Resilient Gripper Fingers for Variable Sample Handling
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Solution Overview
Problem
Automated laboratory sample manipulation devices face challenges in handling samples of varying sizes and preventing accidental pickup or drop of samples due to sticking issues, requiring a mechanically simple and compact structure with precise gripping and ejection mechanisms.
Innovation Solution
The device features resiliently deflectable fingers with leaf springs for radial movement, a concentric actuating element for radial finger movement, and a compact X-Y table system with a gripper and ejection mechanism that includes retaining and ejection springs to prevent sample sticking and ensure accurate handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single gripper hand with fixed fingers is used, then the structure is simple, but it cannot handle samples of different sizes
Solution Approach 1:
The fingers are made resilient and deflectable radially to the axis, allowing them to dynamically adapt their position to accommodate samples of different diameters. The leaf springs enable the fingers to flex and conform to various sample sizes while maintaining gripping force.
Solution Approach 2:
The gripper is divided into multiple independent gripping hands, each with its own fingers that can be independently actuated. This segmentation allows different gripping hands to handle samples of different sizes simultaneously or sequentially.
2Adaptability or versatility
If multiple gripping hands are added to handle different sample diameters, then adaptability improves, but device complexity increases
Solution Approach 1:
Each gripping hand is designed as a universal component that can handle various sample diameters through its resilient fingers. The same gripping hand structure serves multiple functions by adjusting finger position, eliminating the need for completely separate grippers for different sample types.
Solution Approach 2:
The gripping capability is adjusted by changing the radial position of the fingers through resilient deflection. By varying the degree of finger deflection via the actuating mechanism, the gripper adapts to different sample diameters without requiring physical reconfiguration.
3Ease of operation
If conventional X-Y table structure is used, then movement capability is achieved, but the structure is not compact and stable
Solution Approach 1:
The X-Y table structure is segmented into independent X-direction and Y-direction movement mechanisms. The X-direction movement is achieved through the movable table, while Y-direction movement is achieved through the movable gripper assembly, allowing compact arrangement of each axis independently.
Solution Approach 2:
A carrier assembly serves as an intermediary between the X-Y table mechanisms and the gripping hands. This carrier facilitates the coupling of X and Y movements while maintaining structural compactness and stability.
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
Enables efficient manipulation of samples of different sizes with precise gripping and ejection, preventing accidental pickup or drop, and allowing for transfer between sample holders while maintaining a compact and stable structure.
Implementation Method 1
The fingers are resiliently deflectable radially to the axis. Leaf springs are particularly suitable for holding the fingers, as they allow the fingers to be held in a radially resilient manner but guided precisely tangentially and axially.
Implementation Method 2
each finger can have a contact surface running inclined to the axis, which is in contact with the actuating member and which forms a kind of wedge which is radially pressed or pulled by the movement of the actuating member.
Implementation Method 3
each finger is attached to at least two parallel, spaced leaf springs. These form a kind of parallelogram guide, which prevents the finger from tilting relative to the axis, so that it always lies flat on the laboratory sample.
Implementation Method 4
the gripper has at least one spring that can be compressed in a direction parallel to the axis and is suitable for pressing axially against the laboratory sample and/or against laboratory samples adjacent to the laboratory sample to be picked up when a laboratory sample is picked up.
Data Source
Figure 1~2
Figure 3
Figure 4~5
AI summary
A device for manipulating laboratory samples has a gripper (12) with several fingers (31). Each finger (31) is held resiliently by two leaf springs. By sliding an actuating element (37), which runs on inclined contact surfaces of the fingers (31), the fingers (31) can be spread apart. The device has a simple design with relatively few moving parts.