WO2005102617A1 - Dispositif de prehension a griffes - Google Patents

Dispositif de prehension a griffes Download PDF

Info

Publication number
WO2005102617A1
WO2005102617A1 PCT/EP2005/004521 EP2005004521W WO2005102617A1 WO 2005102617 A1 WO2005102617 A1 WO 2005102617A1 EP 2005004521 W EP2005004521 W EP 2005004521W WO 2005102617 A1 WO2005102617 A1 WO 2005102617A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
gripping device
fingertip
gripper
finger
Prior art date
Application number
PCT/EP2005/004521
Other languages
German (de)
English (en)
Inventor
Jörg Meissner
Olga Kamenova
Original Assignee
Carl Zeiss Jena Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Carl Zeiss Jena Gmbh filed Critical Carl Zeiss Jena Gmbh
Publication of WO2005102617A1 publication Critical patent/WO2005102617A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L9/00—Supporting devices; Holding devices
    • B01L9/50—Clamping means, tongs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L2300/00—Additional constructional details
    • B01L2300/08—Geometry, shape and general structure
    • B01L2300/0809—Geometry, shape and general structure rectangular shaped
    • B01L2300/0829—Multi-well plates; Microtitration plates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0418—Plate elements with several rows of samples
    • G01N2035/042—Plate elements with several rows of samples moved independently, e.g. by fork manipulator

Definitions

  • the invention relates to a gripping device for receiving and placing an object, in particular a microtiter plate.
  • Such gripping devices are used, for example, in systems for pharmaceutical active ingredient development in which a large number of substances are tested.
  • the object is achieved by a gripping device for receiving and placing an object, in particular a microtiter plate, with two gripper jaws spaced apart from one another and an actuating device for changing the distance between the two gripper jaws in order to clamp the object between the gripper jaws, each gripper jaw one from a first Material formed gripping fingers with a fingertip, which is coated with a second material which is in contact with a contact area of the article when the article is clamped, the coefficient of friction between the second material and the material of the contact area of the article is greater than that Friction coefficient between the first material and the material of the contact area of the object. It can thus advantageously be achieved that the gripping device holds the object exclusively by means of frictional engagement, so that a disadvantageous positive engagement, which can lead to jamming, is avoided.
  • the gripping finger itself can be formed from an elastic material, such as e.g. Steel, especially spring steel. This makes it possible for the gripping finger to have the desired elasticity, for example to compensate for manufacturing tolerances of the microtiter plates and assembly tolerances of the gripping device.
  • the material of the gripping finger can thus be selected in such a way that the balancing of manufacturing and assembly tolerances takes place as well as possible, whereas the second material is selected so that there is an excellent frictional connection between the coated fingertip and the object to be picked up and moved.
  • the gripping finger can in particular be formed from a round wire, one end of which is bent slightly to form the fingertip.
  • the gripper finger can be designed as a U-shaped curved round wire, the closed end (fingertip) of which can be extended in an L-shape and which is held at its other end or is connected to the gripper jaw. This makes the gripper finger very easy and inexpensive to manufacture!
  • the gripping finger has a main section, to which the fingertip is connected in such a way that the gripping finger is essentially L-shaped.
  • This is a particularly preferred form in order to be able to safely accommodate and move microtiter plates (in particular with a lid).
  • the fingertip of the gripping fingers is advantageously completely coated with the second material. There is thus a large-area contact between the gripping finger and the second material, whereby the adhesion of the second material to the gripping finger is maximized and peeling of the second material can be prevented.
  • the gripping finger can be coated with the second material in particular in such a way that only the fingertip is coated. This only coats the part of the gripper finger that comes into contact with the object to be picked up and moved.
  • the fingertip can be coated using a shrink-fit shrink tube (for example a PVC stocking tube).
  • a shrink-fit shrink tube for example a PVC stocking tube.
  • a vulcanized rubber film For example, polyurethane can be vulcanized. Such a coating is very durable.
  • the fingertip can be designed such that it has a linear contact area. This is particularly advantageous when handling microtiter plates.
  • the gripper jaws each have several gripper fingers.
  • the clamping force can thus be distributed over several gripping fingers.
  • the gripper fingers of a gripper jaw can be arranged such that their fingertips lie on one line.
  • the gripping device can also contain a movement device by means of which the gripper jaws can be moved in two or three different directions without changing the distance between the gripper jaws. It is then possible to move the object from a first location (for example, a memory module of an analysis system) to a second location (for example, an analysis module of the analysis system).
  • a first location for example, a memory module of an analysis system
  • a second location for example, an analysis module of the analysis system
  • an analysis system for chemical and / or physical examination of samples provided in chambers of a microtiter plate can be provided, the analysis system having at least a first and a second module and a transport device for transporting a microtiter plate from the first to the second module, the transport device having the inventive Gripping device (or a development of the same according to the invention) contains.
  • the modules can be analysis modules, memory modules or other modules.
  • the transport device can have further elements for transporting the microtiter plate, such as turntables and Conveyor belts. Of course, the transport device can also contain several gripping devices according to the invention.
  • Fig. 1 is a schematic view of the gripping device with a clamped microtiter plate
  • Fig. 2 is an enlarged view of the end of a gripping finger.
  • the gripping device comprises two gripper jaws 1, 2 spaced apart from one another and an actuating device 3 with two springs 4, 5, which pull the two gripper jaws 1 and 2 together.
  • the actuating device also contains (not shown) an eccentric with which the two gripper jaws 1 and 2 can be pressed apart against the tensile force of the springs 4 and 5.
  • Each gripper jaw 1, 2 has a gripper finger 6, 7 which contains a fingertip 8, 9 at its lower end. With this fingertip 8, 9, a microtiter plate 10 is clamped on its long sides 11, 12 between the bottom 13 and the lid 14 of the microtiter plate 10.
  • the gripping finger 6 is formed from a round spring steel with a diameter of approximately 1.4 mm. It has a substantially rectilinear main section 15, the lower end of which is bent around the fingertip
  • a PVC shrink tube 16 is shrunk on the fingertip 8, so that the contact area 17 with which the gripping finger 6 is in contact with the side 11 of the microtiter plate
  • the Schrurripfschläuch 16 has a coefficient of friction relative to the material of the microtiter plate 10, which is greater than the coefficient of friction between the spring steel of the gripping finger 6 and the material of the microtiter plate. The desired frictional engagement between the fingertips 8, 9 and the microtiter plate 10 or the longitudinal sides 11 and 12 can thus be achieved, while at the same time maintaining the elastic properties of the gripping finger.
  • the diameter of the gripping finger with shrink-fit shrink tube 16 is approximately 2 mm.
  • the contact area 17 is designed here so that it is linear (in the direction perpendicular to the plane of the drawing).
  • the gripper jaws 1 and 2 can each have more than just one gripper finger.
  • the gripping device also contains a movement device 18 by means of which the
  • Actuating device 3 together with the two gripper jaws 1 and 2 can be moved both in the z direction and in the x direction, as is indicated schematically in FIG. 1.
  • the two gripper jaws 1 and 2 are opened (for example by means of the eccentric, not shown), so that the microtiter plate 10 is set down, and the actuating device 3 with the two gripper jaws 1 and 2 (now without a microtiter plate) is moved to the next by means of the movement device 18 Microtiter plate moves, which is then clamped in the same way by means of the gripper fingers 6 and 7.

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Biochemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Clinical Laboratory Science (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Manipulator (AREA)

Abstract

Ce dispositif de préhension à griffes pour tenir et placer un objet, notamment une microplaque de titrage (10), comprend deux mâchoires de préhension (1, 2) mutuellement espacées et un dispositif d'actionnement (3, 4, 5) pour modifier l'écartement entre les deux mâchoires de préhension (1, 2) de façon à serrer l'objet (10) entre les mâchoires de préhension (1, 2). Chaque mâchoire de préhension (1, 2) comprend un doigt de préhension (6, 7) en un premier matériau et ayant une extrémité (8, 9) revêtue d'un deuxième matériau (16) en contact avec une zone de contact (11, 12) de l'objet lorsque l'objet est serré, le coefficient de frottement entre le deuxième matériau et le matériau de la zone de contact (11, 12) de l'objet (10) étant supérieur au coefficient de frottement entre le premier matériau et le matériau de la zone de contact (11, 12) de l'objet (10).
PCT/EP2005/004521 2004-04-27 2005-04-27 Dispositif de prehension a griffes WO2005102617A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004020590.6 2004-04-27
DE200410020590 DE102004020590A1 (de) 2004-04-27 2004-04-27 Greifvorrichtung

Publications (1)

Publication Number Publication Date
WO2005102617A1 true WO2005102617A1 (fr) 2005-11-03

Family

ID=34971336

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/004521 WO2005102617A1 (fr) 2004-04-27 2005-04-27 Dispositif de prehension a griffes

Country Status (2)

Country Link
DE (1) DE102004020590A1 (fr)
WO (1) WO2005102617A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1976638A2 (fr) * 2006-01-24 2008-10-08 Bio-Rad Laboratories, Inc. Enregistrement planaire d'une plaque multi-puits a partir du cote puits
EP1985368A1 (fr) * 2007-04-24 2008-10-29 Tsubakimoto Chain Co. Dispositif de préhension d'un microtube pour développement pharmaceutique
FR2932273A1 (fr) * 2008-06-06 2009-12-11 Noviloire Sa Pince adaptee pour saisir un support d'echantillons biologiques, ensemble d'un support echantillons biologiques et d'une pince adaptee pour le saisir, et automate de traitement et/ou d'analyse d'echantillons biologiques
FR2956902A1 (fr) * 2010-03-01 2011-09-02 Peugeot Citroen Automobiles Sa Dispositif simulant un doigt pour tester la sensibilite de capteurs sensitifs
CN103358313A (zh) * 2012-04-11 2013-10-23 富泰华工业（深圳）有限公司 夹持装置
CN104354781A (zh) * 2014-09-05 2015-02-18 南京邮电大学 可变刚度仿生钩爪机构及其钩爪组件
CN105479458A (zh) * 2016-02-29 2016-04-13 昆山—邦泰汽车零部件制造有限公司 方便拿取钢板的机械手
US20210293840A1 (en) * 2018-08-23 2021-09-23 Shimadzu Corporation Plate transport device and plate changer
DE102021000775A1 (de) 2021-02-12 2022-08-18 Eberhard Kunze Greifvorrichtung

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4740025A (en) * 1986-12-29 1988-04-26 Zymark Corporation Compound gripper device
JPH05253880A (ja) * 1992-03-16 1993-10-05 Mitsubishi Petrochem Co Ltd ロボットハンド装置の爪
JPH09285987A (ja) * 1996-04-18 1997-11-04 Tanaka Kikinzoku Kogyo Kk 薄板把持用ロボット爪
WO2001060519A1 (fr) * 2000-02-14 2001-08-23 Orchid Biosciences, Inc. Support de plateau a godets
US20020117380A1 (en) * 2001-02-26 2002-08-29 Downs Robert Charles Gripper mechanism

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3011837A1 (de) * 1980-03-27 1981-10-01 Sommer, Friedhelm, 7530 Pforzheim Handhabungsgreifer, bspw. fuer industrieroboter
US4616971A (en) * 1983-10-11 1986-10-14 Fairchild Camera And Instrument Corp. Robotic hand and method for manipulating printed circuit boards
US4591198A (en) * 1984-02-16 1986-05-27 Monforte Robotics, Inc. Robotic end effectors
AT399835B (de) * 1992-02-24 1995-07-25 Robocon Lab Ind Roboter Greifeinheit für handhabungsroboter

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4740025A (en) * 1986-12-29 1988-04-26 Zymark Corporation Compound gripper device
JPH05253880A (ja) * 1992-03-16 1993-10-05 Mitsubishi Petrochem Co Ltd ロボットハンド装置の爪
JPH09285987A (ja) * 1996-04-18 1997-11-04 Tanaka Kikinzoku Kogyo Kk 薄板把持用ロボット爪
WO2001060519A1 (fr) * 2000-02-14 2001-08-23 Orchid Biosciences, Inc. Support de plateau a godets
US20020117380A1 (en) * 2001-02-26 2002-08-29 Downs Robert Charles Gripper mechanism

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 018, no. 009 (M - 1538) 10 January 1994 (1994-01-10) *
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 03 27 February 1998 (1998-02-27) *

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1976638A2 (fr) * 2006-01-24 2008-10-08 Bio-Rad Laboratories, Inc. Enregistrement planaire d'une plaque multi-puits a partir du cote puits
EP1976638A4 (fr) * 2006-01-24 2014-06-04 Bio Rad Laboratories Enregistrement planaire d'une plaque multi-puits a partir du cote puits
US7867455B2 (en) 2007-04-24 2011-01-11 T{grave over (s)}ubakimoto Chain Co. Microtube picking device for pharmaceutical development
EP1985368A1 (fr) * 2007-04-24 2008-10-29 Tsubakimoto Chain Co. Dispositif de préhension d'un microtube pour développement pharmaceutique
US9302266B2 (en) 2008-06-06 2016-04-05 Bio Rad Innovations Clamp suitable for gripping a biological sample holder, assembly consisting of a biological sample holder and a suitable clamp, and treatment and/or analysis machine
FR2932273A1 (fr) * 2008-06-06 2009-12-11 Noviloire Sa Pince adaptee pour saisir un support d'echantillons biologiques, ensemble d'un support echantillons biologiques et d'une pince adaptee pour le saisir, et automate de traitement et/ou d'analyse d'echantillons biologiques
CN102105799A (zh) * 2008-06-06 2011-06-22 诺维卢瓦尔公司 适于抓取生物样品支架的夹具、由生物样品支架和合适的夹具组成的组件以及处理和/或分析仪器
WO2010001023A3 (fr) * 2008-06-06 2010-10-07 Noviloire Sa Pince adaptée pour saisir un support d'échantillons biologiques, ensemble d'un support échantillons biologiques et d'une pince adaptée, et automate de traitement et/ou d'analyse
EA023853B1 (ru) * 2008-06-06 2016-07-29 Новилуар Са Устройство для обработки и/или анализа биологических проб
US8920721B2 (en) 2008-06-06 2014-12-30 Noviloire Sa Clamp suitable for gripping a biological sample holder, assembly consisting of a biological sample holder and a suitable clamp, and treatment and/or analysis machine
FR2956902A1 (fr) * 2010-03-01 2011-09-02 Peugeot Citroen Automobiles Sa Dispositif simulant un doigt pour tester la sensibilite de capteurs sensitifs
CN103358313A (zh) * 2012-04-11 2013-10-23 富泰华工业（深圳）有限公司 夹持装置
CN104354781A (zh) * 2014-09-05 2015-02-18 南京邮电大学 可变刚度仿生钩爪机构及其钩爪组件
CN105479458A (zh) * 2016-02-29 2016-04-13 昆山—邦泰汽车零部件制造有限公司 方便拿取钢板的机械手
US20210293840A1 (en) * 2018-08-23 2021-09-23 Shimadzu Corporation Plate transport device and plate changer
US12038451B2 (en) * 2018-08-23 2024-07-16 Shimadzu Corporation Plate transport device and plate changer
DE102021000775A1 (de) 2021-02-12 2022-08-18 Eberhard Kunze Greifvorrichtung

Also Published As

Publication number Publication date
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