Gripper assembly and method of operating the gripper assembly

Abstract

To provide a gripper assembly and a method of actuating the gripper assembly.SOLUTION: A gripper assembly comprises: a base part which has a hollow region extending along a first direction; three or more grippers which are arranged at a circumferential part of the base part, and also so arranged to rotate around an axis of rotation extending along the first direction; a first drive motor which generates drive force to be transmitted to the three or more grippers; a first power transmission part which rotates the three or more grippers simultaneously along a first rotating direction; and a first elastic member which has one end part fixed to the first power transmission part and the other end part fixed to the first drive motor to transmit the drive force to the first power transmission part.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a gripper assembly and a method of operating the gripper assembly.

Background Art

[0002] Recently, there has been an increasing need to transport samples and components inside a sealed space such as a vacuum chamber or a cryogenic container in semiconductor process equipment, cryogenic operating equipment, and research used in the fields of medicine and biology. For this purpose, the development of a picking robot for gripping samples or components has been actively promoted. As a picking robot, a gripper device that can quickly and accurately pick non-standard objects, that is, objects having various shapes, sizes, and materials, is essential.

[0003] When a fluid sample is placed in a sample case and transported, the sample is placed in the sample case and then the lid of the sample case is closed. In order to take out the sample from the sample case for use, a gripper device for gripping the sample case and a gripper device for opening the lid of the sample case are separately required. When using different gripper devices depending on the application, it occupies a lot of space, and problems such as cost problems and increased process yield occur.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a gripper assembly and an operating method of the gripper assembly that can grip a sample case using a single gripper assembly and open the lid of the sample case. Another object of the present invention is to provide a gripper assembly and an operating method of the gripper assembly that can control the gripping force for gripping the sample case. Another object of the present invention is to provide a gripper assembly including a sample transfer unit and an operating method of the gripper assembly.

Means for Solving the Problems

[0006] A gripper assembly according to one aspect of the present invention made to achieve the above object includes a base portion having a hollow region extending along a first direction, three or more grippers arranged along a peripheral portion of the base portion and rotatably arranged about a rotation axis extending along the first direction, and a first power transmission unit that simultaneously rotates each of the three or more grippers about the rotation axis along a first rotation direction.

[0007] The gripper assembly may further include a first drive motor that generates a first driving force transmitted to the three or more grippers, and a first elastic member having one end connected to the first power transmission unit and the other end connected to the first drive motor to transmit the first driving force to the first power transmission unit. The gripper assembly may further include a second drive motor that generates a second driving force for rotating the base portion about the first direction, and a second power transmission unit that transmits the second driving force to the base portion so that the base portion rotates about the first direction. The gripper assembly further includes a control unit that controls the first drive motor and the second drive motor, and the control unit can operate the first drive motor so that the rotation speed of the base portion and the rotation speed of the first power transmission unit become the same when the second drive motor operates. The first power transmission unit may include three or more power transmission cams respectively corresponding to the three or more grippers. It may further include a stopper that restricts the first elastic member from expanding beyond a predetermined length. It may further include a second elastic member having one end connected to the base portion and the other end connected to any one of the three or more grippers, and applying a restoring force to the connected gripper along a second rotation direction opposite to the first rotation direction. It may further include a control unit that controls the first drive motor, and the control unit may operate the first drive motor so that the first elastic member expands to a predetermined first length. It may further include a control unit that controls the first drive motor, and the control unit may operate the first drive motor so that the first elastic member expands beyond a predetermined first length. It may further include contact pads disposed at one end of each of the three or more grippers. It may further include a sample transfer unit disposed in the hollow region provided in the base portion. It may further include a third drive motor that generates a third driving force for moving the sample transfer unit along the first direction, and a third power transmission unit that transmits the third driving force to the sample transfer unit. It may further include a support guide unit disposed on the inner wall portion of the hollow region to support the sample transfer unit.

[0008] A method for operating a gripper assembly according to an aspect of the present invention made to achieve the above object includes a base portion having a hollow region extending along a first direction, three or more grippers arranged along a peripheral portion of the base portion and rotatably arranged about a rotation axis extending along the first direction, and a first power transmission portion that simultaneously rotates each of the three or more grippers about the rotation axis along a first rotation direction. The method for operating a gripper assembly includes steps of fixing a sample case to a case support portion, generating a first driving force using a first driving motor, transmitting the first driving force to the first power transmission portion using a first elastic member, rotating the three or more grippers about the rotation axis along the first rotation direction using the first power transmission portion, and expanding the first elastic member to a predetermined first length or less.

[0009] When the first elastic member expands to the predetermined first length, the three or more grippers can contact and grip the lid of the sample case disposed below the base portion. The method further includes a step of expanding the first elastic member beyond the first length. When the first elastic member expands beyond the first length, the contact force between the three or more grippers and the lid of the sample case can be increased. A stopper can be used to limit the first elastic member from expanding beyond a predetermined range. The method may further include steps of generating a second driving force using a second driving motor, transmitting the second driving force to the base portion using a second power transmission portion, operating the first driving motor so that the rotational speed of the first power transmission portion rotating along a second rotation direction is the same as the rotational speed of the base portion, and releasing the lid of the sample case gripped by the three or more grippers. The method may further include steps of generating a third driving force using a third driving motor and raising or lowering a sample transfer portion using a third power transmission portion.

Advantages of the Invention

[0010] The gripper assembly of the present invention can grip a sample case using a single gripper assembly and open the lid of the sample case. Also, the gripper assembly of the present invention can control the gripping force for gripping the sample case. Also, the gripper assembly of the present invention includes a sample transfer unit and can transfer a sample from a sample case with the lid opened. Also, the pipette unit provided in the sample transfer unit of the gripper assembly of the present invention is provided in a needle shape and can transfer a sample from a sample case with the lid closed.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2A

Figure 2B

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 6C

Figure 6D

Figure 7A

Figure 7B

Figure 8

Figure 9A

Figure 9B

Figure 10A

Figure 10B

Figure 10C

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0012] Hereinafter, specific examples of embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the drawings, the same reference numerals refer to the same components, and on the drawings, the size of each component may be exaggerated for clarity and convenience of explanation. On the other hand, the embodiments described below are merely examples, and various modifications are possible from such embodiments.

[0013] Hereinafter, the descriptions "upper part" and "above" include not only those in direct contact and immediately above but also those above without contact.

[0014] Terms such as "first", "second", etc. are used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

[0015] Singular expressions include plural expressions unless the context clearly indicates a different meaning. Also, when a part states that a certain component "includes", this means that, unless there is a contrary description, it does not exclude other components and may further include other components.

[0016] FIG. 1 is a perspective view of a gripper assembly according to an embodiment of the present invention. FIG. 2A is an exploded perspective view of a gripper device of the gripper assembly shown in FIG. 1. FIG. 2B is an exploded perspective view of an example of a first gripper, a base portion, a gripper support portion, and a second elastic member. FIG. 3 is a block diagram showing the relationship between a control unit and first to third drive motors according to an embodiment of the present invention. FIG. 4 is a perspective view of a gripper device according to an embodiment of the present invention. FIG. 5 is a cross-sectional view of a gripper device according to an embodiment of the present invention.

[0017] Referring to FIG. 1, a gripper assembly 1 according to the present embodiment includes a gripper device 10 for gripping a sample case B containing a sample or a lid C of the sample case, a sample transfer device 20 for moving a sample transfer unit 600 (see FIG. 2), and a case support portion 30 for fixing the sample case B. In the present specification, the object gripped by the gripper device 10 is not only the sample case B or the lid C of the sample case, but also other objects that can be gripped and transferred, such as the sample itself. As an example, the sample is a compound or a synthetic substance. However, the present invention is not limited thereto. Also, the sample accommodated in the sample case B and the lid C of the sample case is not only in a fluid state but also in a solid state. Hereinafter, for convenience of explanation, a form in which a fluid sample is accommodated in the sample case B and sealed by the lid C of the sample case will be described.

[0018] Referring to FIGS. 2A, 3, and 5, the gripper device 10 according to the present embodiment includes a base portion 110, a gripper support portion 120, a support guide portion 130, three or more grippers 200, a first drive motor 300, a first power transmission portion 310, a first elastic member 320, a second drive motor 400, a second power transmission portion 410, a sample transfer portion 600, and a control portion 700.

[0019] The base portion 110 is a support member that supports the sample transfer portion 600 described later. As an example, the base portion 110 includes a hollow region 111 extending in the first direction Z. The sample transfer portion 600 is disposed in the hollow region 111 described above. In this way, the sample transfer portion 600 can transfer a sample from a sample case B disposed below the base portion 110.

[0020] The gripper support portion 120 is disposed at the lower end portion of the base portion 110 and supports three or more grippers 200. As an example, the gripper support portion 120 includes a central hole 121 into which the base portion 110 is inserted, and a rotation shaft support portion 122 disposed along the peripheral portion of the central hole 121. For example, the gripper support portion 120 is disposed so as to be fixed to the base portion 110 inserted into the central hole 121. Further, the rotation shaft support portion 122 included in the gripper support portion 120 is disposed along the peripheral portion of the central hole 121 so as to correspond to the number of grippers 200.

[0021] The support guide part 130 is a guide member that is disposed on the inner wall part of the hollow region 111 provided in the base part 110 and supports the sample transfer part 600. As an example, the support guide part 130 is provided in a tubular shape including a hollow region extending along the first direction Z. According to the present embodiment, the support guide part 130 is provided so as to be inserted into the hollow region 111 of the base part 110 and guides the movement path of the sample transfer part 600. Further, the support guide part 130 supports the sample transfer part 600 along the longitudinal direction of the sample transfer part 600, thereby preventing the buckling phenomenon of the sample transfer part 600. Further, a protection part 131 surrounding the lower end part of the base part 110 is disposed at the lower end part of the support guide part 130 to prevent contamination of the base part 110 from the sample.

[0022] Three or more grippers 200 are gripping members that grip the sample case B or the lid C of the sample case. As an example, three or more grippers 200 include a first gripper 210, a second gripper 220, a third gripper 230, and a fourth gripper 240 disposed along the peripheral part of the base part 110. According to the present embodiment, the first gripper 210 to the fourth gripper 240 are supported by a rotation shaft support part 122 included in the gripper support part 120 and are rotatably disposed with respect to the base part 110. Since the first gripper 210 to the fourth gripper 240 include substantially the same configuration, for convenience of explanation, the description will be centered on the first gripper 210.

[0023] Referring to FIGS. 2B and 4, the first gripper 210 includes a body part 211, a connecting part 212, a second elastic member support part 214, a second elastic member 215, and a contact pad 216. The first gripper 210 according to the present embodiment is rotatably disposed with respect to the base part 110 about a rotation shaft 213 extending along the first direction Z. At that time, the rotation shaft 213 is supported by the rotation shaft support part 122.

[0024] The body part 211 is a support member extending along the first direction Z, and a contact part 2111 that directly contacts the sample case B or the lid C of the sample case is disposed at one end, and the other end is connected to a connecting part 212 described later.

[0025] The connecting portion 212 is a connecting member that connects the body portion 211 and the rotating shaft 213, and includes a hollow rotating shaft support portion 2120 in which the rotating shaft 213 is disposed, a pressurizing portion 2121 to which a pressing force is applied from the first power transmission portion 310, and a support hole 2122 that supports the second elastic member support portion 214. As an example, the rotating shaft 213 is disposed so as to extend along the first direction Z and be inserted into the rotating shaft support portion 2120. At that time, the pressurizing portion 2121 extends so as to form a predetermined angle with the other end portion of the body portion 211. Therefore, when a pressing force is applied to the pressurizing portion 2121 from the first power transmission portion 310 along the second rotation direction, for example, the counterclockwise direction, the body portion 211 rotates along the first rotation direction about the rotating shaft 213. In the present embodiment, although the body portion 211 and the connecting portion 212 are disclosed in a separated form, they may be integrally formed.

[0026] The second elastic member 215 applies a restoring force to the body portion 211 along the second rotation direction opposite to the first rotation direction. As an example, one end portion of the second elastic member 215 is fixed to the gripper support portion 120, and the other end portion is fixed to the second elastic member support portion 214. For example, the other end portion of the second elastic member 215 is fixed to the second elastic member support portion 214 disposed so as to be inserted into the support hole 2122, expands when the body portion 211 rotates along the first rotation direction, and contracts when the pressurizing portion 2121 is not pressurized from the first power transmission portion 310, thereby rotating the body portion 211 in the second rotation direction, for example, the counterclockwise direction, and restoring the position of the body portion 211 to the original state.

[0027] The contact pad 216 is disposed on the contact portion 2111 provided on the body portion 211 to improve the contact force with the sample case B or the lid C of the sample case. For example, the contact pad 216 includes a protrusion shape or a rubber material to improve the frictional force with the sample case B or the lid C of the sample case.

[0028] Referring again to FIGS. 2A, 4, and 5, the first power transmission unit 310 is a power transmission member that transmits the driving force generated by the first drive motor 300 to three or more grippers 200 to rotate the three or more grippers 200 simultaneously. Here, although the first drive motor 300 discloses an electric motor, the present invention is not limited thereto. As an example, if it is possible to generate a driving force for rotating the first power transmission unit 310, the first drive motor 300 may be replaced with a magnet using magnetic force. Also, when manually transmitting a driving force to the first power transmission unit 310, the first drive motor 300 is not arranged.

[0029] As an example, the first power transmission unit 310 includes an insertion hole 311, a power transmission cam 312 arranged along the peripheral portion of the insertion hole 311, a first elastic member support portion 314, and a stopper support portion 315. The insertion hole 311 is provided so that the base portion 110 can be inserted, whereby the first power transmission unit 310 is rotatably supported with respect to the base portion 110. The power transmission cam 312 applies a pressing force along the second rotation direction to the pressing portions provided on three or more grippers 200. As an example, the power transmission cam 312 is formed to extend along the first direction Z, and four are formed corresponding to the number of the first gripper 210 to the fourth gripper 240. At that time, the power transmission cam 312 corresponding to the first gripper 210 applies a pressing force along the second rotation direction to the pressing portion 2121. The first elastic member support portion 314 is arranged on the peripheral portion of the insertion hole 311. Also, the stopper support portion 315 is arranged to protrude from the insertion hole 311 above the power transmission cam 312.

[0030] The first elastic member 320 transmits the driving force generated by the first drive motor 300 to the first power transmission unit 310. As an example, one end of the first elastic member 320 is fixed to the first elastic member support portion 314, and the other end is connected to the first drive motor 300. The first power transmission gear 330 is further specifically arranged to be fixed to the first elastic member support hook 524 of the frame portion 523 where the first power transmission gear 330 is fixed. The first elastic member 320 according to the present embodiment extends to the first length T1 (see FIG. 6A) when three or more grippers 200 come into contact with and grip the sample case B or the lid C of the sample case. Further, the first elastic member 320 extends beyond the first length T1 to improve the gripping force between three or more grippers 200 and the sample case B or the lid C of the sample case. Matters related thereto will be described more specifically with reference to FIGS. 6A to 7B.

[0031] The stopper 520 is a limiting member that restricts the first power transmission unit 310 from rotating beyond a predetermined range. As an example, a frame portion 523 including an insertion hole 521 into which the base portion 110 is inserted is provided, and the stopper 520 is arranged to protrude from the frame portion 523 along the peripheral portion of the insertion hole 521. For example, a plurality of stoppers 520 are provided and arranged at a predetermined interval along the peripheral portion of the insertion hole 521. A first bearing portion 530 is arranged at the lower portion of the frame portion 523. Figure 2A and As shown in FIG. 5, the stopper 520 fixed to the frame portion 523 maintains a fixed position regardless of the rotation of the first power transmission unit 310.

[0032] The second power transmission unit 410 transmits the driving force generated by the second drive motor 400 to the base unit 110. As an example, in the upper region 411 of the second power transmission unit 410, a second power transmission gear 420 connected to the second drive motor 400 is inserted and arranged to be fixed. At this time, in the lower region 412 of the second power transmission unit 410, the upper region of the base unit 110 is arranged to be fixed. Thus, when the second power transmission gear 420 rotates, the base unit 110 also rotates. At this time, the gripper support unit 120 fixed to the base unit 110 also rotates around the base unit 110, and three or more grippers 200 supported by the gripper support unit 120 also rotate around the base unit 110. A second bearing unit 430 is arranged below the second power transmission unit 410, and as shown in FIG. 5, the rotation of the first power transmission gear 330 and the second power transmission unit 410 is performed independently.

[0033] The sample transfer unit 600 transfers the sample stored in the sample case B. As an example, the sample transfer unit 600 includes a tubular pipette unit 610 extending along the first direction Z and a support unit 620 arranged at one end of the pipette unit 610. As an example, the pipette unit 610 is arranged to be inserted into the hollow region 111 provided in the base unit 110, and discharges or sucks in the sample from the other end. Also, the pipette unit 610 according to the present embodiment can transfer and distribute the inhaled sample to another sample case B. The sample transfer unit 600 according to the present embodiment moves upward or downward along the first direction Z. Matters regarding the sample transfer unit 600 and the sample transfer device 20 shown in FIG. 1 will be described more specifically with reference to FIGS. 10A to 10C.

[0034] Referring to FIG. 3, the control unit 700 is a control device that controls the configuration of the gripper assembly 1 according to the present embodiment. As an example, the control unit 700 generates drive signals for controlling the first drive motor 300, the second drive motor 400, and the third drive motor 900. The control unit 700 includes at least one processor and at least one memory that stores computer code configured to cause the control unit 700 to perform its functions.

[0035] Referring back to FIG. 1, the case support portion 30 is a fixing member for fixing the sample case B. The case support portion 30 according to the present embodiment fixes the sample case B while the lid C of the sample case rotates in order to open the lid C of the sample case. According to the present embodiment, the case support portion 30 is provided in a substrate shape, but the present invention is not limited thereto, and it may be provided in any shape that can fix the sample case B.

[0036] FIG. 6A is a partial perspective view of a gripper device according to an embodiment of the present invention. FIGS. 6B and 6C are plan views of a first power transmission portion and first to fourth grippers according to an embodiment of the present invention. FIG. 6D is a perspective view of a state where the gripper device according to an embodiment of the present invention grips the lid of the sample case.

[0037] Referring to FIG. 6A, the first drive motor 300 according to the present embodiment generates a driving force. The driving force generated from the first drive motor 300 is transmitted to the first power transmission gear 330, and the first power transmission gear 330 rotates along the second rotation direction, i.e., the counterclockwise direction, around the base portion 110 disposed at the center. As the first power transmission gear 330 rotates along the second rotation direction, the first power transmission portion 310 to which the driving force is transmitted using the first elastic member 320 rotates along the second rotation direction around the base portion 110.

[0038] As the first power transmission portion 310 rotates along the second rotation direction around the base portion 110, as shown in FIGS. 6B and 6C, the power transmission cam 312 applies a pressing force along the second rotation direction to the pressing portion 2121 included in the first gripper 210. As a result, the body portion 211 connected to the connecting portion 212 rotates along the first rotation direction, i.e., the clockwise direction, around the rotation shaft 213. The body portions (221 to 241) included in the second gripper 220 to the fourth gripper 240 also rotate along the first rotation direction around the rotation shafts (223 to 243) in the same manner as the first gripper 210. Matters regarding the second gripper 220 to the fourth gripper 240 are omitted here for the sake of convenience of description.

[0039] As described above, when the body parts (211 to 241) included in the first gripper 210 to the fourth gripper 240 rotate along the first rotation direction about the rotation axes (213 to 243), the contact parts (2111 to 2411) arranged at one end of the body parts (211 to 241) move adjacent to each other so as to grip the lid C of the sample case. At this time, the contact pad 216 is arranged between the lid C of the sample case and the contact part 2111, and the gripping force is improved.

[0040] FIG. 7A is a partial perspective view of a gripper device according to an embodiment of the present invention. FIG. 7B is a graph showing the relationship between the drive current and the drive time of the first drive motor. FIG. 8 is a partial perspective view of a gripper device according to an embodiment of the present invention.

[0041] As shown in FIG. 6D, when the contact parts (2111 to 2411) arranged at one end of the body parts (211 to 241) contact the lid C of the sample case and grip the lid C of the sample case, the first elastic member 320 expands to the first length T1. As an example, when the first elastic member 320 expands beyond the first length T1, the gripping force for gripping the lid C of the sample case increases.

[0042] Referring to FIG. 7A, the first drive motor 300 additionally generates a driving force from the time of gripping the lid C of the sample case shown in FIG. 6D. The driving force generated from the first drive motor 300 is transmitted to the first power transmission gear 330, and the first power transmission gear 330 further rotates along the second rotation direction, i.e., the counterclockwise direction, around the base portion 110. As the first power transmission gear 330 rotates along the second rotation direction, the first elastic member 320, whose other end is fixed to the first power transmission gear 330, expands beyond the first length T1. At this time, as shown in FIG. 6D, since the contact portions (2111 to 2411) arranged at one end of the body portions (211 to 241) are in contact with the lid C of the sample case and grip the lid C of the sample case, the first power transmission portion 310 fixed to one end of the first elastic member 320 does not rotate. As the first elastic member 320 expands beyond the first length T1, the increased restoring force of the first elastic member 320 is applied to the first power transmission portion 310 along the second rotation direction. The restoring force applied to the first power transmission portion 310 along the second rotation direction is transmitted to the body portions (211 to 241), whereby the body portions (211 to 241) grip the lid C of the sample case more strongly along the first rotation direction.

[0043] The gripping force with which the body portions (211 to 241) grip the lid C of the sample case increases as the length of the first elastic member 320 expands beyond the first length T1. Therefore, the control unit 700 transmits to the first drive motor 300 a control signal for the body portions (211 to 241) to grip the lid C of the sample case and a control signal for adjusting the gripping force with which the body portions (211 to 241) grip the lid C of the sample case.

[0044] As an example, as shown in FIG. 7B, the current applied to the first drive motor 300 is such that until the first gripper 210 to the fourth gripper 240 rotate along the first rotation direction to grip the lid C of the sample case, that is, in the A1 section where the first elastic member 320 is less than the first length T1, the current rise is slow. On the other hand, after gripping the lid C of the sample case, that is, in the B1 section where the first elastic member 320 exceeds the first length T1 and the gripping force increases, it can be confirmed that the current rise suddenly increases. Thereby, the control unit 700 can distinguish between the control signal for gripping the lid C of the sample case and the control signal for increasing the gripping force and transmit them to the first drive motor 300. However, when the driving force is continuously generated by the first drive motor 300, the first elastic member 320 expands beyond the elastic limit of the first elastic member 320. Therefore, even when the driving force is generated by the first drive motor 300, a solution is required to prevent the expansion of the first elastic member 320.

[0045] Referring to FIGS. 2A and 8, a plurality of stoppers 520 according to the present embodiment are provided and arranged at a predetermined interval around the base portion 110. Further, the stopper support portion 315 is provided on the first power transmission portion 310 and arranged to interfere with the stopper 520 depending on the rotation range.

[0046] As an example, as described above, due to the driving force by the first drive motor 300, the first elastic member 320 expands beyond the first length T1. At this time, the stopper 520 arranged to be separated by the first bearing portion 530 rotates along one direction together with the first power transmission gear 330, while the stopper support portion 315 included in the first power transmission portion 310 is restrained by the gripping force between the first gripper 210 to the fourth gripper 240 and the lid C of the sample case and stops. Thereby, when the stopper 520 continuously rotates along one direction, the stopper 520 interferes with the stopper support portion 315 and the rotation stops. Therefore, the expansion of the first elastic member 320 also stops, and it is possible to prevent the first elastic member 320 from expanding beyond a predetermined range, for example, the elastic limit.

[0047] FIG. 9A is a partial perspective view of a sample transfer device according to an embodiment of the present invention. FIG. 9B is a perspective view of a sample transfer device according to an embodiment of the present invention.

[0048] As shown in FIG. 6D, when the lid C of the sample case is gripped by the first gripper 210 to the fourth gripper 240 and the lid C of the sample case is rotatable relative to the sample case B, the lid C of the sample case is separated from the sample case B. At that time, the gripping force for gripping the lid C of the sample case using the first gripper 210 to the fourth gripper 240 must be kept constant.

[0049] Referring to FIGS. 9A and 9B, the second drive motor 400 according to the present embodiment generates a driving force for rotating the lid C of the sample case gripped by the first gripper 210 to the fourth gripper 240. Due to the driving force generated by the second drive motor 400, the second power transmission gear 420 rotates along the second rotation direction. The second power transmission portion 410 fixed to the second power transmission gear 420 and the base portion 110 arranged to be fixed to the second power transmission portion 410 also rotate along the second rotation direction about the first direction Z. At that time, a second bearing portion 430 is disposed between the second power transmission portion 410 and the first power transmission gear 330, whereby the second power transmission portion 410 and the first power transmission gear 330 rotate independently of each other.

[0050] The base portion 110 transmitted with the driving force from the second power transmission portion 410 rotates along the second rotation direction about the first direction Z, and the gripper support portion 120 and the first gripper 210 to the fourth gripper 240 connected to be fixed to the base portion 110 rotate along the second rotation direction about the base portion 110. Thereby, the lid C of the sample case gripped by the first gripper 210 to the fourth gripper 240 also rotates along the second rotation direction. At that time, since the sample case B is supported by the case support portion 30, the lid C of the sample case is separated from the sample case B by rotating with respect to the sample case B.

[0051] As described above, when the first gripper 210 to the fourth gripper 240 rotate along the second rotation direction around the base portion 110 and the first power transmission portion 310 connected to the first gripper 210 to the fourth gripper 240 using the first elastic member 320 does not rotate, the expansion length of the first elastic member 320 changes. Thereby, the gripping force of the first gripper 210 to the fourth gripper 240 with respect to the lid C of the sample case is weakened.

[0052] As shown in FIG. 9A, the first drive motor 300 according to the present embodiment generates a driving force so that the first power transmission portion 310 rotates along the second rotation direction at the same speed as the base portion 110. Thereby, in order to open the lid C of the sample case, even while rotating the lid C of the sample case, the expansion length of the first elastic member 320 is kept constant, and the gripping force of the first gripper 210 to the fourth gripper 240 with respect to the lid C of the sample case is maintained.

[0053] FIG. 10A is a side view of a sample transfer device according to an embodiment of the present invention. FIG. 10B is a perspective view of a sample transfer device according to an embodiment of the present invention. FIG. 10C is a schematic view of a state in which a sample transfer portion according to an embodiment of the present invention has descended.

[0054] Referring to FIGS. 10A to 10C, the sample transfer device 20 according to the present embodiment includes a third drive motor 900, a third power transmission gear 930, a third power transmission unit 940, a slide unit 950, a slide guide 960, a housing unit 970, and a fastening support unit 980. The sample transfer unit 600 moves up or down along the first direction Z for injecting or sucking a sample. The third drive motor 900 generates a driving force for the upward or downward movement of the sample transfer unit 600. The driving force generated by the third drive motor 900 is transmitted to the third power transmission gear 930. The driving force transmitted to the third power transmission gear 930 changes into a driving force for upward or downward movement through the third power transmission unit 940. As an example, the third power transmission unit 940 is a ball-screw that converts a rotational force into a driving force for linear motion. However, the present invention is not limited thereto, and other forms of power conversion devices that can convert a rotational force into a driving force for linear motion may be used.

[0055] As an example, the third power transmission unit 940 uses the driving force transmitted from the third power transmission gear 930 to move the slide unit 950 up or down. At this time, the slide unit 950 moves up or down along the slide guide 960 extending along the first direction Z. The fastening support unit 980 fixes the support unit 620 provided in the sample transfer unit 600 to the slide unit 950, whereby the sample transfer unit 600 moves up or down together with the slide unit 950. When the sample transfer unit 600 moves up or down, the pipette unit 610 provided in the sample transfer unit 600 is inserted into or discharged from the sample case B. In the above-described embodiment, the case where the pipette unit 610 is inserted into or discharged from the sample case B with the lid C of the sample case disposed above the sample case B open is disclosed, but the present invention is not limited thereto.

[0056] According to one embodiment, one end of the pipette unit 610 is provided in a needle shape as shown in FIG. 10C. At this time, even in a closed state where the lid C of the sample case is coupled to the sample case B, the pipette unit 610 can descend. As a result, it is also possible to insert the pipette unit 610 into the sample case B through the lid C of the sample case or to discharge it from the sample case B to transfer the sample.

[0057] FIG. 11 is a flowchart regarding gripping of a sample case or a lid of a sample case in an operation method of a gripper assembly according to an embodiment of the present invention.

[0058] Referring to FIG. 11, a sample case according to this embodiment is fixed to a case support portion (step S110). According to this embodiment, the sample case B containing the sample is fixed to the case support portion 30. However, step S110 is a step necessary for opening the lid C of the sample case disposed above the sample case B, and in an operation method for gripping the sample itself or the sample case B, step S110 is removed.

[0059] Next, a driving force is generated using the first driving motor (step S120). According to this embodiment, the control unit 700 transmits a control signal for generating a driving force for three or more grippers 200 to grip the sample case B or the lid C of the sample case to the first driving motor, and the first driving motor 300 generates a driving force according to the transmitted control signal.

[0060] Next, the driving force is transmitted to the first power transmission unit 310 using the first elastic member 320 (step S130). According to this embodiment, the driving force generated by the first driving motor 300 is transmitted to the first power transmission unit 310 through the first elastic member 320, whereby the first power transmission unit 310 rotates along the second rotation direction.

[0061] Next, using the first power transmission unit 310, rotate three or more grippers 200 along the first rotation direction about the rotation axis (step S140). According to the present embodiment, a pressing force is simultaneously applied to three or more grippers 200 by the first power transmission unit 310, and the three or more grippers 200 rotate along the first rotation direction about the rotation axis. As a result, the three or more grippers 200 approach and get close to the sample case B or the lid C of the sample case.

[0062] Next, expand the first elastic member 320 to a predetermined first length T1 or less (step S150). According to the present embodiment, the first elastic member 320 that transmits the driving force generated by the first drive motor 300 expands to a predetermined first length T1 or less. When the first elastic member 320 expands to the first length T1, the three or more grippers 200 come into contact with the sample case B or the lid C of the sample case disposed below the base portion 110, and grip the sample case B or the lid C of the sample case.

[0063] Next, expand the first elastic member 320 beyond the predetermined first length T1 (step S160). According to the present embodiment, the first elastic member 320 that transmits the driving force generated by the first drive motor 300 expands beyond the predetermined first length T1. When the first elastic member 320 expands beyond the first length T1, the contact force between the three or more grippers 200 and the base portion 110 and the sample case B or the lid C of the sample case increases, so that the gripping force on the sample case B or the lid C of the sample case increases. However, at this time, the expansion of the first elastic member 320 is restricted by the stopper 520 so that the first elastic member 320 does not expand beyond a predetermined range, for example, the elastic limit.

[0064] FIG. 12 is a flowchart relating to a method of opening the lid of a sample case and lowering a sample transfer unit in an operating method of a gripper assembly according to an embodiment of the present invention.

[0065] Referring to FIG. 12, a driving force is generated using the second drive motor (step S200). According to the present embodiment, the control unit 700 transmits a control signal for generating a driving force for rotating the base portion 110 and three or more grippers 200 connected to be fixed to the base portion 110 about the first direction Z to the second drive motor 400. The second drive motor 400 generates a driving force according to the transmitted control signal.

[0066] Next, the driving force is transmitted to the base portion using the second power transmission unit (step S210). According to the present embodiment, the driving force generated by the second drive motor 400 is transmitted to the base portion 110 through the second power transmission unit 410. As a result, the base portion 110 rotates along the second rotation direction about the first direction Z, and the gripper support portion 120 and three or more grippers 200 connected to be fixed to the base portion 110 rotate along the second rotation direction about the base portion 110.

[0067] Next, the first drive motor is operated so that the rotational speed of the first power transmission unit rotating along the second rotation direction becomes the same as the rotational speed of the base portion (step S220). According to the present embodiment, when the base portion 110 and the gripper support portion 120 and three or more grippers 200 connected to be fixed thereto rotate along the second rotation direction by the second drive motor 400, if the first power transmission unit 310 connected to the three or more grippers 200 does not rotate using the first elastic member 320, the gripping force for gripping the lid C of the sample case using the three or more grippers 200 is weakened. In order to prevent such a phenomenon, the first drive motor 300 generates a driving force so that the first power transmission unit 310 rotates along the second rotation direction at the same speed as the second drive motor 400. As a result, the gripping force for gripping the lid C of the sample case using the three or more grippers 200 is maintained.

[0068] Next, open the lid of the sample case held by three or more grippers (step S230). According to the present embodiment, the sample case B is fixed by the case support portion 30, and the lid C of the sample case is gripped and rotated by three or more grippers 200. At this time, the gripping force by the three or more grippers 200 is kept the same. Thereby, the lid C of the sample case rotates along the second rotation direction with respect to the sample case B, and the lid C of the sample case is opened from the sample case B.

[0069] Next, generate a driving force using the third drive motor (step S240). According to the present embodiment, the control unit 700 transmits a control signal for generating a driving force for raising or lowering the sample transfer unit 600 along the first direction Z to the third drive motor 900. The third drive motor 900 generates a driving force according to the transmitted control signal.

[0070] Next, raise or lower the sample transfer unit using the third power transmission unit (step S250). According to the present embodiment, the driving force generated by the third drive motor 900 is transmitted to the sample transfer unit 600 through the third power transmission unit 940. Thereby, the sample transfer unit 600 rises or falls along the first direction Z. When the sample transfer unit 600 rises or falls, the pipette unit 610 included in the sample transfer unit 600 is inserted into / removed from the sample case B, enabling sampling / transfer of the sample.

[0071] As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the technical idea of the present invention.

Explanation of Reference Numerals

[0072] 1 Gripper assembly 10 Gripper device 20 Sample transfer device 30 Case support portion 110 Base portion 111 Hollow area 120 Gripper support part 121 Central hole 122 Rotating shaft support part 130 Support guide part 131 Protection part 200 Gripper 210, 220, 230, 240 First to fourth grippers 211, 221, 231, 241 Body parts 212 Connecting part 213, 223, 233, 243 Rotating shafts 214 Second elastic member support part 215, 320 Second and first elastic members 216 Contact pad 300, 400, 900 First to third drive motors 310, 410, 940 First to third power transmission parts 311 Insertion hole 312 Power transmission cam 314 First elastic member support part 315 Stopper support part 330, 420 First and second power transmission gears 411 Upper area 412 Lower area 430, 530 Second and first bearing parts 520 Stopper 521 Insertion hole 523 Frame part 524 First elastic member support hook 600 Sample transfer part 610 Pipette part 620 Support part 700 Control part 930 Third power transmission gear 950 Slide part 960 Slide guide 970 Housing part 980 Fastening support part 2111, 2411 Contact parts 2120 Rotating shaft support part 2121 Pressing part 2122 Support hole

Claims

1. A base portion having a hollow region extending along a first direction, Three or more grippers arranged along a peripheral portion of the base portion and rotatably arranged about a rotation axis extending along the first direction, A first power transmission portion that simultaneously rotates each of the three or more grippers about the rotation axis along a first rotation direction, A first drive motor that generates a first driving force transmitted to the three or more grippers, A first elastic member having one end connected to the first power transmission portion and the other end connected to the first drive motor for transmitting the first driving force to the first power transmission portion, characterized in that it comprises a gripper assembly.

2. A second drive motor that generates a second driving force for rotating the base portion about the first direction, A second power transmission portion that transmits the second driving force to the base portion so that the base portion rotates about the first direction, characterized in that the gripper assembly according to claim 1 further comprises.

3. Further comprising a control unit for controlling the first drive motor and the second drive motor, The control unit operates the first drive motor so that the rotation speed of the base portion and the rotation speed of the first power transmission portion are the same when the second drive motor operates, characterized in that the gripper assembly according to claim 2.

4. The first power transmission portion comprises three or more power transmission cams respectively corresponding to the three or more grippers, characterized in that the gripper assembly according to claim 1.

5. Further comprising a stopper for restricting the first elastic member from expanding beyond a predetermined length, characterized in that the gripper assembly according to claim 1.

6. One end is connected to the base portion, the other end is connected to any one of the three or more grippers, and further includes a second elastic member that applies a restoring force to the connected gripper along a second rotation direction opposite to the first rotation direction. The gripper assembly according to claim 1, characterized in that.

7. Further includes a control unit for controlling the first drive motor, The control unit operates the first drive motor so that the first elastic member expands to a predetermined first length. The gripper assembly according to claim 1, characterized in that.

8. Further includes a control unit for controlling the first drive motor, The control unit operates the first drive motor so that the first elastic member expands beyond a predetermined first length. The gripper assembly according to claim 7, characterized in that.

9. Further includes contact pads arranged at one end of each of the three or more grippers. The gripper assembly according to claim 1, characterized in that.

10. Further includes a sample transfer unit arranged in the hollow region provided in the base portion. The gripper assembly according to claim 1, characterized in that.

11. A third drive motor that generates a third driving force for moving the sample transfer unit along the first direction, And a third power transmission unit that transmits the third driving force to the sample transfer unit. The gripper assembly according to claim 10, characterized in that.

12. Further includes a support guide unit arranged on the inner wall portion of the hollow region to support the sample transfer unit. The gripper assembly according to claim 10, characterized in that.

13. A method of operating a gripper assembly including a base portion having a hollow region extending along a first direction, three or more grippers arranged along a peripheral portion of the base portion and rotatably arranged about a rotation axis extending along the first direction, and a first power transmission portion for simultaneously rotating each of the three or more grippers about the rotation axis along a first rotation direction, comprising: fixing a sample case to a case support portion; generating a first driving force using a first driving motor; transmitting the first driving force to the first power transmission portion using a first elastic member; rotating the three or more grippers about the rotation axis along the first rotation direction using the first power transmission portion; expanding the first elastic member to a predetermined first length or less. A method of operating a gripper assembly, characterized by comprising:

14. The method of operating a gripper assembly according to claim 13, wherein when the first elastic member expands to the predetermined first length, the three or more grippers contact and grip a lid of the sample case disposed below the base portion.

15. further comprising expanding the first elastic member beyond the first length, The method of operating a gripper assembly according to claim 14, wherein when the first elastic member expands beyond the first length, a contact force between the three or more grippers and the lid of the sample case is increased.

16. The method of operating a gripper assembly according to claim 15, characterized in that a stopper restricts the first elastic member from expanding beyond a predetermined range.

17. generating a second driving force using a second driving motor; transmitting the second driving force to the base portion using a second power transmission portion; Actuating the first drive motor so that the rotational speed of the first power transmission unit rotating along the second rotation direction becomes the same as the rotational speed of the base unit; Releasing the lid of the sample case held by the three or more grippers, the method for operating a gripper assembly according to claim 15, further comprising the step of.

18. Generating a third driving force using a third drive motor; Raising or lowering the sample transfer unit using a third power transmission unit, the method for operating a gripper assembly according to claim 13, further comprising the step of.

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