GRIPPING DEVICE FOR TRANSFERRING A MAGNETIC DIPOLE ROD

Abstract

The invention relates to a gripping device for transferring a magnetic dipole rod as well as to a robot with a robot arm, to which the gripping device is attached. The invention furthermore relates to a magazine for providing one or more magnetic dipole rods, to a system for transferring a magnetic dipole rod, and to the use of the system. The gripping device for a magnetic dipole rod has a metal bolt made of a ferromagnetic material, the diameter of which is smaller than the diameter of the magnetic dipole rod. The metal bolt can assume at least two different positions, wherein the dipole rod adheres to the front end of the metal bolt in the first position and is stripped off from the front end of the metal rod during the transition into the second position.

Claims

1. A gripping device for a magnetic dipole rod, having a metal bolt made of a ferromagnetic material with a front end and a rear end, the diameter of which is smaller than the diameter of the magnetic dipole rod, wherein the metal bolt can assume at least two different positions, and the dipole rod adheres to the front end of the metal bolt in a first position and is stripped off from the front end of the metal bolt during the transition into a second position.

2. The gripping device according to claim 1, wherein the gripping device has a housing with a channel which has an open end and a section, referred to as the bolt guide section, the diameter of which is smaller than the diameter of the magnetic dipole rod; wherein the metal bolt is mounted in the channel so as to be movable in the longitudinal direction and, in the first position, the front end of the metal bolt is situated in a region of the open end of the channel and, in the second position, the front end of the metal bolt is situated in the bolt guide section.

3. The gripping device according to claim 2, wherein the channel has, between the open end thereof and the bolt guide section, a channel section, referred to as a receiving section, the diameter of which is matched to the magnetic dipole rod in such a way that the rod can be received into the receiving section with sufficient clearance.

4. The gripping device according to claim 3, wherein the metal bolt can assume a further position, in which the front end of the metal bolt is situated in the receiving section.

5. The gripping device claim 3, wherein the length of the receiving section is in a range of from 80% to 150% of the length of the magnetic dipole rod, and the diameter of the receiving section is from 102% to 120% of the diameter of the magnetic dipole rod.

6. The gripping device according to claim 1, wherein a rear end of the metal bolt is connected to a means for producing a translational movement.

7. The gripping device according to claim 6, wherein the means for producing a translational movement is a motor, optionally a linear motor, stepping motor or a servo motor with a corresponding transmission.

8. The gripping device according to, claim 2 wherein a rear end of the metal bolt has a widening, and the channel has a further section, the diameter and cross section of which are matched to the diameter and cross section of the widening, and the length of which is dimensioned in such a way that the metal bolt can assume the positions according to claim 1.

9. The gripping device according to, claim 3 wherein there is a magnetic sensor on the outside of the housing in a region of the receiving section.

10. A robot having a robot arm to which the gripping device according to claim 1 is attached in a fixed or removable manner.

11. The robot according to claim 10, wherein the robot comprises a control system for controlling the robot arm and the gripping device.

12. A magazine for providing one or more magnetic dipole rods, comprising a plate comprising a non-magnetic material with a top side and a bottom side, wherein the top side has one or more wells with a depth C and the diameters of the wells are matched to the one or more magnetic dipole rods in such a way that the magnetic dipole rod or rods can be received into the wells with a large clearance.

13. The magazine according to claim 12, wherein the depth C of the wells is in a range of from 0.5 mm to 2.5 mm less than the length of the one or more magnetic dipole rods.

14. The magazine according to claim 12, wherein the diameter of the wells is in a range of from 105% to 220% of the diameter of the one or more magnetic dipole rods.

15. The magazine according to claim 12, wherein the diameter of the wells is in a range of from 1 mm to 2.5 mm greater than the diameter of the one or more magnetic dipole rods.

16. The magazine according to claim 12, wherein the wells are arranged in regular rows and columns, wherein the minimum spacing of the individual wells with respect to one another corresponds to at least three times, optionally at least four times, and particularly optionally at least five times the diameter of the one or more magnetic dipole rods.

17. A system for transferring a magnetic dipole rod, having a robot with a robot arm according to claim 10 and a magazine for providing one or more magnetic dipole rods, comprising a plate comprising a non-magnetic material with a top side and a bottom side, wherein the top side has one or more wells with a depth C and the diameters of the wells are matched to the one or more magnetic dipole rods in such a way that the magnetic dipole rod or rods can be received into the wells with a large clearance.

18. A product comprising the system according to claim 17 for transferring a magnetic dipole rod.

Description

FIGURES AND EXAMPLES

[0033] The present invention provides a possibility for automated sample preparation with magnetic dipole rods, which can be carried out with a robot. The invention is explained in greater detail using an exemplary embodiment and with reference to the attached drawings.

[0034] FIG. 1 shows a gripping device according to the invention;

[0035] FIG. 2 shows a control system for the gripping device;

[0036] FIG. 3 shows a side view of a magazine for magnetic dipole rods;

[0037] FIG. 4 shows a plan view of a magazine for magnetic dipole rods;

[0038] FIGS. 5a-5i show the mode of operation of the gripping device

REFERENCE SIGNS

[0039] 10—gripping device [0040] 15—magnetic dipole rod [0041] 20—bolt housing [0042] 21—channel [0043] 22—open end [0044] 23—receiving section [0045] 24—stripping edge [0046] 25—bolt guide section [0047] 26—retraction section [0048] 27—stop edge [0049] 30—metal bolt [0050] 31—adhesion region [0051] 32—connection [0052] 35—magnetic sensor [0053] 40—motor housing [0054] 41—connecting plate [0055] 42—motor [0056] 43—motor shaft [0057] 46—end piece [0058] 45—microswitch [0059] 44—actuating lever [0060] 46—contact [0061] 47—adjusting screw [0062] 50—magazine [0063] 51—top side [0064] 52—bottom side [0065] 53—well [0066] 55—target vessel [0067] 60—control system [0068] 61—control logic [0069] 62—position controller [0070] 64—digital input electronics [0071] 65—motor control electronics [0072] 66—digital input electronics [0073] 67—end position sensor [0074] 422—linear motor [0075] 355—reed sensor [0076] 70—robot arm

[0077] FIG. 1 shows the gripping device 10 according to the invention. It comprises a bolt housing 20, a connecting plate 41, to which the bolt housing 20 is attached, and a motor housing 40, which is attached to the opposite side of the connecting plate 41 from the bolt housing 20.

[0078] The bolt housing 20 has a channel 21 which is subdivided into three sections: receiving section 23, bolt guide section 25 and retraction section 26. The channel has an open end 22 on one side, and its side opposite the open end 22 ends at the connecting plate 41. The dimensions of the receiving section are such that it can accommodate a magnetic dipole rod 15 with sufficient clearance. Sufficient clearance means that the diameter of the receiving section is dimensioned in such a way that it corresponds to the maximum diameter of a dipole rod 15, taking into account the statistical scatter of the underlying production process of the dipole rods 15 used and any adhering impurities, plus an air gap of at least 0.2 mm.

[0079] Since the diameter of the receiving section 23 is greater than the diameter of the bolt guide section 25, there is a stripping edge 24 between the receiving section 23 and the bolt guide section 25. The stripping edge 24 prevents the magnetic dipole rod 15 from being introduced into the bolt guide section 25. In the embodiment shown here, the diameter of the retraction section 26 is greater than the diameter of the bolt guide section 25, and therefore a stop edge 27 is formed between the retraction section 26 and the bolt guide section 25. There is a magnetic sensor 35 on the outside of the bolt housing 20 in the region of the receiving section.

[0080] A metal bolt 30 is movably mounted in the channel 21. The front end of the metal bolt 30, which points to the open end of the channel 22, is referred to below as the adhesion region 31. Since the metal bolt 30 consists of a ferromagnetic material, a magnetic dipole rod 15 can adhere to the adhesion region 31. The opposite end of the metal bolt 30 from the adhesion region 31 forms the connection 32 to the motor shaft 43. In the embodiment shown, the metal bolt 30 has an enlarged diameter (widening) in the region of the connection 32 to the motor shaft 43. This is matched to the inside diameter of the retraction section 26 and allows a maximum movement of the metal bolt 30 in the direction of the open end of the channel 21 up to the position at which the connection 23 to the motor shaft 43 strikes against the stop edge 27. In this position, the adhesion region 31 is in the region of the open end 22 of the channel 21 (FIGS. 5a-c).

[0081] The motor housing 40 is situated on the opposite side of the connecting plate 41 from the bolt housing 20. The connecting plate 41 has an opening (not shown here), through which the motor shaft 43 projects into the retraction section 26 of the channel 21.

[0082] The motor housing 40 has a motor 42 with a motor shaft 43 as well as a microswitch 45 and some of the electronic components according to FIG. 2 (the latter are not shown). The microswitch has an actuating lever 44, which can be connected to a contact 46 when pressure is applied to the actuating lever. The microswitch 45 is arranged in the region of the end piece 46 of the motor shaft 43 in such a way that the end piece 46 of the motor shaft 43 actuates the microswitch 45 by pressure on the actuating lever 44 in a specific retracted position of the motor shaft 43. This retracted position can be adjusted by means of the adjusting screw 47. The distance between the motor 42 and the microswitch 45 can be adjusted with the adjusting screw 47.

[0083] During a first adjustment travel of the motor 42, the motor shaft 43 is brought into the retracted position, in which the microswitch 45 is actuated by pressure on the actuating lever 44. As soon as the controller receives this signal, this position of the motor shaft 43 is stored as the zero position of the shaft. All the movement steps of the motor shaft 43 are calculated from this zero position. The motor 42 or the motor controller detects the current position of the motor on the basis of the incremental encoder/motor or the internal position controller (without sensor).

[0084] FIG. 2 provides an overview of the control system 60 for the gripping device 10 according to the invention. It comprises a processor and a memory, which are not shown separately. The processor is suitable for executing a program code which controls the gripping device 10 in accordance with the sequence shown in FIGS. 5a-h. Corresponding programming is familiar to a person skilled in the art.

[0085] The program code contains the control logic 61. The latter coordinates the control commands to the robot arm 70, to which the gripping device 10 is connected, and the position controller 62 for the motor 42, which moves the metal bolt 30. In the exemplary embodiment, the motor 42 is a linear motor 422. The position controller receives signals from the end position sensor 67 via the digital input electronics 66. The end position sensor 67 is nothing other than the functional description of the microswitch 45. The position of the motor shaft 43 or of the end piece 46 of the motor shaft 43 in which the latter makes contact with the microswitch 45 is the initial position/end position for the movement of the motor 42, 422 and thus of the metal bolt 30 into the various predetermined positions, such as the receiving position, the holding position and the delivery position. In the embodiment shown here, the end position corresponds to the delivery position of the metal bolt 30. By means of the adjusting screw 47, these different positions can be adjusted, i.e. pushed forward or backward. The position controller controls the linear motor 422 and thus the positioning of the metal bolt 30 via the motor control electronics 65 (encoder/incremental encoder).

[0086] The control logic 61 receives input signals from the reed sensor 355 present in the exemplary embodiment as to whether or not a magnetic dipole rod 15 is currently in the receiving section 23 of the channel 21. If there is one or no magnetic dipole rod 15 in the receiving section at the wrong time, the control system 60 could respond accordingly.

[0087] FIG. 3 and FIG. 4 show the magazine 50 for the magnetic dipole rods 15 from the side and from the top, respectively. The magazine 50 is a plate made of a non-magnetic material with a top side 51 and a bottom side 52. The magazine 50 has wells 53 on its top side 51. The wells 53 are arranged in regular rows 1 m and columns 1 n. The magnetic dipole rods 15 are more or less upright in the wells 53 since the diameter A of the wells is in a range of from 110% to 220% of the diameter of the magnetic dipole rods 15. Or in other words, the diameter of the wells A is in a range of from 1 mm to 2.5 mm greater than the diameter of a magnetic dipole rod 15.

[0088] The distance of the bottom 54 of the wells from the top side 51 of the magazine 50 (=depth C) is in a range of from 0.5 mm to 2.5 mm less than the length of a magnetic dipole rod. This leads to a corresponding projection B of dipole rods 15 beyond the top side 51 of the magazine 50.

[0089] FIGS. 5a- 5h show the sequence of the transfer of a magnetic dipole rod and delivery into a target container 55. The magnetic dipole rod 15 is situated in the well 53 of a magazine 50. The gripping device 10 is attached to a movable arm of a robot (not shown). The magazine 50 and the target container 55 are situated at predetermined positions in space. The metal bolt 30 is in the receiving position. The adhesion region 31 of the metal bolt 30 is situated in the region of the open end 22 of the channel 21. The connection 32 to the motor shaft 43 is resting against the stop edge 27. The arm of a robot is used to move the gripping device 10 with the open end 22 of the channel 21 over a well 53 of the magazine 50 in which there is a magnetic dipole rod 15 (FIG. 5a).

[0090] In the next step, the gripping device 10 is lowered by the arm of a robot, with the result that the adhesion region 31 is situated directly above a magnetic dipole rod 15. The magnetic dipole rod 15 is aligned vertically, following the magnetic force, while the adjacent magnetic dipole rod 15 is not affected (FIG. 5b) because of the greater distance from the metal bolt 30.

[0091] If, after a further slight lowering of the gripping device 10, the distance between the adhesion region 31 and the magnetic dipole rod 15 falls below a minimum, the magnetic dipole rod 15 adheres with its upper end to the adhesion region 31 (FIG. 5c).

[0092] Now the motor 42 is activated in order to retract the metal bolt 30 from the receiving position into the holding position with the aid of the motor shaft 43 and thus to bring the magnetic dipole rod 15 into the receiving section 23 of the channel 21 (FIG. 5d).

[0093] The magnetic sensor 35 which is present on the outside of the receiving section 23 detects the presence of the magnetic dipole rod 15 in the receiving section 23 of the channel 21 (FIG. 5e).

[0094] The arm of a robot now moves the gripping device 10 over the target container 55 (FIG. 5f).

[0095] Now the motor 42 is activated in order to retract the metal bolt 30 from the holding position into the delivery position with the aid of the motor shaft 43 (FIG. 5g).

[0096] While the metal bolt 30 is being retracted into the delivery position, in which the adhesion region 31 is situated in the bolt guide section 25, the magnetic dipole rod 15 strikes against the stripping edge 24 and is separated from the adhesion region 31. Following the force of gravity, the magnetic dipole rod 15 falls vertically into the target container 55. The magnetic sensor 35 detects that there is no longer a magnetic dipole rod 15 in the receiving section 23.

[0097] The receiving section 23 and the stripping edge 24 are shown on an enlarged scale in FIG. 5i.