Systems and methods for transporting and promoting reactions of free-flowing materials - Patents.com

Abstract

Various implementations include a device for transporting a free-flowing material. The device includes a gantry, an arm, a gripper, and a tool head. The arm has a longitudinal axis, a first arm portion, a second arm portion spaced apart from the first arm portion along the arm longitudinal axis, and an intermediate arm portion disposed between the first arm portion and the second arm portion. The intermediate arm portion is rotatably coupled to the gantry. Various implementations include a reactor system. The reactor system includes a reactor core and an outer support structure. The reactor core is configured to receive one or more vessels for containing a chemical reaction.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Application No. 63 / 257,799, filed October 20, 2021, and U.S. Provisional Application No. 63 / 275,871, filed November 4, 2021, the disclosures of which are incorporated herein by reference in their entireties. [Background technology]

[0002] While the raw materials, or "precursors," in chemical reactions may have little value on their own, chemical reactors allow them to be transformed into high-value items, such as materials for life-saving pharmaceuticals and electronic components, or common consumer products such as dyes, food additives, and adhesives. Chemical reactions are typically tested on a small scale (potentially only milligrams of material) and then serially scaled up to production on the order of kilograms or tons. This small-scale testing phase of research is tedious because it involves a large amount of skilled human labor, often reducing the reproducibility of experiments. Traditional reactions also expose laboratory personnel to potentially hazardous substances and require extensive use of safety equipment.

[0003] Therefore, there is a need for a system for conducting chemical reactions via a reliable, automated process that minimizes human exposure and increases laboratory efficiency. Summary of the Invention

[0004] Various implementations include a device for transferring a free-flowing material. The device includes a gantry, an arm, a gripper, and a tool head. The arm has a longitudinal axis, a first arm portion, a second arm portion spaced from the first arm portion along the arm longitudinal axis, and an intermediate arm portion disposed between the first arm portion and the second arm portion. The intermediate arm portion is rotatably coupled to the gantry.

[0005] In some implementations, the tool is an auger, and the tool head motor is configured to rotate the auger about an auger longitudinal axis. In some implementations, the system further includes a work surface defining a surface plane. The arm is movable along an x-axis parallel to the surface plane and along a z-axis perpendicular to the surface plane. The intermediate arm portion is rotatably coupled to the gantry such that the arm longitudinal axis is perpendicular to the z-axis. In some implementations, the tool head is removably coupled to the second arm portion. In some implementations, the tool head defines one or more head coupling openings. The device further includes one or more head coupling protrusions coupled to the second arm portion. Each of the one or more head coupling protrusions is configured to be disposed in a different one of the one or more head coupling openings to removably couple the tool head to the second arm portion.

[0006] In some implementations, the one or more head coupling openings and the tool coupling portion are defined by a first head side surface of the tool head. The tool head further includes a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions. The locking plate is rotatable from a locked position to an unlocked position. The one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position. The tool head includes a guide element slidable by a ramp to move the locking plate between the locked and unlocked positions. The tool coupling portion includes a cam and thruster mechanism for coupling the tool coupling portion to the tool. The two or more fingers are axially movable along the gripper axis.

[0007] In some implementations, the system further includes a gripper actuator for axially moving the two or more fingers along the gripper axis. The gripper is movably coupled to the first arm portion by a gripper bearing such that the two or more fingers are axially movable along the gripper axis. The gripper spring has a first spring end and a second spring end opposite the first spring end. The first spring end is statically coupled to the first arm portion, and the second spring end is statically coupled to the gripper. In some implementations, the spring is a first spring, and the device further includes a second spring having a first spring end and a second spring end opposite the first spring end. The first spring end of the second spring is statically coupled to the first arm portion, and the second spring end of the second spring is coupled to the gripper. The first spring and the second spring bias the gripper in opposite directions. The two or more fingers are rotatable about the gripper axis.

[0008] In some implementations, the system further includes a work surface defining a surface plane and an uncapping station disposed on the work surface, the uncapping station including an uncapping axis and one or more uncapping fingers movable radially relative to the uncapping axis between a first position and a second position. At least two of the two or more uncapping fingers are closer to the uncapping axis at the second position than at the first position. The two or more fingers are rotatable about the uncapping axis. In some implementations, the gripper includes a worm gear, a flange nut, and a vertical displacement device. The worm gear may be coupled to the flange nut, and the flange nut is engaged with the vertical displacement device such that rotation of the worm gear causes the vertical displacement device to move each of the two or more fingers between the first position and the second position. In some implementations, the two or more fingers include four fingers.

[0009] In some implementations, the system further includes a distance sensor coupled to the second arm portion to determine a distance from the free-flowing material to the distance sensor. In some implementations, the distance sensor is coupled to the tool head. In some implementations, the distance sensor includes a time-of-flight sensor. In some implementations, the system further includes a weighing scale having a mass-sensing portion and a non-mass-sensing portion. The non-mass-sensing portion is coupled to the second arm portion, and the mass-sensing portion is coupled to the tool head.

[0010] In some implementations, the system further includes a current sensor for sensing current flow in the tool head motor and a processor in electronic communication with the current sensor and the memory, the processor executing computer-readable instructions stored in the memory that cause the processor to receive a first mass measurement from the weighing scale, energize the tool head motor to cause the tool to collect a portion of the free-flowing material, receive sensor data from the current sensor, de-energize the tool head motor, determine a time or number of motor revolutions that the tool head motor was energized, receive a second mass measurement from the weighing scale, and determine a consistency characteristic of the flow of the free-flowing material based on the time or number of motor revolutions that the tool head motor was energized, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0011] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor, wherein the first infrared communication system and the second infrared communication system each include a transmitter and a receiver.

[0012] In some implementations, the system further includes a processor in electronic communication with the memory, the processor executing computer-readable instructions stored in the memory that cause the processor to receive a first mass measurement from the weighing scale, move the arm along the z-axis so that the tool contacts the free-flowing material in the container, energize a tool head motor to cause the tool to collect a portion of the free-flowing material, de-energize the tool head motor, move the arm along the z-axis so that the tool is spaced from the free-flowing material in the container, determine a first time period or number of motor revolutions that the tool head motor was energized, receive a second mass measurement from the weighing scale, and determine a first rate of collection of the free-flowing material by the tool based on the time period or number of motor revolutions that the tool head motor was energized and a difference between the first and second mass measurements.

[0013] In some implementations, the instructions cause the processor to move the arm along the z-axis so that the tool contacts the free-flowing material in the container, energize the tool head motor to cause the tool to collect another portion of the free-flowing material, de-energize the tool head motor, move the arm along the z-axis so that the tool is spaced from the free-flowing material in the container, determine a second amount of time or number of motor revolutions that the tool head motor is energized, receive a third mass measurement from the weigh scale, and determine a second collection rate of the free-flowing material by the tool based on the second amount of time or number of motor revolutions that the tool head motor was energized and the difference between the second mass measurement and the third mass measurement.

[0014] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor. Each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver. In some implementations, the system further includes a first wireless power transmission (WPT) coil and a second WPT coil. The first WPT coil is coupled to the second arm portion, and the second WPT coil is coupled to the tool head. The first WPT coil is spaced apart from the second WPT coil and is energizable such that current flows through the second WPT coil. A battery is in electrical communication with the second WPT coil such that current flowing through the second WPT coil charges the battery. In some implementations, the first WPT coil is configured to be de-energized when the weigh scale is in use. In some implementations, a shaker is coupled to the tool head to cause vibration of the tool.

[0015] Various implementations include a weighing device. The weighing device includes a weighing scale having a mass-sensing portion and a non-mass-sensing portion, the mass-sensing portion coupled to a tool head. The weighing device further includes a first wireless power transmission (WPT) coil and a second WPT coil. The first WPT coil is coupled to the mass-sensing portion, and the second WPT coil is coupled to the non-mass-sensing portion. Furthermore, the first WPT coil is spaced apart from the second WPT coil, and the first WPT coil is energizable such that current flows through the second WPT coil to the tool head.

[0016] In some implementations, the system further includes a battery in electrical communication with the second WPT coil such that current flowing through the second WPT coil charges the battery. The first WPT coil is configured to be de-energized when the weighing scale is in use. In some implementations, the tool head includes a tool coupling portion coupleable to a tool head motor and a tool. The current flowing through the second WPT coil flows to the tool head motor.

[0017] In some implementations, the tool is an auger. The tool head motor is configured to rotate the auger about an auger longitudinal axis. The tool head is removably coupled to the mass-sensing portion. The tool head defines one or more head coupling openings. In some implementations, the device further includes one or more head coupling protrusions coupled to the mass-sensing portion. Each of the one or more head coupling protrusions is configured to be disposed within a different one of the one or more head coupling openings to removably couple the tool head to the mass-sensing portion.

[0018] In some implementations, the one or more head coupling openings and the tool coupling portion are defined by the first head side. The tool head further includes a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions. The locking plate is rotatable from a locked position to an unlocked position. The one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position.

[0019] In some implementations, the tool head includes a guide element slidable by a ramp to move the locking plate between a locked position and an unlocked position. The tool coupling portion includes a cam and thruster mechanism for coupling the tool coupling portion to the tool. In some implementations, the system further includes a distance sensor coupled to the mass sensing portion to determine a distance from the free-flowing material to the distance sensor. The distance sensor is coupled to the tool head. The distance sensor comprises a time-of-flight sensor.

[0020] In some implementations, the system further includes a current sensor for sensing current flow in the tool head motor and a processor in electronic communication with the current sensor and the memory, the processor executing computer-readable instructions stored in the memory that cause the processor to receive a first mass measurement from the weighing scale, energize the tool head motor to cause the tool to collect a portion of the free-flowing material, receive sensor data from the current sensor, de-energize the tool head motor, determine a time or number of motor revolutions that the tool head motor was energized, receive a second mass measurement from the weighing scale, and determine a consistency characteristic of the flow of the free-flowing material based on the time or number of motor revolutions that the tool head motor was energized, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0021] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor, wherein the first infrared communication system and the second infrared communication system each include a transmitter and a receiver.

[0022] In some implementations, the system further includes a processor in electronic communication with the memory that executes computer-readable instructions stored in the memory to cause the processor to receive a first mass measurement from the weighing scale, move a tool head so that the tool contacts the free-flowing material in the container, energize a tool head motor to cause the tool to collect a portion of the free-flowing material, de-energize the tool head motor, cause the tool head motor to move the tool away from the free-flowing material in the container, determine a first amount of time or number of motor revolutions that the tool head motor is energized, receive a second mass measurement from the weighing scale, and determine a first rate of collection of the free-flowing material by the tool based on the amount of time or number of motor revolutions that the tool head motor is energized and a difference between the first and second mass measurements.

[0023] In some implementations, the instructions cause the processor to move the tool head so that the tool contacts the free-flowing material in the container; energize the tool head motor to cause the tool to collect another portion of the free-flowing material; de-energize the tool head motor; move the tool head so that the tool is away from the free-flowing material in the container; determine a second amount of time or number of motor revolutions that the tool head motor is energized and receive a third mass measurement from the weigh scale; and determine a second collection rate of the free-flowing material by the tool based on the second amount of time or number of motor revolutions that the tool head motor was energized and the difference between the second and third mass measurements.

[0024] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor, wherein the first infrared communication system and the second infrared communication system each include a transmitter and a receiver.

[0025] Various implementations include a tool head removal device. The tool head removal device includes a base and a tool head. The base includes one or more head coupling protrusions. The tool head is removably coupled to the base. The tool head includes a tool head motor and a tool coupling portion that is coupleable to a tool. The tool head defines one or more head coupling openings. Each of the one or more head coupling protrusions is configured to be disposed within a different one of the one or more head coupling openings to removably couple the tool head to the base.

[0026] In some implementations, the one or more head coupling openings and the tool coupling portion are defined by a first head side of the tool head. The tool head further includes a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions. The locking plate is rotatable from a locked position to an unlocked position. The one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position.

[0027] In some implementations, the tool head includes a guide element slidable by a ramp to move the locking plate between a locked position and an unlocked position. In some implementations, the tool coupling portion includes a cam and thruster mechanism for coupling the tool coupling portion to the tool. In some implementations, the system further includes a distance sensor coupled to the base to determine a distance from the free-flowing material to the distance sensor. The distance sensor comprises a time-of-flight sensor. In some implementations, the distance sensor is coupled to the tool head to determine a distance from the free-flowing material to the distance sensor. The distance sensor comprises a time-of-flight sensor. In some implementations, the tool is an auger. The tool head motor is configured to rotate the auger about an auger longitudinal axis. In some implementations, the base is an end portion of an arm coupled to the movable positioning member. In some implementations, the system further includes a work surface defining a surface plane. The gantry includes a movable positioning member configured to move along an x-axis parallel to the surface plane. The arm is coupled to the movable positioning member. The arm is configured to move vertically along a z-axis that is perpendicular to the surface plane and rotatable about the z-axis.

[0028] In some implementations, the system further includes a weighing scale having a mass-sensing portion and a non-mass-sensing portion, the non-mass-sensing portion coupled to the base and the mass-sensing portion coupled to the one or more head coupling protrusions.

[0029] In some implementations, the system further includes a current sensor for sensing current flow in the tool head motor and a processor in electronic communication with the current sensor and the memory, the processor executing computer-readable instructions stored in the memory that cause the processor to receive a first mass measurement from the weighing scale, energize the tool head motor to cause the tool to collect a portion of the free-flowing material, receive sensor data from the current sensor, de-energize the tool head motor, determine a time or number of motor revolutions that the tool head motor was energized, receive a second mass measurement from the weighing scale, and determine a consistency characteristic of the flow of the free-flowing material based on the time or number of motor revolutions that the tool head motor was energized, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0030] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor, wherein the first infrared communication system and the second infrared communication system each include a transmitter and a receiver.

[0031] In some implementations, the system further includes a processor in electronic communication with the memory that executes computer-readable instructions stored in the memory to cause the processor to receive a first mass measurement from the weighing scale, move a tool head so that the tool contacts the free-flowing material in the container, energize a tool head motor to cause the tool to collect a portion of the free-flowing material, de-energize the tool head motor, cause the tool head motor to move the tool away from the free-flowing material in the container, determine a first amount of time or number of motor revolutions that the tool head motor is energized, receive a second mass measurement from the weighing scale, and determine a first rate of collection of the free-flowing material by the tool based on the amount of time or number of motor revolutions that the tool head motor is energized and a difference between the first and second mass measurements.

[0032] In some implementations, the instructions cause the processor to move the tool head so that the tool contacts the free-flowing material in the container; energize the tool head motor to cause the tool to collect another portion of the free-flowing material; de-energize the tool head motor; move the tool head so that the tool is away from the free-flowing material in the container; determine a second amount of time or number of motor revolutions that the tool head motor is energized and receive a third mass measurement from the weigh scale; and determine a second collection rate of the free-flowing material by the tool based on the second amount of time or number of motor revolutions that the tool head motor was energized and the difference between the second and third mass measurements.

[0033] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor, wherein the first infrared communication system and the second infrared communication system each include a transmitter and a receiver.

[0034] In some implementations, the system further includes a first wireless power transmission (WPT) coil and a second WPT coil. The first WPT coil is coupled to the base, and the second WPT coil is coupled to the tool head. The first WPT coil is spaced apart from the second WPT coil, and the first WPT coil is energizable such that current flows through the second WPT coil. In some implementations, the system further includes a battery in electrical communication with the second WPT coil such that current flowing through the second WPT coil charges the battery. The first WPT coil is configured to de-energize when the weighing scale is in use. In some implementations, the system further includes a shaker coupled to the tool head to induce vibration of the tool.

[0035] Various implementations include a tool removal device including a base, a tool, and a tool head coupled to the base, the tool head including a tool coupling portion coupleable to a tool head motor and the tool, and the tool coupling portion including a cam and thruster mechanism for coupling the tool coupling portion to the tool.

[0036] In some implementations, the tool head is removably coupled to the second arm portion. In some implementations, the tool head defines one or more head coupling openings. The device further includes one or more head coupling protrusions coupled to the base, each configured to be positioned within a different one of the one or more head coupling openings to removably couple the tool head to the base. The one or more head coupling openings and the tool coupling portion are defined by a first head side of the tool head. The tool head further includes a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions. The locking plate is rotatable from a locked position to an unlocked position. The one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position.

[0037] In some implementations, the tool head includes a guide element slidable by a ramp to move the locking plate between a locked position and an unlocked position. In some implementations, the system further includes a distance sensor coupled to the base to determine a distance from the free-flowing material to the distance sensor. In some implementations, the distance sensor includes a time-of-flight sensor. In some implementations, the distance sensor is coupled to the tool head to determine a distance from the free-flowing material to the distance sensor. In some implementations, the tool is an auger. The tool head motor is configured to rotate the auger about an auger longitudinal axis. In some implementations, the base is an end portion of an arm coupled to the movable positioning member. In some implementations, the system further includes a work surface defining a surface plane. The gantry includes a movable positioning member configured to move along an x-axis parallel to the surface plane. The arm is coupled to the movable positioning member. The arm is configured to move vertically along a z-axis perpendicular to the surface plane and rotatable about the z-axis.

[0038] In some implementations, the system further includes a weighing scale having a mass-sensing portion and a non-mass-sensing portion, the non-mass-sensing portion coupled to the base and the mass-sensing portion coupled to the tool head.

[0039] In some implementations, the system further includes a current sensor for sensing current flow in the tool head motor and a processor in electronic communication with the current sensor and the memory, the processor executing computer-readable instructions stored in the memory that cause the processor to receive a first mass measurement from the weighing scale, energize the tool head motor to cause the tool to collect a portion of the free-flowing material, receive sensor data from the current sensor, de-energize the tool head motor, determine a time or number of motor revolutions that the tool head motor was energized, receive a second mass measurement from the weighing scale, and determine a consistency characteristic of the flow of the free-flowing material based on the time or number of motor revolutions that the tool head motor was energized, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0040] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor, wherein the first infrared communication system and the second infrared communication system each include a transmitter and a receiver.

[0041] In some implementations, the system further includes a processor in electronic communication with the memory that executes computer-readable instructions stored in the memory to cause the processor to receive a first mass measurement from the weighing scale, move a tool head so that the tool contacts the free-flowing material in the container, energize a tool head motor to cause the tool to collect a portion of the free-flowing material, de-energize the tool head motor, cause the tool head motor to move the tool away from the free-flowing material in the container, determine a first amount of time or number of motor revolutions that the tool head motor is energized, receive a second mass measurement from the weighing scale, and determine a first rate of collection of the free-flowing material by the tool based on the amount of time or number of motor revolutions that the tool head motor is energized and a difference between the first and second mass measurements.

[0042] In some implementations, the instructions cause the processor to move the tool head so that the tool contacts the free-flowing material in the container; energize the tool head motor to cause the tool to collect another portion of the free-flowing material; de-energize the tool head motor; move the tool head so that the tool is away from the free-flowing material in the container; determine a second amount of time or number of motor revolutions that the tool head motor is energized and receive a third mass measurement from the weigh scale; and determine a second collection rate of the free-flowing material by the tool based on the second amount of time or number of motor revolutions that the tool head motor was energized and the difference between the second and third mass measurements.

[0043] In some implementations, the system further includes a first infrared communication system in electrical communication with the processor and a second infrared communication system coupled to and in electrical communication with the tool head motor, wherein the first infrared communication system and the second infrared communication system each include a transmitter and a receiver.

[0044] In some implementations, the system further includes a first wireless power transmission (WPT) coil and a second WPT coil. The first WPT coil is coupled to the base, and the second WPT coil is coupled to the tool head. The first WPT coil is spaced apart from the second WPT coil, and the first WPT coil is energizable such that current flows through the second WPT coil. In some implementations, the system further includes a battery in electrical communication with the second WPT coil such that current flowing through the second WPT coil charges the battery. The first WPT coil is configured to de-energize when the weighing scale is in use. In some implementations, the system further includes a shaker coupled to the tool head to induce vibration of the tool.

[0045] Various implementations include a gripping device. The gripping device includes a base, a gripper, and a gripper spring. The gripper includes two or more fingers movably coupled to the base relative to a gripper axis. The two or more fingers are movable radially relative to the gripper axis between a first position and a second position. At least two of the two or more fingers are closer to the gripper axis at the second position than at the first position. The two or more fingers are movable axially along the gripper axis. The gripper spring includes a first spring end and a second spring end opposite the first spring end. The first spring end is statically coupled to the base, and the second spring end is statically coupled to the gripper.

[0046] In some implementations, the system further includes a gripper actuator for axially moving the two or more fingers along the gripper axis, hi some implementations, the gripper is movably coupled to the base by a gripper bearing such that the two or more fingers are axially movable along the gripper axis.

[0047] In some implementations, the spring is a first spring, and the device further includes a second spring having a first spring end and a second spring end opposite the first spring end. The first spring end of the second spring is statically coupled to the base, and the second spring end of the second spring is coupled to the gripper. The first spring and the second spring bias the gripper in opposite directions. In some implementations, the two or more fingers are rotatable about a gripper axis.

[0048] In some implementations, the system further includes a work surface defining a surface plane and an uncapping station disposed on the work surface. The uncapping station includes an uncapping axis and one or more uncapping fingers movable radially relative to the uncapping axis between a first position and a second position. At least two of the two or more uncapping fingers are closer to the uncapping axis at the second position than at the first position. The two or more fingers are rotatable about the uncapping axis. In some implementations, the gripper includes a worm gear, a flange nut, and a vertical displacement device. The worm gear may be coupled to the flange nut, and the flange nut is engaged with the vertical displacement device such that rotation of the worm gear causes the vertical displacement device to move each of the two or more fingers between the first position and the second position. In some implementations, the two or more fingers include four fingers. In some implementations, the base is an end portion of an arm coupled to the movable positioning member. In some implementations, the system further includes a work surface defining a surface plane. The gantry includes a movable positioning member configured to move along an x-axis parallel to the surface plane, and an arm coupled to the movable positioning member, the arm configured to move vertically along a z-axis perpendicular to the surface plane and rotatable about the z-axis.

[0049] Various implementations include an uncapping system. The uncapping system includes a work surface defining a surface plane, a gripping device, and an uncapping station. The gripping device includes a base and a gripper. The gripper includes two or more fingers movably coupled to the base relative to a gripper axis. The two or more fingers are movable radially relative to the gripper axis between a first position and a second position. At least two of the two or more fingers are closer to the gripper axis at the second position than at the first position. The uncapping station is disposed on the work surface. The uncapping station includes an uncapping axis and one or more uncapping fingers movable radially relative to the uncapping axis between the first position and the second position. At least two of the two or more uncapping fingers are closer to the uncapping axis at the second position than at the first position. The two or more fingers are rotatable about the uncapping axis.

[0050] In other implementations, the two or more fingers are axially movable along the gripper axis. In some implementations, the system further includes a gripper actuator for axially moving the two or more fingers along the gripper axis. The gripper is movably coupled to the base by a gripper bearing such that the two or more fingers are axially movable along the gripper axis. In some implementations, the system further includes a gripper spring having a first spring end and a second spring end opposite the first spring end. The first spring end is statically coupled to the first arm portion, and the second spring end is statically coupled to the gripper.

[0051] In some implementations, the spring is a first spring, and the device further includes a second spring having a first spring end and a second spring end opposite the first spring end. The first spring end of the second spring is statically coupled to the base, and the second spring end of the second spring is coupled to the gripper. The first spring and the second spring bias the gripper in opposite directions. The two or more fingers are rotatable about the gripper axis. In some implementations, the gripper includes a worm gear, a flange nut, and a vertical displacement device. The worm gear can be coupled to the flange nut, and the flange nut is engaged with the vertical displacement device such that rotation of the worm gear causes the vertical displacement device to move each of the two or more fingers between a first position and a second position. In some implementations, the two or more fingers include four fingers.

[0052] In some implementations, the base is an end portion of an arm coupled to a movable positioning member. In some implementations, the system further includes a work surface defining a surface plane and a gantry including a movable positioning member configured to move along an x-axis parallel to the surface plane. The arm is coupled to the movable positioning member. The arm is configured to move vertically along a z-axis perpendicular to the surface plane and rotatable about the z-axis.

[0053] Various implementations include a reactor system. The reactor system includes a reactor core and an outer support structure. The reactor core is configured to receive one or more vessels for containing a chemical reaction. The reactor core includes a first core side and a second core side opposite the first core side and spaced apart from the first core side. The outer support structure includes a frame having a first frame portion, a second frame portion spaced apart from the first frame portion and opposite the first frame portion, and at least one side frame portion extending from the first frame portion to the second frame portion. The outer support structure further includes a frame longitudinal axis extending from the first frame portion to the second frame portion. The outer support structure further includes a first elastic member extending from the first frame portion to the first core side. The outer support structure further includes a second frame elastic member extending from the second frame portion to the second core side such that the reactor core is disposed between the first frame portion and the second frame portion and is interrupted by the first frame elastic member and the second frame elastic member. The outer support structure further includes at least one actuator extending from the frame to the reactor core. The actuator is movable from an extended position to a retracted position to move the reactor core radially relative to the frame longitudinal axis.

[0054] In some implementations, the two or more fingers are axially movable along the gripper axis. In some implementations, the system further includes a gripper actuator for axially moving the two or more fingers along the gripper axis. The gripper is movably coupled to the base by a gripper bearing such that the two or more fingers are axially movable along the gripper axis. In some implementations, the system further includes a gripper spring having a first spring end and a second spring end opposite the first spring end. The first spring end is statically coupled to the first arm portion, and the second spring end is statically coupled to the gripper. In some implementations, the spring is a first spring, and the device further includes a second spring having the first spring end and a second spring end opposite the first spring end. The first spring end of the second spring is statically coupled to the base, and the second spring end of the second spring is coupled to the gripper. The first spring and the second spring bias the gripper in opposite directions. In some implementations, the two or more fingers are rotatable about a gripper axis. In some implementations, the gripper includes a worm gear, a flange nut, and a vertical displacement device. The worm gear can be coupled to the flange nut, and the flange nut is engaged with the vertical displacement device such that rotation of the worm gear causes the vertical displacement device to move each of the two or more fingers between a first position and a second position. In some implementations, the two or more fingers include four fingers. In some implementations, the base is an end portion of an arm coupled to the movable positioning member. In some implementations, the system further includes a work surface defining a surface plane and a gantry including a movable positioning member configured to move along an x-axis parallel to the surface plane. The arm is coupled to the movable positioning member. The arm is configured to move vertically along a z-axis perpendicular to the surface plane and rotatable about the z-axis.

[0055] Various implementations include a reactor core. The reactor core includes a body defining a vessel opening for receiving a vessel for containing a chemical reaction. The vessel opening defines a vessel longitudinal axis. The reactor core further includes a door system. The door system includes a door, a door hinge, and a door lift. The door is for sealingly abutting a lip of an opening defined by the vessel disposed within the vessel opening. The door hinge is coupled to the door. The door lift is coupled to the door hinge such that the door is hingeable relative to the door lift by the door hinge. The door lift is configured to move the door along the vessel longitudinal axis relative to the body.

[0056] In some implementations, the container opening is a first container opening and the body defines one or more additional container openings. The door system is the first door system further comprising one or more additional door systems, each door of which is configured to sealingly abut a lip of an opening defined by a container disposed in a different one of the one or more additional container openings.

[0057] In some implementations, the system further includes a door hinge motor for causing the door hinge to hinge the door relative to the door lift, and a door lift motor for causing the door lift to move the door along the container longitudinal axis relative to the body. In some implementations, the system further includes a rack and pinion, where one of the rack or pinion is coupled to the body and the other of the pinion or rack is coupled to the door lift.

[0058] In some implementations, the door system further includes a door lock including a lock protrusion movable from a locked position to an unlocked position. The lock protrusion engages with a lock opening defined by the door to prevent hinged or movement of the door in the locked position. The lock protrusion disengages the lock opening in the unlocked position. In some implementations, the door lock further includes a lock shaft having a lock longitudinal axis. The lock protrusion extends radially from the lock shaft relative to the lock longitudinal axis. Movement of the lock protrusion is a circumferential rotation about the lock longitudinal axis.

[0059] In some implementations, the door lock further includes a lock plate defining a lock opening aligned with the container opening. The lock opening includes a retaining portion and a release portion. The retaining portion has a narrowest width that is narrower than the widest diameter of the container, and the release portion has a narrowest width that is wider than the widest diameter of the container. The retaining portion of the lock opening is aligned with the container opening in the unlocked position, and the release portion of the lock opening is aligned with the container opening in the locked position.

[0060] In some implementations, the door lock further includes a lock motor for moving the lock protrusion from the locked position to the unlocked position. In some implementations, the door lock further includes a lift lock engageable with the door lift. In the locked position, the lift lock is engaged with the door lift to prevent movement of the door along the container longitudinal axis relative to the body. In the unlocked position, the lift lock is disengaged from the door lift.

[0061] In some implementations, the system further includes an external condenser including a condensation fluid reservoir in thermal contact with the container when the container is positioned in the container opening, an external condenser inlet in fluid communication with the condensation fluid reservoir, and an external condenser outlet in fluid communication with the condensation fluid reservoir.

[0062] In some implementations, the system further includes an internal condenser comprising: a condenser coil coupled to the door such that when the door is positioned within the container opening, the condenser coil is positioned within the container when the door sealingly abuts a lip of an opening defined by the container; an internal condenser inlet in fluid communication with the condensed fluid reservoir; and an internal condenser outlet in fluid communication with the condensed fluid reservoir.

[0063] In some implementations, the system further includes one or more thermoelectric units in thermal contact with the container when the container is disposed in the container opening, hi some implementations, the system further includes a temperature sensor in thermal contact with the thermoelectric units.

[0064] In some implementations, the system further includes a heat exchanger comprising a heat exchange fluid reservoir in thermal contact with the one or more thermoelectric units, a heat exchanger inlet in fluid communication with the heat exchange fluid reservoir, and a heat exchanger outlet in fluid communication with the heat exchange fluid reservoir.

[0065] In some implementations, the system further includes a laser device configured to emit a laser through at least a portion of the container when the container is disposed within the container opening, and a photodetector for receiving the emitted laser. In some implementations, the system further includes a photo-optic circuit board for emitting light into the container when the container is disposed within the container opening. In some implementations, the photo-optic circuit board is capable of emitting light of a range of wavelengths into the container when the container is disposed within the container opening.

[0066] In some implementations, the system further includes a reactor core having a first core side and a second core side opposite the first core side and spaced apart from the first core side; and an outer support structure including a first frame portion, a second frame portion separated from the first frame portion and opposite the first frame portion, at least one side frame portion extending from the first frame portion to the second frame portion, a frame longitudinal axis extending from the first frame portion to the second frame portion, a first elastic member extending from the first frame portion to the first core side, a second frame elastic member extending from the second frame portion to the second core side such that the reactor core is disposed between the first frame portion and the second frame portion and is suspended by the first frame elastic member and the second frame elastic member, and at least one actuator extending from the frame to the reactor core. The actuator is movable from an extended position to a retracted position to move the reactor core radially relative to the frame longitudinal axis.

[0067] In some implementations, the at least one actuator comprises at least two actuators. In some implementations, the at least two actuators comprise six actuators. In some implementations, the at least one actuator comprises at least one linear actuator. In some implementations, the outer support structure comprises at least one cable coupling the at least one actuator to the reactor core.

[0068] In some implementations, the system further includes a processor in electronic communication with the at least three actuators and the memory, the processor executing computer-readable instructions stored in the memory that cause the processor to send a signal to a first actuator of the at least three actuators to move the first actuator from an extended position to a retracted position, send a signal to a second actuator of the at least three actuators to move the second actuator from an extended position to a retracted position, send a signal to the first actuator to move the first actuator from the retracted position to the extended position, send a signal to a third actuator of the third actuator to move the third actuator from the extended position to the retracted position, send a signal to the second actuator to move the second actuator from the extended position to the retracted position, and send a signal to the third actuator to move the actuator from the retracted position to the extended position.

[0069] Illustrative features and implementations of the present disclosure are disclosed in the accompanying drawings. However, the present disclosure is not limited to the precise arrangements and instrumentalities shown. Similar elements in different implementations are designated using the same reference numerals. [Brief explanation of the drawings]

[0070] [Figure 1] FIG. 1 is a perspective view of an automated system for performing chemical reactions. [Figure 2] FIG. 1 is a perspective view of a transfer device. [Figure 3] FIG. 10 is a profile diagram of a gripper. [Figure 4] FIG. 10 is a perspective view of the uncapping station. [Figure 5] FIG. 1 is a perspective view of a tool head. [Figure 6] FIG. 10 is a perspective view of the underside of the tool head. [Figure 7] FIG. 2 is a cross-sectional view of a tool head. [Figure 8] Show alternative tool options. [Figure 9] FIG. [Figure 10] FIG. 2 is a perspective view of a tool head tray. [Figure 11] FIG. 1 is a perspective view of a reactor system. [Figure 12] FIG. 1 is a perspective view of a reactor core. [Figure 13] FIG. 1 shows a detailed view of a portion of the reactor core. [Figure 14] 1 shows a detailed view of a portion of the door system. [Figure 15] FIG. 1 shows a perspective view of a locking element of the reactor core. [Figure 16] 1 shows a cross section of the reactor core. [Figure 17] 1 shows a cross section of the reactor core. [Figure 18] 1 shows the reactor core heating and cooling system. [Figure 19] 10 illustrates a variation of an outer core having a support structure. [Figure 20] 1 shows a variation of the reactor core and door system. [Figure 21] 1 shows a variation of the reactor core and door system. [Figure 22] 1 shows a variation of the reactor core and door system. [Figure 23] 1 shows a variation of the reactor core and door system. [Figure 24a] 1 illustrates steps in the functioning of the cam and thruster mechanism. [Figure 24b] 1 illustrates steps in the functioning of the cam and thruster mechanism. [Figure 24c] 1 illustrates steps in the functioning of the cam and thruster mechanism. [Figure 24d] 1 illustrates steps in the functioning of the cam and thruster mechanism. [Figure 24e] 1 illustrates steps in the functioning of the cam and thruster mechanism. [Figure 24f] 1 illustrates steps in the functioning of the cam and thruster mechanism. [Figure 25a] 1 shows a solid dispensing pipette. [Figure 25b] 1 shows a solid dispensing pipette. [Figure 25c] 1 shows a solid dispensing pipette. [Figure 25d] 1 shows a solid dispensing pipette. DETAILED DESCRIPTION OF THE INVENTION

[0071] Disclosed herein are devices, systems, and methods for transferring free-flowing materials (such as powdered solids) between containers. In various implementations, the devices, systems, and methods are also (or alternatively) configured to automatically perform chemical reactions, such as organic and inorganic chemical reactions. Various implementations of the devices, systems, and methods disclosed herein can be used, for example, to provide robotic handling of solid pharmaceuticals in laboratory automation systems.

[0072] According to various implementations, the systems disclosed herein may include a device for transferring a free-flowing material. The device includes a gantry having a movable positioning member, an arm coupled to the movable positioning member, and a gripper and a tool head, each supported by the arm. In various implementations, the device is configured such that the arm can move laterally (e.g., along the x-axis), vertically (e.g., along the z-axis), and rotationally (e.g., about the z-axis). In various implementations, the device is configured to transfer the free-flowing material between containers (e.g., the gripper is configured to facilitate opening of the container, and the tool head is configured to withdraw (and deposit) material from (or into) the container).

[0073] In various implementations, the system may further include a metering device for metering the free-flowing material drawn by the tool. The metering device includes a mass-sensing portion coupled to the tool head and a non-mass-sensing portion coupled to the arm. In various implementations, the mass-sensing portion is separated from the remainder of the arm so that accurate measurements (e.g., mass of the medicament powder) can be made. The metering device includes two wireless power transmission (WPT) coils spaced apart from each other. In some implementations, the WPT coils are used to power the tool on the tool head while maintaining separation of the mass-sensing portion.

[0074] In various implementations, the system may further include a tool head removal device for switching tool heads. The tool head includes two openings that engage with two protrusions on a base structure connected to the arm. Each protrusion is configured to slide and lock into an opening on the tool head. In various implementations, the tool head can be removed or added to the arm via the protrusions by clicking and locking into place.

[0075] In various implementations, the system may further include a tool removal device. A tool head attached to the arm is configured to engage different tools located underneath the tool head. The tool head includes a coupling portion with a cam and thruster mechanism for engaging the various tools. In various implementations, the tool head can grasp different tools and lock them in place, or automatically swap tools (e.g., remove an auger tool and grasp a tweezers tool).

[0076] In various implementations, the system may further include a gripping device. The gripping device includes four fingers arranged around a base configured to facilitate opening of the medication container. The fingers move radially inward to grasp the lid of the container. In various implementations, the gripping device includes slidable engagement with an arm and two oppositely oriented springs. During use, the fingers hold the cap and rise or fall as the cap is loosened or screwed onto the medication container.

[0077] In various implementations, the system can further include an uncapping system. The uncapping system is disposed on the work surface and configured to hold the bottom of the medication container. In various implementations, the uncapping system includes four radially movable fingers to grip the medication container. The base and fingers of the uncapping system then rotate the medication container (also held by the gripping device) to remove or attach the lid.

[0078] Further disclosed herein are devices, systems, and methods for automatically conducting chemical reactions. According to various implementations, a reactor system for automatically conducting chemical reactions is disposed on a work surface. The reactor system includes a reactor core and an outer support structure.

[0079] In various implementations, the reactor system can include a reactor core. The reactor core can receive one or more vessels, each of which can receive free-flowing material from the tool. In various implementations, the reactor core can further include a door system that seals each vessel to contain a chemical reaction. The door system can allow various sensors and heat exchange elements to communicate with the interior of the vessel during the chemical reaction.

[0080] In various implementations, the reactor system can include an outer support structure surrounding the reactor core. The support structure suspends the reactor core on springs and holds it in place within a support structure frame. In various implementations, a series of actuators can be attached to the outer support structure to move the reactor core in a desired direction. In various implementations, the actuators rock or rotate the reactor core to mix the chemicals in the vessel.

[0081] 1 illustrates a system 1000 for transporting free-flowing materials and performing chemical reactions, according to one implementation. As shown in FIG. 1, the system 1000 includes an enclosure 1100 that houses a transfer device 1002 (shown in FIG. 2), an uncapping station 1500 (shown in FIG. 4), a tool magazine 1700 (shown in FIG. 9), and a reactor 1800 (shown in FIG. 11).

[0082] 1 , the enclosure 1100 includes four walls 1102 and two doors 1104 that define an interior volume. The enclosure 1100 further includes four casters 1106 disposed on a bottom portion of the enclosure 1100. The interior volume of the enclosure includes a work surface 1108 that defines a surface plane 1110. The enclosure 1100 further includes a control panel 1112 configured to operate the system 1000.

[0083] 1 shows transparent walls 1102, in some implementations, the walls 1102 may be constructed from any material suitable for enclosing (partially or completely) the features of the system 1000. While FIG. 1 shows four walls 1102, two doors 1104, and four casters 1106, in some implementations, other numbers of walls 1102, doors 1104, and casters 1106 may be included.

[0084] In some implementations, the enclosure 1100 is configured to be sealed when the door 1104 is closed. In such implementations, a sealed drug container can be placed within the enclosure 1100 (e.g., a manufacturer's seal can be attached to the drug container), the enclosure door 1104 can be closed, and the sealed enclosure 1100 can be filled (or flushed) with an inert gas (e.g., purified argon gas). Thus, a first instance of opening a drug container can occur within the sealed enclosure 1100. In some implementations, the enclosure includes a gas sensor and / or humidity sensor that detects the composition of the gas within the enclosure 1100 (e.g., to detect leaks) and a humidity sensor that detects moisture. In some implementations, the door 1104 includes a locking mechanism configured to lock the door 1104 in a closed position (e.g., to restrict human access to the interior of the enclosure 1100 during use).

[0085] As shown in Figure 1, the transfer device 1002 is disposed within the interior volume (eg, within the confines of the wall 1102) of the enclosure 1100. Figure 2 illustrates the transfer device 1002 according to one implementation.

[0086] In the illustrated implementation of FIG. 2 , the transfer device 1002 comprises a gantry 1200, an arm 1300, a gripper 1400, and a tool head 1600. The gantry 1200 includes a movable positioning member 1250 configured to move laterally along an x-axis 1202 (e.g., parallel to the surface plane 1110). The gantry 1200 further includes a horizontal rail 1204 oriented along the x-axis 1202 to facilitate movement of the positioning member 1250 along the x-axis 1202. As shown in FIG. 2 , a distal end of the horizontal rail 1204 is fixed to a support member 1205. In the illustrated embodiment, the support member 1205 is oriented perpendicular to the horizontal rail 1204 (e.g., along the y-axis relative to the x-axis 1202). A first linear bearing set 1206 (of the positioning member 1250) slidably engages the horizontal rail 1204. The gantry 1200 further includes a rack and pinion mechanism 1208 configured to drive the positioning member 1250 along the rail 1204 (e.g., along the x-axis). In the illustrated implementation, a servo motor 1210 drives the rack and pinion mechanism 1208.

[0087] As shown in FIG. 2 , the positioning member 1250 defines a vertical z-axis 1212 (e.g., perpendicular to the surface plane 1110). The positioning member 1250 includes a vertical adjustment device 1260 oriented along the z-axis 1212. The vertical adjustment device 1260 includes several vertical rails 1214 disposed along the z-axis 1212. A second linear bearing set 1216 slidably engages the vertical rails 1214. A worm gear mechanism 1218 drives the vertical adjustment device 1260 along the z-axis 1212. In the illustrated implementation, a servo motor 1220 drives the worm gear mechanism 1218. A rotary engagement mechanism 1222 is disposed on a bottom portion 1224 of the positioning member 1250. The rotary engagement mechanism 1222 is rotatably connected to the vertical adjustment device 1260 so as to rotate about the z-axis 1212. In the illustrated implementation, the servo motor 1230 drives the rotary engagement mechanism 1222 (eg, such that the rotary engagement mechanism 1222 rotates about the z-axis 1212).

[0088] In the illustrated implementation, the positioning member 1250 and arm 1300 (including the gripper 1400 and tool head 1600) are suspended above the work surface 1108 by the horizontal rail 1204 (e.g., such that the arm 1300 sits above and is spaced apart from the work surface 1108). The positioning member 1250 is engaged with the horizontal rail 1204 such that the positioning member 1250 is movable laterally along the x-axis 1202, and the vertical adjustment device 1260 is engaged with the vertical rail 1214 such that the vertical adjustment device 1260 is movable vertically along the z-axis 1212.

[0089] 2 illustrates the horizontal rail 1204 such that the positioning member 1250 can move along the x-axis 1202, in some implementations, the positioning member 1250 is further configured to move along the y-axis (e.g., in a direction perpendicular to each of the x-axis and z-axis). For example, in certain implementations, the horizontal rail 1204 is slidably connected to the support member 1205 such that the positioning member 1250 is configured to be driven along the y-axis (e.g., by a servo motor driving a rack and pinion device).

[0090] 2 also shows an arm 1300 according to one implementation. The arm 1300 defines an arm longitudinal axis 1302, a first arm portion 1304, a second arm portion 1306, and an intermediate arm portion 1308. The second arm portion 1306 is spaced apart from the first arm portion 1304 along the arm longitudinal axis 1302. The intermediate arm portion 1308 is disposed between the first arm portion 1304 and the second arm portion 1306. The intermediate arm portion 1308 is rotatably coupled to the positioning member 1250 via the rotational engagement mechanism 1222 such that the arm longitudinal axis 1302 is perpendicular to the z-axis 1212.

[0091] 2 also shows the gripper 1400 and tool head 1600, according to one implementation. Both the gripper 1400 and the tool head 1600 are coupled to the arm 1300, such that the entire arm 1300 can rotate (e.g., about the z-axis 1212) above the work surface 1108. Through lateral movement of the positioning member 1250 (e.g., along the x-axis 1202), vertical movement of the vertical adjustment device 1260 (e.g., along the z-axis 1212), and rotational movement of the rotational engagement mechanism 1222 (e.g., about the z-axis 1212), the gripper 1400 and the tool head 1600 can each be moved to a desired position within the enclosure 1100.

[0092] 3 shows a profile view of a gripper 1400 according to one implementation. The gripper 1400 is configured to open and close containers disposed on a work surface 1108 within the enclosure 1100. In the illustrated implementation, the gripper 1400 is movably coupled to the first arm portion 1304 such that the first arm portion 1304 serves as a base for the gripper 1400. The gripper 1400 defines a gripper shaft 1402, four fingers 1404, a gripper actuator 1406, a worm gear 1408, a first gripper spring 1410, a second gripper spring 1416, and a gripper bearing 1422.

[0093] The four fingers 1404 are movable radially relative to the gripper axis 1402 between a first position and a second position such that the fingers 1404 are closer to the gripper axis 1402 in the second position than in the first position. The gripper actuator 1406 causes the fingers 1404 to move radially (inward or outward) relative to the gripper axis by engaging a worm gear 1408 with a flange nut and a vertical displacement device to move the fingers 1404 between the first position and the second position.

[0094] Gripper 1400 is configured to precisely remove and install lids on medication containers. In the illustrated implementation, gripper 1400 includes a first gripper spring 1410 and a second gripper spring 1416. First gripper spring 1410 has a first spring end 1412 and a second spring end 1414. First spring end 1412 is statically coupled to first arm portion 1304, and second spring end 1414 is statically coupled to gripper 1400.

[0095] The second gripper spring 1416 has a first spring end 1418 and a second spring end 1420. The first spring end 1418 is statically coupled to the first arm portion 1304, and the second spring end 1420 is statically coupled to the gripper 1400. The first gripper spring 1410 and the second gripper spring 1416 are oppositely biased. The opposite bias of the springs 1410, 1416 allows the lid to move up and down along the gripper axis 1402 as the lid is opened and closed.

[0096] The gripper 1400 is movably coupled to the first arm portion 1304 such that the gripper bearing 1422 slidably engages the first arm portion 1304. Thus, the gripper 1400 can move in a direction along a gripper axis 1402. While FIG. 3 shows the gripper 1400 as being slidable along the gripper axis 1402, in some implementations, the gripper 1400 can also be configured to rotate about the gripper axis 1402 (e.g., driven by an actuator that rotates the gripper 1400 about the axis 1402).

[0097] In some implementations, the gripper 1400 and gripper springs 1410 and 1416 may be preloaded or pretensioned in a direction that facilitates removal or placement of the lid on the drug container. The preloading action may be accomplished, for example, by: i) the gripper fingers 1404 engage the lid; ii) the positioning member 1250 translates in the z-direction a distance less than the height of the lid; iii) one or both of the gripper 1400 and the decapping station 1500 rotate to remove or place the lid; and iv) the gripper 1400 translates in the z-direction on the first arm portion 1304 and gripper bearings as the lid moves up or down along the lid threads. In some implementations, the translation direction of the positioning member 1250 and the resulting bias of the gripper springs 1410 and 1416 may be varied depending on the size of the lid and the operation (lid removal or placement) being performed. In some implementations, a gripper actuator attached to the gripper 1400 is configured to preload or pretension the spring by moving the gripper along the gripper bearing to load the spring.

[0098] 3 shows four fingers 1404, in some implementations, the gripper 1400 may include as few as two fingers 1404. In some implementations, the gripper 1404 may include three fingers 1404 or more than four fingers 1404, for example, five, six, or eight fingers 1404.

[0099] 4 shows an uncapping station 1500 according to one implementation. The uncapping station 1500 works in conjunction with the gripper 1400 to remove or place a lid on a drug container. The uncapping station 1500 is positioned on the work surface 1108 so that a drug container can be placed in the uncapping station 1500 for lid removal or installation. The uncapping station 1500 defines an uncapping axis 1502 and four uncapping fingers 1504. The uncapping fingers 1504 are radially movable relative to the uncapping axis 1502 between a first position and a second position such that the uncapping fingers 1504 are at the first position and closer to the uncapping axis 1502 at the second position. The uncapping fingers 1504 are rotatable about the uncapping axis. In this manner, gripper 1400 is configured to grip the lid of a drug container while uncapping station 1500 rotates the drug container. In some implementations, either gripper 1400 or uncapping station 1500 (or both) can be configured to rotate.

[0100] In some implementations, the drug container remains sealed when placed within the sealed enclosure (e.g., the container retains the manufacturer's seal). In some implementations, when the container's seal is first broken, it occurs within the enclosure, isolated from human contact or exposure to atmospheric oxygen or moisture. Thus, potentially harmful drugs are isolated in the enclosure for the duration of the experiment, but humans can remain isolated outside the enclosure for the duration of the experiment.

[0101] In some implementations, a wide range of drug container shapes and sizes can be opened and closed with the gripper and uncapping station. For example, the movable fingers of the gripper 1400 and uncapping station 1500 allow for opening and closing containers of various depths, heights, radii, circumferences, and overall shapes. Thus, in some implementations, the gripper 1400 and uncapping station 1500 are configured to fit the shape of a given drug container.

[0102] On the opposite side of the arm 1300 from the gripper 1400 is a tool head 1600. The tool head 1600 is configured to manipulate material locations within a drug container or elsewhere within the enclosure 1100. FIGS. 5-7 show the tool head 1600 according to one implementation. The tool head 1600 is removably coupled to the second arm portion 1306, such that the second arm portion 1306 serves as a base for the tool head 1600. The tool head 1600 includes a tool head motor 1602 (shown in FIG. 7), a head coupling opening 1604, a head coupling protrusion 1606, a rotatable locking plate 1608, a tool coupling portion 1612 (shown in FIG. 6), a tool 1620, a weighing scale 1630, a processor 1640, a memory 1650, and a first wireless power transmission coil 1670 (shown in FIG. 7).

[0103] The tool head 1600 shown in Figures 5 and 6 includes two head coupling openings 1604 and two head coupling protrusions 1606 coupled to the second arm portion 1306. A head coupling protrusion 1606 is configured to be disposed within each of the head coupling openings 1604 on a first side of the tool head to removably couple the tool head 1600 to the second arm portion 1306. A rotatable locking plate 1608 defines two plate openings 1610 sized to receive the head coupling protrusions 1606. Within the tool head 1600 adjacent to the rotatable locking plate 1608 is a guide element slidable by a ramp. The guide element and ramp engage the head coupling protrusions 1606 to move the locking plate 1608 between a locked position and an unlocked position.

[0104] The rotatable locking plate 1608 is rotatable from a locked position to an unlocked position such that the head coupling projection 1606 is prevented from moving through, into, or out of the plate opening 1610. Thus, the tool head 1600 can be exchanged for another tool head 1600 depending on the activity required at the time.

[0105] The tool coupling portion 1612 is coupleable to a tool 1620. The tool coupling portion 1612 includes a cam and thruster mechanism 1614 for coupling the tool coupling portion 1612 to the tool 1620. The tool 1620 is an auger configured to pick up the free-flowing material 9000. The tool head motor 1602 drives the auger to rotate about an auger longitudinal axis 1622. Additionally, a shaker 1676 is coupled to the tool head 1600 for inducing vibrations in the tool 1620.

[0106] 5-7 show an auger, in some implementations, tool 1620 is any other solid material handling tool, such as, for example, tweezers or a vial mini-gripper, and tool head motor 1602 drives the tips of the tweezers or vial mini-gripper together or apart. An example of an alternative implementation of a tool including a tweezers tool and a vial gripper is shown in FIG.

[0107] In various implementations, the tool 1620 can be a liquid material handling tool. While Figures 5-7 show an auger, in some implementations, the tool 1620 is any other liquid material handling tool, such as a liquid pipette module. In some implementations, the tool head 1600 is a liquid material handling tool, such as a liquid pipetting module. In various implementations, either the tool 1620 or the tool head 1600 is a liquid material handling device that includes a syringe. In some implementations, the tool head and tool head motor are configured to engage the syringe to push and / or pull the plunger of the syringe to withdraw or expel a viscous liquid.

[0108] Additionally, tool 1620, in some implementations, is an electrostatic pickup tool for obtaining milligram quantities of free-flowing material. Examples of electrostatic pickup tools according to various implementations can be found as described with reference to at least FIGS. 6-7 of U.S. Patent No. 6,948,537 ("Systems and methods for collecting a particulate substance"). In various implementations, tool head 1600 is configured to be in electrical contact with tool 1620 (e.g., to engage with the electrostatic pickup tool).

[0109] 5-7 can include a different number of head coupling openings 1604 and head coupling protrusions 1606. For example, implementations can use one, three, or four different head coupling openings 1604 and head coupling protrusions 1606. Similarly, the rotatable locking plate 1608 can define a different number of plate openings 1610 in various implementations.

[0110] 5 further illustrates a weigh scale 1630, according to one implementation. The weigh scale 1630 includes a mass-sensing portion 1632 coupled to the tool head 1600, a non-mass-sensing portion 1634 coupled to the second arm portion 1306, and a current sensor 1636 for sensing current flow in the tool head motor 1602. The weigh scale 1630 and the mass-sensing portion 1632 are separated so that weight measurements can be collected automatically without wires or other materials affecting the weigh scale 1630 on the tool head 1600.

[0111] The tool head 1600 and weighing scale 1630 further include a processor 1640 and a memory 1650 , where the processor 1640 executes computer readable instructions 1642 stored in the memory 1650 . The instructions cause the processor 1640 to: i) receive a first mass measurement from the weighing scale 1630; ii) energize the tool head motor 1602 to cause the tool 1620 to collect a portion of the free-flowing material 9000; iii) receive sensor data from the current sensor 1636; iv) de-energize the tool head motor 1602; v) determine the time or number of motor revolutions the tool head motor 1602 was energized; vi) receive a second mass measurement from the weighing scale 1630; and vi) determine a flow consistency characteristic of the free-flowing material 9000 based on the time or number of motor revolutions the tool head motor 1602 was energized, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor 1636.

[0112] The processor 1640 of Figures 5-7 executes the instructions 1642 as described above, however, in some implementations, the processor 1640 executes different instructions 1642 as described elsewhere, for example, by calculating the collection rate of the free-flowing material.

[0113] In various implementations, the system 1000 includes a first infrared communication system 1660 in electrical communication with the processor 1640 and coupled to and in electrical communication with the tool head motor 1602. In various implementations, the system 1000 includes a second infrared communication system 1662 coupled to and in electrical communication with the tool head motor 1602. In some implementations, the first infrared communication system 1660 and the second infrared communication system 1662 include a transmitter and a receiver.

[0114] 7 further includes a first wireless power transmission (WPT) coil 1670 coupled to the second arm portion 1306, according to one implementation. A second WPT coil 1672 is coupled to the tool head 1600, and the first WPT coil 1690 is spaced apart from the second WPT coil 1672. The first WPT coil 1670 is energizable, causing current to flow through the second WPT coil 1672. Additionally, a battery 1674 is in electrical communication with the second WPT coil 1672 such that the battery 1674 is charged.

[0115] 5-7 may include a distance sensor 1624 coupled to the tool head 1600 or the second arm portion 1306. The distance sensor 1624, which may be a time-of-flight sensor, determines a distance from the free-flowing material 9000 to the distance sensor 1624. In various implementations, the distance sensor 1624 may be configured to relay the distance information to the processor 1640. In various implementations, the processor 1640 may move the movable positioning member 1250 in the z-direction depending on the distance between the tool 1620 and the free-flowing material 9000.

[0116] A tool (e.g., an auger) collects material from the drug container, but the material is removed from the space immediately around the tip of the tool 1620. In various implementations, the positioning member 1250 lowers the tool 1620 (e.g., an auger) into the free-flowing material 9000 to collect a consistent density of the free-flowing material 9000. In various implementations, the tool is lowered into the free-flowing material such that the tool pushes up against a spring that acts like a shock absorber (see the description of the cam and thruster mechanism below). The shock-absorbing action of the tool and a portion of the tool head creates a consistent pressure on the tool so that a consistent density of material can be collected. For example, a consistent material density in the auger ensures more accurate measurements for timing operations performed by the weighing scale and processor, resulting in improved weighing accuracy of the system.

[0117] In various implementations, the tool may collect free-flowing material from one drug container in multiple iterations. The free-flowing material may be at an inconsistent height. In various implementations, the processor is configured to execute instructions such that the gripper moves the drug container onto an uncapping station after a set number of material collection operations. In some implementations, the uncapping station may rotate or rock the drug container at an angular velocity and / or angular acceleration sufficient to eliminate inconsistencies in the free-flowing material (e.g., smooth the powder surface within the drug container).

[0118] As mentioned above, the tools 1620 may be swapped out based on current activity or need. Figure 9 shows a tool magazine 1700 according to one implementation. The tool magazine 1700 includes an array of slots 1702 for receiving and holding tools 1620 when not coupled to the tool coupling portion 1612 of the tool head 1600. The tool head 1600 moves towards the tool head magazine 1700 and connects and / or disconnects the tools 1620 from the tool coupling portion 1612 via the cam and thruster mechanism 1614 present in each tool 1620 and each slot 1702.

[0119] As mentioned above, the tool heads 1600 can be swapped based on current activity or need. Figure 10 shows a tool head tray 1710 according to one implementation. The tool head tray 1710 includes an array of stations 1712 for receiving and holding the tool heads 1600 when not coupled to the second arm portion 1306 via the head coupling openings 1604. The second arm portion 1306 moves toward the tool head tray 1710 to connect and / or disconnect the tool heads 1600 from the second arm portion 1306 via the head coupling openings 1604 and the head coupling protrusions 1606.

[0120] Disposed on the work surface 1108 is a reactor system 1800. The tool head 1600 is configured to deposit and / or remove material from the reactor system 1800 to carry out a chemical reaction. Thus, the tool head 1600 moves around and above the reactor system 1800 within the enclosure 1100, while the reactor system 1800 remains stationary on the work surface 1108.

[0121] 11 shows a reactor system 1800 according to one implementation. The reactor system 1800 includes an outer support structure 1810 and a reactor core 1800. The outer support structure 1810 includes a frame 1812 having a first frame portion 1814 and a second frame portion 1816 spaced apart from the first frame portion 1814. The outer support structure 1810 further includes a side frame portion 1818 extending from the first frame portion 1814 to the second frame portion 1816. A frame longitudinal axis 1820 extends from the first frame portion 1814 to the second frame portion 1816.

[0122] Two elastic members are attached to the reactor core 1900 so that the entire reactor core 1900 can translate, swing, rotate, or tilt at certain points during the chemical reaction, effectively providing mechanical force to the chemical reaction. As shown in FIG. 11 , a spring 1822 extends from the first frame portion 1814 to the first core side 1902 (thereby acting as the first elastic member). As shown in FIG. 11 , a spring 1824 extends from the second frame portion 1816 to the second core side 1904 (thereby acting as the second elastic member) so that the reactor core 1900 is disposed between the first frame portion 1814 and the second frame portion 1816 and is suspended by the first elastic member 1822 and the second elastic member 1824.

[0123] 11 further includes six actuators 1826 extending from the frame 1812 to the reactor core 1900. Each actuator 1826 is movable from an extended position to a retracted position to move the reactor core 1900 radially relative to the frame longitudinal axis.

[0124] 11 further includes a processor in electronic communication with the actuator 1826 and the memory, the processor executing computer-readable instructions stored in the memory.

[0125] These instructions cause the processor to send signals to each of actuators 1826a, 1826b, and other actuators not shown. The signals are sent in rapid succession to move or create the reactor core via actuator 1826. In Figure 11, the net result of these instructions and actions is that the reactor core moves in a circular motion about its central axis.

[0126] 11 includes six actuators 1826, in other implementations there are fewer actuators, for example, one or two actuators configured to rock the reactor core 1900 back and forth. In other implementations there are three or four actuators configured to move the reactor core 1900 radially relative to the frame longitudinal axis 1820. In other implementations there are five, seven, or eight actuators. In some implementations, cable bonds are included to connect the actuators to the outer support structure 1810.

[0127] While the actuator 1826 shown in FIG. 11 is configured to rock the reactor core 1900 in the x-y plane, in some implementations, the reactor core can be rocked in the x-, y-, and z-directions. An exemplary implementation is shown in FIG. 19, in which the reactor core 1900 can be tilted at a variable angle θ relative to the z-axis. In various implementations, as shown in FIG. 19, the second resilient member (or “lower spring”) member can be removed to allow the reactor core to tilt at an angle relative to the z-axis. The deformation including the lower spring can be referred to as the “rocking mode,” while the deformation in which the lower spring is disengaged can be referred to as the “centrifugal mode.” In some implementations, the lower spring can be automatically tightened or loosened (engaged or disengaged) to switch between rocking mode and centrifugal mode (e.g., by a solenoid at the bottom of the outer support structure).

[0128] The reactor core 1900 includes a first core side 1902, a second core side 1904, a body 1906, a vessel opening 1908, a door system 1920 (shown in FIG. 12 ), an external condenser 1960, an internal condenser 1970, a thermoelectric unit 1980 (shown in FIGS. 16-18 ), and a laser device 1990. According to one implementation, the reactor core 1900 is configured to receive four vessels, or simply “vessels,” 1950, for containing chemical reactions 1950. The body 1906 defines vessel openings 1908 for receiving the vessels 1950. The vessel openings 1908 define a vessel longitudinal axis 1910.

[0129] The door system 1920 effectively covers and seals each of the containers 1950 so that chemical reactions can be performed, controlled, and analyzed. The door system 1920 of Figures 12-17 includes a door 1922 for sealingly abutting a lip 1952 of an opening 1954 defined by the container 1950 disposed within the container opening 1908. The door system 1920 further includes a door hinge 1924 coupled to the door 1922 and a door lift 1926 coupled to the door hinge 1924 such that the door 1922 is hingeable relative to the door lift 1926 by the door hinge 1924. The door lift 1926 is configured to move the door 1922 along the container longitudinal axis 1910 relative to the body 1906. The door system 1920 further includes a door hinge motor 1928 for causing the door hinge 1924 to hinge the door 1922 relative to the door lift 1926. A door lift motor 1930 causes the door lift 1926 to move the door 1922 along the container longitudinal axis 1910 relative to the body 1906. A rack and pinion mechanism 1932 is coupled to the body 1906 and coupled to the door lift 1926.

[0130] The door system 1920 of Figures 11-17 further includes a door lock 1934 including a lock protrusion 1936 movable from a locked position to an unlocked position. The lock protrusion 1936 is engaged with a lock opening 1938 defined by the door 1922 to prevent hinging or movement of the door 1922 in the locked position, as seen in Figures 11-14. The lock protrusion 1936 is disengaged from the lock opening 1938 in the unlocked position.

[0131] The door lock 1934 further includes a lock shaft 1940 having a lock longitudinal axis 1941. As seen in FIG. 13 , a lock protrusion 1936 extends radially from the lock shaft 1940 relative to the lock longitudinal axis 1941. Movement of the lock protrusion 1936 is a circumferential rotation about the lock longitudinal axis 1941. The lock plate 1942 defines a receptacle lock opening 1944 aligned with the receptacle opening 1908, as seen in FIG. 15 . The receptacle lock opening 1944 includes a retaining portion 1946 and a release portion 1948. The retaining portion 1946 has a narrowest width that is narrower than the widest diameter of the receptacle 1950, and the release portion 1946 has a narrowest width that is wider than the widest diameter of the receptacle 1950. The retaining portion 1946 of the container lock opening 1944 is aligned with the container opening 1908 in the unlocked position, and the release portion 1948 of the container lock opening 1944 is aligned with the container opening 1908 in the locked position. A lock motor 1949 moves the lock protrusion 1936 from the locked position to the unlocked position. In some implementations, the lock plate 1942 with the retaining portion 1946 holds the container in place while the door system (or other container lid or cover) is removed.

[0132] The door lock 1934 further includes a lift lock 1949 engageable with the door lift 1926. In the locked position, the lift lock 1949 is engaged with the door lift 1926 to prevent movement of the door 1922 along the container longitudinal axis 1910 relative to the body 1906. In the unlocked position, the lift lock 1949 is disengaged from the door lift 1926.

[0133] Reactor core 1900 can also control the temperature of the chemical reaction within vessel 1950. In Figures 16-17, reactor core 1900 further includes an external condenser 1960, according to one implementation. External condenser 1960 includes a condensed fluid reservoir 1962 in thermal contact with vessel 1950 when the vessel is positioned in vessel opening 1908. External condenser 1960 further includes an external condenser inlet 1964 in fluid communication with condensed fluid reservoir 1962 and an external condenser outlet 1966 in fluid communication with condensed fluid reservoir 1962.

[0134] 16-17 , reactor core 1900 further includes an internal condenser 1970, according to one implementation. Internal condenser 1970 includes a condenser coil 1972 coupled to door 1922 such that, when vessel 1950 is disposed within vessel opening 1908, condenser coil 1972 is disposed within vessel 1950 when door 1922 sealingly abuts lip 1952 of opening 1954 defined by vessel 1950. Internal condenser inlet 1974 is in fluid communication with condensed fluid reservoir 1962, and internal condenser outlet 1976 is in fluid communication with condensed fluid reservoir 1962.

[0135] 16-18 , reactor core 1900 includes a thermoelectric unit 1980, according to one implementation. Thermoelectric unit 1980 is in thermal contact with vessel 1950 when vessel 1950 is positioned within vessel opening 1908. Additionally, temperature sensor 1982 is in thermal contact with thermoelectric unit 1980. Reactor core 1900 further includes a heat exchanger 1984 including a heat exchange fluid reservoir 1986 in thermal contact with thermoelectric unit 1980. A heat exchanger inlet 1988 and a heat exchanger outlet 1989 are both in fluid communication with the heat exchange fluid reservoir.

[0136] Although the thermoelectric unit 1980 in FIGS. 16-18 is a Peltier device, in some implementations the thermoelectric unit is a resistive heater or any other heating device.

[0137] The reactor core 1900 of Figures 16-17 includes a laser device 1990, according to one implementation. The laser device 1990 emits a laser 1991 through a portion of the container 1950 when the container 1950 is placed in the container opening 1908. A photodetector 1992 is positioned to receive the emitted laser 1991. A photo-optic circuit board 1994 emits light into the container 1950 when the container is placed in the container opening 1908. The photo-optic circuit board 1994 can emit light in a range of wavelengths within the container 1950. Various implementations include multiple lasers 1991 and photodetectors 1992, one for each container 1950. For example, two, three, four, five, eight, or ten containers 1950 may be included. For example, two, or three, or four, or five, or eight, or ten lasers 1991 and photodetectors 1992 may be included in more or fewer containers 1950 as well.

[0138] Although reactor core 1900 includes four vessels 1950, other implementations have other numbers of vessels. For example, a single vessel, two vessels, three vessels, five vessels, ten vessels, or twenty vessels may be placed within a corresponding number of vessel openings in the reactor core. Additionally, the number of corresponding doors may correspond to different numbers of vessels in various implementations.

[0139] In various implementations, a high-pressure reactor core 3900 can be provided as shown in FIGS. 20-23. Such a configuration would be used for high-pressure reactions and / or reactions in the gas phase. While the vessel 1950 in FIGS. 12-17 is shown with a lip 1952, in some implementations of the high-pressure reactor core 3900, the vessel 3950 also includes threads 3902 configured to receive a threaded top sealing member 3904, as shown in FIGS. 20-23. In some implementations of the high-pressure reactor core 3900, as shown in FIGS. 20-23, the door system is replaced with a high-pressure door mechanism 3910. The high-pressure door mechanism 3910 can actuate and twist the top sealing member 3904 onto the vessel 3950 so that the threads 3902 of the vessel 3950 receive the top sealing member 3904. An actuator motor 3906 is disposed adjacent to the top sealing member 3904 to drive the twisting action. In some implementations, the container 3950 is held stationary by a stationary arm 3920 positioned on the side of the container 3950. The stationary arm is driven by an arm motor 3922.

[0140] Exemplary Description of One Implementation: Cam and Thruster Mechanism 5-7 includes a tool coupling portion 1612, which further includes a cam and thruster mechanism 1614 for coupling the tool coupling portion 1612 to a tool 1620. The cam and thruster mechanism will now be described in more detail to provide context for the connection between the tool and the tool coupling portion. This description is one implementation of the cam and thruster mechanism, and other implementations may be used to connect a tool to the tool coupling portion of the tool head.

[0141] 24a-24f show a cam and thruster mechanism 2000 according to one implementation. The cam and thruster mechanism 2000 includes a tool 2002, a housing 2010, a tool shaft 2020, a central shaft 2030, a shaft notch 2040, an upper spring 2050, a lower spring 2060, a cam 2100, and a plunger 2200.

[0142] The tool 2002 is fixably mounted to a central shaft 2030. The tool shaft 2020 extends from a first end 2005 to a second end 2007 of the tool 2002. The central shaft 2030 and a circumferential surface 2006 of the tool 2002 are coaxial with the tool shaft. The tool 2002 includes two fins 2004 disposed on the circumferential surface 2003 of the tool 2002 such that each fin 2004 is spaced apart from the other around the circumferential surface 2003. The fins include a curved surface 2006 toward the top and first end 2005 and a sloped surface 2008 toward the second end 2007. The tool 2002 further includes a lip 2009 on the top end 2005.

[0143] The housing 2010 is fixably attached to the tool head 2600. The housing 2010 includes a plunger 2200 disposed within the housing 2010. The drive shaft 2030 is fixedly attached to the tool head 2600 such that the central shaft 2030 is rotatably attached to the drive shaft and torque is transmitted from the tool head motor 2602 (not shown in FIGS. 24a-24f). The upper spring 2050 is fixably attached to the plunger 2050, while the lower spring 2060 is fixably attached to the housing 2010. The upper spring 2050 has a spring constant greater than the spring constant of the lower spring 2060.

[0144] 10a and 10b, cam 2100 is coaxial with tool axis 2020 and disposed within housing 2010. Cam 2100 seats around plunger 2200 so that they are slidably and rotatably engaged. Cam 2100 includes an inner circumferential surface 2102 and an outer circumferential surface 2104. Inner circumferential surface 2102 includes a ramp 2110 and a slot 2120.

[0145] The plunger 2200 includes four prongs 2202 and four slots 2204. The ramps 2110 and slots 2120 of the cam 2100 and the fins 2004 of the tool 2002 are all configured to interact with one another in a slidable manner to lock the tool 2002 in place.

[0146] In use, the cam and thruster mechanism 2000 shown in FIGS. 24a-24f can pick up a tool from the tool magazine by applying a downward force from the tool head. A similar force can also be applied to release the tool once it is returned to the tool magazine. According to one implementation, the tool 2002 is inserted into the housing 2010 by moving the tool head 2600 to align it with the tool 2002. The central shaft 2030 includes a male connecting end shaped to engage with a corresponding female connecting end of the shaft notch 2040. In some implementations, the male and female connecting portions form a plus "+" shape to engage with a corresponding plus "+" shaped keyhole in the shaft notch 2040. In other implementations, the male and female connecting portions include various numbers of lobes for connection, e.g., three or five lobes. Thus, the central shaft 2030 can slide within the shaft notch in the z-direction along the tool axis 2020 while maintaining torque transmission with the tool 2002.

[0147] As the tool 2002 is pushed further into the housing, the ramps 2110 on the cam 2100 orient the tool 2002 toward the prongs 2202 of the plunger 2200. The engagement is seen in FIG. 24b, as one implementation. The cam 2100 engages the prongs 2202 and rotates about the tool axis 2020. As seen in FIG. 24c, the fins 2004 slide into the slots 2204 of the plunger 2200. At the same time, the upper spring 2050 is compressed by the lip 2009. As seen in FIG. 24d, the lower spring 2060 then compresses, causing the cam 2100 to rotate further, closing the slots 2204 in the plunger 2200 and preventing the tool 2002 from falling out.

[0148] When the upward pressure on the tool 2002 is removed, the larger spring rate of the upper spring 2050 overcomes the larger spring rate of the lower spring 2060, pushing the cam 2100 downward. As seen in FIG. 24d, the internal ramp 2110 passes the critical point of the prong 2202 and slides into the locked position. The tool 2002 is therefore in an operating position.

[0149] To remove, this process is repeated. Downward pressure is applied until the fin 2004 reaches a critical point. As seen in FIG. 24e, the downward pressure from the loaded upper spring 2050 compresses the cam 2100 downward until it overcomes another critical point, allowing the cam 2100 to rotate again. As seen in FIG. 24f, pressure from the compressed lower spring 2060 pushes the cam 2100 away from the tool 2002, allowing the tool 2002 to propel with the remaining compression of the upper spring 2050.

[0150] While this example describes ramps, slots, prongs, fins, and surfaces with a specific number of occurrences, other implementations use other numbers, such as two, three, or five ramps, slots, and prongs, and other implementations use three, four, or five fins.

[0151] In various implementations, when the tool 2002 is in the locked position for use, a space remains between the fins 2004 and the curved inner edge of the plunger 2200. In some implementations, this space provides a shock absorbing effect for the tool 2002. Before the tool 2002 can be removed, it must be pushed all the way to the top of the plunger slot 2204, as described above. However, before a critical point is reached, the compression of the upper spring 2050 and the lower spring 2060 provides resistance when the tool 2002 encounters a substance. Thus, in some implementations, the tool 2002 displaces relative to the housing 2010, providing a proxy for the applied force. In some implementations, the displacement is measured by a distance sensor. In some implementations, this proxy for the applied force and resulting displacement ensures a consistent density of material collected within the tool (e.g., an evenly distributed amount of medicament powder throughout the auger tool). In some implementations, as the auger tool "digs" downward, a processor in communication with the distance sensor detects the upward movement of the auger tool as material is removed from the immediately preceding tip of the tool, and the processor can direct the positioning member to lower the arm (and therefore the tool) further into the drug material to ensure a more constant force on the auger and a more consistent material density. In various implementations, this process of detecting tool movement and adjusting the downward force experienced by the tool can be performed continuously in a PID-type feedback loop.

[0152] Exemplary Description of One Implementation: Handheld Implementation of Dispensing Head as a "Solid Dispensing Pipette" In various implementations, the device, method, and system for collecting and / or dispensing a free-flowing material can be a handheld dispenser for solid materials. As shown in Figures 25a-25d, a solid dispensing pipette 4000 is provided for handling solid drug materials (e.g., drug powders) in a manner similar to the tool head and tool connected to the arm in the above embodiments. The difference with the solid dispensing pipette 4000 is the ability for a user to operate the device separately from or in conjunction with the overall system 1000.

[0153] In various implementations, the solid dispensing pipette 4000 utilizes many of the mechanisms described above to collect, dispense, and measure the free-flowing material 9000 (e.g., augmented tools). In various implementations, the solid dispensing pipette 4000 utilizes the connection mechanisms described above (e.g., cam and thruster mechanisms).

[0154] In various implementations, the solid dispensing pipette 4000 includes a housing 4010 , a tool 4020 , a button 4030 , a cam and thruster mechanism 4040 , a user interface 4050 , and a linked arm 4060 .

[0155] The tool 4020 is disposed below the housing 4010. In some implementations, the tool 4020 is configured to collect the free-flowing material 9000 (e.g., solid drug powder) from a drug container. The tool motor 4022 can drive the tool 4020 to rotate the auger screw 4024 about the tool axis 4025.

[0156] In some implementations, the solid dispensing pipette 4000 includes a cam and thruster mechanism 4040. The cam and thruster mechanism 4040 functions substantially similarly to the cam and thruster mechanism described above (allowing various tools to be attached or detached from the end of the device by applying downward pressure that engages the cam, plunger, and fins to lock / unlock the tool).

[0157] In some implementations, the button 4030 is located on a side of the housing 4010. Situations may arise where a user needs to release and discard a tool tip (e.g., an auger tip). In some implementations, a button-driven unlocking cycle 4032 is provided. The mechanical linkage of the button-driven unlocking cycle 4032 includes a rack and pinion 4034 attached to an unlocking button 4036. The rack and pinion 4034 engages with two linked arms 4060 disposed around the tool 4020. When the unlocking button 4036 is pressed, the rack and pinion 4034 of the button-driven unlocking cycle 4032 engages with the two linked arms 4060. In some implementations, each linked arm 4060 swings outward on the tool side and inward on the housing side. The linked arms 4060 lift and engage a tool unlocking mechanism (e.g., a cam and thrust mechanism 4040 connected to the tool 4020). Thus, in some implementations, a user can press the unlock button 4036 to prime the tool 4020 to disengage from the solid dispensing pipette 4000 and release from the enclosure of the links arm 4060. In some implementations, when the user releases the unlock button 4036, the tool 4020 drops out of the device entirely (e.g., into a waste container). In some implementations, the unlock button 4036 and the button-driven unlock cycle 4032 can include a lever or other mechanical linkage other than a rack and pinion.

[0158] In some implementations, the weigh scale normally present on the tool head is replaced with a smaller load cell 4012 that is used to measure the amount of material collected. The load cell 4012 is mounted and sits within the housing 4010 between the internal motor 4022 and the cam and thruster mechanism 4040.

[0159] In various implementations, the user interface 4050 is disposed on top of the housing 4010. The user interface 4050 may include a bubble level 4052 to allow a user to align the solid dispensing pipette 4000 with the gravity vector. In some implementations, the bubble level 4052 is a digital 3-axis microelectromechanical systems (MEMS) accelerometer with a 3-axis MEMS gyroscope for additional stability measurement. In some implementations, the user interface 4050 is an LCD or OLED screen. In some implementations, the current scale reading from the load cell 4012 may be displayed on the user interface 4050. In some implementations, one or more of the buttons 4030 are configured to control the solid dispensing pipette 4000.

[0160] In various implementations, the solid dispensing pipette 4000 has two modes of operation: "continuous" or "programmed." In "continuous" mode, the tool motor 4022 drives the tool 4020 at a speed proportional to the force applied to the button 4030. In "programmed" mode, the tool motor 4022 automatically drives the tool 4020 at a predetermined speed based on a predetermined mass value or previous data.

[0161] Several exemplary implementations are provided herein. However, it will be understood that various modifications can be made without departing from the spirit and scope of the disclosure herein. As used herein and in the appended claims, the singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise. As used herein, the term "comprises" and variations thereof are used synonymously with the term "includes" and variations thereof and are open, non-limiting terms. Although the terms "comprises" and "comprising" are used herein to describe various implementations, the terms "consisting essentially of" and "consisting of" can be used in place of "comprises" and "comprising" to provide more specific implementations, and are also disclosed.

[0162] Disclosed are materials, systems, devices, methods, compositions, and components that can be used for, can be used in conjunction with, can be used in preparation for, or are products of the disclosed methods, systems, and devices. These and other components are disclosed herein, and when combinations, subsets, interactions, groups, etc. of these components are disclosed, it is understood that specific reference to each of the various individual and collective combinations and permutations of these components is not expressly disclosed, but each is specifically contemplated and described herein. For example, when devices are disclosed and described herein, and any and all combinations and permutations of devices are disclosed, possible variations are specifically contemplated unless specifically indicated to the contrary. Likewise, any subset or combination of these is also specifically contemplated and disclosed. This concept applies to all aspects of this disclosure, including, but not limited to, steps in methods of using the disclosed systems or devices. Thus, if there are various additional steps that may be performed, it is understood that each of these additional steps may be performed with any particular method step or combination of method steps of the disclosed methods, and that each such combination or subset of combinations is to be considered specifically contemplated and disclosed.

[0163] [Item 1] 1. A device for transporting a free-flowing material, said device comprising: The gantry and an arm having an arm longitudinal axis, a first arm portion, a second arm portion spaced from the first arm portion along the arm longitudinal axis, and an intermediate arm portion disposed between the first arm portion and the second arm portion, the intermediate arm portion being rotatably coupled to the gantry; a gripper including two or more fingers movably coupled to the first arm portion relative to a gripper axis, the two or more fingers being movable radially relative to the gripper axis between a first position and a second position, at least two of the two or more fingers being closer to the gripper axis at the second position than at the first position; a tool head coupled to the second arm portion, the tool head including a tool head motor and a tool coupling portion coupleable to a tool.

[0164] [Item 2] Item 10. The device of item 1, wherein the tool is an auger and the tool head motor is configured to rotate the auger about an auger longitudinal axis.

[0165] [Item 3] Item 10. The device of item 1, further comprising a work surface defining a surface plane, the gantry comprising a movable positioning member configured to move along an x-axis parallel to the surface plane, the arm coupled to the movable positioning member, the arm configured to move vertically along a z-axis perpendicular to the surface plane and to move rotatably about the z-axis.

[0166] [Item 4] Item 10. The device of item 1, wherein the tool head is removably coupled to the second arm portion.

[0167] [Item 5] Item 5. The device of item 4, wherein the tool head defines one or more head coupling openings, and the device further comprises one or more head coupling protrusions coupled to the second arm portion, each of the one or more head coupling protrusions being positioned within a different one of the one or more head coupling openings and configured to removably couple the tool head to the second arm portion.

[0168] [Item 6] 6. The device of claim 5, wherein the one or more head coupling openings and the tool coupling portion are defined by a first head side of the tool head, the tool head further including a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions, the locking plate being rotatable from a locked position to an unlocked position, wherein the one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and wherein the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position.

[0169] [Item 7] 7. The device of claim 6, wherein the tool head includes a guide element slidable by a ramp to move the locking plate between the locked and unlocked positions.

[0170] [Item 8] Item 10. The device of item 1, wherein the tool coupling portion includes a cam and thruster mechanism for coupling the tool coupling portion to the tool.

[0171] [Item 9] Item 10. The device of item 1, wherein the two or more fingers are axially movable along the gripper axis.

[0172] [Item 10] Item 10. The device of item 9, further comprising a gripper actuator for axially moving the two or more fingers along the gripper axis.

[0173] [Item 11] Item 10. The device of item 9, wherein the gripper is movably coupled to the first arm portion by a gripper bearing such that the two or more fingers are axially movable along the gripper axis.

[0174] [Item 12] Item 12. The device of item 11, further comprising a gripper spring having a first spring end and a second spring end opposite the first spring end, the first spring end statically coupled to the first arm portion and the second spring end statically coupled to the gripper.

[0175] [Item 13] Item 13. The device of item 12, wherein the spring is a first spring, and the device further comprises a second spring having a first spring end and a second spring end opposite the first spring end, the first spring end of the second spring statically coupled to the first arm portion and the second spring end of the second spring coupled to the gripper, and the first spring and the second spring bias the gripper in opposite directions.

[0176] [Item 14] Item 10. The device of item 1, wherein the two or more fingers are rotatable about the gripper axis.

[0177] [Item 15] a work surface defining a surface plane; an uncapping station disposed on the work surface, the uncapping station comprising: Capping release shaft, Item 10. The device of item 1, further comprising: an uncapping station having one or more uncapping fingers movable radially relative to the uncapping axis between a first position and a second position, wherein at least two of the two or more uncapping fingers are closer to the uncapping axis at the second position than at the first position, and the two or more fingers are rotatable about the uncapping axis.

[0178] [Item 16] Item 10. The device of claim 1, wherein the gripper includes a worm gear, a flange nut, and a vertical displacement device, the worm gear coupled to the flange nut, and the flange nut engaged with the vertical displacement device such that rotation of the worm gear causes the vertical displacement device to move each of the two or more fingers between the first position and the second position.

[0179] [Item 17] Item 17. The device of item 16, wherein the two or more fingers include four fingers.

[0180] [Item 18] Item 10. The device of item 1, further comprising a distance sensor coupled to the second arm portion, the distance sensor for determining a distance from the free-flowing material to the distance sensor.

[0181] [Item 19] Item 19. The device of item 18, wherein the distance sensor is coupled to the tool head.

[0182] [Item 20] Item 19. The device of item 18, wherein the distance sensor includes a time-of-flight sensor.

[0183] [Item 21] Item 10. The device of item 1, further comprising a weighing scale having a mass-sensing portion and a non-mass-sensing portion, the non-mass-sensing portion coupled to the second arm portion and the mass-sensing portion coupled to the tool head.

[0184] [Item 22] a current sensor for sensing current flow in the tool head motor; and a processor in electrical communication with the current sensor and a memory, the processor executing computer readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; receiving sensor data from the current sensor; de-energizing the tool head motor; determining the time or number of motor revolutions that the tool head motor has been energized; receiving a second mass measurement from the weigh scale; and determining a flow consistency characteristic of the free-flowing material based on the time the tool head motor is energized or the number of motor revolutions, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0185] [Item 23] 23. The device of claim 22, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0186] [Item 24] and a processor in electronic communication with the memory, the processor executing computer-readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; moving the arm along the z-axis so that the tool contacts the free-flowing material in a container; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; de-energizing the tool head motor; moving the arm along the z-axis so that the tool is spaced away from the free-flowing material in the container; determining a first time or number of motor revolutions that the tool head motor is energized; receiving a second mass measurement from the weigh scale; and determining a first collection rate of the free-flowing material by the tool based on the time the tool head motor is energized or the number of motor revolutions and the difference between the first mass measurement and the second mass measurement.

[0187] [Item 25] The instructions cause the processor to: moving the arm along the z-axis so that the tool contacts the free-flowing material in the container; energizing the tool head motor to cause the tool to collect another portion of the free-flowing material; de-energizing the tool head motor; moving the arm along the z-axis so that the tool is spaced away from the free-flowing material in the container; determining a second time or number of motor revolutions that the tool head motor is energized; receiving a third mass measurement from the weigh scale; and determining a second collection rate of the free-flowing material by the tool based on the second time the tool head motor is energized or the number of motor revolutions and the difference between the second mass measurement and the third mass measurement.

[0188] [Item 26] 25. The device of claim 24, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0189] [Item 27] 22. The device of claim 21, further comprising a first wireless power transmission (WPT) coil and a second WPT coil, wherein the first WPT coil is coupled to the second arm portion, the second WPT coil is coupled to the tool head, the first WPT coil is spaced apart from the second WPT coil, and the first WPT coil is energizable such that current flows through the second WPT coil.

[0190] [Item 28] 28. The device of item 27, further comprising a battery, the battery being in electrical communication with the second WPT coil such that the current flowing through the second WPT coil charges the battery.

[0191] [Item 29] Item 28. The device of item 27, wherein the first WPT coil is configured to be de-energized when the weighing scale is in use.

[0192] [Item 30] Item 10. The device of item 1, further comprising a shaker coupled to the tool head for inducing vibrations in the tool.

[0193] [Item 31] A metering device, said device comprising: a weighing scale having a mass-sensing portion and a non-mass-sensing portion, the mass-sensing portion coupled to a tool head; A metering device comprising: a first wireless power transmission (WPT) coil and a second WPT coil, wherein the first WPT coil is coupled to the mass-sensing portion and the second WPT coil is coupled to the non-mass-sensing portion, the first WPT coil is spaced apart from the second WPT coil, and the first WPT coil is energizable such that current flows through the second WPT coil to the tool head.

[0194] [Item 32] 32. The device of claim 31, further comprising a battery, the battery being in electrical communication with the second WPT coil such that the current flowing through the second WPT coil charges the battery.

[0195] [Item 33] Item 32. The device of item 31, wherein the first WPT coil is configured to be de-energized when the weighing scale is in use.

[0196] [Item 34] Item 32. The device of item 31, wherein the tool head includes a tool head motor and a tool coupling portion that can be coupled to a tool, and the current flowing through the second WPT coil flows to the tool head motor.

[0197] [Item 35] Item 35. The device of item 34, wherein the tool is an auger and the tool head motor is configured to rotate the auger about an auger longitudinal axis.

[0198] [Item 36] Item 35. The device of item 34, wherein the tool head is removably coupled to the mass-sensing portion.

[0199] [Item 37] Item 37. The device of item 36, wherein the tool head defines one or more head coupling openings, and the device further comprises one or more head coupling protrusions coupled to the mass sensing portion, each of the one or more head coupling protrusions being positioned within a different one of the one or more head coupling openings and configured to removably couple the tool head to the mass sensing portion.

[0200] [Item 38] Item 38. The device of item 37, wherein the one or more head coupling openings and the tool coupling portion are defined by a first head side, the tool head further includes a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions, the locking plate being rotatable from a locked position to an unlocked position, wherein the one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and wherein the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position.

[0201] [Item 39] Item 39. The device of item 38, wherein the tool head includes a guide element slidable by a ramp to move the locking plate between the locked and unlocked positions.

[0202] [Item 40] Item 32. The device of item 31, wherein the tool coupling portion includes a cam and thruster mechanism for coupling the tool coupling portion to the tool.

[0203] [Item 41] Item 32. The device of item 31, further comprising a distance sensor coupled to the mass-sensing portion, the distance sensor for determining a distance from the free-flowing material to the distance sensor.

[0204] [Item 42] Item 42. The device of item 41, wherein the distance sensor is coupled to the tool head.

[0205] [Item 43] Item 42. The device of item 41, wherein the distance sensor includes a time-of-flight sensor.

[0206] [Item 44] a current sensor for sensing current flow in the tool head motor; and a processor in electrical communication with the current sensor and a memory, the processor executing computer readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; receiving sensor data from the current sensor; de-energizing the tool head motor; determining the time or number of motor revolutions that the tool head motor has been energized; receiving a second mass measurement from the weigh scale; and determining a flow consistency characteristic of the free-flowing material based on the time the tool head motor is energized or the number of motor revolutions, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0207] [Item 45] Item 45. The device of item 44, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0208] [Item 46] and a processor in electronic communication with the memory, the processor executing computer-readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; moving the tool head so that the tool contacts the free-flowing material in the container; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; de-energizing the tool head motor; moving the tool head so that the tool is spaced away from the free-flowing material in the container; determining a first time or number of motor revolutions that the tool head motor is energized; receiving a second mass measurement from the weigh scale; and determining a first collection rate of the free-flowing material by the tool based on the time the tool head motor is energized or the number of motor revolutions and the difference between the first mass measurement and the second mass measurement.

[0209] [Item 47] The instructions cause the processor to: moving the tool head so that the tool contacts the free-flowing material in the container; energizing the tool head motor to cause the tool to collect another portion of the free-flowing material; de-energizing the tool head motor; moving the tool head so that the tool is spaced away from the free-flowing material in the container; determining a second time period during which the tool head motor is energized or a number of rotations of the tool head motor; receiving a third mass measurement from the weigh scale; and determining a second collection rate of the free-flowing material by the tool based on the second time the tool head motor is energized or the number of motor revolutions and the difference between the second mass measurement and the third mass measurement.

[0210] [Item 48] Item 47. The device of item 46, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0211] [Item 49] 1. A tool head removal device, comprising: a base including one or more head coupling projections; a tool head removably coupled to the base, the tool head including a tool coupling portion coupleable to a tool head motor and a tool, the tool head defining one or more head coupling openings; a tool head removal device, wherein each of the one or more head coupling protrusions is configured to be positioned within a different one of the one or more head coupling openings to removably couple the tool head to the base.

[0212] [Item 50] 50. The device of claim 49, wherein the one or more head coupling openings and the tool coupling portion are defined by a first head side of the tool head, the tool head further including a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions, the locking plate being rotatable from a locked position to an unlocked position, wherein the one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and wherein the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position.

[0213] [Item 51] Item 51. The device of item 50, wherein the tool head includes a guide element slidable by a ramp to move the locking plate between the locked and unlocked positions.

[0214] [Item 52] Item 50. The device of item 49, wherein the tool coupling portion includes a cam and thruster mechanism for coupling the tool coupling portion to the tool.

[0215] [Item 53] Item 50. The device of item 49, further comprising a distance sensor coupled to the base, the distance sensor for determining a distance from the free-flowing material to the distance sensor.

[0216] [Item 54] Item 54. The device of item 53, wherein the distance sensor includes a time-of-flight sensor.

[0217] [Item 55] 50. The device of claim 49, further comprising a distance sensor coupled to the tool head, the distance sensor for determining a distance from the free-flowing material to the distance sensor.

[0218] [Item 56] Item 56. The device of item 55, wherein the distance sensor includes a time-of-flight sensor.

[0219] [Item 57] Item 50. The device of item 49, wherein the tool is an auger and the tool head motor is configured to rotate the auger about an auger longitudinal axis.

[0220] [Item 58] 50. The device of claim 49, wherein the base is an end portion of an arm coupled to a movable positioning member.

[0221] [Item 59] a work surface defining a surface plane; Item 59. The device of item 58, further comprising: a gantry comprising a movable positioning member configured to move along an x-axis parallel to the surface plane, wherein the arm is coupled to the movable positioning member, the arm configured to move vertically along a z-axis perpendicular to the surface plane and to move rotatably about the z-axis.

[0222] [Item 60] 50. The device of claim 49, further comprising a weighing scale having a mass-sensing portion and a non-mass-sensing portion, the non-mass-sensing portion coupled to the base and the mass-sensing portion coupled to the one or more head coupling protrusions.

[0223] [Item 61] a current sensor for sensing current flow in the tool head motor; and a processor in electrical communication with the current sensor and a memory, the processor executing computer readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; receiving sensor data from the current sensor; de-energizing the tool head motor; determining the time or number of motor revolutions that the tool head motor has been energized; receiving a second mass measurement from the weigh scale; and determining a flow consistency characteristic of the free-flowing material based on the time the tool head motor is energized or the number of motor revolutions, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0224] [Item 62] Item 62. The device of item 61, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0225] [Item 63] and a processor in electronic communication with the memory, the processor executing computer-readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; moving the tool head so that the tool contacts the free-flowing material in the container; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; de-energizing the tool head motor; moving the tool head so that the tool is spaced away from the free-flowing material in the container; determining a first time or number of motor revolutions that the tool head motor is energized; receiving a second mass measurement from the weigh scale; and determining a first collection rate of the free-flowing material by the tool based on the time the tool head motor is energized or the number of motor revolutions and the difference between the first mass measurement and the second mass measurement.

[0226] [Item 64] The instructions cause the processor to: moving the tool head so that the tool contacts the free-flowing material in the container; energizing the tool head motor to cause the tool to collect another portion of the free-flowing material; de-energizing the tool head motor; moving the tool head so that the tool is spaced away from the free-flowing material in the container; determining a second time period during which the tool head motor is energized or a number of rotations of the tool head motor; receiving a third mass measurement from the weigh scale; and determining a second collection rate of the free-flowing material by the tool based on the second time the tool head motor is energized or the number of motor revolutions and the difference between the second mass measurement and the third mass measurement.

[0227] [Item 65] Item 64. The device of item 63, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0228] [Item 66] Item 61. The device of item 60, further comprising a first wireless power transmission (WPT) coil and a second WPT coil, wherein the first WPT coil is coupled to the base, the second WPT coil is coupled to the tool head, the first WPT coil is spaced apart from the second WPT coil, and the first WPT coil is energizable so that current flows through the second WPT coil.

[0229] [Item 67] 67. The device of item 66, further comprising a battery, the battery being in electrical communication with the second WPT coil such that the current flowing through the second WPT coil charges the battery.

[0230] [Item 68] Item 67. The device of item 66, wherein the first WPT coil is configured to de-energize when the weighing scale is in use.

[0231] [Item 69] Item 50. The device of item 49, further comprising a shaker coupled to the tool head for inducing vibrations in the tool.

[0232] [Item 70] 1. A tool removal device, comprising: With the base, Tools and a tool head coupled to the base, the tool head including a tool head motor and a tool coupling portion coupleable to the tool; A tool removal device, wherein the tool coupling portion includes a cam and thruster mechanism for coupling the tool coupling portion to the tool.

[0233] [Item 71] Item 71. The device of item 70, wherein the tool head is removably coupled to the second arm portion.

[0234] [Item 72] Item 72. The device of item 71, wherein the tool head defines one or more head coupling openings, and the device further comprises one or more head coupling protrusions coupled to the base, each of the one or more head coupling protrusions being positioned within a different one of the one or more head coupling openings and configured to removably couple the tool head to the base.

[0235] [Item 73] Item 73. The device of item 72, wherein the one or more head coupling openings and the tool coupling portion are defined by a first head side of the tool head, the tool head further including a rotatable locking plate, the locking plate defining one or more plate openings sized to receive the one or more head coupling protrusions, the locking plate being rotatable from a locked position to an unlocked position, wherein the one or more head coupling protrusions are movable through, into, or out of the one or more plate openings in the unlocked position, and wherein the one or more head coupling protrusions are prevented from moving through, into, or out of the one or more plate openings in the locked position.

[0236] [Item 74] Item 74. The device of item 73, wherein the tool head includes a guide element slidable by a ramp to move the locking plate between the locked and unlocked positions.

[0237] [Item 75] Item 71. The device of item 70, further comprising a distance sensor coupled to the base, the distance sensor for determining a distance from the free-flowing material to the distance sensor.

[0238] [Item 76] Item 76. The device of item 75, wherein the distance sensor includes a time-of-flight sensor.

[0239] [Item 77] Item 71. The device of item 70, further comprising a distance sensor coupled to the tool head, the distance sensor for determining a distance from the free-flowing material to the distance sensor.

[0240] [Item 78] Item 78. The device of item 77, wherein the distance sensor includes a time-of-flight sensor.

[0241] [Item 79] Item 71. The device of item 70, wherein the tool is an auger and the tool head motor is configured to rotate the auger about an auger longitudinal axis.

[0242] [Item 80] Item 71. The device of item 70, wherein the base is an end portion of an arm coupled to a movable positioning member.

[0243] [Item 81] a work surface defining a surface plane; Item 81. The device of item 80, further comprising: a gantry having a movable positioning member configured to move along an x-axis parallel to the surface plane, wherein the arm is coupled to the movable positioning member, the arm configured to move vertically along a z-axis perpendicular to the surface plane and to move rotatably about the z-axis.

[0244] [Item 82] Item 71. The device of item 70, further comprising a weighing scale having a mass-sensing portion and a non-mass-sensing portion, the non-mass-sensing portion coupled to the base and the mass-sensing portion coupled to the tool head.

[0245] [Item 83] a current sensor for sensing current flow in the tool head motor; and a processor in electrical communication with the current sensor and a memory, the processor executing computer readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; receiving sensor data from the current sensor; de-energizing the tool head motor; determining the time or number of motor revolutions that the tool head motor has been energized; receiving a second mass measurement from the weigh scale; and determining a flow consistency characteristic of the free-flowing material based on the time the tool head motor is energized or the number of motor revolutions, the difference between the first mass measurement and the second mass measurement, and the sensor data from the current sensor.

[0246] [Item 84] Item 84. The device of item 83, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0247] [Item 85] and a processor in electronic communication with the memory, the processor executing computer-readable instructions stored in the memory, the instructions causing the processor to: receiving a first mass measurement from the weigh scale; moving the tool head so that the tool contacts the free-flowing material in the container; energizing the tool head motor to cause the tool to collect a portion of the free-flowing material; de-energizing the tool head motor; moving the tool head so that the tool is spaced away from the free-flowing material in the container; determining a first time or number of motor revolutions that the tool head motor is energized; receiving a second mass measurement from the weigh scale; and determining a first collection rate of the free-flowing material by the tool based on the time the tool head motor is energized or the number of motor revolutions and the difference between the first mass measurement and the second mass measurement.

[0248] [Item 86] The instructions cause the processor to: moving the tool head so that the tool contacts the free-flowing material in the container; energizing the tool head motor to cause the tool to collect another portion of the free-flowing material; de-energizing the tool head motor; moving the tool head so that the tool is spaced away from the free-flowing material in the container; determining a second time period during which the tool head motor is energized or a number of rotations of the tool head motor; receiving a third mass measurement from the weigh scale; and determining a second collection rate of the free-flowing material by the tool based on the second time the tool head motor is energized or the number of motor revolutions and the difference between the second mass measurement and the third mass measurement.

[0249] [Item 87] Item 86. The device of item 85, further comprising: a first infrared communication system in electrical communication with the processor; and a second infrared communication system coupled to the tool head motor and in electrical communication with the tool head motor, wherein each of the first infrared communication system and the second infrared communication system includes a transmitter and a receiver.

[0250] [Item 88] 83. The device of item 82, further comprising a first wireless power transmission (WPT) coil and a second WPT coil, wherein the first WPT coil is coupled to the base, the second WPT coil is coupled to the tool head, the first WPT coil is spaced apart from the second WPT coil, and the first WPT coil is energizable such that current flows through the second WPT coil.

[0251] [Item 89] 89. The device of item 88, further comprising a battery, the battery being in electrical communication with the second WPT coil such that the current flowing through the second WPT coil charges the battery.

[0252] [Item 90] Item 89. The device of item 88, wherein the first WPT coil is configured to de-energize when the weighing scale is in use.

[0253] [Item 91] Item 71. The device of item 70, further comprising a shaker coupled to the tool head for inducing vibrations in the tool.

[0254] [Item 92] 1. A gripping device, comprising: With the base, a gripper including two or more fingers movably coupled to the base relative to a gripper axis, the two or more fingers being movable radially relative to the gripper axis between a first position and a second position, at least two of the two or more fingers being closer to the gripper axis at the second position than at the first position, and the two or more fingers being movable axially along the gripper axis; a gripper spring having a first spring end and a second spring end opposite the first spring end, wherein the first spring end is statically coupled to the base and the second spring end is statically coupled to the gripper.

[0255] [Item 93] Item 93. The device of item 92, further comprising a gripper actuator for axially moving the two or more fingers along the gripper axis.

[0256] [Item 94] Item 93. The device of item 92, wherein the gripper is movably coupled to the base by a gripper bearing such that the two or more fingers are axially movable along the gripper axis.

[0257] [Item 95] Item 93. The device of item 92, wherein the spring is a first spring, and the device further comprises a second spring having a first spring end and a second spring end opposite the first spring end, the first spring end of the second spring being statically coupled to the base and the second spring end of the second spring being coupled to the gripper, and the first spring and the second spring biasing the gripper in opposite directions.

[0258] [Item 96] Item 93. The device of item 92, wherein the two or more fingers are rotatable about the gripper axis.

[0259] [Item 97] Item 93. The device of item 92, further comprising a work surface defining a surface plane.

[0260] [Item 98] The apparatus further includes an uncapping station disposed on the work surface, the uncapping station comprising: Capping release shaft, Item 98. The device of item 97, comprising one or more uncapping fingers movable radially relative to the uncapping axis between a first position and a second position, wherein at least two of the two or more uncapping fingers are closer to the uncapping axis at the second position than at the first position, and the two or more fingers are rotatable around the uncapping axis.

[0261] [Item 99] Item 93. The device of item 92, wherein the gripper includes a worm gear, a flange nut, and a vertical displacement device, the worm gear coupled to the flange nut, and the flange nut engaged with the vertical displacement device such that rotation of the worm gear causes the vertical displacement device to move each of the two or more fingers between the first position and the second position.

[0262] [Item 100] Item 100. The device of item 99, wherein the two or more fingers include four fingers.

[0263] [Item 101] Item 93. The device of item 92, wherein the base is an end portion of an arm coupled to a gantry.

[0264] [Item 102] a work surface defining a surface plane; Item 102. The device of item 101, further comprising: a gantry having a movable positioning member configured to move along an x-axis parallel to the surface plane, wherein the arm is coupled to the movable positioning member, and the arm is configured to move vertically along a z-axis perpendicular to the surface plane and to move rotatably about the z-axis.

[0265] [Item 103] 1. An uncapping system, comprising: a work surface defining a surface plane; 1. A gripping device comprising: With the base, a gripping device comprising: a gripper including two or more fingers movably coupled to the base relative to a gripper axis, the two or more fingers movable radially relative to the gripper axis between a first position and a second position, at least two of the two or more fingers being closer to the gripper axis at the second position than at the first position; an uncapping station disposed on the work surface, the uncapping station comprising: Capping release shaft, an uncapping station comprising one or more uncapping fingers movable radially relative to the uncapping axis between a first position and a second position, wherein at least two of the two or more uncapping fingers are closer to the uncapping axis at the second position than at the first position, and the two or more fingers are rotatable about the uncapping axis;

[0266] [Item 104] Item 104. The device of item 103, wherein the two or more fingers are axially movable along the gripper axis.

[0267] [Item 105] Item 105. The device of item 104, further comprising a gripper actuator for axially moving the two or more fingers along the gripper axis.

[0268] [Item 106] Item 105. The device of item 104, wherein the gripper is movably coupled to the base by a gripper bearing such that the two or more fingers are axially movable along the gripper axis.

[0269] [Item 107] Item 107. The device of item 106, further comprising a gripper spring having a first spring end and a second spring end opposite the first spring end, the first spring end statically coupled to the first arm portion and the second spring end statically coupled to the gripper.

[0270] [Item 108] Item 108. The device of item 107, wherein the spring is a first spring, and the device further comprises a second spring having a first spring end and a second spring end opposite the first spring end, the first spring end of the second spring being statically coupled to the base and the second spring end of the second spring being coupled to the gripper, and the first spring and the second spring biasing the gripper in opposite directions.

[0271] [Item 109] Item 104. The device of item 103, wherein the two or more fingers are rotatable about the gripper axis.

[0272] [Item 110] Item 104. The device of item 103, wherein the gripper includes a worm gear, a flange nut, and a vertical displacement device, the worm gear coupled to the flange nut, and the flange nut engaged with the vertical displacement device such that rotation of the worm gear causes the vertical displacement device to move each of the two or more fingers between the first position and the second position.

[0273] [Item 111] Item 111. The device of item 110, wherein the two or more fingers include four fingers.

[0274] [Item 112] Item 104. The device of item 103, wherein the base is an end portion of an arm coupled to a movable positioning member.

[0275] [Item 113] a work surface defining a surface plane; Item 113. The device of item 112, further comprising: a gantry having a movable positioning member configured to move along an x-axis parallel to the surface plane, wherein the arm is coupled to the movable positioning member, and the arm is configured to move vertically along a z-axis perpendicular to the surface plane and to move rotatably about the z-axis.

[0276] [Item 114] 1. A reactor system, comprising: a reactor core configured to receive one or more vessels for containing a chemical reaction, the reactor core having a first core side and a second core side opposite the first core side and spaced apart from the first core side; an outer support structure comprising: a frame having a first frame portion, a second frame portion spaced apart from and opposite the first frame portion, and at least one side frame portion extending from the first frame portion to the second frame portion; a frame longitudinal axis extending from the first frame portion to the second frame portion; a first elastic member extending from the first frame portion to the first core side surface; a second frame elastic member extending from the second frame portion to the second core side such that the reactor core is disposed between the first frame portion and the second frame portion and is interrupted by the first frame elastic member and the second frame elastic member; an outer support structure comprising at least one actuator extending from the frame to the reactor core, the actuator being movable from an extended position to a retracted position to move the frame radially relative to the frame longitudinal axis.

[0277] [Item 115] Item 115. The reactor system of item 114, wherein the at least one actuator comprises at least two actuators.

[0278] [Item 116] Item 116. The reactor system of item 115, wherein the at least two actuators comprise at least three actuators.

[0279] [Item 117] Item 115. The reactor system of item 114, wherein the at least one actuator comprises at least one linear actuator.

[0280] [Item 118] Item 115. The reactor system of item 114, wherein the outer support structure comprises at least one cable connecting the at least one actuator to the reactor core.

[0281] [Item 119] a processor in electronic communication with the at least three actuators and a memory, the processor executing computer-readable instructions stored in the memory, the instructions causing the processor to: sending a signal to a first actuator of the at least three actuators to move the first actuator from the extended position to the retracted position; sending a signal to a second actuator of the at least three actuators to move the second actuator from the extended position to the retracted position; sending a signal to the first actuator to move the first actuator from the retracted position to the extended position; sending a signal to a third actuator of the at least three actuators to move the third actuator from the extended position to the retracted position; sending a signal to the second actuator to move the second actuator from the retracted position to the extended position; sending a signal to the third actuator to move the actuator from the retracted position to the extended position.

[0282] [Item 120] the reactor core a body defining a vessel opening for receiving the vessel for containing the chemical reaction, the vessel opening defining a vessel longitudinal axis; 1. A door system comprising: a door for sealingly abutting a lip of an opening defined by the container disposed within the container opening; a door hinge coupled to the door; Item 115. The reactor system of item 114, further comprising: a door system comprising: a door lift coupled to the door hinge such that the door is hingeable by the door hinge relative to the door lift, wherein the door lift is configured to move the door along the vessel longitudinal axis relative to the body.

[0283] [Item 121] Item 121. The reactor system of item 120, wherein the vessel opening is a first vessel opening, the body defines one or more additional vessel openings, the door system is a first door system, and the reactor core further comprises one or more additional door systems, wherein the door of each of the one or more additional door systems is configured to sealingly abut a lip of an opening defined by a vessel disposed in a different one of the one or more additional vessel openings.

[0284] [Item 122] Item 121. The reactor system of item 120, wherein the reactor core further comprises a door hinge motor for causing the door hinge to hinge the door relative to the door lift.

[0285] [Item 123] Item 121. The reactor system of item 120, wherein the reactor core further comprises a door lift motor for causing the door lift to move the door along the vessel longitudinal axis relative to the body.

[0286] [Item 124] Item 121. The reactor system according to item 120, wherein the reactor core further comprises a rack and pinion, one of the rack or the pinion being coupled to the body, and the other of the pinion or the rack being coupled to the door lift.

[0287] [Item 125] Item 121. The reactor system of item 120, wherein the door system further comprises a door lock including a lock protrusion movable from a locked position to an unlocked position, the lock protrusion engaging a lock opening defined by the door to prevent hinging or movement of the door in the locked position, and the lock protrusion disengaging from the lock opening in the unlocked position.

[0288] [Item 126] Item 126. The reactor system of item 125, wherein the door lock further comprises a lock shaft having a lock longitudinal axis, the lock protrusion extending radially from the lock shaft relative to the lock longitudinal axis, and the movement of the lock protrusion is a circumferential rotation relative to the lock longitudinal axis.

[0289] [Item 127] Item 126. The reactor system of item 125, wherein the door lock further comprises a lock plate defining a lock opening aligned with the vessel opening, the lock opening including a retaining portion and a release portion, the retaining portion having a narrowest width that is narrower than a widest diameter of the vessel, and the release portion having a narrowest width that is wider than a widest diameter of the vessel, the retaining portion of the lock opening aligning with the vessel opening in the unlocked position and the release portion of the lock opening aligning with the vessel opening in the locked position.

[0290] [Item 128] Item 126. The reactor system of item 125, wherein the door lock further comprises a lock motor for moving the lock protrusion from the locked position to the unlocked position.

[0291] [Item 129] Item 129. The reactor system of item 128, wherein the door lock further comprises a lift lock engageable with the door lift, wherein in the locked position, the lift lock engages with the door lift to prevent movement of the door along the vessel longitudinal axis relative to the body, and in the unlocked position, the lift lock is disengaged from the door lift.

[0292] [Item 130] the reactor core is an external condenser, a condensation fluid reservoir in thermal contact with the container when the container is disposed in the container opening; an external condenser inlet in fluid communication with the condensed fluid reservoir; Item 121. The reactor system of item 120, further comprising an external condenser comprising an external condenser outlet in fluid communication with the condensed fluid reservoir.

[0293] [Item 131] the reactor core is an internal condenser, a condenser coil coupled to the door such that when the container is positioned within the container opening, the condenser coil is positioned within the container when the door sealingly abuts the lip of the opening defined by the container; an internal condenser inlet in fluid communication with the condensed fluid reservoir; Item 121. The reactor system of item 120, further comprising an internal condenser comprising an internal condenser outlet in fluid communication with the condensed fluid reservoir.

[0294] [Item 132] Item 121. The reactor system of item 120, wherein the reactor core further comprises one or more thermoelectric units in thermal contact with the vessel when the vessel is positioned within the vessel opening.

[0295] [Item 133] Item 133. The reactor system of item 132, wherein the reactor core further comprises a temperature sensor in thermal contact with the thermoelectric unit.

[0296] [Item 134] the reactor core is a heat exchanger, a heat exchange fluid reservoir in thermal contact with the one or more thermoelectric units; a heat exchanger inlet in fluid communication with the heat exchange fluid reservoir; Item 133. The reactor system of item 132, further comprising a heat exchanger comprising a heat exchanger outlet in fluid communication with the heat exchange fluid reservoir.

[0297] [Item 135] the reactor core a laser device configured to emit a laser through at least a portion of the container when the container is positioned within the container opening; Item 121. The reactor system of item 120, further comprising: a photodetector for receiving the emitted laser.

[0298] [Item 136] Item 121. The reactor system of item 120, wherein the reactor core further comprises a photo-optical circuit board for emitting light into the vessel when the vessel is positioned within the vessel opening.

[0299] [Item 137] Item 137. The reactor system of item 136, wherein the photo-optical circuit board is capable of emitting light of a range of wavelengths into the vessel when the vessel is positioned within the vessel opening.

[0300] [Item 138] A reactor core comprising: a body defining a vessel opening for receiving a vessel for containing a chemical reaction, the vessel opening defining a vessel longitudinal axis; 1. A door system comprising: a door for sealingly abutting a lip of an opening defined by the container disposed within the container opening; a door hinge coupled to the door; a door system comprising: a door lift coupled to the door hinge such that the door is hingeable by the door hinge relative to the door lift, the door lift configured to move the door along the vessel longitudinal axis relative to the body.

[0301] [Item 139] Item 139. The reactor core of item 138, wherein the vessel opening is a first vessel opening, the body defines one or more additional vessel openings, the door system is a first door system, and the reactor core further comprises one or more additional door systems, wherein the door of each of the one or more additional door systems is configured to sealingly abut a lip of an opening defined by a vessel disposed in a different one of the one or more additional vessel openings.

[0302] [Item 140] Item 139. The reactor core of item 138, further comprising a door hinge motor for causing the door hinge to hinge the door relative to the door lift.

[0303] [Item 141] Item 139. The reactor core of item 138, further comprising a door lift motor for moving the door along the vessel longitudinal axis relative to the body.

[0304] [Item 142] Item 139. The reactor core according to item 138, further comprising a rack and pinion, wherein one of the rack or the pinion is coupled to the body and the other of the pinion or the rack is coupled to the door lift.

[0305] [Item 143] Item 139. The reactor core of item 138, wherein the door system further comprises a door lock including a locking protrusion movable from a locked position to an unlocked position, the locking protrusion engaging a locking opening defined by the door to prevent hinging or movement of the door in the locked position, and the locking protrusion disengaging from the locking opening in the unlocked position.

[0306] [Item 144] Item 144. The reactor core of item 143, wherein the door lock further comprises a lock shaft having a lock longitudinal axis, the lock protrusion extending radially from the lock shaft relative to the lock longitudinal axis, and the movement of the lock protrusion is a circumferential rotation relative to the lock longitudinal axis.

[0307] [Item 145] Item 144. The reactor core of item 143, wherein the door lock further comprises a lock plate defining a lock opening aligned with the vessel opening, the lock opening including a retaining portion and a release portion, the retaining portion having a narrowest width narrower than a widest diameter of the vessel, the release portion having a narrowest width wider than a widest diameter of the vessel, the retaining portion of the lock opening aligned with the vessel opening in the unlocked position, and the release portion of the lock opening aligned with the vessel opening in the locked position.

[0308] [Item 146] Item 144. The reactor core according to item 143, wherein the door lock further comprises a lock motor for moving the lock protrusion from the locked position to the unlocked position.

[0309] [Item 147] Item 147. The reactor core of item 146, wherein the door lock further comprises a lift lock engageable with the door lift, wherein in the locked position, the lift lock engages with the door lift to prevent movement of the door along the vessel longitudinal axis relative to the body, and in the unlocked position, the lift lock is disengaged from the door lift.

[0310] [Item 148] An external condenser, a condensation fluid reservoir in thermal contact with the container when the container is disposed in the container opening; an external condenser inlet in fluid communication with the condensed fluid reservoir; Item 139. The reactor core of item 138, further comprising an external condenser comprising an external condenser outlet in fluid communication with the condensed fluid reservoir.

[0311] [Item 149] An internal condenser, a condenser coil coupled to the door such that when the container is positioned within the container opening, the condenser coil is positioned within the container when the door sealingly abuts the lip of the opening defined by the container; an internal condenser inlet in fluid communication with the condensed fluid reservoir; Item 139. The reactor core of item 138, further comprising an internal condenser comprising an internal condenser outlet in fluid communication with the condensed fluid reservoir.

[0312] [Item 150] Item 139. The reactor core of item 138, further comprising one or more thermoelectric units in thermal contact with the vessel when the vessel is positioned within the vessel opening.

[0313] [Item 151] Item 151. The reactor core of item 150, further comprising a temperature sensor in thermal contact with the thermoelectric unit.

[0314] [Item 152] 1. A heat exchanger comprising: a heat exchange fluid reservoir in thermal contact with the one or more thermoelectric units; a heat exchanger inlet in fluid communication with the heat exchange fluid reservoir; Item 151. The reactor core of item 150, further comprising a heat exchanger comprising a heat exchanger outlet in fluid communication with the heat exchange fluid reservoir.

[0315] [Item 153] a laser device configured to emit a laser through at least a portion of the container when the container is positioned within the container opening; Item 139. The reactor core of item 138, further comprising: a photodetector for receiving the emitted laser.

[0316] [Item 154] Item 139. The reactor core of item 138, further comprising a photo-optical circuit board for emitting light into the vessel when the vessel is positioned within the vessel opening.

[0317] [Item 155] Item 155. The reactor core of item 154, wherein the photo-optical circuit board is capable of emitting light of a range of wavelengths into the vessel when the vessel is positioned within the vessel opening.

[0318] [Item 156] 1. A reactor system, comprising: Item 139. The reactor core according to item 138, having a first core side and a second core side opposite the first core side and spaced apart from the first core side; an outer support structure comprising: a frame having a first frame portion, a second frame portion spaced apart from and opposite the first frame portion, and at least one side frame portion extending from the first frame portion to the second frame portion; a frame longitudinal axis extending from the first frame portion to the second frame portion; a first elastic member extending from the first frame portion to the first core side surface; a second frame elastic member extending from the second frame portion to the second core side such that the reactor core is disposed between the first frame portion and the second frame portion and is interrupted by the first frame elastic member and the second frame elastic member; an outer support structure comprising at least one actuator extending from the frame to the reactor core, the actuator being movable from an extended position to a retracted position to move the frame radially relative to the frame longitudinal axis.

[0319] [Item 157] Item 157. The reactor system of item 156, wherein the at least one actuator comprises at least two actuators.

[0320] [Item 158] Item 158. The reactor system of item 157, wherein the at least two actuators comprise six actuators.

[0321] [Item 159] Item 157. The reactor system of item 156, wherein the at least one actuator comprises at least one linear actuator.

[0322] [Item 160] Item 157. The reactor system of item 156, wherein the outer support structure comprises at least one cable connecting the at least one actuator to the reactor core.

[0323] [Item 161] a processor in electronic communication with the at least three actuators and a memory, the processor executing computer-readable instructions stored in the memory, the instructions causing the processor to: sending a signal to a first actuator of the at least three actuators to move the first actuator from the extended position to the retracted position; sending a signal to a second actuator of the at least three actuators to move the second actuator from the extended position to the retracted position; sending a signal to the first actuator to move the first actuator from the retracted position to the extended position; sending a signal to a third actuator of the at least three actuators to move the third actuator from the extended position to the retracted position; sending a signal to the second actuator to move the second actuator from the retracted position to the extended position; sending a signal to the third actuator to move the third actuator from the retracted position to the extended position.

Claims

[Claim 1] 1. A device for transporting a free-flowing material, said device comprising: The gantry and an arm having an arm longitudinal axis, a first arm portion, a second arm portion spaced from the first arm portion along the arm longitudinal axis, and an intermediate arm portion disposed between the first arm portion and the second arm portion, the intermediate arm portion being rotatably coupled to the gantry; a gripper including two or more fingers movably coupled to the first arm portion relative to a gripper axis, the two or more fingers being movable radially relative to the gripper axis between a first position and a second position, at least two of the two or more fingers being closer to the gripper axis at the second position than at the first position; a tool head coupled to the second arm portion, the tool head including a tool head motor and a tool coupling portion coupleable to a tool.

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