation of the gripping jaw mechanism 200.

[0099] Furthermore, the clamping drive part 220 includes: a second driving member 221, a second driving pulley 222, a second driven pulley 223, a second transmission belt 224, a transmission rod 225 and a nut seat 226; the second driving member 221 is connected to the second driving pulley 222, and is used to drive the second driving pulley 222 to rotate, and the second driving pulley 222 and the second driven pulley 223 are connected to each other through the second transmission belt 224; the second driven pulley 223 is connected to the transmission rod 225, the nut seat 226 is rotationally connected to the transmission rod 225, and the nut seat 226 is connected to the clamping part 210.

[0100] In this embodiment, the second driving member 221 may be a servo motor, and the rotor output end of the second driving member 221 is connected to the second driving pulley 222, and drives the second driving pulley 222 to rotate, and through the transmission effect of the second transmission belt 224, the second driven pulley 223 is driven to rotate at the same time, so as to realize the linkage between the second driving pulley 222 and the second driven pulley 223. The transmission rod 225 may be a screw rod, and when the transmission rod 225 rotates, the nut seat 226 may move relative to the transmission rod 225, thereby driving the clamping portion 210 connected to the nut seat 226 to move.

[0101] Optional, see Fig. 9 The clamping portion 210 includes a first clamping portion 211 and a second clamping portion 212, and the nut seat 226 includes a first nut seat 2261 and a second nut seat 2262; the transmission rod 225 is provided with opposite first and second threaded structures, the first nut seat 2261 is rotatably connected to the first threaded structure, and the first nut seat 2261 is connected to the first clamping portion 211; the second nut seat 2262 is rotatably connected to the second threaded structure, and the second nut seat 2262 is connected to the second clamping portion 212.

[0102] In this embodiment, the first clamping portion 211 and the second clamping portion 212 may have the same shape and structure and be symmetrically arranged. A gasket 213 may be arranged on the first clamping portion 211 and the second clamping portion 212 to increase the friction between the first clamping portion 211 and the second clamping portion 212 and the consumable 60.

[0103] The transmission rod 225 is provided with a thread structure with opposite rotation directions, for example, half of the transmission rod 225 is a right-hand thread and the other half is a left-hand thread. When the second driving member 221 drives the second driving pulley 222 to rotate forwardly, the second driven pulley 223 is driven forwardly by the transmission action of the second transmission belt 224, thereby driving the transmission rod 225 connected to the second driven pulley 223 to rotate forwardly, and the first nut seat 2261 and the second nut seat 2262 respectively make reverse linear motions on the opposite thread structures, thereby respectively driving the correspondingly connected first clamping part 211 and the second clamping part 212 to make reverse linear motions, realizing synchronous reverse movement and opening, and realizing the opening of the clamping part 210 to release the consumables 60. When the second driving member 221 is controlled to reversely drive the second driving pulley 222 to rotate in the opposite direction, the second driven pulley 223 is driven to rotate in the opposite direction through the transmission action of the second transmission belt 224, thereby driving the transmission rod 225 connected to the second driven pulley 223 to rotate in the opposite direction, and the first nut seat 2261 and the second nut seat 2262 respectively make linear motions towards each other on the opposite thread structures, thereby respectively driving the correspondingly connected first clamping part 211 and the second clamping part 212 to make linear motions towards each other, realizing synchronous movement and clamping towards each other, so as to clamp the consumables 60. By setting thread structures with different rotation directions on the transmission rod 225, the movement directions of the first clamping part 211 and the second clamping part 212 are always opposite, thereby realizing the grasping and releasing of the consumables 60.

[0104] In other embodiments, the clamping drive part 220 may directly adopt a hydraulic cylinder or a pneumatic cylinder, the output end of the hydraulic cylinder or the pneumatic cylinder is directly connected to the clamping part 210, and the hydraulic cylinder or the pneumatic cylinder drives the first clamping part 211 and the second clamping part 212 to make linear reciprocating movements.

[0105] For further information, please refer to Fig. 9The clamping jaw bracket 230 is also provided with a first slide rail 231, the first nut seat 2261 is connected to the first slider 232, the first slider 232 is connected to the first clamping portion 211, the second nut seat 2262 is connected to the second slider 233, the second slider 233 is connected to the second clamping portion 212, and both the first slider 232 and the second slider 233 can slide along the first slide rail 231.

[0106] In this embodiment, by setting the first slide rail 231, the first slider 232 and the second slider 233 can support and limit the first slider 232 and the second slider 233 during the movement of the first slide rail 231, so that the first slider 232 and the second slider 233 can avoid offset during the movement, thereby improving the stability of the first clamping part 211 connected to the first slider 232 and the second clamping part 212 connected to the second slider 233 when they make linear motion; on the other hand, the setting of the first slide rail 231 can enable part of the overturning torque to be transmitted to the first slide rail 231, and under the support provided by the first slide rail 231, the overall stability of the clamping mechanism 200 is improved.

[0107] Optional, see Figure 8 , Fig. 9 A photoelectric detection unit 240 is provided in the clamping jaw bracket 230, and the photoelectric detection unit 240 includes a photoelectric detection part 241 and a light blocking sheet 242; the photoelectric detection part 241 is fixedly arranged on the shell of the second driving member 221, and the photoelectric detection part 241 is a slot-type photoelectric switch with a groove, and the light blocking sheet 242 is arranged on the first nut seat 2261 and / or the second nut seat 2262, and the photoelectric detection part 241 is used to identify and detect the light blocking sheet 242.

[0108] In this embodiment, the light shielding sheet 242 can be arranged on the first nut seat 2261. By arranging the photoelectric detection unit 240, when the first nut seat 2261 makes a linear motion, the light shielding sheet 242 is driven to move, and when the light shielding sheet 242 passes through the groove of the photoelectric detection unit 241, the photoelectric detection unit 241 detects the light shielding sheet 242, indicating that the first nut seat 2261 has been in place, at this time, the photoelectric detection unit 240 can send a detection in place signal to the clamping drive unit 220, and the clamping drive unit 220 can stop working after receiving the instruction.

[0109] Please note that, please refer to Figure 1 The outside of the clamp mechanism 200 may be provided with a housing for protecting the various components in the clamp mechanism 200. The housing of the clamp mechanism 200 may be connected to the housing of the rotating arm mechanism 100.

[0110] To sum up, in the clamping device 10 of the present application, by setting up the clamping claw mechanism 200, it is possible to clamp consumables 60 of different sizes, and the clamping claw mechanism 200 and the rotating arm mechanism 100 can achieve relative rotation, and the rotation flexibility is higher, so that the clamping device 10 can adapt to high-precision and high-load application environments such as the biomedical field.

[0111] When the clamping device 10 is used in high-precision and high-load application environments such as the biomedicine field, in order to enable the clamping device 10 to adapt to different height operations and horizontal operation requirements, the present application also provides a collaborative robot 1. The collaborative robot 1 can replace manual labor to complete high-precision experimental operations in the biomedicine field according to the requirements of the application environment. Its structure is more compact and more flexible, and it can operate in a small space, further improving work efficiency.

[0112] For details, please refer to Fig. 9 , Fig.10 , Fig.13 The collaborative robot 1 includes a gripping device 10 as described in any of the aforementioned embodiments of the present application, and also includes: a vertical lifting device 30, a chassis rotating device 40, and a main control module 50. When the object to be installed is a vertical lifting device 30, the vertical lifting device 30 is connected to the gripping device 10 to drive the gripping device 10 to achieve lifting, and the vertical lifting device 30 is arranged on the chassis rotating device 40, and the chassis rotating device 40 is used to drive the vertical lifting device 30 and the gripping device 10 to achieve horizontal rotation; the main control module 50 is arranged on the vertical lifting device 30, and the main control module 50 is electrically connected to the gripping device 10, the vertical lifting device 30, and the chassis rotating device 40.

[0113] In this embodiment, as mentioned above, since the clamping device 10 of the present application can be used in the field of biomedical technology to clamp consumables, reagents, samples and other loads, and the consumables, reagents, samples, etc. are often stored at different heights, the clamping device 10 can be installed on a vertical lifting device 30, and the clamping device 10 is driven to rise and fall by the vertical lifting device 30, so that the collaborative robot 1 can complete clamping and transfer according to the different positions of consumables, reagents, samples, etc.

[0114] In order to further improve the working flexibility of the collaborative robot 1, a chassis rotating device 40 is provided at the bottom of the vertical lifting device 30, so that the vertical lifting device 30 and the clamping device 10 can be driven by the chassis rotating device 40 to realize 360° all-round rotation, so as to adapt to the clamping and transfer of consumables, reagents, samples and other loads in different directions, so that the collaborative robot 1 can better adapt to high-precision operation requirements.

[0115] By setting up the main control module 50, the clamping device 10, the vertical lifting device 30 and the chassis rotating device 40 are automatically controlled to complete corresponding operation instructions, thereby further improving the automation level of the collaborative robot 1.

[0116] Optionally, the main control module 50 is equivalent to the control center of the collaborative robot 1. It can receive and send commands, such as controlling the rotating arm mechanism 100 on the gripping device 10 to rotate relative to the vertical lifting device 30, and the gripping and releasing of the claw mechanism 200; controlling the vertical lifting device 30 to lift and lower, and controlling the chassis rotating device 40 to rotate, etc. Exemplarily, the main control module 50 includes: a power supply unit, a human-computer interaction interface, a communication unit, a processor, and a control unit. The power supply unit can be an external power supply or a battery. The human-computer interaction interface can be a computer input and output device such as a display screen, a keyboard, a touch screen, a button, a knob, a speaker, and an LED light, which is used to input commands and read information, thereby realizing human-computer interaction and information exchange. The communication unit can be a transceiver, and the control unit can be a microcontroller unit (MCU).

[0117] For further information, please refer to Fig.11 , Fig.12 , Fig.13 , Fig.14 The vertical lifting device 30 includes: a column bracket 300, a lifting sliding assembly 310, and a lifting driving unit 320; the column bracket 300 is arranged on the chassis rotating device 40, the lifting driving unit 320 is arranged on the column bracket 300, the lifting driving unit 320 is connected to the lifting sliding assembly 310, and the lifting sliding assembly 310 is connected to the clamping device 10.

[0118] In this embodiment, the column bracket 300, as the core supporting component of the collaborative robot 1, should have certain strength and rigidity. The main control module 50 can be installed on the column bracket 300 to control the operation of the collaborative robot 1. The lifting drive unit 320 is fixedly arranged on the column bracket 300, and the lifting drive unit 320 drives the lifting sliding assembly 310 to adjust the height in the longitudinal direction, thereby driving the clamping device 10 connected to the lifting sliding assembly 310 to lift and lower in the height direction.

[0119] Optionally, the lifting drive unit 320 includes: a third driving member 321, a third driving pulley 322, a third driven pulley 323, a third transmission belt 324, a transmission shaft 325, a fourth driven pulley 326, a fourth transmission belt 327 and a fourth driving pulley 328. The rotor of the third driving member 321 is connected to the third driving pulley 322, and is used to drive the third driving pulley 322 to rotate. The third driving pulley 322 and the third driven pulley 323 are connected to each other through the third transmission belt 324; the third driven pulley 323 is connected to the transmission shaft 325, the fourth driven pulley 326 is arranged on the transmission shaft 325, the fourth driving pulley 328 is arranged on the column bracket 300, and the fourth transmission belt 327 connects the fourth driven pulley 326 and the fourth driving pulley 328.

[0120] In this embodiment, the third driving member 321 can be a servo motor, and the third transmission belt 324 and the fourth transmission belt 327 can be belts or chains. The rotor output end of the third driving member 321 is connected to the third driving pulley 322, and drives the third driving pulley 322 to rotate. Through the transmission effect of the third transmission belt 324, the third driven pulley 323 is driven to rotate at the same time, so as to realize the linkage between the first driving pulley 122 and the first driven pulley 123. The third driven pulley 323 is connected to the transmission shaft 325, and the rotation of the third driven pulley 323 drives the rotation of the transmission shaft 325, and then drives the rotation of the fourth driven pulley 326 through the transmission effect of the fourth transmission belt 327. Since the fourth transmission belt 327 is arranged longitudinally, when the fourth transmission belt 327 can move from bottom to top or from bottom to top, by controlling the forward or reverse rotation of the third driving member 321, the fourth transmission belt 327 can move from bottom to top or from bottom to top by relying on a driving motor and a pulley transmission mechanism.

[0121] Optionally, the lifting drive unit 320 further includes: a fourth drive member 330, the rotor of which is connected to the fourth driving pulley 328. In this embodiment, the fourth drive member 330 may be a servo motor, the fourth drive member 330 is mounted on the column bracket 300, and the rotor output end of the fourth drive member 330 is connected to the fourth driving pulley 328. By synchronously driving the fourth drive member 330 and the third drive member 321, it is possible to avoid a large loss after the driving force is transmitted to the fourth driven pulley 326 when only one third drive member 321 is provided for driving, resulting in a reduction in the working efficiency of the third drive member 321 and affecting the driving of the lifting drive unit 320. The synchronous driving of the third drive member 321 and the fourth drive member 330 further improves the driving accuracy and driving efficiency of the lifting drive unit 320.

[0122] Furthermore, an absolute encoder may be provided on the rotating shaft of the fourth driving member 330 , which may be used to accurately obtain parameters such as the rotation angle, rotation position, and motion state of the fourth driving member 330 , and also record the motion position of the fourth transmission belt 327 .

[0123] For further information, please refer to Fig.13 , Fig.14 The lifting and sliding assembly 310 includes: a mounting plate 311, a second slide rail 312 and a third slider 313; the mounting plate 311 is connected to the fourth transmission belt 327, the third slider 313 is arranged on the mounting plate 311, the second slide rail 312 is arranged on the column bracket 300, the third slider 313 can slide along the second slide rail 312, and the mounting plate 311 is connected to the rotating arm mechanism 100.

[0124] As mentioned above, when the third driving member 321 drives the third active pulley 322 to rotate forward, through the transmission action of the third transmission belt 324, the third driven pulley 323 is also driven to rotate forward. The forward rotation of the third driven pulley 323 drives the forward rotation of the transmission shaft 325, thereby driving one side of the fourth transmission belt 327 connected to the mounting plate 311 to move upward, thereby driving the third slider 313 on the mounting plate 311 to slide upward along the second slide rail 312 on the column bracket 300, thereby driving the rotating arm mechanism 100 connected to the mounting plate to move upward.

[0125] Similarly, when the third driving member 321 drives the third active pulley 322 to rotate in the opposite direction, through the transmission action of the third transmission belt 324, the third driven pulley 323 is also driven to rotate in the opposite direction. The reverse rotation of the third driven pulley 323 drives the reverse rotation of the transmission shaft 325, thereby driving one side of the fourth transmission belt 327 connected to the mounting plate 311 to move downward, thereby driving the third slider 313 on the mounting plate 311 to slide downward along the second slide rail 312 on the column bracket 300, thereby driving the rotating arm mechanism 100 connected to the mounting plate 311 to move downward.

[0126] Among them, by setting the second slide rail 312, the third slider 313 can support and limit the third slider 313 during the movement of the second slide rail 312, so that the third slider 313 can avoid deviation during the movement, thereby improving the stability of the mounting plate 311 connected to the third slider 313 when making a linear motion; on the other hand, the setting of the second slide rail 312 can transfer part of the overturning torque to the second slide rail 312, and under the support provided by the second slide rail 312, the overall stability of the lifting and sliding assembly 310 is improved.

[0127] Therefore, the third driving member 321 can be controlled by the main control module 50 to perform forward driving or reverse driving, so that the lifting and sliding assembly 310 drives the rotating arm mechanism 100 to lift and lower.

[0128] Optionally, an electromagnetic brake is also provided on the rotating shaft of the third driving member 321. Figure 3 , Figure 4 As described above, the structure and principle of the electromagnetic brake assembly 125 are such that when the power is off, the electromagnetic brake locks the rotating shaft of the third driving member 321, thereby protecting the third driving member 321 from stopping rotation and protecting the clamping device 10 connected to the vertical lifting device 30.

[0129] Optionally, the mounting plate 311 includes: a first mounting plate 3111 and a second mounting plate 3112; a first strip groove 301 and a second strip groove 302 are provided on the column bracket 300; the first mounting plate 3111 is passed through the first strip groove 301, and the first mounting plate 3111 is connected to the fourth transmission belt 327; one end of the second mounting plate 3112 is connected to the first mounting plate 3111, and the third slider 313 is provided on the second mounting plate 3112; the bending portion of the other end of the second mounting plate 3112 passes through the second strip groove 302 and is connected to one end of the rotating arm mechanism 100 away from the clamping mechanism 200.

[0130] In this embodiment, the first mounting plate 3111 and the second mounting plate 3112 adopt an enclosing connection structure, which can improve the structural strength of the lifting and sliding assembly 310 to a certain extent. The first strip groove 301 and the second strip groove 302 can further limit the moving direction of the first mounting plate 3111 and the second mounting plate 3112, so that the mounting plate 311 always moves in the vertical direction without deviation.

[0131] Optional, see Fig.14 A drag chain 314 can also be set on the first mounting plate 3111. For the reciprocating mounting plate 311, the drag chain 314 can play a role in pulling and protecting the first mounting plate 3111. The drag chain 314 has low noise, is wear-resistant and can move at high speed when moving.

[0132] Optional, see Fig.15 , Fig.16, which shows one of the connection modes between the vertical lifting device 30 and the end of the rotating arm mechanism 100 away from the clamping mechanism 200. That is, the bending part of the other end of the second mounting plate 3112 is respectively connected and fixed to the two sides of the end of the arm body bracket 110 away from the clamping mechanism 200. Specifically, a pulley baffle 131 is provided on the end of the first rotating member 130 close to the second mounting plate 3112, one side of the pulley baffle 131 is fixedly connected to the bending part of the second mounting plate 3112, the pulley baffle 131 and the second mounting plate 3112 remain fixed and cannot rotate, and the other side of the pulley baffle 131 can be connected to the first rotating member 130 through a bearing, so that when the first rotating member 130 rotates in the opposite direction on the other side relative to the arm body bracket 110, the first rotating member 130 can rotate relative to the pulley baffle 131.

[0133] The connection end of the first active pulley 122 away from the first driving member 121 is fixedly connected to the bent portion of the second mounting plate 3112. The first active pulley 122 and the bent portion of the second mounting plate 3112 remain fixed and cannot rotate. As mentioned above, when the rotor of the first driving member 121 drives the first active pulley 122 to rotate, the rotation of the rotor of the first driving member 121 is used as a reference object, and the stator of the first driving member 121 rotates relative to the first active pulley 122 (or the rotor of the first driving member 121), thereby driving one side of the arm support 110 connected to the stator (housing) of the first driving member 121 to rotate.

[0134] Therefore, in the present embodiment, when the third driving member 321 drives the third active pulley 322 to rotate, the third driven pulley 323 is driven to rotate at the same time through the transmission action of the third transmission belt 324. The rotation of the third driven pulley 323 drives the rotation of the transmission shaft 325, thereby driving one side of the fourth transmission belt 327 connected to the first mounting plate 3111 to move downward, thereby driving the third slider 313 on the second mounting plate 3112 to slide back and forth in the vertical direction along the second slide rail 312 on the column bracket 300, thereby driving the pulley baffle 131 and the first driving member 121 connected to the second mounting plate 3112 to rise and fall in the vertical direction, thereby driving the arm body bracket 110 connected to the pulley baffle 131 and the first driving member 121 respectively to rise and fall in the vertical direction, thereby realizing the lifting and lowering of the rotating arm mechanism 100 in the vertical direction.

[0135] Please note that, please refer to Fig.12 A shell structure for protecting various components may be provided outside the column bracket 300.

[0136] For further information, please refer to Fig.17 as well as Fig.18The chassis rotating device 40 includes: a base 400, a chassis driving unit 410 and a turntable 420; the vertical lifting device 30 is arranged on the turntable 420; the chassis driving unit 410 includes: a fifth driving member 411, a fifth driving pulley 412, a fifth driven pulley 413 and a fifth transmission belt 414; the fifth driving member 411 is arranged on the turntable 420, the rotor of the fifth driving member 411 is connected to the fifth driving pulley 412, the fifth driving member 411 is used to drive the fifth driving pulley 412 to rotate, the fifth driving pulley 412 and the fifth driven pulley 413 are connected through the fifth transmission belt 414, the fifth driven pulley 413 is connected to the turntable 420, and the rotating axis of the fifth driven pulley 413 is arranged in the base 400; the base 400 and the turntable 420 are detachably connected.

[0137] In this embodiment, the fifth driving member 411 can be a servo motor, and the fifth transmission belt 414 can be a belt or a chain. The housing of the fifth driving member 411 is fixedly mounted on the turntable 420, and the rotor output end of the fifth driving member 411 extends downward from the turntable 420 and is connected to the fifth driving pulley 412 to drive the fifth driving pulley 412 to rotate, and through the transmission action of the fifth transmission belt 414, the fifth driven pulley 413 is driven to rotate, and then the turntable 420 connected to the fifth driven pulley 413 is driven to rotate, thereby driving the vertical lifting device 30 disposed on the turntable 420 and the clamping device 10 connected to the vertical lifting device 30 to rotate. The turntable 420 can achieve a rotation of 0° to 360°. The base 400 and the turntable 420 can be disassembled by bolt connection.

[0138] Optionally, a conductive slip ring 415 is installed on the rotating shaft of the fifth driven pulley 413 . The conductive slip ring 415 includes a rotor and a terminal that can rotate infinitely relative to each other. The terminal rotates synchronously with the rotating shaft of the fifth driven pulley 413 , and the rotor is fixed in the base 400 .

[0139] In this embodiment, the rotor is fixed in the base 400 and does not move relatively, the rotor and the terminal can rotate infinitely relative to each other, and the lead wire for signal transmission is connected to the terminal. When the fifth driven pulley 413 rotates, the conductive slip ring 415 can achieve infinite rotation, so the lead wire for signal transmission on the terminal can avoid twisting and winding when rotating, and the rotation angle of the fifth driven pulley 413 will not be limited.

[0140] Optionally, an absolute encoder is further provided on the rotating shaft of the fifth driven pulley 413 , which can be used to record the rotation angle of the fifth driven pulley 413 .

[0141] Optionally, a mounting slot 421 is provided on the turntable 420, and a chuck 416 is also provided at one end of the fifth driven pulley 413. The chuck 416 protrudes out of the turntable 420, abuts against the bottom of the vertical lifting device 30, and enables the bottom of the vertical lifting device 30 to be clamped in the mounting slot 421.

[0142] In this embodiment, the chuck 416 is disposed at one end of the rotating shaft of the fifth driven pulley 413, and the surface of the chuck 416 protrudes from the turntable 420, and the chuck 416 can rotate with the rotation of the fifth driven pulley 413. The bottom of the column bracket 300 on the vertical lifting device 30 can be embedded in the installation slot 421, and the bottom of the column bracket 300 abuts against the chuck 416. Through the restriction of the chuck 416 and the restriction of the installation slot 421, the column bracket 300 can be fixedly installed and connected to the turntable 420.

[0143] Furthermore, the base 400 also has a power interface 401 and / or an I / O interface 402. In this embodiment, the collaborative robot 1 can be powered by providing the power interface 401 on the base 400. In addition, by providing the I / O interface 402 on the base 400, wired and / or wireless communication connection of the collaborative robot 1 can be achieved.

[0144] The collaborative robot 1 of the present application can generally be used in the field of biomedical technology, for example, it can be used in biomedical laboratories to grasp and transfer consumables, reagents, samples, etc. Its working state can be described as follows: after determining the location of the consumables 60 in the laboratory, the main control module 50 sends a control instruction to the vertical lifting device 30, and the lifting drive unit 320 receives the control instruction to control the third drive member 321 to work, and the fourth drive member 330 to work. The third drive member 321 drives the third active pulley 322 to rotate forward, and through the transmission action of the third transmission belt 324, it also drives the third driven pulley 323 to rotate forward. The forward rotation of the third driven pulley 323 drives the forward rotation of the transmission shaft 325, and the fourth drive member 330 The fourth active pulley 328 is driven to rotate synchronously in the forward direction, thereby driving one side of the fourth transmission belt 327 connected to the mounting plate 311 to move upward, thereby driving the third slider 313 on the second mounting plate 3112 to slide upward along the second slide rail 312 on the column bracket 300, thereby driving the first active pulley 122 and the pulley baffle 131 connected to the second mounting plate 3112 to move upward, thereby driving the arm body bracket 110 connected to the first active pulley 122 and the pulley baffle 131 to move upward, thereby driving the rotating arm mechanism 100 to move upward as a whole.

[0145] When it is determined that the gripping device 10 has reached the location of the consumables 60, the main control module 50 sends a command to the vertical lifting device 30, and the lifting drive unit 320 receives the control command and controls the third drive member 321 to stop moving. At this time, the main control module 50 sends a control command to the gripping device 10, the rotating arm mechanism 100 receives the control command, and the first drive member 121 of the rotating arm drive unit 120 drives the first active pulley 122 to rotate forward. Combined with the aforementioned description of the principle of the first drive member 121 driving the first active pulley 122 to rotate, the arm support 110 rotates downward as a whole (counterclockwise).

[0146] Since the rotating arm driving unit 120 is coaxially arranged with the first rotating member 130, the rotating arm driving unit 120 drives the arm support 110 to rotate, and the first rotating member 130 can rotate clockwise in the opposite direction relative to the arm support 110. The clockwise rotation of the first rotating member 130 drives the clockwise movement of the transmission member 150, and the movement of the transmission member 150 drives the second rotating member 140 to rotate clockwise relative to the arm support 110. The clamping mechanism 200 is fixedly connected to the second rotating member 140, so the clockwise rotation of the second rotating member 140 can drive the rotation of the clamping mechanism 200, so that the clamping mechanism 200 is always kept in a parallel state with the horizontal plane. When the first driving member 121 of the rotating arm driving unit 120 drives the arm support 110 to rotate downward to the position where the consumables 60 are located, the main control module 50 issues a control instruction at this time, and the rotating arm driving unit 120 receives the instruction to control the first driving member 121 to stop working.

[0147] At this time, the main control module 50 sends a control instruction to the clamping mechanism 200, and the clamping drive part 220 of the clamping mechanism 200 receives the instruction, controls the second driving member 221 to positively drive the second active pulley 222 to rotate forward, and through the transmission action of the second transmission belt 224, drives the second driven pulley 223 to rotate forward at the same time, thereby driving the transmission rod 225 connected to the second driven pulley 223 to rotate forward, and the first nut seat 2261 and the second nut seat 2262 respectively make reverse linear motions on opposite threaded structures, thereby driving the correspondingly connected first clamping part 211 and the second clamping part 212 to make reverse linear motions, respectively, to realize the synchronous reverse movement and opening of the clamping part 210, and to realize the opening of the clamping part 210. When the photoelectric detection unit 240 on the clamping jaw 230 detects the light blocking sheet 242 on the first nut seat 2261, it indicates that the first nut seat 2261 is in place. At this time, the photoelectric detection unit 240 can send a detection signal to the main control module 50, and the main control module 50 receives the instruction to control the clamping drive unit 220 to stop working.

[0148] At this time, the consumable material 60 needs to be clamped by the clamping mechanism 200, and the main control module 50 sends a control instruction to the clamping drive unit 220. The clamping drive unit 220 of the clamping mechanism 200 receives the instruction and controls the second driving member 221 to reversely drive the second driving pulley 222 to rotate in the opposite direction. Through the transmission action of the second transmission belt 224, the second driven pulley 223 is driven to rotate in the opposite direction at the same time, thereby driving the transmission rod 225 connected to the second driven pulley 223 to rotate in the opposite direction, and the first nut seat 2261 and the second nut seat 2262 respectively make opposite linear motions on opposite thread structures, thereby respectively driving the correspondingly connected first clamping part 211 and the second clamping part 212 to make opposite linear motions, realizing synchronous opposite movement and clamping, so as to clamp the consumable material 60. After clamping the consumable material 60, the clamping drive unit 220 controls the second driving member 221 to stop working.

[0149] After the consumables 60 are clamped, the consumables 60 need to be transferred to other sample racks or storage cabinets. At this time, the main control module 50 sends a control instruction to the chassis rotating device 40, and the chassis driving unit 410 receives the control instruction and controls the fifth driving member 411 to work. The fifth driving member 411 drives the fifth driving pulley 412 to rotate, and through the transmission action of the fifth transmission belt 414, the fifth driven pulley 413 is driven to rotate, and then the turntable 420 connected to the fifth driven pulley 413 is driven to rotate, thereby driving the vertical lifting device 30 set on the turntable 420 and the clamping device 10 connected to the vertical lifting device 30 to rotate. The consumables 60 are transferred to the specific position of the sample rack or storage cabinet as needed, and the chassis rotating device 40 is controlled by the main control module 50 to rotate the required angle, so that the clamping device 10 rotates to the position of the sample rack or storage cabinet. During the rotation of the chassis rotating device 40, the clamping claw mechanism 200 always remains parallel to the horizontal plane to prevent the consumables 60 from falling or the samples in the consumables 60 from spilling. After the consumables 60 are transferred to the sample rack or storage cabinet, the same principle as above is adopted to control the clamping mechanism 200 of the clamping device 10 through the main control module 50 to release the consumables 60, and finally complete the clamping and transfer of the consumables 60.

[0150] It should be noted that if the height of the sample rack or storage cabinet is not at the same height as the clamping mechanism 200, which is not conducive to the clamping device 10 putting down the consumables 60, at this time, the vertical lifting device 30 can still be controlled by the main control module 50 to adjust the overall height of the clamping device 10 to the specified position. The method of the main control module 50 controlling the vertical lifting device 30 to lift and lower is as described above and will not be repeated here.

[0151] The rotating arm mechanism 100 in the present application can be completely retracted into the vertical lifting device 30, so that the structural dimensions of the collaborative robot 1 are more compact, which is conducive to the robot working in a small space; in the working state, the rotating arm mechanism 100 can be extended to the maximum range, so that the clamping device 10 has a larger stroke. However, whether in the retracted state or the working state, the clamping mechanism 200 can always remain parallel to the horizontal plane, thereby ensuring that the consumables clamped by the clamping mechanism 200 always remain in a stable state, which can avoid the consumables from falling and the samples loaded in the consumables from scattering. Therefore, the rotating arm mechanism 100 of the collaborative robot 1 in the present application has higher flexibility and a more compact structure, so that the clamping device 10 can adapt to high-precision and high-load application environments such as the biomedical field.

[0152] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0153] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A clamping device, characterized in that: include: A rotating arm mechanism and a clamping mechanism; one end of the rotating arm mechanism is connected to an object to be installed and can rotate relative to the object to be installed; the other end of the rotating arm mechanism is connected to the clamping mechanism; the clamping part of the clamping mechanism is driven by a clamping driving part to achieve same-direction clamping or reverse opening; when the rotating arm mechanism rotates relative to the object to be installed, the clamping mechanism always remains parallel to the horizontal plane.

2. The clamping device according to claim 1, characterized in that: The rotating arm mechanism comprises: Arm support; A rotating arm driving unit provided on one side of the arm body bracket, the rotating arm driving unit is used to drive the arm body bracket to rotate; A first rotating member and a second rotating member are arranged on the other side of the arm body bracket, the rotating arm driving part is arranged coaxially with the first rotating member, and the first rotating member and the second rotating member can rotate relative to the arm body bracket; a transmission member, connecting the first rotating member and the second rotating member; The clamping jaw mechanism is fixedly connected to the second rotating member.

3. The clamping device according to claim 2, characterized in that: The rotating arm driving part comprises: a first driving member, a first driving pulley, a first driven pulley, a first transmission belt and an electromagnetic brake assembly; The shell of the first driving member is connected to the arm body bracket, and the rotor of the first driving member is connected to the first driving pulley for driving the first driving pulley to rotate. The first driving pulley and the first driven pulley are connected to each other through the first transmission belt. An electromagnetic brake assembly is provided on the arm body bracket, and the electromagnetic brake assembly is used to brake the first driven pulley.

4. The clamping device according to claim 2, characterized in that: The number of teeth of the first rotating member is equal to the number of teeth of the second rotating member.

5. The clamping device according to claim 4, characterized in that: A tensioning wheel is also provided on the arm support between the first rotating member and the second rotating member. One end of the transmission member is provided on the first rotating member and is adjusted by the tensioning wheel, and the other end is provided on the second rotating member.

6. The clamping device according to claim 2, characterized in that: A counterweight is provided at one end of the arm support away from the clamping mechanism.

7. The clamping device according to claim 1, characterized in that: The clamping mechanism comprises: a clamping bracket, the clamping driving part and the clamping part; The clamping jaw bracket is fixedly connected to the rotating arm mechanism; The clamping drive unit is arranged on the clamping claw bracket; The clamping driving portion is connected to the clamping portion.

8. The clamping device according to claim 7, characterized in that: The clamping drive unit comprises: a second driving member, a second driving pulley, a second driven pulley, a second transmission belt, a transmission rod and a nut seat; The rotor of the second driving member is connected to the second driving pulley for driving the second driving pulley to rotate, and the second driving pulley is connected to the second driven pulley through the second transmission belt; the second driven pulley is connected to the transmission rod, the nut seat is rotationally connected to the transmission rod, and the nut seat is connected to the clamping part.

9. The clamping device according to claim 8, characterized in that: The clamping portion includes a first clamping portion and a second clamping portion, and the nut seat includes a first nut seat and a second nut seat; the transmission rod is provided with a first threaded structure and a second threaded structure which are opposite to each other, the first nut seat is rotatably connected to the first threaded structure, and the first nut seat is connected to the first clamping portion; the second nut seat is rotatably connected to the second threaded structure, and the second nut seat is connected to the second clamping portion.

10. The clamping device according to claim 9, characterized in that: The clamping jaw bracket is also provided with a first slide rail, the first nut seat is connected to a first slider, the first slider is connected to the first clamping portion, the second nut seat is connected to a second slider, the second slider is connected to the second clamping portion, and both the first slider and the second slider can slide along the first slide rail.

11. The clamping device according to claim 9, characterized in that: A photoelectric detection unit is provided in the clamping jaw bracket, and the photoelectric detection unit includes a photoelectric detection part and a light shielding sheet; the light shielding sheet is provided on the first nut seat and / or the second nut seat, and the photoelectric detection part is used to identify and detect the light shielding sheet.

12. A collaborative robot, characterized in that: It comprises a gripping device, a vertical lifting device, a chassis rotating device and a main control module as described in any one of claims 1 to 11; Among them, when the object to be installed is the vertical lifting device, the vertical lifting device is connected to the clamping device to drive the clamping device to achieve lifting and lowering, and the vertical lifting device is arranged on the chassis rotating device, and the chassis rotating device is used to drive the vertical lifting device and the clamping device to achieve horizontal rotation; the main control module is arranged on the vertical lifting device, and the main control module is electrically connected to the clamping device, the vertical lifting device and the chassis rotating device.

13. The collaborative robot according to claim 12, characterized in that: The vertical lifting device comprises: a column bracket, a lifting sliding assembly, and a lifting driving unit; The column bracket is arranged on the chassis rotating device, the lifting drive part is arranged on the column bracket, the lifting drive part is connected to the lifting sliding assembly, and the lifting sliding assembly is connected to the clamping device.

14. The collaborative robot according to claim 13, characterized in that: The lifting drive unit includes: a third driving member, a third driving pulley, a third driven pulley, a third transmission belt, a transmission shaft, a fourth driven pulley, a fourth transmission belt and a fourth driving pulley; The rotor of the third driving member is connected to the third driving pulley for driving the third driving pulley to rotate, and the third driving pulley and the third driven pulley are connected to each other through the third transmission belt; the third driven pulley is connected to the transmission shaft, the fourth driven pulley is arranged on the transmission shaft, the fourth driving pulley is arranged on the column bracket, and the fourth transmission belt connects the fourth driven pulley and the fourth driving pulley.

15. The collaborative robot according to claim 14, characterized in that: The lifting drive unit further includes: a fourth driving member, a rotor of which is drivingly connected to the fourth driving pulley.

16. The collaborative robot according to claim 14 or 15, characterized in that: The lifting and sliding assembly comprises: a mounting plate, a second slide rail and a third slide block; The mounting plate is connected to the fourth transmission belt, the third slider is arranged on the mounting plate, the second slide rail is arranged on the column bracket, the third slider can slide along the second slide rail, and the mounting plate is connected to the rotating arm mechanism.

17. The collaborative robot according to claim 16, characterized in that: The mounting plate includes: a first mounting plate and a second mounting plate; a first strip groove and a second strip groove are provided on the column bracket; the first mounting plate is passed through the first strip groove, and the first mounting plate is connected to the fourth transmission belt; one end of the second mounting plate is connected to the first mounting plate, and the third slider is provided on the second mounting plate; the bending portion of the other end of the second mounting plate passes through the second strip groove and is connected to one end of the rotating arm mechanism away from the clamping mechanism.

18. The collaborative robot according to claim 12, characterized in that: The chassis rotating device comprises: a base, a chassis driving part and a turntable; The vertical lifting device is arranged on the turntable; The chassis driving part comprises: a fifth driving member, a fifth driving pulley, a fifth driven pulley and a fifth transmission belt; The fifth driving member is arranged on the turntable, the rotor of the fifth driving member is connected to the fifth driving pulley, the fifth driving member is used to drive the fifth driving pulley to rotate, the fifth driving pulley and the fifth driven pulley are connected through the fifth transmission belt, the fifth driven pulley is connected to the turntable, and the rotating shaft of the fifth driven pulley is arranged in the base; the base is detachably connected to the turntable.

19. The collaborative robot according to claim 18, characterized in that: A conductive slip ring is installed on the rotating shaft of the fifth driven pulley. The conductive slip ring includes a rotor and a terminal that can rotate infinitely relative to each other. The terminal rotates synchronously with the rotating shaft of the fifth driven pulley. The rotor is fixed in the base.

20. The collaborative robot according to claim 18, characterized in that: The turntable is provided with a mounting slot, and one end of the fifth driven pulley is also provided with a chuck, the chuck protrudes from the turntable, the chuck abuts against the bottom of the vertical lifting device, and the bottom of the vertical lifting device is clamped in the mounting slot.

21. The collaborative robot according to claim 18, characterized in that: The base is also provided with a power interface and / or an I / O interface.

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