Sample processing equipment, manipulator and driving assembly thereof

Abstract

The utility model discloses a manipulator and a driving assembly thereof. The manipulator comprises a mounting frame, a linear driving mechanism and a rotary driving mechanism, the linear driving mechanism comprises a linear driving motor and a linear transmission mechanism; the linear driving motor is in transmission connection with the clamping jaw mechanism of the manipulator through the linear transmission mechanism to drive the clamping jaw mechanism to open and close; the rotation driving mechanism comprises a rotation driving motor and a rotation transmission mechanism, and the rotation driving motor is in transmission connection with the clamping jaw mechanism of the manipulator through the rotation transmission mechanism to drive the clamping jaw mechanism to rotate; the linear driving motor and the rotary driving motor are fixedly mounted on the mounting frame; the rotary driving motor and the rotary transmission mechanism are both of hollow structures, one end of the linear transmission mechanism is in transmission connection with the linear driving motor, and the other end of the linear transmission mechanism penetrates through the hollow structures of the rotary driving motor and the rotary transmission mechanism and then is in transmission connection with the clamping jaw mechanism. The utility model further discloses a control method of the manipulator and sample processing equipment.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, specifically a sample processing device, a robotic arm and its driving components. Background Technology

[0002] Robotic arms can mimic certain movements of human hands and arms. They are automated devices that perform functions such as grasping, carrying, and operating tools. The emergence of robotic arms has freed people's hands, increased work efficiency, and effectively prevented safety accidents.

[0003] In the prior art, some robotic arms can achieve a combination of gripping and rotation functions. For example, Chinese utility model patent CN218398169U discloses a gripper assembly, which includes: a guide disk with a guide surface; multiple sliding members, each disposed on the guide surface and spaced apart circumferentially along the guide surface, and each sliding member being slidably disposed radially along the guide disk; multiple grippers, each gripper connected to a sliding member and extending axially along the guide disk; and a drive mechanism connected to the multiple sliding members for driving the multiple sliding members to slide synchronously, so that the grippers retract or expand. Specifically, the gripper assembly includes a drive mechanism further comprising: a first frame fixed to the guide surface; a drive motor fixed to the first frame; a lead screw connected to the rotating shaft of the drive motor; and a nut fixedly connected to the control component and sleeved on the lead screw. The drive motor drives the lead screw to rotate, thereby driving the control component to rise and fall through the sliding of the nut on the lead screw. The drive mechanism also includes: a second frame rotatably connected to the first frame; and a rotary motor fixed to the second frame and drively connected to the first frame, for driving the first frame to rotate relative to the second frame.

[0004] Therefore, in this gripper assembly, since the first frame is connected to the rotary motor, the first frame rotates under the drive of the rotary motor, which in turn drives the drive motor mounted on the first frame to rotate as well. Therefore, a conductive slip ring is needed as a bridge for power supply and signal transmission for the drive motor. However, conductive slip rings are prone to wear, leading to a reduced service life, and the permissible speed cannot be too high.

[0005] In addition, some robotic arms use two fixed motors to drive the gripper assembly to open, close and rotate, but the rotary motor that drives the gripper assembly is connected to the gripper assembly by a synchronous belt drive. This not only makes the structure complex, but the synchronous belt drive mechanism also has shortcomings such as short life and complicated maintenance. Furthermore, the axis of the rotary motor is offset relative to the axis of the gripper assembly, which causes the center of gravity of the entire robotic arm to be not on the axis of the gripper assembly or to be far away from the axis of the gripper assembly, resulting in unstable center of gravity control of the robotic arm during use. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a sample processing device, a robotic arm and its driving components, which can not only drive the gripper mechanism to open, close and rotate, but also has the advantages of structural stability, good center of gravity stability and long service life.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] This utility model first proposes a driving component for a robotic arm, including a mounting frame, a linear driving mechanism, and a rotary driving mechanism;

[0009] The linear drive mechanism includes a linear drive motor and a linear transmission mechanism. The linear drive motor is connected to the gripper mechanism of the robot arm through the linear transmission mechanism to drive the gripper mechanism to open and close.

[0010] The rotary drive mechanism includes a rotary drive motor and a rotary transmission mechanism. The rotary drive motor is connected to the gripper mechanism of the robot arm through the rotary transmission mechanism to drive the gripper mechanism to rotate.

[0011] The linear drive motor and the rotary drive motor are fixedly mounted on the mounting bracket. The linear drive motor is located on the side of the rotary drive motor facing away from the gripper mechanism. Both the rotary drive motor and the rotary transmission mechanism are hollow structures. One end of the linear transmission mechanism is connected to the linear drive motor, and the other end passes through the hollow structure of the rotary drive motor and the rotary transmission mechanism in sequence before being connected to the gripper mechanism.

[0012] Optionally, the linear transmission mechanism includes a motor screw, a transfer element, and a linear transmission rod; a motor nut is mounted on the transfer element; one end of the motor screw is connected to the output shaft of the linear drive motor, and the other end is threaded into the motor nut; the first end of the linear transmission rod is connected to the transfer element, and the second end passes through the hollow areas of the rotary drive motor and the rotary transmission mechanism in sequence before being connected to the gripper mechanism; the linear drive motor drives the motor screw to rotate and causes the transfer element and the linear transmission rod to move linearly along the axial direction of the motor screw.

[0013] Optionally, the axis of the motor screw is parallel to the axis of the linear transmission rod; or, the axis of the motor screw is coaxial with the axis of the linear transmission rod, the motor nut is installed at the first end of the transfer member, the linear transmission rod is connected to the second end of the transfer member, and the first end and the second end of the transfer member are opposite ends of the transfer member.

[0014] Optionally, the second end of the linear transmission rod is provided with a control element, and the second end of the linear transmission rod is connected to the gripper mechanism through the control element; the connector is a rotary joint, and the first end of the linear transmission rod is rotatably engaged with the adapter through the rotary joint; and / or, the second end of the linear transmission rod is rotatably engaged with the control element.

[0015] Optionally, the connector is a rotary joint, and the linear transmission rod is rotatably engaged with the adapter through the rotary joint.

[0016] Optionally, the rotary joint includes an outer ring fixedly connected to the adapter, and an inner ring rotatably engaged with the outer ring, the linear transmission rod being connected to the inner ring.

[0017] Optionally, the adapter has a cavity, and a first end of the adapter has a first through hole communicating with the cavity. The motor nut includes an axial section sleeved in the first through hole, and the first end of the axial section has a connecting plate for fixed connection with the adapter; and / or,

[0018] The second end of the adapter is provided with a second through hole communicating with the cavity, and the connector is installed on the adapter through the second through hole.

[0019] Optionally, the connector is a rotary joint, which includes an outer ring fixedly connected to the adapter, an inner ring rotatably fitted within the outer ring, and a linear transmission rod connected to the inner ring. The outer ring is fitted inside the second through hole and fixedly connected to the adapter, one end of the inner ring extends beyond the outer ring, and the linear transmission rod is fitted inside the inner ring and fixedly connected to the portion of the inner ring that protrudes from the outer ring.

[0020] Optionally, the rotary transmission mechanism includes a turntable assembly and at least two connecting rods, wherein the turntable assembly is sleeved on the output shaft of the rotary drive motor and rotates with the output shaft of the rotary drive motor;

[0021] The two ends of the connecting rod are fixedly connected to the turntable assembly and the gripper mechanism, respectively; when the turntable assembly rotates with the output shaft of the rotary drive motor, the gripper mechanism rotates with the turntable assembly under the driving action of the connecting rod.

[0022] Optionally, the connecting rods are provided as at least two and are evenly distributed in a ring relative to the output shaft of the rotary drive motor.

[0023] Optionally, the turntable assembly includes a rotating flange, and the connecting rod is fixedly connected to the rotating flange.

[0024] Optionally, the turntable assembly includes a rotary bearing housing fixedly mounted on the mounting bracket, the rotary flange includes a flange and a flange shaft, the flange shaft extends and is sleeved in the rotary bearing housing and rotates with the rotary bearing housing, the flange shaft is fixedly connected to the output shaft of the rotary drive motor through a coupling, and the flange and the coupling are respectively located at both ends of the rotary bearing housing.

[0025] Optionally, the mounting bracket is provided with at least one of a first origin position switch, a first end position switch, and a second origin position switch;

[0026] The first origin position switch corresponds to the origin position of the linear transmission mechanism and is used to detect whether the linear transmission mechanism has reached the origin. When the linear transmission mechanism is at the origin, the gripper mechanism opens to a preset first degree.

[0027] The first endpoint position switch corresponds to the endpoint position of the linear transmission mechanism and is used to detect whether the linear transmission mechanism has reached the endpoint. When the linear transmission mechanism is at the endpoint, the gripper mechanism closes to a preset second degree.

[0028] The second origin position switch corresponds to the origin position of the rotary transmission mechanism.

[0029] Optionally, the linear drive motor and the rotary drive motor are arranged coaxially.

[0030] Optionally, the mounting bracket includes a first motor mounting plate and a second motor mounting plate, wherein the linear drive motor is mounted on the first motor mounting plate and the rotary drive motor is mounted on the second motor mounting plate.

[0031] This utility model also proposes a robotic arm, including a gripper mechanism and a drive component as described above;

[0032] The gripper mechanism is connected to the linear transmission mechanism and the rotary transmission mechanism respectively. The linear drive motor drives the gripper mechanism to open and close through the linear transmission mechanism, and the rotary drive motor drives the gripper mechanism to rotate through the rotary transmission mechanism.

[0033] Optionally, the gripper mechanism includes a base plate, grippers, and a reversing assembly. The reversing assembly is slidably engaged with the base plate and fixedly connected to at least one gripper. The reversing assembly is driven by the linear transmission mechanism and converts the axial movement of the linear transmission mechanism into radial movement to realize the opening and closing of the gripper mechanism. The base plate is driven by the rotary transmission mechanism and drives the gripper mechanism to rotate under the driving action of the rotary transmission mechanism. The grippers are provided as two, three, four, five, six, or more.

[0034] This utility model also proposes a sample processing device, including a robotic arm, on which a robotic hand as described above is mounted.

[0035] The beneficial effects of this utility model are as follows:

[0036] The drive assembly of this utility model for a robotic arm features a hollow structure for both the rotary drive motor and the rotary transmission mechanism. A linear transmission mechanism passes through this hollow structure and connects to the gripper mechanism. This allows the linear and rotary drive mechanisms to independently drive the gripper mechanism's opening, closing, and rotation. Both the linear and rotary drive motors are fixedly mounted on a mounting frame with no relative displacement. Furthermore, the linear and rotary drive motors can be coaxial. Therefore, on one hand, the robotic arm's center of gravity can fall on the axis of the gripper mechanism or have a small offset from it, resulting in better stability. On the other hand, it eliminates the need for conductive slip rings as a bridge for power supply and signal transmission, improving signal transmission stability, avoiding limitations on the rotary drive motor's speed, effectively extending its lifespan, and saving costs.

[0037] The robotic arm of this invention employs a closed-loop vector control method during the gripping process of a target object. This eliminates the need for expensive servo motors or coreless motors and reduces the need for a speed reducer, achieving high positional accuracy and significantly lowering costs. Specifically, before gripping the target object, a position mode is used to control the linear drive motor, which in turn drives the gripper mechanism to move to the origin position via a linear transmission mechanism, opening the gripper mechanism to a preset first degree. During gripping, a speed mode is used to control the linear drive motor, which in turn drives the gripper mechanism to move towards the endpoint position via a linear transmission mechanism, gradually closing the gripper mechanism. When the gripper mechanism contacts the target object, the limiting relationship between the target object and the gripper mechanism causes the speed of the linear drive motor to decrease. At this point, the encoder detects the decrease in the linear drive motor speed. The speed of the linear drive motor decreases, and then switches to torque mode. Torque mode controls the linear drive motor to output a constant torque, ensuring the gripper mechanism applies a constant clamping force to the target object. During the lowering of the target object, position mode controls the linear drive motor to move the linear transmission mechanism towards the origin, gradually opening the gripper mechanism and lowering the target object. Thus, this manipulator, through closed-loop vector control, achieves precise control of clamping force, gripper stroke, and gripper speed, making it suitable for applications requiring precise grasping. Furthermore, by recording the angular displacement of the linear drive motor's rotor rotation using an encoder, the external dimensions of the clamped portion of the target object can be obtained. This effectively improves sample processing efficiency for laboratory analyzers that require different outer diameter test tubes to differentiate testing items. Attached Figure Description

[0038] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration:

[0039] Figure 1 This is a schematic diagram of the structure of an embodiment of the rotatable electromechanical gripper assembly of this utility model;

[0040] Figure 2 This is a schematic diagram of the gripper mechanism;

[0041] Figure 3 This is an exploded view of the gripper mechanism;

[0042] Figure 4 This is a schematic diagram of the linear drive mechanism;

[0043] Figure 5 This is an exploded view of a linear drive mechanism.

[0044] Figure 6 This is a schematic diagram of the rotary drive mechanism;

[0045] Figure 7 This is an exploded view of the rotary drive mechanism;

[0046] Figure 8 This is the control principle diagram for torque mode;

[0047] Figure 9 This is the control principle diagram for speed mode;

[0048] Figure 10 This is a control principle diagram for position mode;

[0049] Figure 11 This is a schematic diagram of the structure of an instrument that uses the sample tube clamping device of this utility model.

[0050] Explanation of reference numerals in the attached figures:

[0051] 10-Mounting bracket; 11-First motor mounting plate; 12-Second motor mounting plate; 13-Rotating bearing housing;

[0052] 20-Gripper mechanism; 21-Guide plate; 211-Guide surface; 22-Sliding component; 23-Gripper; 231-Mounting part; 232-Grabbing part; 24-First guide assembly; 241-First guide rail; 242-First guide slider; 25-Second guide assembly; 251-Second guide rail; 252-Second guide slider; 26-Rubber sleeve;

[0053] 30-Linear drive mechanism; 31-Control component; 32-Linear drive motor; 321-Encoder; 33-Adapter; 331-Cavity; 332-First through hole; 333-Second through hole; 34-Motor screw; 35-Motor nut; 351-Axial section; 352-Connecting disc; 36-Linear transmission rod; 361-Connecting screw hole; 37-Rotary joint; 371-Outer ring; 372-Inner ring; 373-Connecting hole; 38-Guide assembly; 381-Third guide rail; 382-Third guide slider; 39-Limit position positioning assembly; 391-Sensing plate; 392-Original position switch; 393-End position switch;

[0054] 40 - Rotary drive mechanism; 41 - Rotary drive motor; 411 - Center through hole; 42 - Rotary flange; 421 - Through hole; 422 - Flange; 423 - Flange shaft; 43 - Connecting rod; 44 - Rotary position positioning assembly; 441 - Zero position switch; 442 - Sensing plate; 45 - Coupling; 451 - Coupling seat; 452 - Clamping plate;

[0055] 50-Robotic arm; 51-Gripper assembly; 52-Sample tube; 53-Sample tube holder; 54-Conveyor track; 55-Instrument body; 56-Sample tube tray; 57-Barcode scanner. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0057] like Figure 1 As shown, the robotic arm in this embodiment includes a gripper mechanism 20 and a drive assembly. The drive assembly in this embodiment includes a mounting frame 10, a linear drive mechanism 30, and a rotary drive mechanism 40. The linear drive mechanism 30 in this embodiment includes a linear drive motor 32 (see...). Figure 4 (as shown) and a linear drive mechanism, wherein the linear drive motor 32 is connected to the gripper mechanism 20 via the linear drive mechanism to drive the gripper mechanism 20 to open and close. The rotary drive mechanism 40 of this embodiment includes a rotary drive motor 41 (see...) Figure 6 , Figure 7 As shown in the diagram, a rotary drive motor 41 is connected to the gripper mechanism 20 via the rotary drive mechanism to drive the gripper mechanism 20 to rotate. In this embodiment, the linear drive motor 32 and the rotary drive motor 41 are fixedly mounted on the mounting bracket 10. In one example, the mounting bracket 10 is provided with a first motor mounting plate 11 and a second motor mounting plate 12. The linear drive motor 32 is fixedly mounted on the first motor mounting plate 11, and the rotary drive motor 41 is fixedly mounted on the second motor mounting plate 12. In this embodiment, the linear drive motor 32 is located on the side of the rotary drive motor 41 facing away from the gripper mechanism 20. Both the rotary drive motor 41 and the rotary transmission mechanism are hollow structures (i.e., the middle areas of the rotary drive motor 41 and the rotary transmission mechanism are hollow and their hollow areas are connected; it should be understood that when the rotary drive motor 41 is mounted on the second motor mounting plate 12, the second motor mounting plate 12 also has a hollow area connected to the hollow area for the linear transmission mechanism to pass through). One end of the linear transmission mechanism is connected to the linear drive motor 32, and the other end passes through the hollow structures of the rotary drive motor 41 and the rotary transmission mechanism in sequence before being connected to the gripper mechanism 20. That is, in this embodiment, the gripper mechanism 20 is connected to both the linear transmission mechanism and the rotary transmission mechanism. The linear drive mechanism 32 and the rotary drive mechanism 51 can be used to independently drive the gripper mechanism 20 to open, close, and rotate. That is, the linear drive motor 32 drives the gripper mechanism 20 to open and close through the linear transmission mechanism, and the rotary drive motor 41 drives the gripper mechanism 20 to rotate through the rotary transmission mechanism. Specifically, since the linear drive mechanism 32 and the rotary drive mechanism 51 independently drive the opening, closing, and rotation of the gripper mechanism 20, there is no sequential relationship between the linear drive mechanism 32 driving the gripper mechanism 20 to open and close and the rotary drive mechanism 51 driving the gripper mechanism 20 to rotate. That is, the opening and closing of the gripper mechanism 20 driven by the linear drive mechanism 32 and the rotation of the gripper mechanism 20 driven by the rotary drive mechanism 51 can be performed simultaneously or sequentially, which can be flexibly set according to the specific application scenario requirements.

[0058] like Figures 2-3 As shown, the gripper mechanism 20 in this embodiment includes a base plate 21, grippers 23, and a reversing assembly. The reversing assembly is slidably engaged with the base plate 21 and fixedly connected to at least one gripper 23. In this embodiment, each reversing assembly is connected to one gripper 23, meaning that the reversing assembly and gripper 23 are arranged in a one-to-one correspondence. The reversing assembly is driven by a linear transmission mechanism and converts the axial movement of the linear transmission mechanism into radial movement to realize the opening and closing of the gripper mechanism 20. The base plate 21 is driven by a rotary transmission mechanism and drives the gripper mechanism 20 to rotate under the driving action of the rotary transmission mechanism. Specifically, in order to achieve the gripping operation of the target object, at least two grippers 23 are provided. In this embodiment, four grippers 23 are provided. Of course, in some other embodiments, the number of grippers 23 can also be two, three, five, six, or more than six, which will not be elaborated further.

[0059] In this example embodiment, the base plate 21 is provided with a guide surface 211, and the reversing assembly includes a slider 22, with the gripper 23 connected to the slider 22. Specifically, the sliders 22 are spaced apart along the circumferential direction of the linear transmission rod 36 and can move along the radial direction of the linear transmission rod 36. The control unit 31 is connected to the sliders 22 and is used to drive all sliders 22 to move synchronously along the radial direction of the linear transmission rod 36, so that the gripper mechanism 20 opens or closes. Of course, the reversing assembly can also adopt other structural methods, such as a linkage structure connected to the base plate 21 and the linear transmission rod 36, and the gripper 23 moves with the linkage mechanism to realize the opening and closing of the gripper mechanism 20.

[0060] In this example, the guide surface 211 is a plane perpendicular to the linear transmission rod 36. Of course, in other embodiments, the guide surface 211 may also be a conical surface coaxial with the linear transmission rod 36, which will not be elaborated further.

[0061] In this example, four sliders 22 are spaced at intervals along the circumferential direction of the linear transmission rod 36. Of course, in other embodiments, the number of sliders 22 can be two, three, five, six, or more, depending on the actual application scenario, to meet the clamping requirements of different objects. Furthermore, in this embodiment, the sliders 22 are evenly distributed in a ring around the axis of the linear transmission rod. Of course, in other embodiments, the sliders 22 can also be arranged at different intervals around the axis of the linear transmission rod to meet different object clamping requirements.

[0062] In one embodiment of this invention, a first guide assembly 24 for guiding the movement of the sliding member 22 is provided on the guide surface 211. The first guide assembly 24 is a linear guide mechanism and can be implemented in various existing ways, such as sliding friction structures like V-grooves and dovetail grooves. Specifically, in this embodiment, the first guide assembly 24 includes a first guide rail 241 mounted on the guide surface 211 and a first guide slider 242 that slides with the first guide rail 241, with the sliding member 22 mounted on the first guide slider 242.

[0063] In one embodiment of this invention, the side of the slider 22 facing away from the guide surface 211 is provided as an inclined surface, which extends radially outward from the guide surface 211 and away from the guide surface 211. The control member 31 slides with the inclined surface. Specifically, a second guide assembly 25 is mounted on the inclined surface. The second guide assembly 25 is a linear guide mechanism, which can be implemented in various existing ways, such as V-groove, dovetail groove, and other sliding friction structures. Specifically, in this embodiment, the second guide assembly 25 includes a second guide rail 251 mounted on the inclined surface and a second guide slider 252 that slides with the second guide rail 251. The control member 31 is connected to the second guide slider 252.

[0064] When the drive control member 31 moves linearly along the axis of the gripper mechanism 20, the control member 31 applies a force perpendicular to the inclined plane to the sliding member 22 by setting the second guide component 25 between the control member 31 and the inclined plane. This force has a radial component perpendicular to the axis of the gripper mechanism 20. Under the action of this radial component, the sliding member 22 can be driven to move radially along the first guide component 24 to drive the gripper mechanism to open or close.

[0065] In a preferred embodiment of this example, the gripper 23 includes a mounting part 231 and a gripping part 232. The mounting part 231 is connected to the outer side wall of the sliding member 22. The gripping part 232 is provided with a rubber pad or rubber sleeve 26 to increase the friction coefficient between the gripper 23 and the target object, improve the gripping stability, and avoid rigid contact between the gripper 23 and the surface of the target object, which could lead to damage to the surface of the target object.

[0066] like Figures 4-5As shown, the linear drive mechanism 30 of this embodiment includes a linear drive motor 32 and a linear transmission mechanism. The linear drive motor 32 is connected to the gripper mechanism 20 via the linear transmission mechanism to drive the gripper mechanism 20 to open and close. The linear transmission mechanism of this embodiment includes a motor screw 34, a transfer member, and a linear transmission rod 36. A motor nut 35 is mounted on the transfer member. One end of the motor screw 34 is connected to the output shaft of the linear drive motor 32, and the other end is threaded into the motor nut 35. In this embodiment, the first end of the linear transmission rod 36 is connected to the transfer member, and the second end passes through the hollow areas of the rotary drive motor 41 and the rotary transmission mechanism in sequence before connecting to the gripper mechanism 20. Specifically, in this embodiment, the second end of the linear transmission rod 36 passes through the hollow areas of the rotary drive motor 41 and the rotary transmission mechanism in sequence, and is connected to the gripper mechanism 20 via a control member 31. The linear drive motor 32 drives the motor screw 34 to rotate and causes the transfer member and the linear transmission rod 36 to move linearly along the axial direction of the motor screw 34.

[0067] In one embodiment of this invention, the axis of the motor screw 34 is coaxial with the axis of the linear transmission rod 36. The motor nut 35 is mounted on the first end of the transfer member, and the linear transmission rod 36 is connected to the second end of the transfer member. The first and second ends of the transfer member are opposite ends of the transfer member. Of course, in other embodiments, the axis of the motor screw 34 and the axis of the linear transmission rod 36 may be non-coaxial, but the axis of the motor screw 34 and the axis of the linear transmission rod 36 should be parallel to each other.

[0068] In one embodiment of this invention, the transfer component includes an adapter 33 and a connector 37. The motor nut 35 and the connector 37 are respectively mounted on the adapter 33, and the linear drive rod 36 is connected to the connector 37. In this embodiment, the second end of the linear drive rod 36 is provided with a control element 31, and the second end of the linear drive rod 36 is connected to the gripper mechanism 20 through the control element 31. To achieve decoupling of the gripper mechanism 20, the linear drive rod 36 is rotatably engaged with at least one of the control element 31 and the connector 37; that is, the gripper mechanism 20 can rotate independently, but the linear drive motor 32 and the linear drive mechanism do not rotate. Specifically, in this embodiment, the connector 37 is a rotary joint, and the first end of the linear drive rod 36 is rotatably engaged with the adapter 33 through the rotary joint 37; at this time, the second end of the linear drive rod 36 can be fixedly connected to the control element 31, or it can be rotatably engaged with the control element 31. Of course, in some other embodiments, the second end of the linear transmission rod 36 is rotatably engaged with the control member 31. In this case, the first end of the linear transmission rod 36 can be rotatably engaged with the adapter 33 through the rotary joint 37, or it can be fixedly connected to the rotating member 33.

[0069] In this embodiment, the rotary joint 37 includes an outer ring 371 fixedly connected to the adapter 33, and an inner ring 372 rotatably fitted within the outer ring 371. A linear drive rod 36 is connected to the inner ring 372. In this embodiment, one end of the inner ring 372 extends beyond the outer ring 371, and the linear drive rod 36 is fitted inside the inner ring 372 and fixedly connected to the portion of the inner ring 372 that protrudes from the outer ring 371. Specifically, the portion of the inner ring 372 protruding from the outer ring 371 has a connecting hole 373, and the linear drive rod 36 has a connecting screw hole 361 corresponding to the connecting hole 373. The linear drive rod 36 and the inner ring 372 are fixedly connected by a threaded connector that passes through the connecting hole 373 and threadedly engages with the connecting screw hole 361.

[0070] In one embodiment of this invention, the adapter 33 has a cavity 331, and a first through hole 332 communicating with the cavity 331 is provided at the first end of the adapter 33. The motor nut 35 includes an axial section 351 sleeved in the first through hole 332, and a connecting plate 352 for fixed connection with the adapter 33 is provided at the first end of the axial section 351. In this embodiment, the connecting plate 352 and the adapter 33 are fixedly connected by a threaded connector.

[0071] In one embodiment of this invention, the second end of the adapter 33 is provided with a second through hole 333 communicating with the cavity 331, and the connector 37 is installed on the adapter 33 through the second through hole 333. In this embodiment, the connector 37 is a rotary joint, and the linear transmission rod 36 is rotatably engaged with the adapter 33 through the rotary joint 37. In this embodiment, the rotary joint 37 includes an outer ring 371 fixedly connected to the adapter 33, and an inner ring 372 rotatably engaged with the outer ring 371. The linear transmission rod 36 is connected to the inner ring 372. The outer ring 371 is fitted into the second through hole 333 and fixedly connected to the adapter 33.

[0072] In this embodiment, the linear drive motor 32 drives the motor screw 34 to rotate. Under the threaded engagement between the motor screw 34 and the motor nut 35, the drive adapter 33 moves linearly along the axial direction of the motor screw 34. The mounting bracket 10 is provided with a guide assembly 38 for guiding the adapter 33 to move in a direction parallel to the axis of the motor screw 34. The guide assembly is a linear guide mechanism and can be implemented in various existing ways. In this embodiment, the guide assembly includes a third guide rail 381 mounted on the mounting bracket 10 and a third guide slider 382 that slides with the third guide rail 381. The adapter 33 is connected to the third guide slider 382.

[0073] In a preferred embodiment of this invention, an encoder 321 is also installed on the linear drive motor 32. The encoder 321 can record the angular displacement of the rotor rotation of the linear drive motor 32 in real time, thereby enabling closed-loop vector control of the linear drive motor 32. Since the linear drive motor 32 can achieve closed-loop vector control, a servo motor is not required, which reduces costs.

[0074] In one embodiment of this invention, a limit position positioning component 39 is provided between the adapter 33 and the mounting bracket 10 to position the adapter 33 at both extreme positions along the axial direction of the motor screw 34. In this embodiment, the limit position positioning component 39 includes a sensing plate 391, a first origin position switch 392, and a first end position switch 393. The first origin position switch 392 and the first end position switch 393 are mounted on the mounting bracket 10, and the sensing plate 391 is mounted on the adapter and moves synchronously with the adapter 33. Specifically, the first origin position switch 392 corresponds to the origin position of the linear transmission mechanism and is used to detect whether the linear transmission mechanism has reached the origin position. When the linear transmission mechanism is at the origin position, the gripper mechanism 20 opens to a preset first degree. The first degree can be the maximum opening degree of the gripper mechanism 20, or it can be set to a large proportion of the maximum degree, such as 95%, 90%, and 85% of the maximum degree, etc., which will not be elaborated further. The first endpoint position switch 393 corresponds to the endpoint position of the linear transmission mechanism and is used to detect whether the linear transmission mechanism has reached the endpoint position. When the linear transmission mechanism is at the endpoint, the gripper mechanism 20 closes to a preset second degree. The second degree can be the minimum degree to which the gripper mechanism 20 is fully closed. Of course, depending on the target object being gripped, the second degree can also be set to a smaller percentage of the maximum degree, such as 10%, 20%, and 30% of the maximum degree, etc., which will not be elaborated further.

[0075] like Figures 6-7As shown, the rotary drive mechanism 40 of this embodiment includes a rotary drive motor 41 and a rotary transmission mechanism. The rotary drive motor 41 is connected to the gripper mechanism 20 via the rotary transmission mechanism to drive the gripper mechanism 20 to rotate. For example, in one example, the rotary transmission mechanism includes a turntable assembly and at least two (e.g., two, three, four, five, six, or more) connecting rods 43. The turntable assembly is sleeved on the output shaft of the rotary drive motor 41 and rotates with the output shaft of the rotary drive motor 41. The two ends of the connecting rods 43 are fixedly connected to the turntable assembly and the gripper mechanism 20, respectively. When the turntable assembly rotates with the output shaft of the rotary drive motor 41, the gripper mechanism 20 rotates with the turntable assembly under the driving action of the connecting rods 43. Specifically, in order to improve the stability of the gripper mechanism 20 during rotation, the connecting rods 43 are provided as at least two and are evenly distributed in a ring relative to the output shaft of the rotary drive motor 41. In this embodiment, there are four connecting rods 43. Of course, in some other embodiments, the number of connecting rods 43 can also be three, five, six, or more, which will not be elaborated further. In this embodiment, the turntable assembly includes a rotating flange 42, one end of a connecting rod 43 is fixedly connected to the rotating flange 42, and the other end of the connecting rod 43 is fixedly connected to the base plate 21. The connection position between the connecting rod 43 and the base plate 21 is located between two adjacent sliding members 22.

[0076] In one embodiment of this invention, the turntable assembly includes a rotary bearing housing 13 fixedly mounted on a mounting bracket 10. The rotary flange 42 includes a flange 422 and a flange shaft 423. The flange shaft 423 extends and is sleeved within the rotary bearing housing 13, rotatably engaging with it. The flange shaft 423 is fixedly connected to the output shaft of the rotary drive motor 41 via a coupling 45. The flange 422 and the coupling 45 are located at opposite ends of the rotary bearing housing 13. A connecting rod 43 is fixedly connected to the flange 422. Specifically, the coupling 45 and the rotary flange 42 are located on opposite sides of the rotary bearing housing 13 to improve stability. In this embodiment, the coupling 45 includes a coupling seat 451 and a clamping plate 452.

[0077] In this embodiment, both the rotary drive motor 41 and the rotary transmission mechanism are hollow structures. The rotary drive motor 41 in this embodiment is a hollow shaft motor, and the linear transmission rod 36 is fitted into the central through-hole 411 of the rotary drive motor 41. Specifically, the rotary flange 42 has a coaxial through-hole 421 corresponding to the central through-hole 411 of the rotary drive motor 41. The linear transmission rod 36 passes through the central through-hole 411 in the rotary drive motor 41 and the through-hole 421 in the rotary flange 42, and is connected to the control component 31 and the adapter 33, respectively. Thus, the movement of the linear drive mechanism 30 driving the linear transmission rod 36 along its axial direction will not interfere with the movement of the rotary drive mechanism 40 driving the gripper mechanism 20 to rotate. This ensures that both the linear drive motor 32 and the rotary drive motor 41 can be fixedly mounted on the mounting bracket 10 without moving relative to the mounting bracket 10. Therefore, it is not necessary to use a conductive slip ring as a bridge for power supply and signal transmission, improving the stability of signal transmission, and not limiting the speed of the rotary drive motor 40. This also effectively increases lifespan and saves costs. Furthermore, since the opening and closing of the gripper mechanism 20 driven by the linear drive mechanism and the rotation of the gripper mechanism 20 driven by the rotary drive mechanism are structurally independent, the control processes of the opening and closing of the gripper mechanism 20 driven by the linear drive mechanism and the rotation of the gripper mechanism 20 driven by the rotary drive mechanism are not sequential in terms of timing.

[0078] In one embodiment of this invention, a rotational position positioning component 44 is provided between the rotary bearing housing 13 and the rotary flange 42. The rotational position positioning component 44 is used to position the rotational position of the rotary flange 42 relative to the rotary bearing housing 13. Specifically, the rotational position positioning component 44 in this embodiment includes a second origin position switch 441, which corresponds to the origin position of the rotary transmission mechanism. The second origin position switch 441 is mounted on the mounting bracket 10. Specifically, in this embodiment, the second origin position switch 441 is mounted on the rotary bearing housing 13, which is fixedly connected to the mounting bracket 10. A sensing plate 442 that cooperates with the second origin position switch 441 is mounted on the rotary flange 42.

[0079] In a preferred embodiment of this invention, the linear drive motor 32 and the rotary drive motor 41 are coaxial, which can minimize the width and make the center of gravity of the entire robot fall as close as possible to the axis of the motor screw 34, thereby improving the stability of the center of gravity.

[0080] This embodiment also provides a control method for a robotic arm, which can be applied to, but is not limited to, the robotic arm shown in the above embodiment. In this embodiment, before gripping a target object (e.g., various sample containers or reagent containers), the control method uses a position mode to control the linear drive motor 32 to drive the linear transmission mechanism to the origin position, causing the gripper mechanism 30 to open to a preset first degree.

[0081] The manipulator moves relative to the target object, such as moving the manipulator towards the target object or moving the target object towards the manipulator, so that the target object is entirely or partially located within the space enclosed by the gripper mechanism 20 after it opens to the first degree. The first segment of the gripping process by the gripper mechanism 20 is an idle stroke; at this time, the gripper mechanism 20 is not in contact with the target object. The linear drive motor 32 is controlled in speed mode to drive the linear transmission mechanism towards the endpoint position, causing the gripper mechanism to gradually close until the encoder 321 detects that the speed of the linear drive motor 32 has decreased to a set value (it should be understood that this set value can be flexibly set according to the specific motor power, model, and application scenario; this embodiment does not impose specific limitations on it), at which point the gripper mechanism 20 comes into contact with the surface of the target object. Specifically, when the gripper mechanism 20 is not in contact with the target object, the linear drive motor 32 is controlled in speed mode to drive the linear transmission mechanism towards the endpoint position, causing the gripper mechanism 20 to gradually close; if the linear transmission mechanism moves to the endpoint position and the gripper mechanism 20 closes to the set second degree, it indicates that the gripping action has failed, and the gripping operation ends.

[0082] Switching from speed mode to torque mode, the linear drive motor 32 is controlled to output a constant torque. This torque is transmitted to the gripper mechanism 20 via a linear transmission mechanism, causing the gripper mechanism 20 to apply a constant clamping force to the target object, thus achieving object clamping. Specifically, after the gripper mechanism 20 clamps the target object and applies a constant clamping force, if the encoder value 321 suddenly increases, it indicates that the target object has disengaged from the gripper mechanism 20.

[0083] The robotic arm moves to the target object placement position. Using position mode control, the linear drive motor 32 drives the linear transmission mechanism to move towards the origin, causing the gripper mechanism 20 to gradually open and release the target object. After releasing the target object, if there are still target objects to be gripped, the linear drive motor 32 is used to drive the linear transmission mechanism back to the origin, causing the gripper mechanism to open to a preset first degree. If there are no target objects to be gripped, the linear drive motor 32 is used to drive the linear transmission mechanism back to the end position, causing the gripper mechanism to close to a preset second degree.

[0084] Furthermore, during the control of the robotic arm, the angular displacement of the linear drive motor 32's rotor can be determined by establishing the correspondence between the rotor of the linear drive motor 32 and the encoder 321. That is, the encoder 321 can record the travel of the linear drive motor 32 in real time. If the travel of the linear drive motor 32 exceeds the preset maximum total travel, it indicates an error has occurred in the robotic arm, and the current gripping operation should be terminated. At this point, the robotic arm needs to be inspected and maintained to identify and correct the cause of the error. Specifically, the preset maximum total travel is the angular displacement of the linear drive motor 32's rotor when the adapter moves from the origin position to the endpoint position.

[0085] In the torque mode, the magnitude and direction of the stator coil current are controlled by controlling the duty cycle of the stator coil voltage of the linear drive motor 32, thereby controlling the torque of the linear drive motor 32. Figure 8 As shown; the speed mode is to control the speed of the linear drive motor 32 by adjusting the torque of the linear drive motor 32, such as... Figure 9 As shown; the position mode is to control the rotor rotation position of the linear drive motor 32 by controlling the speed of the linear drive motor 32, such as... Figure 10 As shown.

[0086] Specifically, this embodiment also proposes a control system for a robotic arm, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is connected to a linear drive motor 32 and a rotary drive motor 51 via a control bus. The processor executes the computer program and controls the linear drive motor 32 and the rotary drive motor 51 to perform corresponding actions, thereby realizing the robotic arm control method described above in this embodiment.

[0087] Specifically, this embodiment also proposes a computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the robotic arm control method described above. Specifically, the processor is connected to the linear drive motor 32 and the rotary drive motor 51 via a control bus. The processor executes the computer program and controls the linear drive motor 32 and the rotary drive motor 51 to perform corresponding actions.

[0088] This embodiment also proposes a sample processing device, including a robotic arm 50, on which a robotic hand 51 as described above is mounted. Specifically, the sample processing device can be a capping device, a capping device, a centrifuge device, an analyzer, a sample sorting device, a sample injection device, and a refrigeration device, etc., which will not be elaborated further.

[0089] like Figure 11As shown, this is an instrument for centrifuging sample tubes. The robotic arm 50 is a three-axis robotic arm. The rotatable electromechanical gripper assembly 51 (hereinafter referred to as "gripper assembly 51") described in this embodiment is mounted on the robotic arm 50 and can perform translational movements in the X, Y, and Z directions in space. The instrument's workflow is as follows: Sample tube 52 moves along the transport track 54 via sample tube holder 53. When sample tube 52 needs to enter the instrument body 55 for centrifugation, the robotic arm 50 moves the gripper assembly 51 to above the sample tube 52 located at the unloading position on the transport track 54. The Z-axis of the robotic arm 50 descends, causing the gripper assembly 51 to complete the gripping action of the sample tube 52. Then, the Z-axis of the robotic arm 50 rises. Next, the robotic arm 50 moves the gripper assembly 51 holding the sample tube 52 to above the empty tube position on the sample tube tray 56. During this process, the gripper assembly 51 rotates one revolution, and the barcode scanner 57 scans the sample tube 52 to complete the information reading of the sample tube 52. The Z-axis of the robotic arm 50 descends, causing the gripper assembly 51 to release the sample tube 52. At this point, the sample tube 52 has moved from the transport track 54 to the sample tube tray 56. Once all the tubes in the sample tube tray 56 are filled with sample tubes 52, the robotic arm 50 and the gripper assembly 51 work together to place the sample tube tray 56 into the instrument body 55 for centrifugation.

[0090] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A drive assembly for a robotic arm, characterized in that: The installation frame, the linear driving mechanism and the rotary driving mechanism are provided. The linear driving mechanism comprises a linear driving motor and a linear transmission mechanism, the linear driving motor is in transmission connection with the gripper mechanism of the manipulator through the linear transmission mechanism to drive the gripper mechanism to open and close. The rotary driving mechanism comprises a rotary driving motor and a rotary transmission mechanism, the rotary driving motor is in transmission connection with the gripper mechanism of the manipulator through the rotary transmission mechanism to drive the gripper mechanism to rotate. The linear driving motor and the rotary driving motor are fixedly installed on the installation frame, the linear driving motor is located on the side of the rotary driving motor away from the gripper mechanism, the rotary driving motor and the rotary transmission mechanism are both hollow structures, one end of the linear transmission mechanism is in transmission connection with the linear driving motor, the other end sequentially passes through the hollow structures of the rotary driving motor and the rotary transmission mechanism and is in transmission connection with the gripper mechanism.

2. The drive assembly of claim 1, wherein: The linear transmission mechanism comprises a motor screw, a transfer piece and a linear transmission rod, the transfer piece is provided with a motor nut, one end of the motor screw is connected with the output shaft of the linear driving motor, the other end is in threaded connection with the motor nut, the first end of the linear transmission rod is connected with the transfer piece, the second end sequentially passes through the hollow regions of the rotary driving motor and the rotary transmission mechanism and is connected with the gripper mechanism, the linear driving motor drives the motor screw to rotate and drives the transfer piece and the linear transmission rod to move linearly along the axial direction of the motor screw.

3. The drive assembly of claim 2, wherein: The axis of the motor screw is parallel to the axis of the linear transmission rod, or the axis of the motor screw is coaxial with the axis of the linear transmission rod, the motor nut is installed on the first end of the transfer piece, the linear transmission rod is connected with the second end of the transfer piece, the first end and the second end of the transfer piece are opposite ends of the transfer piece.

4. The drive assembly of claim 2, wherein: The transfer piece comprises an adapter and a connecting head, the motor nut and the connecting head are installed on the adapter respectively, the linear transmission rod is connected with the connecting head, the second end of the linear transmission rod is provided with a control member, the second end of the linear transmission rod is connected with the gripper mechanism through the control member, the connecting head is a rotary joint, the first end of the linear transmission rod is in rotary connection with the adapter through the rotary joint, and / or the second end of the linear transmission rod is in rotary connection with the control member.

5. The drive assembly of claim 4, wherein: The rotary joint comprises an outer ring fixedly connected with the adapter, the outer ring is provided with an inner ring in rotary connection therewith, and the linear transmission rod is connected with the inner ring.

6. The drive assembly of claim 4, wherein: The adapter is provided with a cavity, the first end of the adapter is provided with a first through hole in communication with the cavity, the motor nut comprises an axial section sleeved in the first through hole, the first end of the axial section is provided with a connecting disc for fixed connection with the adapter, and / or The second end of the adapter is provided with a second through hole in communication with the cavity, and the connecting head is installed on the adapter through the second through hole.

7. The drive assembly of claim 6, wherein: The connecting head is a rotary joint, the rotary joint comprises an outer ring fixedly connected with the adapter, an inner ring rotationally matched with the outer ring is arranged in the outer ring, and the linear transmission rod is connected with the inner ring; the outer ring is sleeved in the second through hole and fixedly connected with the adapter, one end of the inner ring extends out of the outer ring, and the linear transmission rod is sleeved in the inner ring and fixedly connected with the part of the inner ring exposed from the outer ring.

8. The drive assembly of any one of claims 1-7, wherein: The rotary transmission mechanism comprises a rotating disc assembly and at least two connecting rods, the rotating disc assembly is sleeved on the output shaft of the rotary drive motor and rotates with the output shaft of the rotary drive motor; The two ends of the connecting rod are fixedly connected with the rotating disc assembly and the clamping jaw mechanism respectively; when the rotating disc assembly rotates with the output shaft of the rotary drive motor, the clamping jaw mechanism rotates with the rotating disc assembly under the driving action of the connecting rod.

9. The drive assembly of claim 8, wherein: The connecting rod is provided in two, three, four, five, six or more than six and is arranged in a ring shape and uniformly distributed relative to the output shaft of the rotary drive motor; And / or, the rotating disc assembly comprises a rotating flange, and the connecting rod is fixedly connected with the rotating flange.

10. The drive assembly of claim 9, wherein: The rotating disc assembly comprises a rotating bearing seat fixedly installed on the mounting frame, the rotating flange comprises a flange plate and a flange shaft, the flange shaft is sleeved and extended in the rotating bearing seat and rotationally matched with the rotating bearing seat, the flange shaft and the output shaft of the rotary drive motor are fixedly connected through a shaft coupling, and the flange plate and the shaft coupling are located at two ends of the rotating bearing seat respectively.

11. The drive assembly of any one of claims 1-7, wherein: At least one of a first origin position switch, a first terminal position switch and a second origin position switch is arranged on the mounting frame; The first origin position switch corresponds to the origin position of the linear transmission mechanism, is used for detecting whether the linear transmission mechanism reaches the origin, and when the linear transmission mechanism is located at the origin, the clamping jaw mechanism is opened to a preset first degree; The first terminal position switch corresponds to the terminal position of the linear transmission mechanism, is used for detecting whether the linear transmission mechanism reaches the terminal, and when the linear transmission mechanism is located at the terminal, the clamping jaw mechanism is closed to a preset second degree; The second origin position switch corresponds to the origin position of the rotary transmission mechanism.

12. The drive assembly of any one of claims 1-7, wherein: The linear drive motor and the rotary drive motor are coaxially arranged.

13. A robot, characterized in that: The clamping jaw mechanism and the driving assembly as claimed in any one of claims 1-12 are comprised; The clamping jaw mechanism is drivingly connected with the linear transmission mechanism and the rotary transmission mechanism respectively, the linear drive motor drives the clamping jaw mechanism to realize opening and closing through the linear transmission mechanism, and the rotary drive motor drives the clamping jaw mechanism to realize rotation through the rotary transmission mechanism.

14. The robot of claim 13, wherein: The clamping jaw mechanism comprises a base plate, clamping jaws and a reversing assembly, the reversing assembly being in sliding fit with the base plate and fixedly connected with at least one clamping jaw; the reversing assembly is in transmission connection with the linear transmission mechanism and converts the axial movement of the linear transmission mechanism into radial movement to realize the opening and closing of the clamping jaw mechanism; the base plate is in transmission connection with the rotary transmission mechanism and is driven by the rotary transmission mechanism to rotate the clamping jaw mechanism; the clamping jaws are provided in two, three, four, five, six or more than six.

15. A sample processing apparatus, characterized by: The mechanical arm is provided with the mechanical hand as claimed in claim 13 or 14.

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