Universal Gripper for Reaction Vessels and Trays
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Solution Overview
Problem
Current automated chemical analyzers require multiple grippers for handling different types of vessels, which complicates the system and increases costs, especially when dealing with capped reaction vessels that need to be automatically opened and closed.
Innovation Solution
A single gripper design that can handle both individual reaction vessels and trays of vessels, featuring a gripping collar that surrounds the vessel opening and a pod with a similar collar for trays, allowing for efficient handling and transportation using a sector-shaped jaw mechanism that accommodates various vessel sizes and shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple grippers are used for handling different types of vessels, then the handling capability is improved, but the device complexity and cost increase
Solution Approach 1:
The gripper is designed with a universal structure that can handle multiple types of vessels including reaction vessels with caps, uncapped vessels, and trays. The jaw mechanism with adjustable opening angles and the friction-based gripping surface enable a single gripper to perform functions that previously required multiple specialized grippers, thereby reducing device complexity while maintaining versatility
2Adaptability or versatility
If multiple grippers are used for handling different types of vessels, then the handling capability is improved, but the cost increases
Solution Approach 1:
By designing a single multi-functional gripper that can handle various vessel types through adjustable jaw mechanisms and friction-based gripping, the system eliminates the need to manufacture and maintain multiple specialized grippers, thereby reducing overall system cost while preserving handling capability
3Device complexity
If a single gripper is used for both reaction vessels and trays, then the device complexity is reduced, but the adaptability may be compromised
Solution Approach 1:
The gripper employs a dynamic jaw mechanism that can adjust its opening angle and gripping force to accommodate different object sizes and shapes. The jaw can be positioned at various angles relative to the grip axis and can adapt its friction surface contact, enabling the same gripper structure to securely handle both small reaction vessels and larger trays without compromising adaptability
4Ease of operation
If the gripper uses a friction-based gripping surface, then the ease of operation is improved, but the gripping force control becomes more difficult
Solution Approach 1:
The gripper controls gripping force by adjusting parameters such as the normal force applied by the jaw and the friction coefficient of the gripping surface. The system can vary the jaw opening angle and positioning to optimize the distribution of gripping force, ensuring sufficient friction-based holding capability while maintaining ease of operation through simple mechanical adjustment rather than complex control mechanisms
Data Source
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AI summary
A method and apparatus for transporting single and multiple reaction vessels, wherein at least one reaction vessel (9), at least one tray (31) comprising at least two seats (27) for the at least one reaction vessel (9), and at least one gripper (44) are provided. One of the reaction vessel (9) or the tray (31) is engaged with the gripper (44) at a first position, the gripped element (9, 31) is transported to a second position and the gripper (44) is released. A similar gripping collar (16) is provided both on the reaction vessel (9) and the tray (31) for the gripper (44) to engage. At one transport stage one of the reaction vessel (9) or the tray (31) is engaged with the gripper (44) at a first position by pushing the gripper (44) from above to engage with the gripping collar (16) for the gripper (44) and in a second stage the transported element (9, 31) is disengaged from the gripper (44) by moving the gripper (44) sideways in relation to the center axis of the gripping collar (16).