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Methods and apparatus to calibrate a positional orientation between a robot gripper and a component

A technology of robotics and calibration tools, applied in the direction of mechanical measuring devices, adopting mechanical devices, mechanical gap measurement, etc., capable of solving problems such as collision or jamming, jittering pick-and-place operations, sample overflow, etc.

Active Publication Date: 2019-03-01
SIEMENS HEALTHCARE DIAGNOSTICS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Inaccurate calibration of the robot can lead to inaccurate positioning of the gripper fingers, which can lead to collisions between the gripper and the biological fluid container and / or between the biological fluid container being moved and the testing or processing system and / or sample holder or jam
Additionally, inaccurate calibration can lead to jerky pick-and-place operations of the gripper on biological fluid containers, which can lead to undesired sample spillage

Method used

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  • Methods and apparatus to calibrate a positional orientation between a robot gripper and a component
  • Methods and apparatus to calibrate a positional orientation between a robot gripper and a component
  • Methods and apparatus to calibrate a positional orientation between a robot gripper and a component

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Embodiment Construction

[0022] In robotics, such as those used to implement robotic pick and place operations in clinical analysis machines or other testing or processing systems, achieving fixture placement accuracy is a desirable goal for the reasons described above. As used herein, a "grip" is any member coupled to a robot (eg, coupled to a robotic arm) for gripping an item (eg, a sample container) and / or holding an item (eg, a sample container) during robotic manipulation Move from one location to another, such as in pick and place operations. In such a robot, it may be desirable for grippers that carry and / or retrieve sample containers to have relatively high positional accuracy, for example, with respect to the components including the pick or place locations (eg, the receiving portion of the sample holder), in order to prevent the aforementioned collisions , blockage and overflow. However, it has been difficult to easily calibrate the exact position of such a pick or place position relative t...

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PUM

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Abstract

Methods of calibrating a position of a component using onboard crush and crash sensors. The method includes providing the robot with gripper and crush and crash sensors, providing a calibration tool coupled to the gripper, and providing a component including a recess and crush zone. The method includes moving the gripper in a first direction to sense contact between the calibration tool and crushzone, and recording the contact position. Likewise, the gripper is moved to insert the tool into the recess, followed by moving the gripper in second directions and sensing contact between the tool and recess, and moving the gripper in third directions and sensing contact between the tool and recess. Contact positions are recorded and processed to determine a surface location in the first direction and physical center of the recess. Robot calibration apparatus for carrying out the method are disclosed, as are other aspects.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS [0002] This application claims priority to US Provisional Application Serial No. 62 / 362,529, filed July 14, 2016, the entire contents of which are incorporated herein by reference. technical field [0003] Embodiments of the present disclosure relate to methods and apparatus suitable for calibrating the positional orientation of a robotic component (eg, a robotic gripper) relative to another component (eg, a sample holder) in a system for transporting biological fluid containers. Background technique [0004] In medical testing and processing, the use of robotics can minimize exposure to or contact with biological fluid samples (also referred to in other ways as "samples") and / or can increase productivity. For example, in some automated testing and processing systems (eg, clinical analyzers), biological fluid containers (eg, test tubes, vials, etc.) may be transported to and from sample racks (sometimes called "cassettes") re...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/10B25J15/00G01B5/012G01B5/14G01P21/00G05B19/401
CPCB25J9/1676B25J9/1692B25J13/081G01B5/012G01N35/00693G01N35/0099G05B19/401G01N2035/041G01N2035/0493G01N2035/0494G01N35/1011G05B2219/39021
Inventor B.S.波拉克S.波拉克
Owner SIEMENS HEALTHCARE DIAGNOSTICS INC