MULTI-AXIS GRIPPER FOR LAB AUTOMATION ROBOT

A lab automation robot (10) is provided including a stationary base (12), a swiveling tower (14) rotatably mounted to the stationary base (12) about a first vertical axis, an arm (18) vertically translatably mounted to the tower (14), an articulating forearm (20) coupled to the arm (18) at an elbow joint (22) and pivotal relative thereto about a second vertical axis, and a wrist assembly (30) including a multi-axis gripper (32) operatively coupled to the forearm (20) at a wrist joint (34) and rotatable relative thereto about a third vertical axis. The gripper (32) is further rotatable relative to at least the forearm (20) about a first horizontal axis and about a second horizontal axis. 一种实验室自动化机器人(10)，其包括：固定底座(12)；转动塔(14)，其绕第一竖直轴线以可旋转方式安装到所述固定底座(12)；臂(18)，其以竖直可平移方式安装到所述塔(14)；关节式前臂(20)，其在肘关节(22)处耦合到所述臂(18)并能相对于所述臂绕第二竖直轴线枢转；以及腕组合件(30)，其包含多轴夹持器(32)，所述多轴夹持器在腕关节(34)处以可操作方式耦合到所述前臂(20)并可相对于所述前臂绕第三竖直轴线旋转。所述夹持器(32)可进一步相对于至少所述前臂(20)绕第一水平轴线并绕第二水平轴线旋转。