Vial Tray Transfer Alignment Using Chamfered Guide Surfaces
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Solution Overview
Problem
Existing transfer systems face challenges in accurately and efficiently transferring vial trays due to positional misalignment and irregularities between the tray and the gripper, especially in dynamic environments where positions can change asynchronously.
Innovation Solution
A transfer system incorporating a tray with first and second guides featuring chamfered surfaces and a mobile apparatus with a holder and gripper that corrects positional errors using chamfered surfaces to align the tray precisely with a station, utilizing a SLAM algorithm for accurate positioning and a gripper that engages with the holder to stabilize the tray during transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a mobile apparatus transfers trays in a dynamic environment with variable positions, then the adaptability of the system is improved, but positional misalignment between the tray and gripper occurs
Solution Approach 1:
The chamfered surfaces are pre-configured on both the tray guides and station guides to enable automatic positional correction upon contact. This preliminary geometric configuration allows the system to compensate for misalignment without requiring active sensing or control during the transfer operation, resolving the contradiction between adaptability to variable positions and positional alignment accuracy.
2Device complexity
If the gripper engages directly with the tray holder, then the device complexity is reduced, but stable gripping and precise placement become difficult
Solution Approach 1:
The chamfered guide surfaces act as an intermediary mechanism between the gripper and tray holder. Instead of relying solely on direct gripper-tray contact, the guides mediate the interaction by providing a geometric interface that automatically aligns and stabilizes the tray during engagement, enhancing gripping reliability without complicating the gripper structure.
3Manufacturing precision
If the offset distance between guides is reduced to improve alignment, then the manufacturing precision of the transfer system is improved, but the system becomes more sensitive to positioning errors
Solution Approach 1:
The chamfered surfaces introduce a curved geometric transition between the horizontal tray surface and the vertical guide surface. This curvature allows for gradual engagement and automatic alignment correction, enabling the system to tolerate larger offset distances while maintaining manufacturing precision. The curved interface provides a larger effective contact area that compensates for positioning variations.
Data Source
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AI summary
A transfer system includes a tray configured to accommodate an object, the tray including a first guide comprising a first base surface, a first side surface, and a first curved chamfered surface between the first base surface and the first side surface, a station including at least one second guide including a second base surface, a second side surface, and a second curved chamfered surface between the second base surface and the second side surface, and a mobile apparatus configured to provide the tray to the station, the mobile apparatus including a holder configured to hold the tray, and a gripper configured to engage with the holder.