Multi-Gripper Assembly for Vial Handling and Lid Opening
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Solution Overview
Problem
Current gripper devices require multiple devices for handling sample cases and opening lids, leading to space and cost inefficiencies, as they are not capable of simultaneously gripping and opening sample cases with varying shapes and sizes.
Innovation Solution
A gripper assembly with a combination of motor movements and elastic structures allows for gripping, capping, and uncapping of vials, using three or more directional grippers and a controller to manage gripping force, enabling the assembly to hold and rotate vials while sampling liquids, and open lids using a single device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple gripper devices are used for handling sample cases and opening lids, then the functionality is sufficient, but the space consumption and cost increase
Solution Approach 1:
The patent combines multiple gripper devices into a single integrated gripper assembly that can perform both sample case handling and lid opening operations. The gripper assembly includes multiple grippers that can be configured to grip different parts of the sample case or lid, eliminating the need for separate devices and reducing space consumption while maintaining full functionality
Solution Approach 2:
The gripper assembly is designed as a universal device capable of performing multiple functions: gripping the sample case body, gripping the lid, and opening the lid. The system uses controllable gripping forces and configurable gripper positions to adapt to different operational requirements, allowing one device to replace multiple specialized devices
2Area of stationary object
If a single gripper assembly is used for both gripping and opening operations, then the space and cost are reduced, but the device complexity increases
Solution Approach 1:
The gripper assembly is divided into multiple independent grippers, each capable of being controlled separately. This segmentation allows the system to perform different operations (gripping sample case, gripping lid, opening lid) using different subsets of grippers, simplifying the control logic while maintaining versatility
Solution Approach 2:
The system employs dynamically controllable gripping forces that can be adjusted based on the operational phase. The gripping force is increased when gripping the sample case or lid, and decreased or released when opening the lid, allowing the system to adapt its behavior to different tasks without requiring physically different configurations
3Ease of operation
If multiple gripper devices are used, then the gripping force control is simpler, but the cost and process yield increase
Solution Approach 1:
The system incorporates feedback control for gripping force, where the gripping force is dynamically adjusted based on the operational phase and detected conditions. The controller monitors the gripping state and automatically adjusts the force applied by each gripper, ensuring optimal gripping without requiring manual intervention or complex mechanical force control mechanisms
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The gripper assembly minimizes the need for multiple devices, allowing for efficient handling of various sample cases and vials within limited space, while maintaining consistent gripping force across different sizes and shapes, and enabling simultaneous sampling and lid operation.
Implementation Method 1
a first elastic body configured to expand and contract along the first rotational direction
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
A gripper assembly includes a base having a hollow area extending in a first direction, at least three grippers arranged along a circumference of the base, the at least three grippers configured to be rotatable about respective rotational axes extending in the first direction, and a first power transmitter configured to rotate the at least three grippers at the same time in a first rotational direction about the respective rotational axes.