Gripping appliance, trays, systems and method utilizing the gripping appliance

Abstract

To provide a gripping appliance comprising a base member, a plunger actuator, and a plunger.SOLUTION: A gripping appliance 1 further comprises a head assembly 20 releasably attached to a base member 11 and extending toward a distal side from the base member 11. The head assembly 20 comprises a carrier 21 and at least two gripping legs 24. The carrier has a through opening configured and arranged to receive a plunger 30 therethrough. Actuation portions of the gripping legs 24 are configured to be in contact with the plunger 30 when the plunger 30 is in an extended, distal position. Fixation portions of the gripping legs are rigidly mounted to the carrier 21 of the head assembly 20. The actuation portions and tip portions of the gripping legs are arranged on the distal side of the carrier 21 of the head assembly, and the gripping legs 24 are arranged such that, when no force is transferred from the plunger 30 to the gripping legs, the tip portions of the gripping legs converge in a proximal-distal direction of the gripping appliance.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates generally to gripping devices and systems and methods utilizing same, and more particularly to aspects of the claimed subject matter. [Background technology]

[0002] Numerous technical fields require the transport of samples to and from measuring devices. Non-limiting examples include thermal analysis systems for material characterization, where a crucible containing a sample needs to be placed in the furnace of, non-limiting examples, a differential scanning calorimeter or a thermogravimetric analysis instrument, and removed from the furnace after the measurement is completed. The placement tolerance is, for example, less than 0.2 mm from the target point in order to achieve the highest accuracy of the measurements and / or analyses performed. JP 2010-203843 discloses a device suitable for automatic and successful exchange and measurement of multiple samples in a simultaneous measuring device for X-ray analysis or thermal analysis using a partition or a furnace body cover or the like. To this extent, JP 2010-203843 proposes a transport device having a gripping member that is pivotally suspended by an axis. A centrally located plunger serves to actuate the gripping parts, while the lower ends of the gripping parts are biased by springs to pivot towards each other. However, given the high number of cycles, such gripping devices will typically be subject to wear, for example of the shaft, which may cause problems with the corresponding running surfaces of the gripper. Also, ease of component replacement is relevant to reduce downtime and costs in maintenance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-203843 A Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE DISCLOSURE It is an object of the present disclosure to provide a gripping device of the kind mentioned at the outset. [Means for solving the problem]

[0005] In one aspect, the gripping device proposed herein will solve certain problems in the art. The gripping device will be suitable in several aspects for transporting samples to and from the furnace of a differential scanning calorimeter or a thermogravimetric analysis instrument, as non-limiting examples. In another aspect, the gripping device disclosed herein will be easy and quick to maintain and to repair and contain a minimum amount of parts that are prone to wear or other failures. In another aspect, it is desirable that any components that are prone to wear or other failures are easy to replace. Furthermore, it may prove advantageous, especially for components that are prone to wear or other failures to be low-cost components. In another aspect, the gripping device will allow high sample placement accuracy and / or have a small space requirement in the plane where the sample is located.

[0006] This is achieved by the subject matter set forth in claim 1. Further advantages and benefits of the disclosed subject matter, whether expressly mentioned or not, will become apparent in light of the disclosure presented below.

[0007] Thus, a gripping device is disclosed that includes a base member and a head assembly releasably attached to and extending distally from the base member. The gripping device further includes a plunger actuator and a plunger. The plunger actuator is arranged and configured to move the plunger along a proximal-distal axis of the gripping device. The plunger actuator and plunger may form part of or be attached to the base member in embodiments. The term "distal" may indicate a direction toward an end of the device where the device is intended to be brought into contact with an object to manipulate the object, whereas "proximal" indicates the opposite direction. The spatial orientation of the proximal-distal axis may be defined in aspects by an axis along which the plunger may move. The longitudinal axis of the plunger may define the proximal-distal axis in embodiments. The head assembly includes a carrier and at least two of several gripping legs, which may be equidistantly arranged along the circumference of the carrier in certain embodiments. A large number of gripping legs, three, four or more, may prove advantageous, since three or more gripping legs, especially when equidistantly positioned around the circumference of the carrier of the head assembly, provide the ability to essentially center the object to be gripped, while at the same time preventing the object to be gripped from slipping laterally out between the gripping legs. However, it will be appreciated that if the gripping legs are equipped with appropriately contoured gripping legs, the risk of the object to be gripped slipping out between the gripping legs may be significantly reduced, if not avoided. The carrier further has a through opening extending along a proximal-distal axis, configured and arranged to receive a plunger therethrough. In embodiments, it can be said that the longitudinal extent or longitudinal axis of the through opening defines the proximal-distal axis of the gripping device. The cross-sectional shape and dimensions of the through opening can correspond to the cross-sectional shape and dimensions of the plunger, such that the through opening of the carrier allows the plunger to be received therein and moved within the through opening along the proximal-distal axis of the head assembly or gripping device, respectively, with at least a minimum required range of movement.The through opening, in an embodiment, can guide the plunger during said movement. The above arrangement implicitly defines that when the plunger extends distally from the carrier, the distal part of the plunger will be located inside the space between the gripping legs. The gripping legs each include a fixed portion, a tip portion distal to the fixed portion, an actuating portion proximally adjacent to the tip portion, and a curved portion defined between the actuating portion and the fixed portion. The actuating portion of the gripping leg is configured to contact the plunger at least when the plunger is in the extended distal position. The fixed portion of the gripping leg is rigidly, i.e. non-articulatedly, mounted on the carrier of the head assembly. At least the actuating portion and the tip portion of the gripping leg are disposed distal to the carrier of the head assembly, and the gripping legs are disposed such that the tip portions of the gripping legs converge in a proximal-distal direction, i.e., toward the distal end of the gripping device, when no force is transmitted from the plunger to the gripping legs.

[0008] The actuating portion of the gripping leg may be configured to contact the plunger, where the gripping leg is shaped and positioned on the carrier such that the clearance of the passage enclosed by the actuating portion when no force is transmitted from the plunger to the gripping leg is less than the cross-sectional dimension of the part of the plunger that is intended to be moved at the axial or proximal-distal position of the actuating portion.

[0009] Preferably, the range of motion of the plunger is selected such that it can be sufficiently retracted, i.e., displaced proximally, to not transmit force to the actuating portion of the gripping legs. In another embodiment, the range of motion and shape of the plunger is selected such that it can be sufficiently retracted, i.e., displaced proximally, to contact a portion of the plunger with the actuating portion of the gripping legs and displace the actuating portion of the gripping legs a first amount.

[0010] The plunger may be extended, i.e., displaced distally, such that a portion of the plunger contacts the actuating portion of the gripping legs and displaces the actuating portion of the gripping legs a second amount. Displacement of the actuating portion in a radially outward direction displaces the tip portions of the gripping legs radially outward, thereby opening the gripping distal ends of the gripping device. At the same time, the curved portions of the gripping legs are curved, thereby generating a radially inward restoring force acting on the actuating portion and the tip portions.

[0011] It should be noted that within the framework of the present disclosure, the use of the indefinite article "a" or "an" does not require unity or exclude the presence of a plurality of the specified members or features, and should therefore be read in the sense of "at least one" or "one or many".

[0012] As indicated above, the plunger comprises a contact portion intended to contact the working portion of the gripping legs. In particular, the contact portion may comprise a tapered portion tapering towards the distal end of the plunger. At least the proximal or rear end of the contact portion has a cross-sectional dimension larger than the clearance of the passage enclosed by the working portion of the gripping legs when no force is transmitted from the plunger to the gripping legs. The plunger may have a circular cross-section, in which case the cross-sectional dimension is the diameter. In another embodiment, the plunger may have a cross-section of a regular polygon, the number of sides of the polygon being equal to the number of gripping legs, in which case the cross-sectional dimension is the diameter of the inscribed circle. It may prove advantageous for the tapered portion to extend further distally to a cross-sectional dimension or diameter smaller than the clearance of the passage enclosed by the working portion of the gripping legs when no force is transmitted from the plunger to the gripping legs. This ensures that the contact portion of the plunger will smoothly come into contact with the working portion of the gripping legs. There is a contact portion of the plunger proximal to the tapered portion, i.e. at least a portion of the plunger proximally adjacent to the tapered portion of the contact portion can have a constant cross-section or, in a more specific embodiment, can be cylindrical along the proximal-distal extension of the plunger. This ensures that the contact portion is smoothly introduced between the contact portions of the gripping legs, starting with the smaller sized distal part of the tapered portion, while gradually widening the working portion and thus the tip portion of the gripping legs as it moves further distally. Upon reaching the proximal end of the tapered portion, the constant cross-section portion of the contact portion contacts the working portion of the gripping legs, thereby maintaining a constant opening of the gripping legs as the plunger is advanced further distally. For completeness, it is noted that the cross-section of said constant cross-section portion of the contact portion is at least substantially the same as the cross-section of the proximal end of the tapered portion. The outer surface of the plunger is continuous, at least in the contact portion, and does not have any steps that may hinder the smooth sliding of the contact portion of the plunger and the working portion of the gripping legs relative to each other.

[0013] The distal end of the plunger may be pointed and may form a distally pointed spike that may be used to pierce, for example, a crucible lid by advancing the plunger distally. By providing a contact portion of the plunger with a proximal portion that is of constant cross-section along a proximal-distal or axial extension, the plunger may be advanced distally to pierce the lid without causing further actuation of the gripping legs.

[0014] In another non-limiting embodiment, the most distal tip portion of the gripping legs, which forms adjacent to the distal end or distal tip of the gripping legs, is angled away from the center of the gripping alliance relative to the more proximal portion of the tip portion, so that it converges in the proximal-distal direction to a lesser extent than the more proximal portion of the gripping legs, at least when no force is transmitted from the plunger to the gripping legs. The above-mentioned geometry of the most distal tip region of the tip portion provides a smoother contact of these most distal tip portions with the object to be gripped. Ideally, the most distal tip region extends at least substantially in the proximal-distal direction when gripping an object, and does not extend or extends insignificantly in the radially inward or radially outward direction. Thus, as will be outlined in more detail later, the gripping legs can be specifically selected for the particular object to be gripped.

[0015] The head assembly is releasably attached to the base member to aid in the above task. Rather than replacing each gripping leg individually in the gripping device, the entire head assembly can be changed to a head assembly that supports gripping legs with various geometries and / or various stiffnesses of curved sections. The gripping fingers do not have moving parts, bearings, etc., thereby avoiding wear of such elements. Conversely, the gripping legs are rigidly attached to the carrier of the head assembly, and the gripping movement is made possible by the curved parts of the gripping fingers, thereby providing a better service life compared to gripping legs that include the head assembly or base member or are attached to the head assembly or base member via a hinge. When the curved parts deteriorate due to continued vibration, the entire head assembly can be replaced and the gripping legs themselves can be replaced offline, thereby reducing downtime and aiding maintenance.

[0016] The gripping device described above can be equipped with a narrow tip portion of the gripping legs. The drive of the gripping legs is provided relatively more proximal and radially inward from the gripping legs. As a result, the distal tip portion of the gripping device can be constructed with reduced space requirements, which allows the gripping device to be used with a large number of samples that are arranged very tightly. In other words, the gripping device described herein can be used to arrange samples in a small space, which further means that a large number of samples can be arranged in a given space or on a given surface. Furthermore, the gripping device described herein can be used in limited space environments.

[0017] In another aspect, a head assembly for the above-mentioned gripping device is disclosed, in which the carrier comprises a number of flat outer mounting surfaces arranged rotationally symmetrically around the circumference of the carrier. In particular, the number of flat outer mounting surfaces may be equal to the number of gripping legs. The fixed portions of the gripping legs comprise flat mounting surfaces abutting the flat outer mounting surfaces. In a non-limiting embodiment, the gripping legs are mounted to the carrier by screws extending through the fixed portions of the gripping legs.

[0018] In another aspect, a gripping leg for the gripping device and / or head assembly as outlined is disclosed. The curved portion is configured to have a minimum bending stiffness against moments induced by forces acting perpendicular to the plane of the curved portion. Resistance to bending in other directions may be selected to be significantly greater. The working portion comprises a base extending between the tip portion and the curved portion and integral with the tip portion and the curved portion. The working portion further comprises a protrusion originating at the base. The protrusion projects from the base. Preferably, the angle of the protrusion is between 5° and 85°. The angle of the protrusion is the angle between the plane of the curved portion and the connecting line between the origin point of the protrusion and the tip point of the protrusion. The tip of the protrusion is the point having the greatest distance from the base.

[0019] The gripping legs may be mounted on the carrier of the head assembly such that the protrusions extend radially inwards, the protrusions or the tips of the protrusions, respectively, forming corresponding abutments for the plungers in this case.

[0020] In a preferred embodiment, the angle of the protrusion is greater than the cone angle of the plunger taper, ensuring that the tip of the protrusion establishes contact with the plunger, thereby providing smooth, controlled movement of the tip.

[0021] In a preferred embodiment, the distance between the tip and base of the prong is greater than half the difference between the cross-sectional dimensions of the plunger at the proximal and distal ends of the tapered portion, thereby preventing the base or curved portions of the gripping legs from contacting the plunger, resulting in improved control of tip movement.

[0022] In a non-limiting embodiment, the curved portion is trapezoidal in shape and diverges from the working portion toward the fixed portion. More specifically, the curved portion can be shaped as a frame with two curved legs that extend along the surface of the curved portion between the working portion and the fixed portion. The trapezoidal shape of the curved portion can create effects on the dynamics of the tip portion, such as implementing linear leg movements.

[0023] The protrusion of the actuation portion may be angled toward the tip portion, thereby avoiding the protrusion and the plunger from locking together when the plunger moves distally and contacts the protrusion. The protrusion may have a trapezoidal shape with a straight base line, where the side opposite the straight base line is formed as a rounded concave arch, thus having a tip line for contacting the plunger of circular cross section. In another embodiment, the protrusion may have the shape of a rounded concave arch extending between the endpoints of the straight base line.

[0024] A window may be formed in the base of the working portion, having a size and shape at least substantially matching or larger than the size and shape of the protrusion. The window has a straight baseline, where the straight baseline of the protrusion is joined to the straight baseline of the window, and the protrusion extends from the straight baseline of the window. The straight baseline of the window forms the proximal boundary of the window in a more specific embodiment. The working portion may be manufactured by cutting the shape of the protrusion except for the straight baseline, e.g., by laser cutting, into the base of the working portion, and then bending the protrusion generally the desired amount in the desired direction away from the base of the working portion, thereby forming a window in the base. A transition between the base and the protrusion is provided in the straight baseline.

[0025] The gripping legs may be seamless, single piece members. However, the gripping legs may be assembled from separate segments. For example, the protrusions may be joined to the base, and may be glued, welded, soldered, screwed, or riveted, as more specific, non-limiting examples. The gripping legs may be made of sheet metal. In some embodiments, the protrusions may be realized by wedge-shaped parts of material. The materials of the protrusions and base may be different, for example, to select a material with desired curvature characteristics for the curved portion of the gripping legs while selecting a material with desired sliding characteristics for the protrusions.

[0026] Further disclosed is a transport system configured and adapted to transport an object, such as a crucible, between at least two positions, the transport system comprising a gripping device as described above and at least one drive device configured to move the gripping device along a proximal-distal axis of the gripping device and perpendicular to the proximal-distal axis of the gripping device.

[0027] As outlined above, the gripping device described herein provides very low space requirements, especially at its distal tip where the sample is manipulated. To this extent, a sample manipulation system is disclosed, comprising at least one of the gripping devices and / or head assemblies described above, and further comprising a tray. The tray has a top surface with a number of receiving recesses intended and configured and adapted to receive the samples. The receiving recesses can be configured for use with samples or crucibles of a particular shape and size. It can be realized that the cross section of the receiving recess is at least substantially circular, and that the distance between the outer rim of the receiving recess and the outer rim of the nearest neighboring receiving recess is not more than 20% of the diameter of the receiving recess. Thus, the samples and / or crucibles can be densely packed on the tray. Furthermore, in a more specific embodiment, an elongated recess can be further provided, extending radially from the receiving recess and integrating into the receiving recess. The number of elongated recesses extending radially from and integrated into each receiving recess is at least equal to the number of gripping legs of the gripping device and / or head assembly, and at least some of the elongated recesses integrated into each receiving recess are distributed circumferentially around the gripping device and / or head assembly in a circumferential pattern that matches the circumferential pattern formed by the gripping legs.

[0028] The tray according to the invention has a top surface with a number of receiving recesses. Each of the receiving recesses is intended to receive a sample and is configured and / or adapted to do so. The receiving recesses may be configured for use with samples, such as crucibles, of particular shapes and sizes. The tray according to this embodiment further comprises a coding.

[0029] The coding is preferably electronic. Most preferably, the electronic coding is a memory or chip that can be read out via the same conductors that power the memory or chip. Such chips are known for example as one-wire chips. Such electronic coding has the advantage of offering high flexibility in the length and structure of the coding, while allowing the tray to be stored without its own power source. In an alternative embodiment of electronic coding, the memory or chip that provides the coded information returns the information via a different conductor than the conductors that power the memory or chip. In some embodiments, the tray can be equipped with a power source for the coding, such as a rechargeable battery. Electronic coding is versatile and robust, since dirty contacts can be easily cleaned if necessary, whereas the memory or chip itself can be embedded in the tray and thus protected from the environment.

[0030] In another embodiment, the coding is a mechanical coding. Most preferably, the mechanical coding is a pattern machined into the sidewall or underside of the tray suitable for being read by a set of contact sensors or by a method that diffuses or blocks optical signals. In another embodiment, the coding is an RFID chip. In another embodiment, the coding is a 2D coding pattern, such as a barcode or a QR code. Additionally or alternatively, the coding may be a combination of human readable numbers and / or letters attached onto the tray.

[0031] Preferably, the electronic coding, mechanical coding, RFID chip coding and / or 2D coding pattern is located on one of the side walls of the tray or the underside of the tray opposite the top surface. Most preferably, the human readable code and / or 2D coding pattern is located on the top surface of the tray. Preferably, the tray comprises a human readable code on its top surface in addition to the electronic coding, mechanical coding, RFID chip coding and / or 2D coding pattern located on one of the side walls or the underside of the tray opposite the top surface.

[0032] Preferably, the coding comprises, for example, information regarding the tray type category to which a given tray belongs and / or unique identification information. Preferably, the coding comprises, in addition to the identification information that makes a given tray unique, information regarding the tray type category to which a given tray belongs. Trays of a given tray type category comprise receiving recesses that are, for example, intended and configured and adapted to receive samples of the same particular shape and size. In another embodiment, trays of a given tray type category comprise a different number of receiving recesses than trays of other tray type categories. In another embodiment, trays of a given tray type category have a different arrangement of receiving recesses than trays of other tray type categories.

[0033] Preferably, the user can create the specific coding for the tray to be used himself, most preferably by using a computer program. The user-specific coding can be written into the electronic coding, associated with the signal of the RFID chip, and / or printed on a label with an individual 2D coding pattern and / or human readable code, allowing the user to adapt the tray to an existing sample or object management system. Most preferably, the user-specific coding only has a unique identification, whereas the information regarding the type classification of the tray is predefined by the tray manufacturer. This prevents possible discrepancies when the user mistakenly sets the unique identification that is later selected by the manufacturer to represent the type classification of the tray.

[0034] The use of a coding attached to the tray has the advantage that the tray can be identified automatically or with the assistance of the user by the sample handling system and / or the transport system. This allows the movement of the gripper to be adapted to suit the tray and to suit the sample for which the receiving recess is intended and adapted to suit. In a preferred embodiment, for example, the gripper is commanded to open more when the tray is identified as a tray of a type category adapted to fit samples with a larger diameter compared to the case in which the tray is identified as a tray of a type category adapted to fit samples with a smaller diameter. Similarly, the movement of the gripper can be adapted to follow the arrangement of the receiving recesses on the tray of the identified type category of tray. The gripper is preferably a gripping device according to the invention. The movement of the gripper and its degree of opening are preferably controlled by a control device acting on separate drives for the various movements.

[0035] Having a unique coding for each tray allows a user to identify a given sample by its location on the tray in conjunction with its unique coding. The gripper controller can use this information to specifically handle the sample of interest by identifying the tray using its unique coding and moving the gripper to the sample's given location on the tray of interest. This aids in preparing the sample. Additionally, the unique coding of the tray may allow a user to instruct the gripper to handle samples from a specified tray differently than samples from other trays. For example, if a given sample is particularly sensitive to acceleration, the acceleration of the gripper may be reduced when gripping the sample.

[0036] Placing a human readable code and / or a 2D coding pattern on the top surface of the tray helps the user to access the coding of the tray even if the tray already has samples placed on it. This allows the user to assign tray-specific instructions to the gripper control device even after samples have been placed on the tray. The 2D coding pattern can be scanned with a suitable scanner, such as a barcode scanner or a QR scanner, and thus automatically entered into the interface to the control device, thereby allowing the user to specify instructions related to the tray and / or the samples placed on the tray. Furthermore, the human readable code can be automatically detected, for example by a camera. Furthermore, the user can enter the human readable code of the target tray into the interface of the control device, for example by typing or reading aloud. The interface to the control device can itself be part of the control device or can be an assistant program running on a computer or, for example, a mobile device equipped to transmit data to the control device in a suitable format.

[0037] Preferably, the tray is blue. Samples analyzed with the thermal analysis system are usually gold, metallic grey and / or white crucibles. Thus, there is a significant color contrast with the blue tray, which helps to recognize the samples on the tray and to identify the empty receiving recesses. For such recognition, the thermal analysis system is preferably equipped with a camera. The camera can be located on the gripper, in a lid that covers the tray placed in the tray holder when the tray does not need to be accessed, or in another part of the system where the sample tray in the tray holder can be seen. Visual recognition of the samples on the tray makes it possible to detect which receiving recesses are occupied and which are empty. This information can be used by the gripper control device, for example, to avoid trying to grip a sample in an empty receiving recess. Furthermore, this information can be transmitted to the user to enable the user to check the status of the samples and the tray and / or to enable the user to estimate the time until a new sample is required. In other embodiments, the amount by which the gripper can close without significant resistance can be used to detect an empty receiving recess by the gripper itself.

[0038] In one embodiment, the receiving recess of the tray is at least substantially circular in cross section. The elongated recess extends radially from the receiving recess. In this embodiment, the tray is particularly well equipped for use with a gripping device according to the invention, since the elongated recess gives the gripping legs a high degree of freedom of movement. Without such an elongated recess, only samples extending above the top surface of the tray can be gripped by the gripping device according to the invention. Elongated recesses of various shapes can be used with other types of grippers, where the legs can access the sample on other paths. For example, a spiral elongated recess can be used for a tray for use with a gripper, where the legs access the sample on a spiral path.

[0039] In one embodiment, the distance between the outer rim of a receiving recess and the outer rim of the nearest neighboring receiving recess is less than or equal to 20% of the diameter of the receiving recess. Thus, samples and / or crucibles can be densely packed on the tray.

[0040] In one embodiment, the length of the elongated recess is greater than the distance between the outer rim of the receiving recess and the outer rim of the nearest adjacent receiving recess, so that the gripping legs have more space to open towards the sample side than the distance between the samples. This allows the samples and / or crucibles to be densely packed on the tray. The length of the elongated recess is preferably measured as the distance between the outer rim of the inscribed circle of the receiving recess and the outer rim of the inscribed circle of a second receiving recess arranged in the elongated direction of the elongated recess.

[0041] In one embodiment, radially extending elongated recesses integrated into the receiving recesses may be provided such that the number of radially extending elongated recesses integrated into each receiving recess is at least equal to the number of gripping legs of the gripping device and / or head assembly, and at least some of the elongated recesses integrated into each receiving recess are distributed circumferentially around the gripping device and / or head assembly in a circumferential pattern that matches the circumferential pattern formed by the gripping legs.

[0042] Preferably, the gripper is part of a sample handling system. The sample handling system comprises a tray holder. The tray holder is adapted to hold a tray having a coding. Preferably, the tray holder comprises means for reading the coding of the tray.

[0043] Alternatively, the means for reading out the coding of the tray may be arranged outside the tray holder and may comprise, for example, a camera arranged in the lid, on the gripper or in or around another part of the sample handling system from which the visible coding of the tray is visible. Instead of a camera and a visible coding, the electronic coding may be read out at some distance by a reading device, for example comprising an antenna for receiving electromagnetic signals emitted or reflected by the electronic coding, which may be attached to the gripper, the lid or another part of the sample handling system. The movable parts, such as the gripper and the lid, may further establish electrical and / or mechanical contacts for reading out the coding. Advantageously, the sample handling system further comprises a control device for the gripper. This control device is suitable for controlling the gripper while taking into account the information stored in the coding of the tray. The advantages of such a control device have already been outlined above.

[0044] Preferably, the means for reading the coding of the tray are means for reading electronic coding, mechanical coding, RFID chip coding and / or 2D coding patterns. Preferably, the means for reading the coding of the tray are arranged on one of the side walls or the underside of the tray holder so as to allow reading the individual coding of the tray after the tray is inserted in the tray holder. This allows the coding and the means for reading the coding to be arranged at a small, well-defined distance from each other. This allows the use of means for reading that require physical contact, such as an electrical connection, and allows optimizing the signal quality (if the means for reading comprise a detector for receiving a signal, such as an emitted or reflected radio signal or a scattered or reflected light signal). This further allows the means for reading to read the code by detecting mechanical contact or proximity.

[0045] Most preferably, the tray comprises an electronic coding comprising a memory or chip that can be read by the same conductors that provide power to the memory or chip in question, and the tray holder comprises a contact area in which conductors are provided for powering the memory or chip comprising the coding of the tray and for reading the memory or chip. When the tray is placed in the tray holder, the contact area of ​​the tray holder contacts the contacts of the electronic coding of the tray and the information of the coding stored in the memory or chip can be read. Furthermore, receiving a signal indicates the presence of the tray in the tray holder.

[0046] The sample handling system is preferably part of a thermal analysis system for materials characterization. The gripper is preferably a gripping device according to the invention.

[0047] Preferably, the tray holder is adapted to hold the tray in a predefined orientation. Most preferably, the tray holder comprises a recess into which the tray fits. In a preferred embodiment, the tray is rectangular when viewed in its top view, where at least one of the sides of the rectangle comprises a recess or protrusion, such that the symmetry of the rectangular shape is broken and a unique orientation is defined for a tray holder having a correspondingly shaped protrusion or recess.

[0048] Preferably, the gripper controller is a gripping device controller and is part of a thermal analysis system for materials characterization.

[0049] Preferably, the means for reading the coding of the tray transmits the read data to a control device of the gripper, where the control device can use this information to adapt the movement of the gripper depending on the information stored by means of the coding.

[0050] Preferably, the coding includes information of the type category of the tray. Preferably, a database is accessible by or stored in the control device, which associates information specific to one type category of trays with a coding indicative of this type category. This information may for example be the size and diameter of the samples to be fitted into the receiving recesses of the trays of this type category and / or the arrangement of the receiving recesses on the trays of this type category.

[0051] Preferably, the tray comprises a piercing location. Preferably, the piercing location is a raised portion on the top surface of the tray. The raised portion is substantially circular in cross section. The height of the raised portion relative to its periphery is such that it prevents the tip portions of the gripping legs from impacting the tray during the piercing action of a sample placed on the piercing location. Providing such a piercing location on the tray has the advantage that it helps to control the piercing process and also that the tray can be easily replaced and cleaned if necessary.

[0052] In another aspect, a method for transporting an object between at least two locations is disclosed. The method includes: Providing a gripping device of any kind as outlined above; Positioning the gripping device such that a proximal-distal axis of the gripping device intersects the object and a distal tip at a distal or forward end of a distal portion of the gripping leg is positioned adjacent to the object; moving a plunger in a distal direction of the gripping device, where the plunger contacts actuating portions of the gripping legs and radially separates the distal portions of the gripping legs, thereby causing elastic deformation of curved portions of the gripping legs; moving the gripping device distally to position the distal tips of the gripping legs to circumferentially surround the object; retracting the plunger in a proximal direction, whereby the elastic restoring force of the curved portions of the gripping legs causes a gripping movement of the tip portion, thereby attaching the object to the gripping device; and moving the gripping device together with the object attached to the gripping device to a target location; Includes.

[0053] The object may then be placed at the target location and the plunger may be advanced distally such that it contacts the actuating portions of the gripping legs and radially separates the tip portions of the gripping legs, thereby releasing the object. Once the object is released, the gripping device may be moved proximally away from the object.

[0054] As suggested above, the gripping legs can be selected to fit a particular object. In this regard, the method can further include selecting a head assembly from among a number of head assemblies, where the head assembly is selected to generate a defined radially inward force at the tip portion by the curved portion of the gripping legs when the plunger is retracted and the tip portion abuts the object. In some embodiments, the head assembly can be selected such that the frictional force induced by the radially inward force acting between the tip portion of the gripping legs and the object is greater than the weight force of the object.

[0055] As further suggested above, the plunger may comprise a sharp distal tip, the object may be a crucible having a sample, and the method may include moving the plunger distally with the sharp distal tip of the plunger to pierce through a lid closing the crucible.

[0056] It will be understood that the features and embodiments disclosed above may be combined with one another.Furthermore, it will be recognized that within the scope of this disclosure and within the scope of the claimed subject matter, other embodiments may be contemplated that are apparent and readily understood by those skilled in the art from this disclosure.

[0057] The subject matter of the present disclosure will now be explained in more detail by means of selected exemplary embodiments that are illustrated in the accompanying drawings. [Brief description of the drawings]

[0058] [Figure 1] 1A-1C show an exemplary embodiment of a gripping device with distally closed gripping legs. [Diagram 2] 2 is a cross-sectional view of the gripping device of FIG. 1 with the gripping legs closed distally. FIG. [Diagram 3] FIG. 2 shows the gripping device of FIG. 1 with distally open gripping legs. [Figure 4] 2 is a cross-sectional view of the gripping device of FIG. 1 with distally open gripping legs. [Diagram 5] FIG. 2 is an exploded view showing the gripping device of FIG. [Figure 6] 1A-1D illustrate a process for gripping an object using a gripping device of the type described herein. [Figure 7] FIG. 2 shows a distal part of a gripping device of the type described herein in a furnace, with a crucible further disposed inside the furnace. [Figure 8] FIG. 1 shows a sample handling system including a gripper and tray of the type described herein. [Figure 9] 1 is a plan view of a first embodiment of a gripping leg for a gripping device of the type described herein; FIG. [Figure 10] FIG. 10 is a side view of the gripping leg of FIG. [Figure 11] 1 is a plan view of a first embodiment of a gripping leg for a gripping device of the type described herein; FIG. [Figure 12] FIG. 12 is a side view of the gripping leg of FIG. 11. [Figure 13] FIG. [Figure 14] Figure 14a shows a tray with various type divisions, and Figure 14b shows a tray with various type divisions. [Figure 15] FIG. 13 is a cutaway view showing a tray having pierce locations. [Figure 16] FIG. 1 illustrates a thermal analysis system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0059] It will be understood that the drawings are highly schematic and that, for ease of understanding and depiction, details not necessary for purposes of instruction may be omitted. Further, it will be understood that the drawings show only selected exemplary embodiments and that embodiments not shown may also be well within the scope of the presently disclosed and / or claimed subject matter.

[0060] FIG. 1 illustrates an exemplary gripping device 1 of the type disclosed herein with closed gripping legs. The gripping device 1 includes a base member 11 and a head assembly 20 with gripping legs 24 extending distally from a head assembly carrier. In the depiction of FIG. 1, the head assembly carrier is largely covered by an outer sleeve 12. As can be easily appreciated, the gripping device 1 has a proximal-distal axial orientation. The distal or forward end of the gripping device is defined by the free tips of the gripping legs 24. The proximal end of the gripping device is defined by the axially opposite end of the base member 11. The term "distal" refers to the working side of the instrument, whereas the term "proximal" refers to the side where the instrument is attached to a support or where the instrument includes a handle.

[0061] FIG. 2 shows a longitudinal view of the gripping device 1 of FIG. 1 along the proximal-distal axis of the instrument. A base member 11 is supported proximally, e.g., connected to a drive for moving the gripping device, while a head assembly 20 is releasably attached to and extends distally from the base member 11. The head assembly 20 comprises a carrier 21 and a number of gripping legs 24, four gripping legs 24 in the illustrated exemplary embodiment. The carrier 21 comprises a mount 22 and a guide sleeve 23. The carrier 21 is generally tapered in the distal direction. The base member 11 comprises a plunger actuator 31 and a plunger 30 extending through a central through opening in the carrier 21 of the head assembly 20. The plunger actuator 31 is arranged and configured to move or displace the plunger 30 along the proximal-distal axis 2 of the gripping assembly. The proximal-distal axis 2 extends between the proximal side P and the distal side D of the gripping assembly. The plunger actuator 31 may be, in one example, a stepper motor that allows the plunger 30 to be controllably moved or positioned along the proximal-distal axis 2. The plunger 30 is guided within a through opening in the interior of the guide sleeve 23. In embodiments, the longitudinal axis of the through opening in the interior of the guide sleeve 23 can be said to define the proximal-distal axis 2. The proximal fixed portions of the gripping legs 24 are rigidly, i.e. non-articulatingly, attached to the mount 22 of the carrier 21 of the head assembly 20. The fixed portions of the gripping legs are not visible in this depiction. Each of the gripping legs 24 comprises a distally disposed tip portion 204, an actuating portion 203 proximally adjacent the tip portion 204, and a curved portion 202 proximally adjacent the actuating portion 203, which is defined between and connects the actuating portion 203 and the fixed portion. Each actuation portion 203 includes a protrusion 205 and a base. Each protrusion 205 extends radially inward from the base of the actuation portion 203. The protrusions 205 are angled distally toward the tip portion 204. As will be more fully appreciated from the following description, the protrusions 205 are configured to contact the plunger 30 at least when the plunger 30 is in the extended, distal position.As will be further appreciated from the following description, the plunger 30 is configured and adapted to exert a radially outwardly directed force on the actuating portion 203 of the gripping legs 24, displacing the actuating portion and thus the tip portion radially outward, depending on the position of the plunger 30 along the proximal-distal axis 2. However, in the situation depicted in Figures 1 and 2, the plunger 30 is in a retracted proximal position, and no or almost no force is transmitted from the plunger to the gripping legs. The gripping legs are positioned such that the tip portions 204 of the gripping legs converge in the proximal-distal direction of the gripping device towards their distal tips or towards the distal side D of the gripping device, respectively, when the plunger 30 is in the retracted position.

[0062] Figures 3 and 4 show the gripping device 1 of Figures 1 and 2 with the gripping legs 24 open. A comparison between Figures 1 and 3 or 2 and 4, respectively, reveals that the plunger 30 is in a more distally extended position. The plunger 30 has a contact portion 301 on its side. The contact portion 301 has a tapered portion 302 disposed relatively distally and a constant cross-section portion, or in a specific non-limiting embodiment a cylindrical portion, proximally adjacent the tapered portion. When the plunger 30 is displaced distally from the retracted proximal position shown in Figures 1 and 2 to the extended distal position shown in Figures 3 and 4, the tapered portion 302 of the contact portion 301 of the plunger 30 is gradually pushed into the clearance between the working portions 203 of the gripping legs, or more specifically, the radially inner tip of the protrusion 205 starts from the relatively small cross-sectional extension of the tapered portion 302 and extends to the relatively large cross-sectional extension of the tapered portion 302. As a result, the working portion 203 and the tip portion 204 of the gripping legs 24 are successively spaced apart, and the gripping device is opened. Because the proximal fixed portion of the gripping legs is rigidly, i.e. non-articulatedly, attached to the mount 22, the curved portion 202 of the gripping legs is curved, thereby generating a radially inward restoring force acting on the more distally located working portion 203 and tip portion 204. Said restoring force acts on the plunger 30, thereby exerting a radially outward force on the working portion 203 of the gripping leg 24. It will be appreciated that said force increases while the plunger is advanced distally, and that the working portion 203 or the protrusion 205, respectively, bears against the tapered portion 302 of the plunger 30. When the plunger is advanced distally sufficiently such that the working portion 203 or the protrusion 205, respectively, bears against a constant cross-sectional portion of the contact portion 301, the radially outward displacement of the gripping leg 24, and thus the expanding force acting on the working portion of the gripping leg 24, remains constant, regardless of the proximal-distal position of the plunger 30. The distal end of the plunger 30 is pointed, forming a spike 303.Once the working portion 203 or the protrusion 205 of the gripping legs respectively bear against a constant cross-sectional portion of the working portion 301 of the plunger 30, the plunger 30 can be advanced in a distal direction without affecting the gripping legs until the spike 303 comes into contact with an object, such as the lid of a crucible, and can penetrate the lid, thereby exposing the sample contained inside the crucible to the environment. A person skilled in the art will further recognize that when the plunger 30 moves back in a proximal direction, and as soon as the working portion 203 or the protrusion 205 respectively bears against the tapered portion 302 of the contact portion 301, the working portion and the tip portion 204 of the gripping legs will continue to move radially inwards due to the restoring force exerted by the curved curved portion 302, i.e., closing the gripping device. However, if an object is placed between the tip portions 204 before the plunger 30 is retracted from the position shown in Figures 3 and 4, the tip portions 204 will bear against said object and a residual restoring force will act on said object depending on the cross-sectional dimensions of the object. This means that said object is held or gripped between the tip portions 204. Said gripping force can be released by advancing the plunger 30 distally again. The relatively steep angle of the tapered portion 302 of the contact portion 301 of the plunger 30 converts a given axial movement of the plunger into a relatively large radial movement of the tip portions. However, said dynamics can be influenced by the selection of the cone angle of the tapered portion 302 accordingly.

[0063] FIG. 5 shows an exploded view of the gripping device shown at 1 to 4. As can be seen in this figure, the mount 22 of the carrier 21 of the head 20 comprises a number of rotationally symmetric outer mounting surfaces that are circumferentially equidistantly arranged around the circumference of the mount 22. The proximal fixed portion 201 of the gripping leg is fixedly attached to the mount at the mounting surface, for example by a screw. It should be noted that the fixed portion 201 of the gripping leg 24 is prevented from any movement on the mount 22 or the carrier 21, respectively. Any relative movement between the distal portion of the gripping leg 24 and the carrier 21 can therefore only be achieved by curving the curved portion of the gripping leg. A plunger actuator 31 is attached to the base member 11. A plunger 30 extends distally from the plunger actuator 31 and is intended to be received through respective through openings in the carrier 21 and the guide sleeve 23, as generally described in relation to FIGS. 2 and 4.

[0064] The gripping device as generally described in relation to Figures 1 to 4 may be connected to at least one drive device configured to move the gripping device along a proximal-distal axis of the gripping device and also in a plane perpendicular to the proximal-distal axis of the gripping device, thereby forming a transport system configured and adapted to transport a crucible or other object between at least two positions.

[0065] An exemplary process of gripping an object is outlined with reference to FIG. 6. An object 100, for example a crucible, is placed on a surface. As shown in FIG. 6a, in an initial state, the gripping device 1 is placed on the object, where the proximal-distal axis of the gripping device intersects with the object and the distal tips of the gripping legs 24 are located near the object, i.e. pointing downward in the specifically shown embodiment. The plunger is advanced distally of the gripping device, i.e. toward the object 100, thereby pulling the distal tips of the gripping legs 24 apart and opening the gripping device, as depicted in FIG. 6b. The gripping device 1 is then moved distally, downward in the illustrated exemplary embodiment, thereby positioning the distal tips of the gripping legs to surround the object in the circumferential direction, as depicted in FIG. 6c. The plunger can then be retracted proximally, which causes the tips of the gripping legs 24 to move radially inward due to the elastic restoring force of the curved curved portions of the gripping legs. Thus, the tip portion abuts against the object 100 and exerts a radially inward force on the object 100. A person skilled in the art will easily recognize that said force acting on the object depends on the cross-sectional dimensions of the object on the one hand, and on the geometry of the gripping legs and the spring stiffness of the curved parts of the gripping legs on the other hand. The head can therefore be selected according to the cross-sectional dimensions and weight of the object 100, because the head is equipped with gripping legs selected to generate a radially inward gripping force acting on the object within a range sufficient to induce a frictional force greater than the weight of the object, yet avoiding damage to the object due to excessive force on the other hand. Once the object is affixed to the gripping device by the restoring force acting radially inward on the curved parts, the object can be lifted from the surface when the gripping device is moved proximally or, in a specific embodiment, upwards. The gripping device can be moved to the target location. From the process presented above and the description of the function of the gripping device, the following process of placing the object at the target location is clear to a person skilled in the art. If the number of gripping legs is three or more, and especially if the gripping legs are also distributed equidistantly in the circumferential direction, the radially inward force acting on the object will naturally be directed towards the centre, and there will be no risk of the object slipping laterally out between the gripping legs.

[0066] 7, crucible 100 is placed in furnace 500. Crucible 100 is closed at the top by lid 101 and can contain a sample. A plunger with distal spike 303 can be advanced distally to pierce and pass through lid 101 with spike 303, thereby exposing the sample contained within crucible 100 to the environment inside furnace 500.

[0067] FIG. 8 outlines a sample handling system comprising a gripping device 1 and a tray 40. The tray has a top surface with a number of receiving recesses 41, 41a, 41b intended and adapted to receive the crucibles 100. The tapered design of the distal end of the gripping device 1, including the tip portions of the gripping legs 24, allows two adjacent crucibles to be placed very close to each other. The receiving recesses may have a circular cross section, and the distance d between two directly adjacent receiving recesses (such as 41a and 41b) may be less than 20% of the diameter of the receiving recesses. This allows a close arrangement of the crucibles on the tray. In addition to the receiving recesses, elongated recesses 42 are provided on the top surface of the tray 40. The elongated recesses 42 extend radially from the receiving recesses 41 and are integrated into them. Four elongated recesses 42 are shown integrated into each receiving recess 41. This number is equal to the number of gripping legs 24 provided on the gripping device. The elongated recesses 42 have a circumferential distribution around the receiving recess 41 equal to the gripping legs around the proximal-distal axis of the gripping device. The width of the elongated recesses 42 is at least the width of the distal part of the tip of the gripping legs. This allows the reception of the tip parts of the gripping legs (at least their distal tip region) inside the elongated recesses 42 integrated in the receiving recess 41 and the radial movement of the tip parts of the gripping legs relative to the receiving recess inside said elongated recess. This allows the gripping and releasing movement of the tip parts of the gripping legs 24. In the embodiment shown, the elongated recesses are connected and integrated with two diagonally adjacent receiving recesses. Therefore, the length of the elongated recess is about 1.4 times the minimum distance d between the two nearest receiving recesses 41a and 41b, which allows a sufficient travel distance of the tip portion of the gripping leg 24 on a tray where the crucibles are densely packed. Moreover, the elongated recess 42 is deeper than the receiving recess 41, which further supports unrestricted travel of the tip portion of the gripping leg 24 inside the elongated recess.

[0068] 9 to 12 show an exemplary embodiment of such a gripping leg 24. FIG. 9 shows a plan view and FIG. 10 shows a side view of a first embodiment of the gripping leg. FIG. 11 shows a plan view and FIG. 12 shows a side view of a second embodiment of the gripping leg. As is evident from FIG. 9, the gripping leg 24 comprises a proximal fixed portion 201 with a hole 209 therethrough for receiving a screw for attaching the gripping leg to the carrier of the head, as generally described above. The gripping leg 24 further comprises a curved portion 202, an actuating portion 203, and a tip portion 204. The curved portion 202 extends distally from the fixed portion 201. The curved portion 202 is generally trapezoidal in shape, tapering in the distal direction, and further merges into an actuating portion 203 distally adjacent to the curved portion. The curved portion 202 comprises two curved legs 208 extending from the fixed portion, between which a window 210 is molded. In the present depiction, where the curved portion 202 is perpendicular to the plane of the drawing, it has a minimum bending stiffness against a moment induced by a force acting along an axis perpendicular to the plane of the curved portion. However, in other directions, the bending stiffness is relatively high, such as to prevent the tip portion from moving laterally outward. The curved legs 208 converge distally and are integral with the working portion 203. As outlined above, when the gripping legs are rigidly attached to the head of the gripping device at the fixed portion 201 and the working portion 203 is pushed radially outward by the plunger of the gripping device, said movement requires bending of a portion interposed between the fixed portion 201 and the working portion 203. If said bending occurs within the elastic limit range of this interposed portion, this interposed portion will bend and generate an elastic restoring force. Thus, the curved portion 202 is in fact defined between the fixed portion 201 and the actuating portion 203. The trapezoidal shape of the curved portion ensures that the tip portion moves linearly in the radial direction upon actuation of the gripping legs mounted on a gripping device of the kind outlined above by a plunger. The actuating portion 203 comprises a protrusion 205 and a window 206. The protrusion 205 projects from a base of the actuating portion 203 in a first direction relative to the general proximal-distal extension of the gripping legs 24, as can be seen in Figures 10 and 12, respectively.Furthermore, the protrusions 205 are inclined in the distal direction, i.e., towards the tip portion 204, thus facilitating the sliding movement between the protrusions of the gripping legs mounted on the gripping device and the plunger of the gripping device when the plunger moves distally to pull the distal parts of the gripping legs radially outwardly apart.

[0069] In the embodiment according to Fig. 9, the window 206 and the protrusion 205 are generally arcuate, where the protrusion 205 is integrated into the base of the working part 203 at a common straight baseline of the arcuate protrusion 205 and the arcuate window 206. The protrusion 205 is provided with a rounded tip intended to contact the plunger. Said rounded shape further assists smooth sliding between the plunger and the protrusion.

[0070] In the embodiment according to Fig. 11, the window 206 is substantially rectangular, whereas the projection 205 is trapezoidal in shape, where the side opposite the base line is a concave arc. The projection 205 is integrated into the base of the working part 203 at the common straight base line of the projection 205 and the window 206. The projection 205 is provided with a rounded tip line intended to contact a cylindrical plunger. Said rounded shape helps to guide the gripping legs and prevent lateral deviation movement.

[0071] The window 206 and the protrusion 205 can have a generally matching size and shape, or the window 206 can be larger than the protrusion 205. This is due to the fact that the protrusion 205 can be manufactured by performing a suitable cut, for example by laser cutting, into the base of the actuating portion 203 and then bending it out of the plane of the sheet forming the base of the actuating portion 203. However, in other embodiments, the protrusion 205 can be a separate member attached to the base of the actuating portion 203. Any suitable attachment method can be applied, including but not limited to gluing, soldering, welding, screwing, and riveting. It will be understood that if the protrusion 205 is a separate member attached to the base of the actuating portion 203, the base of the actuating portion 203 may not comprise the window 206.

[0072] The actuation portion 203 is integral at its distal end with a tip portion 204 that is distally adjacent the actuation portion 203. The tip portion 204 is angled at its distal-most portion 207 relative to the more proximal portions of the tip portion. The distal-most portion 207 is angled in a direction opposite to the direction of the projections 205. As can be appreciated, when the gripping legs 24 are properly mounted on a head or gripping device as outlined above, the projections 205 project radially inward from the base of the actuation portion 203. Thus, the distal-most portion 207 of the tip portion 204 of the gripping legs mounted on a head or gripping device may be less convergent in the distal direction compared to the more proximal portions of the tip portion 204, or may even diverge distally depending on the specific geometry of the gripping legs and the position of the plunger, i.e., whether the gripping device is open or closed at its distal end. The angling of the distal most tip portion 207 may function to better accommodate an object to be grasped. The gripping legs 24 may generally be fabricated from pieces of sheet metal, and in particular from a sheet of spring steel.

[0073] The trays 40a,b are shown in more detail in Figures 14a and b. The trays 40a,b have a top surface 43t with a number of receiving recesses 41. The receiving recesses 41 are circular in cross section. The diameter of the circular cross section of the receiving recesses 41 may vary depending on the type category of the tray 40, Figure 14a shows a tray 40a for larger objects 100 such as crucibles or samples, and therefore shows receiving recesses 41 with a diameter larger than that of the tray 40b shown in Figure 14b, which is intended to be used with smaller objects 100.

[0074] In both trays, elongated recesses 42 extend radially from the receiving recesses 41 and connect the receiving recesses 41 to one another.

[0075] As shown in Figure 14a, the length 42l of the elongated recess 42 is greater than the distance d between the outer rim of the receiving recess and the outer rim of the nearest adjacent receiving recess. In Figure 14a, it is shown how the length of an elongated recess is preferably measured: it is the distance between the inscribed circles of two adjacent receiving recesses located on a line containing the two end points of the elongated recesses 42 (i.e. a line extending in the elongated direction in the case of radially extending elongated recesses 42).

[0076] In both Figures 14a and b, the elongated recesses 42 extend radially from and are integrated into the receiving recess 41. In both depicted trays 40a and 40b there are four radially extending elongated recesses 42, this number of elongated recesses 42 being equal to the number of gripping legs 24 of the gripping device and / or head assembly for which the trays 40a, 40b are constructed. Furthermore, the elongated recesses 42 are evenly distributed in the circumferential direction: they are always spaced 90° apart from each other. This fits the circumferential pattern formed by the gripping legs around the gripping device and / or head assembly for which the trays 40a, 40b are constructed.

[0077] Trays 40 intended for use with other grippers can be equipped with elongated recesses 42 of various shapes to allow the necessary freedom of movement of the gripping means of these grippers. If the depth of the receiving recess 41 is less than the height of the object 100, the elongated recess 42 may be omitted, provided that the grippers are able to grip the object 100.

[0078] Both trays 40 shown in Figures 14a and 14b are provided with a coding 50. One of the codings is an electronic coding 50e. The electronic coding 50e is provided with a chip 51 that can be read out via the same conductors that power the chip 51. The conductor contacts 51a, 51b for the chip 51 can be easily cleaned if necessary.

[0079] Another coding 50 is a mechanical coding 50m. The mechanical coding 50m is a pattern machined into one of the side walls 43s of the tray 40. The mechanical coding 50m is suitable to be read by suitable detection means such as a set of contact sensors, by a set of proximity sensors or by a method of diffusing or blocking an optical signal. Another coding 50 depicted is an RFID chip 50r.

[0080] In another embodiment, the coding 50 is a 2D coding pattern 50p, such as a barcode or a QR code. Additionally or alternatively, the coding 50 can be a human readable number and / or letter combination 50ht, 50hi printed or otherwise attached onto the tray 40.

[0081] A coding 50, which is an electronic coding 50e, a mechanical coding 50m and an RFID chip 50r, is arranged on one of the side walls 43s of the tray 40. A human readable code 50ht, 50hi and a 2D coding pattern 50p are arranged on the top surface 43t of the tray 40. In the depicted embodiment, the coding 50 contains, in addition to the unique identification information, information about the tray type category to which a given tray belongs. This is visible in the case of a human readable number and letter combination 50ht, 50hi. The letters 50ht indicate the tray type category, which in this example is "L" meaning "tray suitable for large samples" in the case of Fig. 14a and "S" meaning "tray suitable for small samples" in the case of Fig. 14b. The numbers 50hi are unique ID numbers, so that the combination of the tray type category identifier and the ID number can be used to identify any tray 40 among a large set of trays. Advantageously, the user can create his own user-specific coding for the trays to be used: the user-specific coding can be written into the chip 51, associated with the signal of the RFID chip and / or printed on the label as a 2D coding pattern 50p and / or as a human readable code 50ht, 50hi, allowing the user to adapt the trays to existing sample or object management systems.

[0082] 13 illustrates a tray holder 60. The tray holder 60 is adapted to hold the tray 40 in a predetermined orientation. Thus, the tray holder 60 includes a recess into which the tray 40 fits.

[0083] The trays 40 depicted in Figures 14a and b, when viewed at their top surface 43t, are rectangular, with one corner of this rectangle being replaced by a flat connecting surface between two side walls 43s that are joined at this corner. This results in a recess 43x outside this area relative to the rectangular shape that represents the shape of the trays 40. This recess 43x breaks the symmetry of the rectangular shape and defines a unique orientation.

[0084] The tray holder 60 shown in FIG. 13 has a corresponding shape with a matching protrusion 63x replacing one corner of an otherwise rectangular shape.

[0085] The tray holder 60 comprises means 55 for reading the coding 50 of the tray 40. The reading means 55 are an electronic device 55e for reading the electronic coding 50e, a sensor 55m for reading the mechanical coding 50m and an RFID chip reader 55r. These means are arranged on a side wall 63s of the tray holder 60 and are further arranged in such a position that they allow reading the individual coding 50 of the tray 40 when the tray 40 is inserted into the tray holder 60.

[0086] When the tray 40 is placed in the tray holder 60, the contact areas 56a, 56b of the tray holder 60 contact the contacts 51a, b of the electronic coding 50e of the tray 40, and the information of the coding 50 stored in the chip 51 can be read out and transmitted via line 70 to be processed or displayed.

[0087] FIG. 15 shows a cross-section through a tray 40 with a piercing location 44. The piercing location 44 is a raised portion above the top surface 43t of the tray 40. This piercing location 44 is substantially circular in cross-section, which is not visible in the cross-section shown. The diameter of this circular cross-section is substantially equal to the diameter of the receiving recess 41. The height of the piercing location 44 relative to its periphery is such as to prevent the tip portion of the gripping legs from impacting on the tray 40 during the piercing action of an object or crucible placed on the piercing location 44. In the embodiment shown, the height of the piercing location 44 is substantially equal to the depth of the receiving recess 41, which in this view is seen as a set of recesses from the top surface 43t of the tray 40.

[0088] The gripping device 1 is part of a sample handling system. The sample handling system is part of a thermal analysis system for material characterization. FIG. 16 shows a thermal analysis instrument 33, which is an example of a thermal analysis system. As shown in FIG. 16, a substantially horizontally extending working area 71 has a funnel-shaped access channel 72 formed therein, which allows access to a sample receiving support 73 of the thermal analysis instrument 33, which may be, for example, a differential scanning calorimeter or a thermogravimetric analysis instrument. The sample receiving support 73 is, in this embodiment, a thermal analysis sensor. Those skilled in the art familiar with such thermal analysis instruments will appreciate that the illustration in FIG. 16 is schematic in nature, but practical embodiments of such instruments may often have a removable cover of the sensor and / or a slidable cushioning device to expose the sensor only for the purpose of loading and unloading the object 100 to be analyzed.

[0089] A tray 40 is placed in a tray holder 60 that is part of the work area 71, at some horizontal distance from the access channel 72. The tray 40 includes receiving recesses 41 that are configured to hold a number of objects 100, which may in particular be crucibles for receiving samples of a material to be analyzed. The tray 40 may be configured to have the objects 100 or crucibles disposed therein, for example in an array of rows and columns. A crucible is one example of an object 100.

[0090] The tray 40 is placed in a tray holder 60. Furthermore, the tray 40 is equipped with an electronic coding which, in the embodiment shown, comprises a chip 51. The tray holder 60 comprises contacts for powering and for reading the chip 51 via contacts 51 a, b located on the tray 40. The contacts for powering and for reading the chip 51 contained in the tray holder 60 are connected to a line 70 which transmits the information contained in the coding to a control device 80.

[0091] The sample handling system shown in Figure 16 comprises a gripping device 1, a tray holder 60, and a control device 80. The sample handling system allows the gripping device 1 to manipulate samples placed on a tray 40 placed in the tray holder 60, and to adapt this manipulation to various types of trays 40 that may be used in the sample handling system.

[0092] The transport system 90 comprises a drive 91 and a gripper, which in the embodiment shown is a gripper. The drive 91 is configured to move the gripper 1 along and perpendicular to a proximal-distal axis 2 of the gripper 1. The gripper 1 is described in more detail in Figs. 1 to 6. To move the gripper 1 along an axis perpendicular to the proximal-distal axis 2, the transport system 90 comprises a horizontal rail, along which the drive 91 is moved, for example by a belt. To move the gripper 1 along the proximal-distal axis 2, the gripper 1 can be attached to a rod arranged along the proximal-distal axis 2, which is moved up and down by the drive 91.

[0093] In the depicted embodiment, a camera 92, in this example a digital camera, is attached to the gripping device 1. A light source 92a is attached to the camera 92 for illuminating the camera's field of view. Preferably, the light source 92a is in the form of a ring light surrounding the camera 92. The light source 92a preferably emits polarized light, and the camera 92 has a polarizing filter to attenuate unwanted reflections on the camera 92. The light source 92a emits, for example, white light in the visible spectrum.

[0094] The drive 91 moves the gripping device 1 together with the camera 92 and the light source 92a both horizontally (X-Y) and vertically (Z) to various positions above the working area 71. These positions in particular include positions suitable for receiving or releasing the object 100 by the gripping device 1 at any one of the sample receiving supports 73 or suitable for capturing an image or at least a partial image of any one of the sample receiving supports 73, and / or the object 100, and / or the tray 40, by the receiving recess 41 of the tray 40.

[0095] The thermal analysis instrument 33 further comprises an evaluation means 34 which uses the image or images captured by the camera 12 to identify the object 100 or to identify the location and presence of an object on the tray 40 in the tray holder 60. Information from the evaluation means 34 is also provided to a controller 80 in the embodiment shown.

[0096] The information contained in the coding 50, transmitted by line 70 to the control device 80, makes it possible to adapt the movements of the gripping device 1 to the type category to which the tray 40 belongs and, in turn, to the object 100 for which the receiving recess 41 is intended and to which it is adapted. In the illustrated embodiment, a tray of type category "L" is adapted to fit an object having a larger diameter than a tray of type category "S". If the control device 80 receives information by line 70 that the tray 40 in the tray holder 60 is of type category "L", the gripping device 1 is instructed by the control device 80 to open to a greater extent compared to the case in which the control device 80 receives information by line 70 that the tray 40 in the tray holder 60 is of type category "S".

[0097] In the depicted embodiment, the information contained in the coding 50, transmitted by line 70 to the control device 80, further comprises a unique identifier. This identifier is unique in the set of trays 40 that can be used at hand in the thermal analysis instrument 33. In this embodiment, the user can identify the object by specifying its position in the tray and the tray's unique coding. The user can specify, for example, that the sample of interest is placed in the third receiving recess 41 in the second row of the tray 40 with a given identifier. Furthermore, the user can specify that this object 100 should be moved with a lower acceleration or that this object 100 is the first one to be measured on the tray 40. The control device 80 of the gripping device can use this information to specially handle a given sample as required.

[0098] The tray 40 in the depicted embodiment is blue in color. Samples analyzed using thermal analysis systems are typically gold, metallic gray, and / or white crucibles. Thus, there is significant color contrast with the blue tray 40. This aids in recognizing samples on the tray and identifying empty receiving recesses as performed by the evaluation means 34.

[0099] While the subject matter of this disclosure has been described in terms of exemplary embodiments, it should be understood that these exemplary embodiments are not intended to limit the scope of the claimed invention. It will be recognized that the claims will encompass embodiments not expressly shown or disclosed herein, and that embodiments that depart from those disclosed in the exemplary modes of carrying out the teachings of the disclosure will also be encompassed by the claims. [Explanation of symbols]

[0100] 1 Gripping device 2 Proximal-distal axis 11 Base member 20 Head assembly 21 Career 22 Curved section 24 Gripping legs 30 Plunger 31 Plunger Actuator 40 Tray 41 Receiving recess 41a Receiving recess 41b Receiving recess 42 Long and narrow recess 50 Coding 50e Electronic Coding 60 Tray Holder 80 Control device 100 Objects 101 Lid 201 Fixed part 202 Curved section 203 Working Parts 204 Tip part 205 Protrusion 207 Tip part 208 Curved Leg 209 holes 301 Contact part 302 Tapered part 303 Distal end 500 furnace D Distal direction d Distance P Proximal direction

Claims

1. A gripping device (1) comprising a base member (11), a plunger actuator (31), and a plunger (30), wherein the gripping device further comprises a head assembly (20) that is releasably attached to the base member (11) and extends distally from the base member (11), The plunger actuator (31) is positioned and configured to move the plunger (30) along the proximal-distal axis (2) of the gripping device. The head assembly (20) comprises a carrier (21) and at least two or more gripping legs (24), the carrier (21) having a through opening that extends along the proximal-distal axis (2) through which the plunger (30) is configured and positioned, Each of the gripping legs (24) comprises a fixed portion (201), a tip portion (204) distal to the fixed portion, an operating portion (203) adjacent to the tip portion proximal to it, and a curved portion (202) defined between the operating portion (203) and the fixed portion (201), wherein the operating portion (203) of the gripping leg is configured to contact the plunger (30) at least when the plunger is in the extended distal position. The fixed portion (201) of the gripping leg is firmly installed on the carrier (21) of the head assembly (20), at least the operating portion (203) and the tip portion (204) of the gripping leg are positioned distal to the carrier (21) of the head assembly, and the gripping leg is positioned such that when no force is transmitted from the plunger to the gripping leg, the tip portion (204) of the gripping leg converges in the proximal-distal direction of the gripping device. Gripping device (1).

2. The gripping device according to claim 1, wherein the plunger (30) has a contact portion (301) intended to contact the operating portion of the gripping leg, the contact portion (301) has a tapered portion (302) that tapers toward the distal end (303) of the plunger, and at least the proximal end of the contact portion has a cross-sectional dimension greater than the clearance of the passage surrounded by the operating portion (203) of the gripping leg when no force is transmitted from the plunger to the gripping leg.

3. The gripping device according to claim 1, wherein the distal end (303) of the plunger is pointed.

4. The gripping device according to claim 1, wherein the tip portion (204) of the gripping leg is angled away from the center of the gripping device at its most distal tip portion (207), so that it converges in the proximal-distal direction to a smaller extent than the more proximal portion of the gripping leg when no force is transmitted from the plunger to the gripping leg.

5. A head assembly (20) for a gripping device according to any one of claims 1 to 4, wherein the carrier (21) comprises several flat outer mounting surfaces arranged rotationally symmetrically around the outer circumference of the carrier, and the fixing portion (201) of the gripping leg comprises a flat mounting surface that abuts against the flat outer mounting surfaces.

6. A gripping leg (24) for a gripping device according to any one of claims 1 to 4, wherein the curved portion (202) is configured to have minimum bending rigidity with respect to a moment induced by a force acting perpendicular to the plane of the curved portion, and the working portion (203) comprises a base extending between a tip portion (204) and the curved portion (202) and being integrated with the tip portion (204) and the curved portion (202), and further comprises a projection (205) originating from the base, wherein the projection protrudes from the base and preferably defines an angle of the projection between the plane of the curved portion and a connection line between the originating point of the projection and the point of the projection at the maximum distance from the base, the angle of the projection being between 5° and 85°.

7. The gripping leg according to claim 6, wherein the curved portion (202) is trapezoidal in shape and extends from the operating portion (203) toward the fixed portion (201), and the curved portion (202) is formed as a frame comprising two curved legs (208) that extend along the surface of the curved portion between the operating portion and the fixed portion.

8. The gripping leg portion according to claim 6, wherein the projection (205) is inclined toward the tip portion (204).

9. A transport system configured and adapted for transporting an object (100) between at least two positions, the transport system comprising: a gripping device (1) according to any one of claims 1 to 4; and at least one drive device configured to move the gripping device along the proximal-distal axis (2) of the gripping device and perpendicular to the proximal-distal axis of the gripping device.

10. A tray (40) for a sample handling system, wherein the tray has a top surface with a number of receiving recesses (41, 41a, 41b), and the tray (40) is provided with a coating (50), which is preferably an electronic coating (50e).

11. The tray (40) according to claim 10, wherein the cross-section of the receiving recesses (41, 41a, 41b) is at least substantially circular, and an elongated recess (42) extending radially from the receiving recesses (41, 41a, 41b) is provided.

12. a. Preferably a gripping part which is part of the transport system described in claim 9, preferably a gripping device described in any one of claims 1 to 4, b. A tray holder (60) adapted to hold the tray (40) described in claim 10, wherein the tray holder (60) preferably comprises means for reading the coding (50) of the tray (40), c. Preferably, a control device (80) for the gripping portion that is suitable for controlling the gripping portion taking into consideration the information stored in the coding (50) of the tray (40), A sample handling system equipped with the following features.

13. A sample handling system comprising a gripping device (1) according to any one of claims 1 to 4, further comprising a tray (40), wherein the tray has a top surface comprising a number of receiving recesses (41, 41a, 42) intended for and adapted to receive a sample, the cross-section of the receiving recesses being at least substantially circular, and the distance (d) between the outer rim of one receiving recess (41a) and the outer rim of the nearest adjacent receiving recess (41b) being 20% ​​or less of the diameter of the receiving recess.

14. A method for transporting an object (100) between at least two locations, wherein the method is A step of providing a gripping device (1) according to any one of claims 1 to 4, The steps include: positioning the gripping device (1) such that the proximal-distal axis (2) of the gripping device intersects with the object (100) and the distal end tip of the gripping leg portion (24) is positioned near the object; A step of moving the plunger (30) distally (D) in the gripping device, wherein the plunger (30) contacts the operating portion (203) of the gripping leg, pulling the tip portions (204) of the gripping leg apart radially, thereby causing elastic deformation of the curved portion (202) of the gripping leg, The steps include moving the gripping device (1) distally in order to position the distal tip of the gripping leg portion so as to surround the object (100) in the circumferential direction, A step of retracting the plunger (30) in the proximal direction (P), wherein the elastic restoring force of the curved portion of the gripping leg causes the gripping movement of the tip portion (204), thereby attaching the object to the gripping device, The steps include moving the gripping device together with the object attached to the gripping device to the target location, A method that includes this.

15. The method according to claim 14, comprising the steps of: positioning the object (100) at the target location; advancing the plunger (30) in the distal direction (D), wherein the plunger (30) comes into contact with the operating portion (203) of the gripping leg, pulling the tip portions (204) of the gripping leg apart radially, thereby releasing the object; and moving the gripping device in the proximal direction.

16. The method according to claim 14, comprising the step of selecting a head assembly (20) from among a number of head assemblies, wherein the head assembly is selected such that when the plunger is retracted and the tip portion contacts the object, a predetermined force is generated at the tip portion that acts radially inward by the curved portion (202) of the gripping leg portion (24).

17. The method according to claim 16, wherein the head assembly (20) is selected such that the frictional force induced by the radially inward force acting between the tip portion of the gripping leg and the object is greater than the gravity of the object.

18. The method according to claim 14, wherein the plunger (30) has a pointed distal tip (303), the object (100) is a crucible, and the method includes the step of moving the plunger (30) distally using the pointed distal tip to penetrate and perforate a lid (101) closing the crucible.

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