Sample Container Gripper With Stable Force State Detection
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Solution Overview
Problem
Existing gripping mechanisms for sample containers in automatic analyzers are bulky, lack reliable detection of stable gripping force, and struggle with varying container diameters, necessitating a more compact and reliable design.
Innovation Solution
A gripping mechanism with pivotally supported gripping arms, a biasing member for force application, control arms for opening and closing, and state sensors to detect a stable gripping force, utilizing a combination of arm relative displacement and diameter detection to ensure secure handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a gripping mechanism is designed to be compact and miniaturized, then device size is reduced, but reliability of gripping force detection deteriorates
Solution Approach 1:
The patent introduces control arms as intermediary elements between the gripping arms and the sensor system. The control arms transmit the gripping force indirectly to the sensor, allowing reliable detection without requiring the sensor to be in direct contact with the gripping arms. This mediator approach enables compact design while maintaining detection reliability.
Solution Approach 2:
The patent replaces direct mechanical contact-based gripping force detection with an optical sensor system. The sensor detects positional changes of the control arms rather than directly measuring mechanical force, enabling miniaturization while improving reliability through non-contact measurement.
2Adaptability or versatility
If gripping arms are designed to accommodate multiple container diameters, then adaptability is improved, but gripping force stability deteriorates
Solution Approach 1:
The patent employs spring elements that provide dynamic, elastic gripping force. The springs automatically adjust their compression level based on the container diameter, maintaining stable gripping force across different container sizes. This dynamic adaptation ensures consistent performance without requiring multiple fixed configurations.
Solution Approach 2:
The patent changes the gripping mechanism from a rigid structure to one with elastic parameters. The spring constant and compression distance vary according to container diameter, allowing the system to adapt to different container sizes while maintaining stable gripping force through controlled elastic deformation.
3Reliability
If separate detection configurations are added for gripping force verification, then reliability is improved, but device complexity and size increase
Solution Approach 1:
The control arms serve multiple functions: they control the opening and closing of gripping arms, transmit gripping force to the sensor, and act as lever arms for mechanical advantage. This multi-functionality eliminates the need for separate detection configurations, reducing device complexity while maintaining reliability.
Solution Approach 2:
The patent merges the gripping control function with the force detection function into a single integrated system. The control arms that operate the gripping arms also serve as the detection elements for the sensor, combining two functions into one structure and reducing overall system complexity.
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 solution achieves miniaturization and enhances reliability by ensuring a stable gripping force is generated, allowing for secure handling of sample containers with varying diameters.
Implementation Method 1
a biasing member coupled to the plurality of gripping arms and configured to apply a gripping force to the lower ends of the plurality of gripping arms
Data Source
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AI summary
Provided are a gripping mechanism that can be reduced in size as compared in the related art, and that has improved reliability by detecting a state in which a stable gripping force is generated, a storage device, and a gripping method. The gripping mechanism includes: a first gripping arm 24a and a second gripping arm 24b disposed around a vertical axis and pivotally supported to be swingable along a horizontal support shaft and configured to grip an object at lower ends; a gripping spring 27 configured to apply a gripping force to the lower ends of the first gripping arm 24a and the second gripping arm 24b; a plurality of control arms 29a and 29b provided in pairs with the first gripping arm 24a and the second gripping arm 24b and configured to control an opening and closing operation of the first gripping arm 24a and the second gripping arm 24b; and an arm relative displacement detection plate 35a and an arm relative displacement detector 35b whose output signal changes when a distance between the first gripping arm 24a and the second gripping arm 24b and the control arms 29a and 29b is increased to a predetermined amount or more by gripping the object with a predetermined force by the first gripping arm 24a and the second gripping arm 24b.