Gripper Head Lid Removal Using Optical Detection and Torque Adjustment
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Solution Overview
Problem
Existing sample container handling devices face challenges in maintaining functional safety and flexibility when dealing with different types of lids and containers, particularly due to the need for manual adaptation of gripper ranges and inability to handle containers at oblique positions.
Innovation Solution
The method involves using an optical detection device to analyze and assign types of lids and containers, adjusting the gripping force of the gripper head based on required torque, and employing a combined translational and rotational movement for lid removal, along with a lifting gripper to orient and position the container vertically, allowing for automatic handling without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the gripping range of the gripper head is manually adapted for different kinds of lids, then the device can handle different lid types, but the device complexity increases and manual intervention is required
Solution Approach 1:
The system automatically detects lid type and calculates required gripping force without manual intervention. The optical detection device identifies lid characteristics and the control device automatically adjusts gripping force parameters, eliminating the need for manual adaptation of gripping ranges.
Solution Approach 2:
Manual mechanical adjustment of gripping range is replaced by an automated system combining optical detection, computational analysis, and controlled force application. The system uses detection devices and control algorithms instead of manual mechanical adaptation.
2Manufacturing precision
If the sample container is positioned in closely restricted predetermined positions, then the handling precision is improved, but the functional safety deteriorates when containers deviate from these positions
Solution Approach 1:
The system performs preliminary detection of container position and orientation before the lid removal operation. By detecting potential deviations in advance, the system can adjust handling parameters or alert operators before functional safety is compromised.
Solution Approach 2:
The optical detection device provides feedback on container positioning and lid characteristics. This feedback loop allows the control device to adjust gripping force and handling parameters in real-time, maintaining functional safety even when containers are not perfectly positioned.
3Reliability
If the gripping force is increased to ensure secure lid removal, then the reliability of lid removal is improved, but the risk of damaging the sample container increases
Solution Approach 1:
The system dynamically adjusts the gripping force parameter based on detected lid type, container material, and lid tightness. By changing the force parameter adaptively rather than using a fixed high force, the system achieves reliable lid removal while minimizing damage risk to different container types.
Data Source
AI summary
The invention relates to a method for automatically handling a sample container (100), wherein at least one sample container (100) is taken up in a container carrier (30) in a handling device (95) and a lid (101) is gripped by a gripper head (50) with a predetermined gripping force and the lid (101) is removed by a combined movement out of a translational and rotational movement from the sample container (100). Using an optical capturing device, the lid (101) as well as the sample container (100) are analyzed and are assigned to a lid and sample container type, and that, furthermore, a required torque is assigned to each lid and/or sample container type as required for removing the lid (101), and that, starting from the required torque, the gripping force of the gripper head (50) is adjusted.