Fixture assembly and method of operating a fixture assembly

Abstract

The fixture assembly includes: a base having a hollow region extending in a first direction; at least three fixtures arranged along the perimeter of the base; at least three fixtures configured to be rotatable about respective rotational axes extending in the first direction; and a first power transmitter configured to cause the at least three fixtures to rotate simultaneously about their respective rotational axes in a first rotational direction.

Description

Technical Field

[0001] Example embodiments of the present disclosure relate to a fixture assembly and a method of operating the fixture assembly. Background Art

[0002] In recent years, research in semiconductor processing equipment, cryogenic operating devices, and the medical and biological fields has increased the need to transport samples and components in an enclosed space such as a vacuum chamber or a cryogenic container. To this end, the development of pick-up robots for holding samples or components is actively underway. A pick-up robot requires a fixture device that can pick up atypical objects (i.e., objects having various shapes, sizes, and materials) quickly and accurately.

[0003] When a sample in fluid form is transported in a sample cassette, after the sample is accommodated in the sample cassette, the lid of the sample cassette can be locked. To take out and use the sample from the sample cassette, a fixture device for holding the sample cassette and a fixture device for opening the lid of the sample cassette may be separately required. When different fixture devices are used according to the purpose, the fixture devices may occupy a lot of space, which may cause problems in terms of cost and reduce the process yield. Summary of the Invention

[0004] There is provided a fixture assembly and a method of operating the fixture assembly that can hold a sample cassette and open the lid of the sample cassette using a single fixture assembly.

[0005] There is provided a fixture assembly and a method of operating the fixture assembly that can control the holding force for holding a sample cassette.

[0006] There is provided a fixture assembly including a sample carrier and a method of operating the fixture assembly.

[0007] Additional aspects will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the provided embodiments of the present disclosure.

[0008] According to an aspect of an example embodiment, there is provided a fixture assembly including: a base having a hollow region extending in a first direction; at least three fixtures arranged along a perimeter of the base, the at least three fixtures configured to be rotatable about respective rotation axes extending in the first direction; and a first power transmitter configured to rotate the at least three fixtures simultaneously about the respective rotation axes in a first rotation direction.

[0009] The fixture assembly may further include: a first drive motor configured to generate a first driving force transmitted to the at least three fixtures; a first elastomer, wherein one end of the first elastomer is connected to a first power transmitter, and the other end of the first elastomer is connected to the first drive motor, and the first elastomer is configured to transmit the first driving force to the first power transmitter.

[0010] The fixture assembly may further include: a second drive motor configured to generate a second driving force for rotating the base about a first direction; a second power transmitter configured to transmit the second driving force to the base such that the base rotates about the first direction.

[0011] The fixture assembly may further include: a controller including at least one processor, the controller being configured to control the first drive motor and the second drive motor, wherein the controller is further configured to control the first drive motor when the second drive motor is operated such that the rotational speed of the base and the rotational speed of the first power transmitter are the same.

[0012] The first power transmitter may include at least three power transmission cams respectively corresponding to the at least three fixtures.

[0013] The fixture assembly may further include: a stopper configured to limit the first elastomer from stretching beyond a certain length.

[0014] The fixture assembly may further include: a second elastomer, wherein one end of the second elastomer is connected to the base, and the other end of the second elastomer is connected to a fixture among the at least three fixtures, and the second elastomer is configured to apply a restoring force to the fixture in a second rotational direction opposite to the first rotational direction.

[0015] The fixture assembly may further include: a controller including at least one processor, the controller being configured to control the first drive motor, wherein the controller is further configured to control the first drive motor to stretch the first elastomer to a first length, the first length being the length of the first elastomer at which the at least three fixtures start to grip the sample cassette or the lid of the sample cassette under the base.

[0016] The controller may further be configured to control the first drive motor to stretch the first elastomer beyond the first length.

[0017] The fixture assembly may further include: a contact pad at one end of a fixture among the at least three fixtures.

[0018] The fixture assembly may further include: a sample carrier in the hollow region of the base.

[0019] The clamping assembly may further include: a drive motor configured to generate a driving force for moving the sample carrier in a first direction; and a second power transmitter configured to transmit the driving force to the sample carrier such that the sample carrier moves in the first direction.

[0020] The clamping assembly may further include: a support guide on an inner wall of the hollow region, the support guide being configured to support the sample carrier.

[0021] According to one aspect of an exemplary embodiment, a method for operating a clamping assembly is provided. The clamping assembly includes: a base having a hollow region extending in a first direction; at least three clamps arranged along a perimeter of the base and configured to be rotatable about respective rotation axes extending in the first direction; and a first power transmitter configured to cause the at least three clamps to rotate simultaneously about the respective rotation axes in a first rotation direction. The method includes: fixing a sample cassette to a cassette supporter; generating a first driving force via a first drive motor of the clamping assembly; transmitting the first driving force to the first power transmitter via a first elastic body of the clamping assembly, one end of the first elastic body being connected to the first power transmitter and the other end of the first elastic body being connected to the first drive motor; rotating the at least three clamps about the respective rotation axes in the first rotation direction by the first power transmitter receiving the first driving force; and stretching the first elastic body to a preset first length or less based on transmitting the first driving force to the first power transmitter via the first elastic body.

[0022] Stretching may include stretching the first elastic body to a preset first length, the preset first length being the length of the first elastic body at which the at least three clamps start to clamp a lid of the sample cassette under the base.

[0023] The method may further include stretching the first elastic body beyond the preset first length, thereby increasing a contact force between the at least three clamps and the lid of the sample cassette.

[0024] The clamping assembly may include a stopper configured to limit stretching of the first elastic body beyond a certain length.

[0025] The method may further include: generating a second driving force via a second drive motor of the clamping assembly; transmitting the second driving force to the base via a second power transmitter of the clamping assembly such that the base rotates and the base causes the at least three clamps to rotate about the base; operating the first drive motor while transmitting the second driving force to the base such that a rotation speed of the first power transmitter is the same as a rotation speed of the base; and opening a lid of the sample cassette held by the at least three clamps by the at least three clamps rotating about the base while operating the first drive motor.

[0026] The method may further include: generating a second driving force via a second driving motor of the fixture assembly; raising or lowering a sample carrier of the fixture assembly by a second power transmitter of the fixture assembly that transmits the second driving force to the sample carrier.

[0027] According to an aspect of an example embodiment, a fixture assembly may be provided. The fixture assembly may include: at least three fixtures arranged around a first rotation axis extending in a first direction, the at least three fixtures configured to be rotatable about respective second rotation axes extending in the first direction; a first driving motor configured to generate a first driving force; a first power transmitter configured to receive the first driving force and, based on receiving the first driving force, cause the at least three fixtures to simultaneously rotate about their respective second rotation axes in a first rotation direction, thereby bringing contact ends of the at least three fixtures closer to the first rotation axis; a second driving motor configured to generate a second driving force; and a second power transmitter configured to receive the second driving force and, based on the second driving force, cause the at least three fixtures to rotate about the first rotation axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other aspects, features, and advantages of certain example embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings, in which:

[0029] Figure 1 is a perspective view of a fixture assembly according to an example embodiment;

[0030] Figure 2A is Figure 1 an exploded perspective view of a fixture device of the fixture assembly shown;

[0031] Figure 2B is an exploded perspective view of a first fixture, a base portion, a fixture support, and a second elastic member according to an example embodiment;

[0032] Figure 3 is a block diagram showing the relationship between a controller and first to third driving motors according to an example embodiment;

[0033] Figure 4 is a perspective view of a fixture device according to an example embodiment;

[0034] Figure 5 is a cross-sectional view of a fixture device according to an example embodiment;

[0035] Figure 6A is a partial perspective view of a fixture device according to an example embodiment;

[0036] Figure 6B is a first plan view of a first power transmitter and first to fourth fixtures according to an example embodiment;

[0037] Figure 6C is a second plan view of the first power transmitter and the first to fourth jigs according to an exemplary embodiment;

[0038] Figure 6D is a perspective view of a jig device according to an exemplary embodiment, the jig device clamping the lid of a sample cassette;

[0039] Figure 7A is a partial perspective view of a jig device according to an exemplary embodiment;

[0040] Figure 7B is a graph showing the relationship between the drive current and the drive time of a first drive motor;

[0041] Figure 8 is a partial perspective view of a jig device according to an exemplary embodiment;

[0042] Figure 9A is a partial perspective view of a sample transfer device according to an exemplary embodiment;

[0043] Figure 9B is a perspective view of a sample transfer device according to an exemplary embodiment;

[0044] Figure 10A is a side cross-sectional view of a sample transfer device according to an exemplary embodiment;

[0045] Figure 10B is a perspective view of a sample transfer device according to an exemplary embodiment;

[0046] Figure 10C is a perspective view of a state in which a sample carrier is lowered according to an exemplary embodiment;

[0047] Figure 11 is a flowchart showing a method of clamping a sample cassette or the lid of a sample cassette in a method of operating a jig assembly according to an exemplary embodiment; and

[0048] Figure 12 is a flowchart showing a method of opening the lid of a sample cassette and lowering a sample carrier in a method of operating a jig assembly according to an exemplary embodiment. Detailed Description

[0049] Reference will now be made in detail to the embodiments, examples of which are illustrated in the accompanying drawings, wherein like reference numerals always refer to like elements. In this regard, the exemplary embodiments may have different forms and should not be construed as limited to the descriptions set forth herein. Accordingly, the exemplary embodiments are described below only by referring to the drawings to explain the aspects. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. When an expression such as "at least one" is used before a list of elements, it modifies the entire list of elements and not individual elements in the list.

[0050] For example, when an element is referred to as being "on" or "above" another element, it can be directly on the other element or there can also be intervening elements.

[0051] It will be understood that although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0052] As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. Additionally, it will be understood that when a unit is referred to as "including" another element, there is no exclusion of the possibility that one or more other elements may exist or may be added.

[0053] Figure 1 is a perspective view of a jig assembly according to an exemplary embodiment. Figure 2A is Figure 1 an exploded perspective view of the jig device of the jig assembly shown. Figure 2B is an exploded perspective view of a first jig, a base portion, a jig support, and a second elastic member according to an exemplary embodiment. Figure 3 is a block diagram showing the relationship between a controller and first to third drive motors according to an exemplary embodiment; Figure 4 is a perspective view of a jig device according to an exemplary embodiment. Figure 5 is a cross-sectional view of a jig device according to an exemplary embodiment.

[0054] Referring Figure 1 , according to an exemplary embodiment, a jig assembly 1 may include a jig device 10 for holding a sample cassette B accommodating a sample or a lid C of the sample cassette, and a device for moving a sample carrier 600 (see Figure 2A) sample transfer device 20, and a cassette support 30 for fixing the sample cassette B. In this specification, the object that the clamping device 10 can clamp can be not only the sample cassette B or the lid C of the sample cassette, but also another object that can be held and transferred, such as the sample itself. For example, the sample can be a compound or a complex. However, the present disclosure is not limited thereto. In addition, the sample accommodated in the sample cassette B and the lid C of the sample cassette B can be in a fluid form or a solid form. Hereinafter, for the sake of convenience of description, an exemplary embodiment in which a fluid sample is accommodated in the sample cassette B and sealed by the lid C of the sample cassette B will be described.

[0055] Referring to Figure 2A , Figure 3 and Figure 5 , according to an exemplary embodiment, the clamping device 10 may include a base portion 110, a clamp support 120, a support guide 130, three or more clamps 200, a first drive motor 300, a first power transmitter 310, a first elastic member 320, a second drive motor 400, a second power transmitter 410, a sample carrier 600, and a controller 700.

[0056] The base portion 110 is a support member capable of supporting the sample carrier 600, which will be described below. For example, the base portion 110 may include a hollow area 111 extending in the first direction Z. The sample carrier 600 may be disposed in the hollow area 111, so that the sample carrier 600 can transfer the sample from the sample cassette B below the base portion 110.

[0057] The clamp support 120 may be disposed at the lower end of the base portion 110 to support three or more clamps 200. For example, the clamp support 120 may include a central hole 121 and a rotation axis support 122 disposed along the periphery of the central hole 121, and the base portion 110 may be inserted into the central hole 121. For example, the clamp support 120 may be arranged to be fixed to the base portion 110 inserted into the central hole 121. In addition, the rotation axis support 122 included in the clamp support 120 may be disposed along the periphery of the central hole 121 to correspond to the number of clamps 200.

[0058] The support guide 130 is a guiding member provided on the inner wall of the hollow region 111 in the base portion 110 to support the sample carrier 600. For example, the support guide 130 may be provided as a tubular shape including a hollow region extending in the first direction Z. According to an exemplary embodiment, the support guide 130 may be inserted into the hollow region 111 of the base portion 110 to guide the movement path of the sample carrier 600. In addition, the support guide 130 may prevent buckling of the sample carrier 600 by supporting the sample carrier 600 in the longitudinal direction of the sample carrier 600. In addition, a protector 131 surrounding the lower end of the base portion 110 may be provided at the lower end of the support guide 130 to prevent the base portion 110 from being contaminated by the sample.

[0059] Three or more clamps 200 are holding members that can hold the sample cassette B or the lid C of the sample cassette B. For example, three or more clamps 200 may include a first clamp 210, a second clamp 220, a third clamp 230, and a fourth clamp 240 arranged along the periphery of the base portion 110. According to an exemplary embodiment, the first clamp 210 to the fourth clamp 240 may be supported by a rotation axis support 122 included in the clamp support 120 to be rotatable relative to the base portion 110. Since the first clamp 210 to the fourth clamp 240 include substantially the same configuration, for ease of description, the first clamp 210 to the fourth clamp 240 will be described with reference to the first clamp 210.

[0060] Referring to Figure 2B and Figure 4 , the first clamp 210 may include a main body portion 211, a connection portion 212, a second elastic member support 214, a second elastic member 215, and a contact pad 216. According to an embodiment, the first clamp 210 may be arranged to be rotatable relative to the base portion 110 about a rotation axis 213 extending in the first direction Z. In this case, the rotation axis 213 may be supported by the rotation axis support 122.

[0061] The main body portion 211 is a support member extending in the first direction Z, and a contact portion 2111 capable of directly contacting the sample cassette B or the lid of the sample cassette may be arranged at one end, and the other end may be connected to the connection portion 212, which will be described later.

[0062] The connecting portion 212 is a connecting member capable of connecting the main body portion 211 and the rotating shaft 213. The connecting portion 212 may include a rotating axis support 2120 in which the rotating shaft 213 may be disposed, a pressing portion 2121 capable of receiving a pressing force from the first power transmitter 310, and a support hole 2122 capable of supporting the second elastic member support 214. For example, the rotating shaft 213 may be disposed to extend in the first direction Z to be inserted into the rotating axis support 2120. At this time, the pressing portion 2121 may extend at an angle with respect to the other end of the main body portion 211. Therefore, when the pressing portion 2121 receives a pressing force in the second rotation direction (e.g., counterclockwise direction) from the first power transmitter 310 near the central axis of the jig device 10, the main body portion 211 may rotate in the first rotation direction about the rotating shaft 213. In the present exemplary embodiment, the main body portion 211 and the connecting portion 212 are disposed in a separated form, but may be integrally formed.

[0063] The second elastic member 215 may apply a restoring force to the main body portion 211 in a second rotation direction opposite to the first rotation direction. For example, one end of the second elastic member 215 may be fixed to the jig support 120, and the other end may be fixed to the second elastic member support 214. For example, the other end of the second elastic member 215 may be fixed to the second elastic member support 214 disposed to be inserted into the support hole 2122. When the main body portion 211 rotates in the first rotation direction, the second elastic member 215 may be stretched, and when the pressing portion 2121 is not pressed by the first power transmitter 310, the second elastic member 215 may contract. Since the second elastic member 215 contracts, the main body portion 211 may rotate in the second rotation direction (e.g., counterclockwise direction) to restore the position of the main body portion 211 to the initial state.

[0064] The contact pad 216 may be provided on the contact portion 2111 of the main body portion 211 to increase the contact force with the sample cassette B or the lid C of the sample cassette B. For example, the contact pad 216 may include a protrusion shape, or may include a rubber material to increase the friction with the sample cassette B or the lid C of the sample cassette B.

[0065] Refer again to Figure 2A 、 Figure 4 and Figure 5, the first power transmitter 310 is a power transmission member that transmits the driving force generated by the first driving motor 300 to three or more clamps 200 to rotate the three or more clamps 200 simultaneously. Here, the first driving motor 300 may be an electric motor, but the present disclosure is not limited thereto. For example, when a driving force capable of rotating the first power transmitter 310 can be generated, the first driving motor 300 may be replaced with a magnet using magnetic force. Additionally, when the driving force is manually transmitted to the first power transmitter 310, the first driving motor 300 may not be arranged.

[0066] For example, the first power transmitter 310 may include an insertion hole 311, a power transmission cam 312 arranged along the periphery of the insertion hole 311, a first elastic member support 314, and a stopper support 315. The insertion hole 311 may be provided to allow the base portion 110 to be inserted, and thus the first power transmitter 310 may be rotatably supported relative to the base portion 110. The power transmission cam 312 may apply a pressing force in the second rotation direction to the pressing portion provided in three or more clamps 200. For example, the power transmission cam 312 may be formed to extend in the first direction Z and may be formed in four to correspond to the number of the first clamp 210 to the fourth clamp 240. In this case, the power transmission cam 312 corresponding to the first clamp 210 may apply a pressing force to the pressing portion 2121 in the second rotation direction. The first elastic member support 314 may be at the periphery of the insertion hole 311. In addition, the stopper support 315 may be arranged to protrude from the insertion hole 311 at the top of the power transmission cam 312.

[0067] The first elastic member 320 may transmit the driving force generated by the first driving motor 300 to the first power transmitter 310. For example, the first elastic member 320 may have one end fixed to the first elastic member support 314 and the other end fixed to the first power transmission gear 330 connected to the first driving motor 300 (more specifically, the first elastic member support hook 524 arranged to be fixed to the frame portion 523 of the first power transmission gear 330). According to an exemplary embodiment, when three or more clamps 200 are in contact with the sample cassette B or the cover C of the sample cassette B, the first elastic member 320 may extend to a first length T1 (see Figure 6A ). Additionally, the first elastic member 320 may extend beyond the first length T1 to increase the holding force between three or more clamps 200 and the sample cassette B or the cover C of the sample cassette B. This will be described in more detail with reference to Figures 6A to 7B More specifically.

[0068] The stopper 520 is a restricting member that restricts the rotation of the first power transmitter 310 beyond a certain range. For example, a frame portion 523 can be provided, which includes an insertion hole 521 into which the base portion 110 can be inserted, and the stopper 520 can be arranged to protrude from the frame portion 523 along the perimeter of the insertion hole 521. For example, a plurality of stoppers 520 can be provided and arranged at regular intervals along the perimeter of the insertion hole 521. The first bearing portion 530 can be provided below the frame portion 523, as Figure 5 shown, the stopper 520 fixed to the frame portion 523 can maintain a constant position regardless of whether the first power transmitter 310 rotates.

[0069] The second power transmitter 410 can transmit the driving force generated by the second drive motor 400 to the base portion 110. For example, a second power transmission gear 420 connected to the second drive motor 400 can be inserted and fixed into the upper region 411 of the second power transmitter 410. In this case, the upper region of the base portion 110 can be fixed to the lower region 412 of the second power transmitter 410. Thus, when the second power transmission gear 420 rotates, the base portion 110 can also rotate. At this time, the jig support 120 fixed to the base portion 110 can rotate around the base portion 110, and three or more jigs 200 supported by the jig support 120 can also rotate around the base portion 110. The second bearing portion 430 can be below the second power transmitter 410, and referring to Figure 5 , the rotations of the first power transmission gear 330 and the second power transmitter 410 can be performed independently.

[0070] The sample carrier 600 can transfer the sample accommodated in the sample cassette B. For example, the sample carrier 600 can include a tubular pipette 610 extending in the first direction Z and a support 620 at one end of the pipette 610. For example, the pipette 610 can be arranged to be inserted into a hollow region 111 provided in the base portion 110, and can discharge or aspirate the sample from the other end. Additionally, according to an example embodiment, the pipette 610 can transfer and dispense the aspirated sample to another sample cassette B. The sample carrier 600 according to an example embodiment can move up or down in the first direction Z. It will be described in more detail with reference to Figures 10A to 10C matters related to the sample carrier 600 and Figure 1 the sample transfer device 20 shown in

[0071] Referring to Figure 3, the controller 700 is a control device that can control the configuration of the jig assembly 1 according to an exemplary embodiment. For example, the controller 700 can generate drive signals for controlling the first drive motor 300, the second drive motor 400, and the third drive motor 900. The controller 700 can include at least one processor and a memory storing computer code configured to cause the at least one processor to perform the functions of the controller 700 when executed by the at least one processor.

[0072] Refer again to Figure 1 , the cassette support 30 is a fixing member for fixing the sample cassette B. The cassette support 30 according to an exemplary embodiment can fix the sample cassette B when rotating the lid C of the sample cassette to open the lid C of the sample cassette. According to an exemplary embodiment, the cassette support 30 is provided in the shape of a substrate, but the present disclosure is not limited thereto, and it can be provided in any shape capable of fixing the sample cassette B.

[0073] Figure 6A is a partial perspective view of a jig device according to an exemplary embodiment. Figure 6B and Figure 6C are a plan view of a first power transmitter and first to fourth jigs according to an exemplary embodiment. Figure 6D is a perspective view of a jig device holding the lid of a sample cassette according to an exemplary embodiment.

[0074] Refer to Figure 6A , the first drive motor 300 according to an exemplary embodiment can generate a driving force. The driving force generated from the first drive motor 300 can be transmitted to the first power transmission gear 330, and the first power transmission gear 330 can rotate in the second rotation direction (i.e., in the counterclockwise direction) around the base portion 110 at the center. When the first power transmission gear 330 rotates in the second rotation direction, the first power transmitter 310 receiving the driving force by using the first elastic member 320 can rotate in the second rotation direction around the base portion 110.

[0075] As Figure 6B and Figure 6CAs shown, as the first power transmitter 310 rotates around the base portion 110 in the second rotational direction, the power transmission cam 312 can apply a pressing force in the second rotational direction to the pressing portion 2121 included in the first jig 210. Accordingly, the main body portion 211 connected to the connection portion 212 can rotate around the rotation axis 213 in the first rotational direction (i.e., in the clockwise direction). The main body portions 221 to 241 included in the second jig 220 to the fourth jig 240 can also rotate around the rotation axes 223, 233, and 234 (e.g., rotation axes) in the first rotational direction in the same manner as the first jig 210. For convenience of description, matters related to the second jig 220 to the fourth jig 240 are omitted.

[0076] As described above, when the main body portions 211, 221, 231, and 241 included in the first jig 210 to the fourth jig 240 rotate around the rotation axes 213 to 243 in the first rotational direction, as Figure 6D shown, the contact portions (e.g., contact portion 2111) at the ends of the main body portions 211 to 241 can move adjacent to each other to grip the lid C of the sample cartridge. In this case, the contact pad 216 can be between the lid C of the sample cartridge B and the contact portion 2111, and thus the holding force can be increased.

[0077] Figure 7A is a partial perspective view of a jig device according to an exemplary embodiment. Figure 7B is a graph showing the relationship between the drive current and the drive time of the first drive motor. Figure 8 is a partial perspective view of a jig device according to an exemplary embodiment.

[0078] As Figure 6D shown, when the contact portions (e.g., contact portion 2111) at one ends of the main body portions 211 to 241 contact and grip the lid C of the sample cartridge B, the first elastic member 320 can extend to a first length T1. For example, when the first elastic member 320 extends beyond the first length T1, the holding force for holding the lid C of the sample cartridge B can be increased.

[0079] Referring to Figure 7A and Figure 6DCompared with the time of holding the lid C of the sample cassette B shown, the first drive motor 300 can additionally generate a driving force. The driving force generated from the first drive motor 300 can be transmitted to the first power transmission gear 330, and the first power transmission gear 330 can further rotate around the base portion 110 in the second rotation direction (i.e., in the counterclockwise direction). As the first power transmission gear 330 rotates in the second rotation direction, the first elastic member 320 having the other end fixed to the first power transmission gear 330 can extend beyond the first length T1. In this case, as Figure 6D shown, the contact portion (e.g., the contact portion 2111) at one end of the main body portions 211 to 241 contacts the lid C of the sample cassette B and holds the lid C of the sample cassette B, and the first power transmitter 310 fixed to one end of the first elastic member 320 does not rotate. As the first elastic member 320 extends beyond the first length T1, the increased restoring force of the first elastic member 320 can be applied to the first power transmitter 310 in the second rotation direction. The restoring force applied to the first power transmitter 310 in the second rotation direction can be transmitted to the main body portions 211 to 241. Accordingly, the main body portions 211 to 241 can more firmly hold the lid C of the sample cassette B in the first rotation direction.

[0080] As the length of the first elastic member 320 extends beyond the first length T1, the holding force of the main body portions 211 to 241 for holding the lid C of the sample cassette B can increase. Accordingly, the controller 700 can send a control signal for controlling the main body portions 211 to 241 to hold the lid C of the sample cassette B and a control signal for controlling the main body portions 211 to 241 to adjust the holding force of the lid C of the sample cassette B to the first drive motor 300.

[0081] For example, as Figure 7B shown, the current applied to the first drive motor 300 gradually increases until the first clamp 210 to the fourth clamp 240 rotate in the first rotation direction to hold the lid C of the sample cassette B, that is, in the section A1 where the first elastic member 320 is less than the first length T1. At the same time, it can be seen that after holding the lid C of the sample cassette B, that is, in the portion B1 where the first elastic member 320 exceeds the first length T1 and the holding force increases, the current rapidly increases. Accordingly, the controller 700 can distinguish the control signal for holding the lid C of the sample cassette B and the control signal for increasing the holding force, and can send the distinguished control signals to the first drive motor 300. However, when the first drive motor 300 continuously generates a driving force, the first elastic member 320 can extend beyond the elastic limit of the first elastic member 320. Therefore, even when the first drive motor 300 generates a driving force, a method for preventing the extension of the first elastic member 320 is required.

[0082] Referring toFigure 2A and Figure 8 , a plurality of stoppers 520 according to an exemplary embodiment may be provided to be spaced apart from each other around the base portion 110. Additionally, a stopper support 315 may be provided in the first power transmitter 310 to be arranged to interfere with the stopper 520 according to a rotation range.

[0083] For example, as described above, the first elastic member 320 may be stretched by the driving force of the first driving motor 300 beyond the first length T1. At this time, the stopper 520 arranged to be separated by the first bearing portion 530 rotates together with the first power transmission gear 330 in one direction. However, the stopper support 315 included in the first power transmitter 310 may be constrained and stopped by the holding force between the first clamp 210 and the fourth clamp 240 and the cover C of the sample cartridge B. Accordingly, when the stopper 520 continuously rotates in one direction, the stopper 520 may interfere with the stopper support 315 to stop rotation. Therefore, the stretching of the first elastic member 320 may also be stopped to prevent the first elastic member 320 from stretching beyond a certain range, such as the elastic limit.

[0084] Figure 9A is a partial perspective view of a sample transfer device according to an exemplary embodiment. Figure 9B is a perspective view of a sample transfer device according to an exemplary embodiment.

[0085] As Figure 6D shown, when the cover C of the sample cartridge B is fixed by the first clamp 210 to the fourth clamp 240, if the cover C of the sample cartridge B can rotate around the sample cartridge B, the cover C of the sample cartridge B may be separated from the sample cartridge B. At this time, the holding force for holding the cover C of the sample cartridge B by using the first clamp 210 to the fourth clamp 240 needs to be kept constant.

[0086] Referring Figures 9A to 9B , a second driving motor 400 according to an exemplary embodiment may have a driving force for rotating the cover C of the sample cartridge B held by the first clamp 210 to the fourth clamp 240. The second power transmitter 410 may rotate in a second rotation direction by the driving force generated by the second driving motor 400. The second power transmitter 410 fixed to the second power transmission gear 420 and the base portion 110 arranged to be fixed to the second power transmitter 410 may also rotate around the first direction Z in the second rotation direction. In this case, a second bearing portion 430 (e.g., a second bearing) may be between the second power transmitter 410 and the first power transmission gear 330, and thus, the second power transmitter 410 and the first power transmission gear 330 may rotate independently of each other.

[0087] The base portion 110 that receives the driving force from the second power transmitter 410 can rotate in the second rotation direction about the first direction Z, and the clamp support 120 that is connected and fixed to the base portion 110 and the first clamp 210 to the fourth clamp 240 can rotate about the base portion 110 in the second rotation direction. Accordingly, the lid C of the sample cassette B held by the first clamp 210 to the fourth clamp 240 can also rotate in the second rotation direction. In this case, since the sample cassette B can be supported by the cassette support 30 (see Figure 1 ), the lid C of the sample cassette B can be separated from the sample cassette B by rotating about the sample cassette B.

[0088] As described above, the first clamp 210 to the fourth clamp 240 rotate about the base portion 110 in the second rotation direction, and when the first power transmitter 310 connected to the first clamp 210 to the fourth clamp 240 does not rotate through the first elastic member 320, the extended length of the first elastic member 320 can change. Accordingly, the holding force of the first clamp 210 to the fourth clamp 240 for the lid C of the sample cassette B may be weakened.

[0089] The first driving motor 300 according to an exemplary embodiment can generate a driving force such that the first power transmitter 310 rotates at the same speed as the base portion 110 in the second rotation direction, as Figure 9A shown. Accordingly, even while the lid C of the sample cassette is rotated to be opened, the extended length of the first elastic member 320 can be maintained constant. Also, the holding force of the first clamp 210 to the fourth clamp 240 with respect to the lid C of the sample cassette B can be maintained.

[0090] Figure 10A is a side cross-sectional view of a sample transfer device according to an exemplary embodiment. Figure 10B is a perspective view of a sample transfer device according to an exemplary embodiment. Figure 10C is a perspective view of a state in which a sample carrier is lowered according to an exemplary embodiment.

[0091] Referring to Figures 10A to 10C, according to an exemplary embodiment, the sample transfer device 20 may include a third driving motor 900, a third power transmission gear 930, a third power transmitter 940, a sliding part 950, a sliding guide 960, a housing part 970, and a fastening support 980. The sample carrier 600 (refer to FIG. 2) may move up or down in the first direction Z to inject or aspirate a sample. The third driving motor 900 may generate a driving force for raising or lowering the sample carrier 600. The driving force generated by the third driving motor 900 may be transmitted to the third power transmission gear 930. The driving force transmitted to the third power transmission gear 930 may be changed into a driving force for raising or lowering by the third power transmitter 940. For example, the third power transmitter 940 may be a ball screw, which can convert a rotational force into a driving force for linear motion. However, the present disclosure is not limited thereto, and another momentum converter capable of converting a rotational force into a driving force for linear motion may be used.

[0092] For example, the third power transmitter 940 may raise or lower the sliding part 950 by utilizing the driving force received from the third power transmission gear 930. In this case, the sliding part 950 may move up or down along the sliding guide 960 extending in the first direction Z. The fastening support 980 may fix the support 620 provided in the sample carrier 600 to the sliding part 950, so that the sample carrier 600 may move up or down together with the sliding part 950. As the sample carrier 600 moves up or down, the pipette 610 provided in the sample carrier 600 may be introduced into the sample cassette B or discharged from the sample cassette B. In the above exemplary embodiment, while opening the lid C of the sample cassette B at the top of the sample cassette B, the pipette 610 is introduced into the sample cassette or discharged from the sample cassette. However, the present disclosure is not limited thereto.

[0093] According to an exemplary embodiment, one end of the pipette 610 may be provided in the shape of a needle, as Figure 10C shown. At this time, even when the lid C of the sample cassette B is coupled to the sample cassette B and closed, the pipette 610 may descend. Accordingly, the pipette 610 may be inserted into the sample cassette B by piercing the lid C of the sample cassette B, or may be discharged from the sample cassette B to transfer a sample.

[0094] Figure 11 is a flowchart showing a method of holding a sample cassette or a lid of a sample cassette in a method of operating a jig assembly according to an exemplary embodiment.

[0095] Referring to Figure 11, a sample cassette according to an exemplary embodiment can be fixed to a cassette support. In operation S110, according to an exemplary embodiment, a sample cassette B including a sample can be fixed to the cassette support 30. Operation S110 may be to open the lid C of the sample cassette B on top of the sample cassette B, and may be omitted in the operation method for holding the sample itself or the sample cassette B.

[0096] Next, a driving force can be generated using the first driving motor. In operation S120, according to an exemplary embodiment, the controller 700 may send a control signal capable of generating a driving force to the first driving motor 300, the driving force being for causing three or more clamps 200 to hold the sample cassette B or the lid C of the sample cassette B, and the first driving motor 300 may generate a driving force according to the received control signal.

[0097] Next, the driving force can be transmitted to the first power transmitter 310 by using the first elastic member 320. In operation S130, according to an exemplary embodiment, the driving force generated by the first driving motor 300 can be transmitted to the first power transmitter 310 by the first elastic member 320, so that the first power transmitter 310 can rotate in the second rotation direction.

[0098] Next, three or more clamps 200 can be rotated in the first rotation direction about the rotation axis by using the first power transmitter 310. In operation S140, according to an exemplary embodiment, three or more clamps 200 can be simultaneously applied with a pressing force by the first power transmitter 310 and can be rotated in the first rotation direction about the rotation axis. Thus, three or more clamps 200 can approach the sample cassette B or the lid C of the sample cassette B.

[0099] Next, the first elastic member 320 can be stretched to a preset first length T1 or less. In operation S150, according to an exemplary embodiment, the first elastic member 320 that transmits the driving force generated by the first driving motor 300 can be stretched to a preset first length T1 or less. When the first elastic member 320 is stretched to the first length T1, three or more clamps 200 can hold the sample cassette B or the lid C of the sample cassette B by contacting the sample cassette B below the base portion 110 or contacting the lid C of the sample cassette B.

[0100] Next, the first elastic member 320 can be stretched beyond a first specific length T1. In operation S160, according to an exemplary embodiment, the first elastic member 320 that transmits the driving force generated by the first driving motor 300 can be stretched beyond a preset first length T1. When the first elastic member 320 is stretched beyond the first length T1, three or more clamps 200 can increase the contact force between the base portion 110 and the sample cassette B or the lid C of the sample cassette B, thereby increasing the holding force on the sample cassette B or the lid C of the sample cassette B. However, at this time, the stretching of the first elastic member 320 can be limited by the stopper 520 so that the first elastic member 320 does not stretch beyond a certain range, such as the elastic limit.

[0101] Figure 12 is a flowchart showing a method of opening the lid of a sample cassette and lowering a sample carrier in a method of operating a clamp assembly according to an exemplary embodiment.

[0102] Refer to Figure 12 , a second driving motor can be used to generate a driving force. In operation S200, according to an exemplary embodiment, the controller 700 can send a control signal capable of generating a driving force to the second driving motor 400, and the driving force is used to rotate the base portion 110 and three or more clamps 200 connected and fixed to the base portion 110 about the first direction Z. The second driving motor 400 can generate a driving force according to the received control signal.

[0103] Next, the driving force can be transmitted to the base portion by using a second power transmitter. In operation S210, according to an exemplary embodiment, the driving force generated by the second driving motor 400 can be transmitted to the base portion 110 through the second power transmitter 410. Therefore, the base portion 110 can rotate about the first direction Z in the second rotation direction, and the clamp support 120 and three or more clamps 200 connected and fixed to the base portion 110 can rotate about the base portion 110 in the second rotation direction.

[0104] Next, the first drive motor 300 can be operated such that the rotational speed of the first power transmitter 310 rotating in the second rotational direction is the same as the rotational speed of the base portion. In operation S220, according to an exemplary embodiment, when the base portion 110, the jig support 120 connected and fixed to the base portion 110, and three or more jigs 200 are rotated in the second rotational direction by the second drive motor 400, if the first power transmitter 310 connected to the three or more jigs 200 by using the first elastic member 320 does not rotate, the holding force for holding the lid C of the sample cartridge B by using the three or more jigs 200 is weakened. To prevent this phenomenon, the first drive motor 300 can generate a driving force such that the first power transmitter 310 rotates in the second rotational direction at the same speed as the second drive motor 400. Accordingly, the holding force for holding the lid C of the sample cartridge B by using the three or more jigs 200 can be maintained.

[0105] Next, the lid of the sample cartridge held by three or more jigs can be opened. In operation S230, according to an exemplary embodiment, the sample cartridge B can be fixed by the cartridge support 30, and the lid C of the sample cartridge B can be held and rotated by three or more jigs 200. At this time, the holding force of the three or more jigs 200 can be maintained the same. Accordingly, the lid C of the sample cartridge B can rotate about the sample cartridge B in the second rotational direction, and the lid C of the sample cartridge B can be opened (e.g., removed) from the sample cartridge B.

[0106] Next, the third drive motor 900 can be used to generate a driving force. In operation S240, according to an exemplary embodiment, the controller 700 can send a control signal capable of generating a driving force to the third drive motor 900, the driving force being for raising or lowering the sample carrier 600 in the first direction Z. The third drive motor 900 can generate a driving force according to the received control signal.

[0107] Next, the sample carrier 600 can be raised or lowered by using the third power transmitter 940. In operation S250, according to an exemplary embodiment, the driving force generated by the third drive motor 900 can be transmitted to the sample carrier 600 through the third power transmitter 940. Accordingly, the sample carrier 600 can move upward or downward in the first direction Z. As the sample carrier 600 is raised or lowered, the pipette 610 included in the sample carrier 600 can be introduced into or discharged from the sample cartridge B to collect or transfer a sample.

[0108] According to an exemplary embodiment, the jig assembly can hold the sample cartridge and open the lid of the sample cartridge by using a single jig assembly.

[0109] In addition, a jig assembly according to an exemplary embodiment may control a holding force for holding a sample cartridge.

[0110] In addition, a jig assembly according to an exemplary embodiment may include a sample carrier to transfer a sample from a sample cartridge when the lid is open.

[0111] In addition, a pipette provided in the sample carrier of a jig assembly according to an exemplary embodiment may be provided in the shape of a needle to transfer a sample from a sample cartridge when the lid is closed.

[0112] It should be understood that, for the sake of clarity and not limitation, the jig assembly of the present disclosure and the method of operating the jig assembly have been described with reference to the exemplary embodiments shown in the drawings. The description of the features or aspects in each exemplary embodiment should generally be considered applicable to other similar features or aspects in other embodiments.

[0113] It should be understood that the exemplary embodiments described herein should be considered only in a descriptive sense and not for purposes of limitation. Although one or more exemplary embodiments have been described with reference to the drawings, those of ordinary skill in the art will understand that various changes may be made in form and detail without departing from the spirit and scope of the present disclosure.

[0114] This application claims priority to Korean Patent Application No. 10-2019-0164142, filed with the Korean Intellectual Property Office on December 10, 2019, the entire disclosure of which is incorporated herein by reference.

Claims

1. A fixture assembly, comprising: A base having a hollow area extending in a first direction; At least three fixtures arranged along the periphery of the base, the at least three fixtures configured to be rotatable about respective rotation axes extending in the first direction; And A first power transmitter configured to cause the at least three fixtures to rotate simultaneously in a first rotation direction about their respective rotation axes; Characterized in that: A first driving motor configured to generate a first driving force transmitted to the at least three fixtures; And A first elastic body having one end connected to the first power transmitter and the other end connected to the first driving motor, the first elastic body configured to transmit the first driving force to the first power transmitter.

2. The fixture assembly according to claim 1, further comprising: A second driving motor configured to generate a second driving force for rotating the base about the first direction; And A second power transmitter configured to transmit the second driving force to the base such that the base rotates about the first direction.

3. The fixture assembly according to claim 2, further comprising a controller, the controller including at least one processor, the controller configured to control the first driving motor and the second driving motor, Among them, The controller is further configured to control the first driving motor when the second driving motor is operated such that the rotation speed of the base is the same as the rotation speed of the first power transmitter.

4. The fixture assembly according to claim 1, wherein, The first power transmitter includes at least three power transmission cams respectively corresponding to the at least three fixtures.

5. The fixture assembly according to claim 1, further comprising a stopper configured to limit the first elastic body from stretching beyond a certain length.

6. The fixture assembly according to claim 1, further comprising a second elastic body having one end connected to the base and the other end connected to one of the at least three fixtures, the second elastic body configured to apply a restoring force to the fixture in a second rotation direction opposite to the first rotation direction.

7. The fixture assembly according to claim 1, further comprising a controller, the controller including at least one processor, the controller configured to control the first driving motor, Among them, The controller is further configured to control the first driving motor to stretch the first elastic body to a first length, the first length being the length of the first elastic body at which the at least three fixtures start to grip the lid of a sample box or the sample box under the base.

8. The jig assembly according to claim 7, wherein, The controller is further configured to control the first driving motor to stretch the first elastic body beyond the first length.

9. The fixture assembly according to claim 1, further comprising a contact pad at one end of one of the at least three fixtures.

10. The fixture assembly according to claim 1, further comprising a sample carrier in the hollow area of the base.

11. The fixture assembly according to claim 10, further comprising: A driving motor configured to generate a driving force for moving the sample carrier in the first direction; And A second power transmitter configured to transmit the driving force to the sample carrier such that the sample carrier moves in the first direction.

12. The jig assembly according to claim 10, further comprising a support guide on an inner wall of the hollow region, the support guide being configured to support the sample carrier.

13. A method of operating a fixture assembly, characterized in that, The jig assembly includes: a base having a hollow region extending in a first direction; at least three jigs arranged along a perimeter of the base and configured to be rotatable about respective rotation axes extending in the first direction; and a first power transmitter configured to cause the at least three jigs to rotate simultaneously about their respective rotation axes in a first rotation direction. The method includes: Fixing a sample cassette to a cassette support; Generating a first driving force via a first drive motor of the jig assembly; Transmitting the first driving force to the first power transmitter via a first elastic body of the jig assembly, one end of the first elastic body being connected to the first power transmitter and the other end of the first elastic body being connected to the first drive motor; Rotating the at least three jigs about their respective rotation axes in the first rotation direction by the first power transmitter receiving the first driving force; and Stretching the first elastic body to a preset first length or less based on transmitting the first driving force to the first power transmitter via the first elastic body.

14. The method according to claim 13, wherein, The stretching includes stretching the first elastic body to the preset first length, the preset first length being the length of the first elastic body at which the at least three jigs begin to grip a lid of the sample cassette under the base.

15. The method according to claim 14, further comprising stretching the first elastic body beyond the preset first length such that a contact force between the at least three jigs and the lid of the sample cassette increases.

16. The method according to claim 15, wherein, The jig assembly includes a stopper configured to limit stretching of the first elastic body beyond a certain length.

17. The method according to claim 15, further comprising: Generating a second driving force via a second drive motor of the jig assembly; Transmitting the second driving force to the base via a second power transmitter of the jig assembly such that the base rotates and the base causes the at least three jigs to rotate about the base; While transmitting the second driving force to the base, operating the first drive motor such that a rotation speed of the first power transmitter is the same as a rotation speed of the base; And While the first drive motor is being operated, opening the lid of the sample cassette held by the at least three jigs by the at least three jigs rotating about the base.

18. The method according to claim 13, further comprising: Generating a second driving force via a second drive motor of the jig assembly; And Raising or lowering the sample carrier of the jig assembly via a second power transmitter of the jig assembly that transmits the second driving force to the sample carrier.

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