Robotic Sample Handling With Z-Axis Push-Push Module Actuation
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Solution Overview
Problem
Robotic sample handling systems are limited in their ability to automate certain types of actions, particularly those requiring horizontal force application, which can lead to module sliding or tipping, necessitating complex control mechanisms and potentially requiring a second robotic arm for counterforce.
Innovation Solution
A robotic sample handling system with a robotic arm capable of actuating modules by downward force, utilizing a push-push mechanism that can alternate between latched and unlatched positions, allowing for efficient operation without the need for active actuation in the module and reducing complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robotic arm applies horizontal force to actuate a module, then the module can be actuated, but the module may slide or tip requiring complex control mechanisms
Solution Approach 1:
Instead of applying horizontal force to actuate the module, the invention inverts the approach by applying vertical downward force. The push-push mechanism converts this vertical force into horizontal motion, thereby actuating the module without requiring the robotic arm to apply complex horizontal forces or implement complex control mechanisms to prevent sliding and tipping.
2Reliability
If a second robotic arm is added to provide counterforce, then module stability is improved, but system complexity and cost increase
Solution Approach 1:
The invention eliminates the need for a second robotic arm by inverting the force application direction. By applying vertical downward force that is converted to horizontal motion through the push-push mechanism, the system achieves module actuation and stability without requiring additional robotic arms for counterforce.
Solution Approach 2:
The push-push mechanism serves itself by automatically converting the vertical downward force from the robotic arm into horizontal actuation force. This self-converting mechanism provides the necessary counterforce and stability without requiring external assistance from a second robotic arm.
3Adaptability or versatility
If modules include active actuation mechanisms, then actuation capability is improved, but module complexity and cost increase
Solution Approach 1:
The module's push-push mechanism serves itself by automatically converting vertical downward force into horizontal actuation motion. This passive self-converting mechanism eliminates the need for active actuators within the module, thereby reducing module complexity and cost while maintaining full actuation capability.
Solution Approach 2:
The invention replaces active mechanical actuators within the module with a passive push-push mechanism that converts vertical force to horizontal motion. This substitution eliminates complex active actuation systems while maintaining the module's ability to perform required actions.
Data Source
AI summary
A robotic sample handling system (100) may be provided for performing sample handling tasks in a laboratory environment. The system may comprise at least one robotic arm (140), (142) which is controllable to be positioned in a plane parallel to a work area and along a Z-axis perpendicular to the work area, and a controller (180) configured to control the robotic arm to position and operate the robotic arm as part of a sample handling task. The work area may comprise a module (204) for use with one or more of the samples, wherein the module comprises a mechanism which is actuatable by downward force, and wherein the controller is configured to control the robotic arm to actuate the mechanism by pushing downward in Z-direction. For example, the module may be a stand (204) for a sample container which comprise a push-push mechanism which may be operated by the robotic arm to bring the sample in the sample container in a vicinity of an effector, such as a magnet or a heat source.