Self-adaptive mechanical gripper and inspection robot for biochemical medicine laboratory
By designing an adaptive mechanical gripper, stable gripping of cylindrical objects of different sizes is achieved, solving the problem of poor compatibility of traditional mechanical grippers, improving safety and reliability, and reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 华纳生韵(苏州)科技有限公司
- Filing Date
- 2025-04-11
- Publication Date
- 2026-05-01
AI Technical Summary
Traditional biochemical and pharmaceutical laboratory inspection robots have mechanical grippers that are difficult to adapt to grasping cylindrical objects of different sizes, resulting in poor compatibility and low safety and reliability.
An adaptive mechanical gripper was designed. By setting multiple gripping fingers and reinforcing rods on the gripper, combined with a force detector and controller, the gripping force can be adjusted in real time to adapt to cylindrical objects of different sizes. The gripping fingers of the gripper can work in an alternating manner to ensure stable gripping.
It improves the compatibility and stability of the mechanical gripper, prevents objects from slipping, tipping over, and breaking, enhances the safety and reliability of the equipment, and reduces costs.
Smart Images
Figure CN224183091U_ABST
Abstract
Description
Adaptive mechanical gripper and biochemical pharmaceutical laboratory inspection robot Technical Field
[0001] This application relates to laboratory inspection robots, specifically an adaptive mechanical gripper and a biochemical and pharmaceutical laboratory inspection robot. Background Technology
[0002] With the rapid development of robotics technology, robots are being used more and more widely in various industries. In robot applications, the end effector (i.e., the mechanical gripper) is the key component that directly contacts objects and completes the grasping task. However, traditional biochemical and pharmaceutical laboratory inspection robots have poor compatibility, with their mechanical grippers struggling to grasp cylindrical objects of different sizes, such as test tubes and beakers. This often requires frequent manual adjustments or replacements of different grippers, making operation inconvenient and inefficient. Overly rigid grippers can easily break glass objects or spill liquids, while more flexible grippers (such as pneumatic soft grippers) are difficult to control precisely, compromising grasping stability and accuracy, resulting in low safety and reliability. Existing adjustable-size mechanical grippers are typically complex in structure, cumbersome in adjustment, and expensive. Summary of the Invention
[0003] The purpose of this application is to propose an adaptive mechanical gripper and a biochemical and pharmaceutical laboratory inspection robot. It has a simple structure and can adjust the gripping force in real time during the gripping process. It can adaptively grip cylindrical objects of different sizes, ensuring stable gripping and avoiding slippage, overturning, or damage of the gripped objects, thereby improving the safety and reliability of the equipment.
[0004] To solve at least one of the above-mentioned technical problems, the technical solution of this application is as follows:
[0005] According to a first aspect of this application, an adaptive mechanical gripper is provided for use in a biochemical and pharmaceutical laboratory inspection robot, comprising: a frame; two grippers; a linkage mechanism mounted on the frame; a drive unit mounted on the frame and connected to the two grippers respectively via the linkage mechanism to drive the two grippers to clamp or open; two reinforcing rods, one end of each reinforcing rod being hinged to the frame and the other end of each reinforcing rod being hinged to its corresponding gripper; and a controller; wherein the grippers are provided with a first detector for detecting the gripping force, the controller is electrically connected to the drive unit and the first detector respectively, and each gripper has a plurality of gripping fingers arranged side by side at intervals, the gripping fingers of the two grippers being able to interleave with each other.
[0006] In one possible implementation of the above embodiment, each gripping finger is provided with an arc-shaped groove for cooperating with the object to be gripped.
[0007] In one possible implementation of the above embodiments, each arcuate groove surface is provided with an elastic element, the shape of which matches the shape of the arcuate groove.
[0008] In one possible implementation of the above embodiments, each gripper includes a body, and each gripping finger of each gripper is disposed on the body.
[0009] In one possible implementation of the above embodiments, the driving device includes: a driving member; a transmission mechanism; and a push rod. The driving member is connected to one end of the push rod through the transmission mechanism, and the other end of the push rod is connected to two linkage mechanisms.
[0010] In one possible implementation of the above embodiments, the linkage mechanism includes: a connecting rod connected to the output end of the drive device; two first links; and two second links; wherein the first links and the second links correspond one-to-one, the second links correspond one-to-one with the grippers, one end of each first link is hinged to the connecting rod and its other end is hinged to one end of its corresponding second link, the other end of each second link is hinged to its corresponding gripper, and the middle part of each second link is hinged to the frame.
[0011] In one possible implementation of the above embodiment, the two reinforcing rods are located between the two second connecting rods.
[0012] In one possible implementation of the above embodiment, each gripper is provided with a groove for engaging with the end of the second link and a pin for hinged to the second link. The pin passes through the groove, and the second link is provided with a connecting hole for connecting to the pin.
[0013] In one possible implementation of the above embodiment, the frame is provided with clearance holes, and the connecting rod, the two first connecting rods and the end of each second connecting rod near its corresponding first connecting rod are all located in the clearance holes.
[0014] In one possible implementation of the above embodiment, a second detector for detecting the position and shape of the object to be grasped is provided on the frame, and the second detector is electrically connected to the controller.
[0015] According to a second aspect of this application, a biochemical and pharmaceutical laboratory inspection robot is provided, including the adaptive mechanical gripper described in the first aspect above.
[0016] The above-mentioned technical solution of this application has at least one of the following beneficial effects:
[0017] According to the adaptive mechanical gripper of this application, each gripper has multiple gripping fingers arranged side-by-side at intervals. The gripping fingers of the two grippers can interlock, and a reinforcing rod ensures greater stability of the two grippers. A first detector monitors the gripping force of the two grippers in real time during the object grasping process, and the controller adjusts the gripping force in real time based on the detection information of the first detector. This allows for adaptive gripping of cylindrical objects of different sizes, ensuring stable gripping by the two grippers. Therefore, the structure is simple, compact, and robust, easy to operate, and the interlocking gripping fingers of the two grippers allow for a wider range of object sizes to be grasped. It is suitable for cylindrical objects such as test tubes and beakers of various sizes, exhibiting high compatibility. Furthermore, the real-time monitoring of the gripping force by the first detector and the controller's real-time adjustment of the gripping force enable adaptive gripping of cylindrical objects of different sizes, ensuring stable gripping by the two grippers, high efficiency, and prevention of slippage, tipping, or breakage of the grasped object. This improves the safety, stability, and reliability of the equipment while reducing costs.
[0018] In addition, unless otherwise specified in the technical solution of this application, the technical solution can be implemented by conventional means in the field. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0020] Figure 1 is a top view of an adaptive mechanical gripper according to one embodiment of this application;
[0021] Figure 2 is a partial structural schematic diagram of an adaptive mechanical gripper according to one embodiment of this application;
[0022] Figure 3 is a magnified view of part A in Figure 2;
[0023] Figure 4 is a partial structural schematic diagram of the interleaved gripper fingers of an adaptive mechanical gripper according to one embodiment of this application.
[0024] Figure 5 is a schematic diagram of the gripper structure according to one embodiment of this application.
[0025] Explanation of the labels in the attached drawings:
[0026] Frame 100; clearance hole 101;
[0027] Gripper 200; Body 201; Gripping finger 202; Arc groove 203; Pin 204; Groove 205;
[0028] Linkage mechanism 300; connecting rod 301; first link 302; second link 303;
[0029] Drive unit 400; drive component 401; transmission mechanism 402; push rod 403;
[0030] 500mm reinforcing bar;
[0031] First detector 600;
[0032] Second detector 700. Detailed Implementation
[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only some, not all, of the embodiments of this application, and are used merely to explain this application and are not intended to limit it. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0034] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," "outer," "both ends," "both sides," "bottom," and "top," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the elements referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," "upper-level," "lower-level," "main," and "secondary," etc., are used for descriptive purposes only and can be simply used to more clearly distinguish different components, and should not be construed as indicating or implying relative importance.
[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0036] Referring to Figures 1-5, an adaptive mechanical gripper according to an embodiment of this application is schematically shown, mainly used for inspection robots in biochemical and pharmaceutical laboratories. The adaptive mechanical gripper of this application may include: a frame 100, two grippers 200, a linkage mechanism 300, a drive device 400, two reinforcing rods 500, and a controller (not shown in the figures).
[0037] The linkage mechanism 300 and the drive device 400 are mounted on the frame 100. The drive device 400 is connected to two grippers 200 via the linkage mechanism 300, and drives the two grippers 200 to clamp or open. One end of each reinforcing rod 500 is hinged to the frame 100, and the other end is hinged to its corresponding gripper 200. A first detector 600 for detecting gripping force is provided on each gripper 200. A controller is electrically connected to both the drive device 400 and the first detector 600. Multiple gripping fingers 202 are arranged side-by-side at intervals on each gripper 200, with gaps between adjacent gripping fingers 202 of each gripper 200, allowing the gripping fingers 202 of two grippers 200 to interleave and grasp smaller objects. The first detector 600 can be a force sensor, and the shape of the gripping fingers 202 can resemble the shape of a human finger.
[0038] When gripping large cylindrical objects such as beakers, the two grippers 200 are in the open state. After the object to be gripped is positioned between the two grippers 200, the drive mechanism drives the linkage mechanism 300 to move. The linkage mechanism 300 drives the two grippers 200 and the two reinforcing rods 500 to move. The two reinforcing rods 500 ensure that the two grippers 200 are more stable. The first detector 600 detects the gripping force of the two grippers 200 in real time during the object gripping process and transmits the detection information to the controller. The controller adjusts the gripping force in real time according to the detection information of the first detector 600, so that the two grippers 200 can adaptively grip cylindrical objects of different sizes, ensuring that the two grippers 200 can stably grip the object. When gripping cylindrical objects such as test tubes, which are relatively large, the gripping fingers 202 of the two grippers 200 can interlock (see Figure 4). Similarly, the first detector 600 detects the gripping force of the two grippers 200 in real time during the object gripping process. The controller adjusts the gripping force in real time according to the detection information of the first detector 600, so that the two grippers 200 can adaptively grip cylindrical objects of different sizes, ensuring that the two grippers 200 can grip objects stably.
[0039] Therefore, the adaptive mechanical gripper of this application has a simple, compact, and stable structure, small size, and convenient operation. The gripping fingers 202 of the two grippers 200 can interlock, allowing for a wider range of object sizes to be gripped. It is suitable for various sizes of laboratory cylindrical objects such as test tubes and beakers, exhibiting high compatibility. Furthermore, the reinforcing rod 500 ensures greater stability of the two grippers 200. The first detector 600 monitors the gripping force of the two grippers 200 in real time during object gripping, and the controller can adjust the gripping force of the two grippers 200 in real time. It can adaptively grip cylindrical objects of different sizes, ensuring stable gripping of objects by the two grippers 200, resulting in high efficiency. It avoids slippage, tipping, and damage of the gripped objects, improving the safety, stability, and reliability of the equipment while reducing costs.
[0040] In some embodiments, referring to FIG5, each gripping finger 202 is provided with an arc-shaped groove 203 for cooperating with the object to be gripped. When the two grippers 200 hold the corresponding cylindrical object, the arc-shaped groove 203 of each gripping finger 202 contacts the outer surface of the cylindrical object, thereby ensuring a more stable gripping of the cylindrical object.
[0041] Furthermore, each arc-shaped groove 203 has an elastic element (not shown in the figure) on its surface, the shape of which matches the shape of the arc-shaped groove 203. The elastic element can be made of elastic materials such as rubber or foam. Thus, when each gripping finger 202 of the two grippers 200 holds the cylindrical object tightly, the elastic element comes into direct contact with the cylindrical object, thereby providing cushioning protection and anti-slip functions for the cylindrical object. For example, it prevents the cylindrical object made of glass from breaking, tipping over, or slipping, making it safer and more reliable.
[0042] In some embodiments, referring to FIG5, each gripper 200 includes a body 201, and each gripping finger 202 of each gripper 200 is disposed on the body 201. This results in a more robust structure, ensuring better object gripping.
[0043] In some embodiments, referring to FIG1, the drive device 400 may include a drive element 401, a transmission mechanism 402, and a push rod 403. The output end of the drive element 401 is connected to the transmission mechanism 402, the transmission mechanism 402 is connected to one end of the push rod 403, and the other end of the push rod 403 is connected to two linkage mechanisms 300. The drive element 401 drives the two linkage mechanisms 300 to move synchronously through the transmission mechanism 402. The drive element 401 can be a servo motor, a variable frequency motor, etc., which offers high precision and high torque. The transmission mechanism 402 can be a lead screw mechanism, etc., with the motor's output shaft connected to one end of the lead screw, and the push rod 403 connected to a nut on the lead screw. This ensures the stability and reliability of the two grippers 200 during the gripping process. Alternatively, the drive device 400 may also be an electric push rod, an electric cylinder, a linear module, etc.
[0044] In some embodiments, referring to Figures 1-4, the linkage mechanism 300 may include: a connecting rod 301, two first connecting rods 302, and two second connecting rods 303. The connecting rod 301 is connected to the output end of the drive device 400. The first connecting rods 302 and second connecting rods 303 correspond one-to-one, and the second connecting rods 303 correspond one-to-one with the grippers 200. One end of each first connecting rod 302 is hinged to the connecting rod 301, and its other end is hinged to one end of its corresponding second connecting rod 303. The other end of each second connecting rod 303 is hinged to its corresponding gripper 200, and the middle portion of each second connecting rod 303 is hinged to the frame 100. Thus, the drive device 400 drives the two grippers 200 to stably open or close via the connecting mechanism.
[0045] Furthermore, the two reinforcing rods 500 are located between the two second connecting rods 303. As a result, the structure is more compact and stable.
[0046] In some embodiments, referring to FIG3, each gripper 200 is provided with a groove 205 for engaging with the end of the second connecting rod 303 and a pin 204 hinged to the second connecting rod 303. The pin 204 passes through the groove 205, and the second connecting rod 303 is provided with a connecting hole for connecting to the pin 204. This results in a more compact and stable structure, and more convenient and faster operation. Furthermore, the hinges between the reinforcing rod 500 and the gripper 200 and the frame 100, the hinges between the first connecting rod 302 and the connecting rod 301 and the second connecting rod 303, and the hinges between the second connecting rod and the frame 100 can all employ a pin 204 structure, which will not be elaborated further here.
[0047] In some embodiments, referring to FIG3, each second link 303 is V-shaped. For example, the included angle of the V-shape can be greater than 90°, and the included angle of the V-shape faces between the two grippers 200. As a result, the structure is more stable, ensuring better driving of the grippers 200.
[0048] In some embodiments, referring to FIG3, the frame 100 is provided with clearance holes 101, and the connecting rod 301, the two first connecting rods 302, and the end of each second connecting rod 303 near its corresponding first connecting rod 302 are all located in the clearance holes 101. This results in a more compact and stable structure, smaller size, and easier operation.
[0049] In some embodiments, referring to FIG1, a second detector 700 for detecting the position and shape of an object to be grasped is provided on the frame 100. The second detector 700 is electrically connected to the controller. The second detector 700 can be a vision sensor such as a camera. When grasping a corresponding object, the second detector 700 first detects the position and shape of the object to be grasped and transmits the detection information to the controller. Then, the controller controls the drive device 400 to work according to the detection information, thereby controlling the two grippers 200 to grasp the corresponding object more accurately. This provides stability and accuracy in the device's object grasping, resulting in higher efficiency.
[0050] A biochemical and pharmaceutical laboratory inspection robot, also provided according to an embodiment of this application, includes the aforementioned adaptive mechanical gripper. Other components of the biochemical and pharmaceutical laboratory inspection robot can employ corresponding mechanisms from the prior art, which will not be elaborated upon here.
[0051] Based on the various embodiments of this application described above, in the absence of explicit denial or conflict, the technical features of one embodiment may be advantageously combined with one or more other embodiments.
[0052] The above descriptions are merely some embodiments of this application, used only to illustrate the technical solutions of this application, and not to limit it. It should be understood that those skilled in the art can make improvements or substitutions based on the above descriptions without departing from the inventive concept of this application, and all such improvements and substitutions should fall within the protection scope of this application. In this case, all details can be replaced with equivalent elements, and materials, shapes, and sizes can also be arbitrary.
Claims
1. An adaptive mechanical gripper, characterized in that, A robot for inspecting biochemical and pharmaceutical laboratories includes: a frame; two grippers; a linkage mechanism mounted on the frame; a drive unit mounted on the frame, connected to the two grippers via the linkage mechanism to drive the grippers to clamp or open; two reinforcing rods, one end of each reinforcing rod hinged to the frame and the other end hinged to its corresponding gripper; and a controller. Each gripper is equipped with a first detector for detecting gripping force. The controller is electrically connected to the drive unit and the first detector. Each gripper has multiple gripping fingers arranged side-by-side at intervals, and the gripping fingers of the two grippers can interleave.
2. The adaptive mechanical gripper according to claim 1, characterized in that, Each of the gripping fingers is provided with an arc-shaped groove for cooperating with the object to be gripped; the surface of each arc-shaped groove is provided with an elastic element, the shape of which matches the shape of the arc-shaped groove.
3. The adaptive mechanical gripper according to claim 2, characterized in that, Each of the grippers includes a body, and each of the gripping fingers of each gripper is disposed on the body.
4. The adaptive mechanical gripper according to claim 1, characterized in that, The driving device includes: a driving component; a transmission mechanism; and a push rod. The driving component is connected to one end of the push rod through the transmission mechanism, and the other end of the push rod is connected to two linkage mechanisms.
5. The adaptive mechanical gripper according to claim 1, characterized in that, The linkage mechanism includes: a connecting rod connected to the output end of the drive device; two first links; and two second links; wherein the first links and the second links correspond one-to-one, the second links and the grippers correspond one-to-one, one end of each first link is hinged to the connecting rod and the other end is hinged to one end of its corresponding second link, the other end of each second link is hinged to its corresponding gripper, and the middle part of each second link is hinged to the frame.
6. The adaptive mechanical gripper according to claim 5, characterized in that, The two reinforcing rods are located between the two second connecting rods.
7. The adaptive mechanical gripper according to claim 5, characterized in that, Each of the grippers is provided with a groove for engaging with the end of the second connecting rod and a pin for hinged to the second connecting rod, the pin passing through the groove, and the second connecting rod being provided with a connecting hole for connecting to the pin.
8. The adaptive mechanical gripper according to claim 5, characterized in that, The frame is provided with clearance holes, and the connecting rod, the two first connecting rods and the end of each second connecting rod near its corresponding first connecting rod are all located in the clearance holes.
9. The adaptive mechanical gripper according to claim 1, characterized in that, The frame is equipped with a second detector for detecting the position and shape of the object to be grasped, and the second detector is electrically connected to the controller.
10. A biochemical and pharmaceutical laboratory inspection robot, characterized in that, Includes the adaptive mechanical gripper as described in any one of claims 1 to 9.