Microtube Cap Arm Control for Mixed Cap Shapes
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Solution Overview
Problem
Existing cap opening and closing mechanisms for microtubes are limited in accommodating caps of varying shapes and sizes, leading to inefficiencies in automation and potential operational issues with multi-axis robots, especially when handling samples from different manufacturers.
Innovation Solution
A cap opening and closing apparatus with a first arm that rotates to engage with the cap edge and a second arm that presses to open or close the cap, utilizing a control unit to maintain a specific rotational position relationship between the arms, allowing for the accommodation of various cap shapes and sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a multi-axis robot is used for uncapping and capping operations, then automation is improved, but operation range and work time are worsened due to large robot actions
Solution Approach 1:
The robotic system is divided into two specialized single-axis arms: a first arm dedicated to uncapping operations and a second arm dedicated to capping operations. Each arm is optimized for its specific function with appropriate rotation ranges, eliminating the need for a multi-axis robot to perform all operations, thus improving operation efficiency and reducing work time.
Solution Approach 2:
The control unit coordinates both arms to work simultaneously on multiple microtubes, enabling the system to handle multiple samples in parallel. This multi-functional approach allows the system to perform both uncapping and capping operations with optimized motion paths, improving overall productivity without requiring large robot actions.
2Productivity
If a specialized cap opening and closing mechanism is used, then capping and uncapping speed is improved, but adaptability to different cap shapes is worsened
Solution Approach 1:
The first arm includes a movable catch portion that can adjust its position to engage with different cap edge positions, while the second arm includes a pressurizable pressing member that can adapt to different cap surfaces. These dynamic adjustments allow the mechanism to maintain high-speed operation while accommodating various cap shapes and sizes from different manufacturers.
Solution Approach 2:
The control unit dynamically adjusts operational parameters including the position of the catch portion, the pressing force applied by the pressing member, and the rotation angles of both arms. These parameter changes enable the system to adapt to different cap geometries while maintaining efficient capping and uncapping speeds.
3Adaptability or versatility
If the fastening portion gap is reduced to accommodate thinner caps, then adaptability to different cap thicknesses is improved, but the structural integrity and latching reliability are worsened
Solution Approach 1:
Instead of relying solely on the vertical gap of the fastening portion to accommodate different cap thicknesses, the invention introduces a rotational dimension. The movable catch portion can rotate and adjust its engagement angle with the cap edge, providing an additional degree of freedom that accommodates varying cap thicknesses while maintaining reliable latching through angular adjustment rather than purely vertical clearance.
Data Source
AI summary
A cap opening and closing apparatus comprises: a first arm including a catch portion that moves, engages with an edge portion of a cap of a microtube, and opens the cap as the first arm rotates about a first rotation axis in a first direction; and a second arm including a pressing member that presses and closes the cap as the second arm rotates about a second rotation axis in a second direction opposite to the first direction. When opening the cap, the first and second arms are rotated in the first direction while the cap is positioned between the catch portion and the pressure member and an angle formed by a line joining the first rotation axis and the catch portion and a line joining the second rotation axis and the pressing member is kept within a predetermined angle range.