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CN-116547539-B - Gripper device with reduced risk of contamination

CN116547539BCN 116547539 BCN116547539 BCN 116547539BCN-116547539-B

Abstract

A gripper apparatus is configured to grasp a closed container having a closure attached to an open top end of the container. Opposing jaw members laterally movable between an open position, a first closed position, and a second closed position are configured to grasp the closed container at the first closed position and release the closed container at the open position when the closed container is between the jaw members. The gripper apparatus also includes a plurality of fingers configured to grasp a sidewall of the closure below a top surface of the closure as the jaw members are moved laterally toward each other from the open position to the second closed position when the closure is positioned between the plurality of fingers and below a base of each of the jaw members.

Inventors

  • R. Silbert
  • COMBS DAVID HOWARD

Assignees

  • 简·探针公司

Dates

Publication Date
20260508
Application Date
20210422
Priority Date
20200423

Claims (20)

  1. 1. A gripper apparatus configured to grasp a closed container having a container and a closure attached to an open top end of the container, the gripper apparatus comprising opposed jaw members configured for vertical movement between a first vertical position and a second vertical position above the first vertical position and for lateral movement between an open position and a first closed position when the jaw members are in the first vertical position and between an open position and a second closed position when the jaw members are in the second vertical position, the jaw members being configured to grasp sidewalls of the closure of the container at the first closed position when the jaw members are in the first vertical position and the closure of the container, and the jaw members being configured to release the closure container at the open position, and a plurality of fingers each having at least one of the plurality of fingers depending downwardly from a base thereof and movable with the associated jaw members at the second position when the jaw members are in the second vertical position, wherein the plurality of fingers are in the second position and are in the lateral position towards each other, the plurality of fingers being in the second position when the jaw members are in the second vertical position and the closure of the closure container, the plurality of fingers grasp the side wall of the closure.
  2. 2. The gripper apparatus of claim 1, wherein the plurality of fingers are configured to contact or come into close contact with the container when the jaw member grips the sidewall of the closure in the first closed position.
  3. 3. The gripper apparatus of claim 2, wherein the plurality of fingers are configured to contact the container when the jaw member grips the sidewall of the closure in the first closed position.
  4. 4. The gripper apparatus of claim 2, wherein each of the plurality of fingers is within 0.25mm of the container when the container is centered between the plurality of fingers.
  5. 5. The gripper apparatus of any one of claims 1 to 4, wherein each of the jaw members has a contoured engagement surface for gripping the side walls of the closure, and wherein the closure and the container each have a cylindrical shape.
  6. 6. The gripper apparatus of claim 5, wherein the wave-like engagement surface of each of the jaw members is a circular depression, and wherein the wave-like engagement surfaces are mirror images of each other.
  7. 7. The gripper apparatus of claim 5, wherein the wave-like engagement surface of each of the jaw members is a V-shaped recess, and wherein the wave-like engagement surfaces are mirror images of each other.
  8. 8. The gripper apparatus of claim 5, wherein the contoured engagement face of each of the jaw members comprises a plurality of laterally oriented grooves, and wherein each pair of adjacent grooves forms a lateral edge.
  9. 9. The gripper apparatus of claim 5, wherein the jaw members are configured to contact each other in the absence of the closed container between the jaw members, and wherein the contoured engagement surface defines an opening when the jaw members contact each other.
  10. 10. The gripper apparatus of claim 9, wherein the jaw members do not contact each other when the closed container is located between the jaw members and the jaw members are in the first closed position.
  11. 11. The gripper apparatus of any one of claims 1 to 4, wherein each of the jaw members has two or more of the plurality of fingers depending downwardly from the base thereof.
  12. 12. The gripper apparatus of claim 11, wherein each of the jaw members has only two of the plurality of fingers depending downwardly from the base thereof.
  13. 13. The gripper apparatus of any one of claims 1 to 4, wherein each of the plurality of fingers includes an inner surface having a contact surface configured to engage the sidewall of the closure at the second closed position when the closure is located (i) below the base of each of the jaw members and (ii) between the plurality of fingers.
  14. 14. The gripper apparatus of claim 13, wherein the contact face of each of the plurality of fingers is knurled.
  15. 15. The gripper apparatus of claim 13, wherein the contact face of each of the plurality of fingers is oriented toward an axial center of the closure when the sidewall of the closure is grasped by the plurality of fingers at the second closed position.
  16. 16. The gripper apparatus of claim 13, wherein the inner surface of each of the plurality of fingers comprises a recess positioned adjacent to and above the contact face, the recess configured such that there is no contact between the recess and the closure in the second closed position.
  17. 17. The gripper apparatus of claim 16, wherein an upper region of the inner surface of each of the plurality of fingers slopes inwardly from the recess toward the base of one of the jaw members such that at least a portion of the upper region of the inner surface is located directly above the top surface of the closure when the sidewall of the closure is grasped by the plurality of fingers in the second closed position.
  18. 18. The gripper apparatus of any one of claims 1 to 4, wherein each of the plurality of fingers comprises an outer surface having a generally vertical upper region and a tapered lower region.
  19. 19. The gripper apparatus of any one of claims 1 to 4, wherein the plurality of fingers have a grip force greater than one pound.
  20. 20. A gripper apparatus according to any one of claims 1 to 4 further comprising a proximity sensor located above the jaw member for detecting the position of the closed container relative to the jaw member.

Description

Gripper device with reduced risk of contamination Cross Reference to Related Applications The present application claims priority from U.S. provisional application Ser. No. 63/014,624, filed on even 23, 4/2020, the disclosure of which is incorporated herein by reference. Technical Field The present disclosure relates to gripper apparatus for use in an automated system to transfer sample-containing containers within an automated sample processing system. Background The clinical laboratory is configured to analyze and/or detect a large number of various components of different sample types, such as whole blood, serum, plasma, interstitial fluid, mucus, urine, fecal matter, semen, mucus, pus, tissue, and the like. These laboratories may be equipped with an automated sample processing system that transports sample-containing containers (e.g., test tubes) between various modules (e.g., load/unload modules, capping/uncapping devices, centrifuges, analyzers, storage modules, etc.) for preparing and processing samples. Such automated systems may include conveyors or track systems for transporting sample-containing containers between various modules via carriers (e.g., pucks), and may include robotic handlers for gripping and moving sample-containing containers. For example, the pick and place device may be used to insert the sample-containing containers into the carrier, remove the sample-containing containers from the carrier, and deliver them to the module, and in some cases, transport the sample-containing containers within the module. The sample storage unit may be used to store the closed sample-containing container in a refrigerated environment for a predetermined period of time (e.g., five days) to allow for subsequent analysis, such as repeating the test if the original result is inconclusive or performing a new test (e.g., a chain test or a test for a different analyte) based on the result of the original test. To maximize the number of storable containers, the sample storage unit may comprise a number of closely spaced, vertically arranged storage levels (each level being defined by at least one shelf or one or more pairs of support rails), wherein each storage level is capable of supporting one or more shelves and each shelf is capable of holding a plurality of containers. Generally, containers must be placed in the shelves to avoid interfering with robotic handlers used to insert and remove containers from the shelves. In some applications, headspace limitations require that laterally-extending jaw members of a robotic carrier within a sample storage unit grip sides of a cap (e.g., a screw cap or stopper) associated with a sample-containing container. When grasped by the jaw members, the closed specimen-containing container may be inserted into a corresponding container-receiving slot of the container rack. Typically, there is an insertion force associated with the container receiving slot that must be overcome when inserting the closed sample-containing container into the container receiving slot. For example, the container receiving slot may have a retaining spring for stabilizing the closed sample-containing container when inserted therein. As another example, the tolerance between the container-receiving slot and the closed sample-containing container may be relatively tight such that the closed sample-containing container may be stabilized within the container-receiving slot without the use of a separate mechanism, such as a retaining spring. Although in the best case there may be no insertion force associated with these tightly toleranced container receiving slots, there may be instances where the barcode label on the closed sample-containing container may delaminate (creating a "mark" condition), whereby the insertion force will be associated with the container receiving slots due to these marked barcode labels. Thus, a properly designed robotic carrier must be able to overcome the insertion forces associated with the container-receiving slots so that the closed sample-containing containers can be properly positioned within the corresponding respective container-receiving slots. When a closed sample-containing container is grasped by the jaw members, the jaw members may not be lowered beyond the top of an adjacent sample-containing container disposed in the container rack. Thus, the placement device must be used to push down on the top surface of the lid of each sample-containing container with sufficient force to overcome the expected insertion force associated with the container-receiving slot so that the sample-containing container can be placed within the container-receiving slot. In one exemplary technique, the jaw members can be opened to release a partially inserted sample-containing container, moved vertically upward to a position directly above the lid of the sample-containing container, closed to create an integrated abutment unit, and then moved vertically downward to push on the top s