WO2016012439A1

WO2016012439A1 - Cup catcher device

Info

Publication number: WO2016012439A1
Application number: PCT/EP2015/066624
Authority: WO
Inventors: Shenguang SU; Jianbo Tang; Chao YU; Qingwen TANG; Luca MELILLO
Original assignee: ALTERGON ITALIA Srl
Current assignee: ALTERGON ITALIA Srl
Priority date: 2014-07-21
Filing date: 2015-07-21
Publication date: 2016-01-28
Anticipated expiration: 2017-01-21
Also published as: CN104118728A

Abstract

The present invention provides for a cup catcher device configured to catch and release a cup (16, 216),comprising: -a pivoting arm (1, 21) configured to move along a pivot axis perpendicular to the arm at a first end of the pivoting arm, and rotate with respect to said pivot axis, said pivoting arm being controlled so as to be in a lower position when catching or releasing said cup, and in an higher position when rotating from a catching position to a releasing position; -a driving arrangement (4, 9; 23, 24), connected at the second end of the pivoting arm, comprising a straight bar (7, 27) and configured to move said straight bar in a direction parallel to said pivot axis from a lower position to an higher position; -a position sensing system (5, 8; 25, 28) configured to detect the position of the straight bar (7, 27) for controlling the action of said driving arrangement; -a catching and releasing system at said second end of the pivoting arm and comprising claws (14, 214), and configured to cooperate with said straight bar (7, 27) to close or open said claws to respectively catch or release said cup depending on the position of said straight bar (7, 27).

Description

CUP CATCHER DEVICE

DESCRIPTION

Field of the invention

The present invention relates to a cup catcher device, namely a device for catching and releasing cups, in particular reagent cups.

Description of the prior art

In some applications relating to chemical substances handling, testing, analysis, and the like, the use of cups, in particular reagent cups, is needed bringing chemical substances inside, normally in the liquid state. Such a kind of reagent cups may be delicate, thin and of a small size, to be handled and moved safely with particular precautions and care, to avoid problems like breaking. In addition it may be necessary to pick up said reagent cups accurately and quickly one by one from containers where they are positioned very close to each other, and therefore the tool to be used for movements is critical, also for avoiding touching the other adjacent reagent cups. In addition the reagent cup must be kept stable, with a constant tilt, like vertical, and also the releasing place may be critical, with a little space around the cup, normally to be placed inside a recess gently.

At present, many devices based on air clamping tools are known, to catch and release this kind of reagent cup, using compressed air for actuating the clamps.

Other kinds of handling tools are based on a fork system, like a pantograph, having large dimensions, and therefore very difficult to be used, and not suitable to the purpose when the space is small and limited.

Moreover, their structure is complicated and maintenance cost is high.

Summary of the invention

Therefore it is the main object of the present invention to provide a cup catcher device, namely a device for catching and releasing cups, in particular reagent cups, which overcomes the above problems/drawbacks.

An object of the present invention is a cup catcher device configured to catch and release a cup, characterized in that it comprises, according to the attached claim 1 :

- a pivoting arm configured to move along a pivot axis perpendicular to the arm at a first end of the pivoting arm, and rotate with respect to said pivot axis, said pivoting arm being controlled so as to be in a lower position when catching or releasing said cup, and in an higher position when rotating from a catching position to a releasing position;

- a driving arrangement, connected at the second end of the pivoting arm, comprising a straight bar and configured to move said straight bar in a direction parallel to said pivot axis

5 from a lower position to an higher position;

- a position sensing system configured to detect the position of the straight bar for controlling the action of said driving arrangement;

- a catching and releasing system at said second end of the pivoting arm and comprising claws, and configured to cooperate with said straight bar to close or open said claws to 0 respectively catch or release said cup depending on the position of said straight bar.

It is a particular object of the present invention a cup catcher device, as described in the attached claims, which are considered an integral part of the present description.

Brief description of the drawings

The invention will become fully clear from the following detailed description, given by way5 of a mere exemplifying and non- limiting example, also with reference to the attached drawing figures, wherein:

Fig. 1 shows overall structure of the cup catcher in a first embodiment;

Fig. 2 shows internal structure in exploded view of the cup catcher in the first embodiment; Fig. 3 shows a front view of the cup catcher in the first embodiment at the time when no o power is connected through the electric magnet;

Fig. 4 shows a front view of the cup catcher clamp in the first embodiment at the time when no power is connected through the electric magnet;

Fig. 5 shows another section view of the cup catcher clamp in the first embodiment at the time when no power is connected through the electric magnet;

5 Fig. 6 shows a front view of the cup catcher in the first embodiment at the time when power is connected through the electric magnet;

Fig. 7 shows a section view of the cup catcher clamp in the first embodiment at the time when power is connected through the electric magnet.

Fig. 8 shows a section view of the cup catcher clamp in the first embodiment at the time when o power is connected through the electric magnet.

Figure 9 shows overall structure of the cup catcher mechanism in a second embodiment; Figure 10 shows internal structure in exploded view of the cup catcher in the second embodiment;

Figure 11 shows a front view of the cup catcher mechanism with stepper motor, motor shaft drive, gear shaft and scratch glass claw, in the second embodiment;

Figure 12 shows a front view of the cup catcher mechanism with motor shaft drive, gear shaft and scratch glass claw, in the second embodiment;

Figures 13 and 13' show a section view and a partial enlargement of the cup catcher mechanism with motor shaft drive, gear shaft and claw closed, in the second embodiment; Figure 14 shows another front view of the cup catcher mechanism with stepper motor, motor shaft drive, gear shaft and claws, in the second embodiment;

Figure 15 shows another front view of the cup catcher mechanism with motor shaft drive, gear shaft and claws, in the second embodiment;

Figure 16 and 16' show another section view and a partial enlargement of the cup catcher mechanism with motor shaft drive, gear shaft and claws open, in the second embodiment. Figure 17 shows a non limiting example of dimensions of the claw in the second embodiment. The same reference numerals and letters in the figures designate the same or functionally equivalent parts.

Detailed description of the preferred embodiments

In the following a first embodiment example of the invention is described with reference to Figures 1 - 8.

As explained in details in the following, the mark number indications in the Figures 1 -8 are the following: 1 -fixation substrate; 2-electric magnet fixation plate; 3-fixation vertical plate; 4-electric magnet; 5-photoelectric sensor; 6-protective cover; 7-straight-bar; 8-light barrier; 9- spring; 10-sliding seat; 11 -sliding part; 12-inclined sliding pin; 13 -horizontal guiding pin; 14- cup catcher claws; 15-guiding inclined hole; 16-cup, in particular reagent cup.

In the first embodiment, the cup catcher claws are in the form of clamps.

The cup catcher of the invention comprises a driving unit which drives the straight-bar to move upward and downward to open and close the clamps, and thus the cup is caught and released. The whole structure features simple structure, compact in size and easy control. The reaction cup has preferably a substantially cylindrical shape, and has a collar in the upmost position, having a larger diameter than that of the cup. A typical diameter of the cup may be around 10 mm.

The fixation substrate 1 behaves like an arm capable to move (controlled in a way not shown and at the reach of a technician) vertically along a pivot axis (perpendicular to the substrate), not shown, at the opposite side with respect to the cup catcher body, and to rotate horizontally with respect to said pivot axis. With said two kinds of movements the cup catcher can move downward and upward to pick up and release the cup in different positions, more particularly to move downward in a storing place and pick up the cup, then move upwards with the cup, rotate to the releasing position, moving downward to release the cup, moving again upward without the cup , rotate to the storing place to pick up another cup, and so on.

The cup catcher comprises driving unit 4, straight-bar 7, fixation substrate 1, sliding seat 10, sliding part 11 and cup catcher clamps 14. The sliding seat 10 is fixed on bottom side surface of the fixation substrate 1; the sliding seat 10 is equipped with a vertical sliding groove.

Top end of the straight-bar 7 connects with the driving unit 4, and the driving unit drives the straight-bar to move upward and downward; the straight-bar passes through the fixation substrate 1 and sliding groove 10' in the top of the sliding seat 10, and bottom end of the straight-bar connects with the sliding part 11 inlayed in the sliding groove.

The sliding part 11 is a U-shaped catcher clamp suspender, preferably made from highly abrasion-resistant Teflon material and equipped with two vertical suspenders in parallel, and it is a part freely moving upward and downward in the sliding seat 10.

Front and back side of the sliding part 11 respectively show the two guiding inclined holes 15 ; in the sliding seat, it is equipped with horizontal guiding clearance for chute sliding pins 12 to perform horizontal motion of the clamps 14.

Top of the two hooks forming cup catcher clamps 14 respectively connect with two chute sliding pins 12. One end of each chute sliding pin 12 is placed in a guiding inclined hole 15 of the sliding part 11; the other end is placed in a horizontal groove. Moving upward and downward of the sliding part will drive the chute sliding pins 12 to move horizontally in the horizontal groove, and thus to drive the cup catcher to perform action of catching and releasing.

The guiding clearance for the horizontal groove is a horizontal gap formed by the two horizontal upper and lower guiding pins 13 passing through the sliding seat.

The guiding clearance is the horizontal guiding groove or horizontal guiding hole in the back side panel of the sliding seat.

A fixation vertical plate 3 is vertically installed on the fixation substrate 1. Upper part of the fixation vertical plate 3 is equipped with photoelectric sensor 5, and top end of the straight-bar is equipped with light barrier 8.

There are two photoelectric sensors 5 respectively installed at high limit and low limit of the fixation vertical plate.

When the light barrier passes through the photoelectric sensor, the light barrier is in a parallel and level position with the photoelectric sensor.

With the light barrier passing through the photoelectric sensor upwards or downwards, it detects the position that the straight-bar reaches upward or downward.

Preferably the cup catcher clamp is made from Teflon, so as it features less friction, flexible cup catching and releasing achieved.

Sliding protective cover 6 is equipped on external surface of the sliding seat.

The driving unit 4 can be in the form of an electro-magnetic device, installed on electromagnetic fixation plate 2, in turn installed on the fixation substrate 1, and the straight- bar 7 passes through the electric magnet and the electromagnetic fixation plate.

The electro-magnetic device is equipped with pressure spring 9. One end of the pressure spring 9 is fixed on upper part of the straight-bar 7 that passes through the electric magnet, and the other end is fixed on upper part of the electric magnet.

The driving unit can be also implemented by a step motor connected to the straight-bar to push it to move upward and downward.

As said above, in the first embodiment the cup catcher claws are in the form of clamps. The internal form of the extensions of the clamps catching the cup are preferably configured to match with the form of the surface of the cup: in this example they have a circular shape. When the cup catcher pushes the sliding part up to a high position with the upward force of straight-bar 7 and the spring 9, the chute sliding pin 12 on the cup catcher clamp 14 slides in the chute of the sliding part 11 to drive the cup catcher clamps 14 to slide in a reciprocal closer position, as the lower ends of the guiding inclined holes 15 are closer to each other, and the cup catcher is in a close state; thus, cup catching is achieved.

The electric magnet is installed on the electric magnet fixation plate 2, the electric magnet fixation plate is equipped on the fixation substrate, and the straight-bar passes through the electric magnet and the electric magnet fixation plate.

The electric magnet is a component of a known type, and it is equipped with fixed external coil and a straight-bar 7. The magnetic field generated is able to let the straight-bar move downward or upward.

5 When the straight-bar 7 moves to the lowest position, it drives the sliding part 11 move downward to the lowest position along inner groove of the sliding groove 10. Two ends of the two horizontal sliding pins 11 match with each other on the sliding seat 10, and the clamps 14 fixed to the inclined sliding pins 12 are in an open state, as the upper ends of the guiding inclined holes 15 are more distant from each other, and the reaction cup 16 can be thus o released.

In summary the cup catcher comprises driving unit, straight-bar 7, fixation substrate 1, sliding seat 10, sliding part 11 and cup catcher clamp 14. The sliding seat 10 is fixed on bottom side surface of the fixation substrate; the sliding seat 10 is equipped with a vertical sliding groove; top end of the straight-bar connects with the driving unit, and the driving unit drives the5 straight-bar to move upward and downward; the straight-bar passes through the fixation substrate and sliding groove in turn, and bottom end of the straight-bar connects with the sliding part 11 inlayed in the sliding groove; front and back side of the sliding part 11 respectively correspond to the two guiding inclined holes 15; in the sliding seat or on the back side panel, it is equipped with horizontal guiding clearance for chute sliding pin to perform o horizontal motion; top of the two hooks forming cup catcher clamp respectively connect with

2 chute sliding pins 12. One end of each chute sliding pin us placed in the guiding inclined hole of the sliding part; the other end is placed in the horizontal groove. Moving upward and downward of the sliding part will drive the chute sliding pin to move horizontally in the horizontal groove, and thus to drive the cup catcher to perform action of catching and 5 releasing. The cup catcher uses the driving unit to control the straight-bar for moving upward and downward, and thus to drive the sliding part to move upward and downward in the sliding seat. Flexible cup catching and releasing is therefore achieved. The sliding part is equipped with guiding inclined hole to cooperate with the guiding clearance. This design features skillful, and the whole device features simple structure, compact in size, less room occupied,0 and good repeatable moving parts; the whole device operation accords with operation habit of people and thus convenient debugging is benefited. In the following a second embodiment example of the invention is described with reference to Figures 9 - 16.

As explained in details in the following, the mark number indications in the Figures 9 - 16 are the following: 21- base board, 22-stepper motor fixation board, 23-gear axis, 24-stepper motor, 25 -photoelectric sensor, 26-protection set, 27-tooth article pressure rod (equivalent to the straight bar 7), 28-block light tablets, 29-spring, 210-Cup catcher claw fixed seat, 211-line bearing, 212-hinge pin, 213-Cup catcher claw protection seat, 214-Cup catcher claw, 215- pressure means, 216-cup, in particular reagent Cup.

Also in this embodiment, the reaction cup 216 has preferably a substantially cylindrical shape, and has a collar 216' in the upmost position, having a larger diameter than that of the cup. A typical diameter of the cup may be around 10 mm.

Also in this embodiment, the base board 21 behaves like an arm capable to be moved (controlled in a way not shown and at the reach of a technician) vertically along a pivot axis (perpendicular to the substrate), not shown, at the opposite side with respect to the cup catcher body, and rotate horizontally with respect to said pivot axis. With said two kinds of movements the cup catcher can move downward and upward to pick up and release the cup in different positions, more particularly to move downward in a storing place and pick up the cup, then move upwards with the cup, rotate to the releasing position, moving downward to release the cup, moving again upward without the cup , rotate to the storing place to pick up another cup, and so on.

According to this embodiment, the stepper motor 24 with gear axis 23 is fixed to the vertical fixation board 22 placed on the base board 2 land lets the pressure road 27 go up and down, with a gear coupling, according to an axis perpendicular to the motor axis. The pressure road 27 is kept by the cup catcher claw fixed seat 210 with line bearing 211 , and passes, through a hole at an end of the base board 21, to the other side of the base board where other elements comprising hinge pin 212, cup catcher claw protection seat 213, cup catcher claws 214, pressure means 215, spring 29 and protection set 26 are placed.

As shown in particular in Figures 13, 13', 16 and 16', a number of claws 214 are present in the form of levers able rotate around pivoting points 217 connected to the cup catcher claw fixed seat (210): they have two arms, one (214') terminating with perpendicular extensions 214" ' (preferably in the form of hooks) which can engage with the cup to be grasped, in particular just below the collar 216'; the other (214") engaging with the terminal part 27' of the pressure road 27. The up and down movement of the pressure road causes the claws 214 to rotate and enlarge or restrict the relative distance between the perpendicular extensions of the arms 214', allowing grasping or releasing the reaction cup 216. The pressure means 215 and the reaction spring 29 allow a counter action with respect to the pressure road 27 in the up-down movement.

The cup catcher claw protection seat 213 surrounds the lower part of the cup catcher for protection of the internal components and provides for extensions around the claws.

A position sensing system comprising 25 -photoelectric sensor and 28-block light tablets is installed on the fixation board 22 around the upper side of the pressure road 27 and has the function of detecting the height position of the pressure road 27 allowing the control of the actuation of the stepper motor 24. An alternative embodiment may provide for capacitive sensing tools instead of photoelectric. Both are at the normal reach of a technician for the respective implementation.

Three key positions of the pressure road 27 are detected: lower position means claws open releasing the cup; intermediate position means claws closed grasping the cup; higher position means claws closed without grasping the cup. The lower and intermediate positions are indicative of normal operating situations when the apparatus performs cup catching activity correctly, as above described. Instead the higher position may be indicative of fault in operation, for example a fault in catching the cup which remains in the position where it is instead of moving.

A position sensing system also characterizes the first embodiment by elements 5, 8 above described, and can be implemented the same way as described above for the second embodiment, and may have the same function.

Both embodiments are characterized by a small size of the lowest clawing part of the apparatus. This way the apparatus can be used even when cup catching and releasing have to be performed in little spaces around the cup, just a few larger than the size of the cup which can be positioned in recesses either in the catching or in the releasing places. The diameter of this lowest clawing part may be around 1,5 - 2 times the cup diameter.

Figure 17 shows a non limiting example of dimensions (in mm) of the claw in the second embodiment also showing typical angles in the closed and open positions. Also in the second embodiment, the design features skillful, and the whole device features simple structure, compact in size, less room occupied, and good repeatable moving parts; the whole device operation accords with operation habit of people and thus convenient debugging is benefited.

Many changes, modifications, variations and other uses and applications of the subject invention will become apparent to those skilled in the art after considering the specification and the accompanying drawings which disclose preferred embodiments thereof. All such changes, modifications, variations and other uses and applications which do not depart from the scope of the invention are deemed to be covered by this invention.

The elements and characteristics described in the various forms of preferred embodiments can be mutually combined without departing from the scope of the invention.

Further implementation details will not be described, as the man skilled in the art is able to carry out the invention starting from the teaching of the above description.

Claims

1. Cup catcher device configured to catch and release a cup (16, 216), characterized in that it comprises:

- a pivoting arm (1, 21) configured to move along a pivot axis perpendicular to the arm at a first end of the pivoting arm, and rotate with respect to said pivot axis, said pivoting arm being controlled so as to be in a lower position when catching or releasing said cup, and in an higher position when rotating from a catching position to a releasing position;

- a driving arrangement (4, 9; 23, 24), connected at the second end of the pivoting arm, comprising a straight bar (7, 27) and configured to move said straight bar in a direction parallel to said pivot axis from a lower position to an higher position;

- a position sensing system (5, 8; 25, 28) configured to detect the position of the straight bar (7, 27) for controlling the action of said driving arrangement;

- a catching and releasing system at said second end of the pivoting arm and comprising claws (14, 214), and configured to cooperate with said straight bar (7, 27) to close or open said claws to respectively catch or release said cup depending on the position of said straight bar (7, 27).

2. Cup catcher device as in claim 1, wherein said driving arrangement (4, 9) comprises a stepper motor (4) or an electromagnetic device (4) and a reaction spring (9)

3. Cup catcher device as in claim 1, wherein said catching and releasing system comprises:

- a sliding seat (10) connected to said second end of the pivoting arm;

- a sliding part (11) comprising guiding inclined holes (15), configured to be acted by said straight bar (7) to slide substantially inside said sliding seat;

- claws (14), comprising pins (12) engaged in said guiding inclined holes (15), said claws configured to move from a reciprocal closer distance, when said pins are in correspondence of first ends of said guiding inclined holes closer to each other, wherein the cup can be grasped by said claws, to a reciprocal wider distance, when said pins are in correspondence of second ends of said guiding inclined holes more distant from each other, wherein the cup can be released by said claws.

4. Cup catcher device as in claim 3, wherein said claws are in the form of clamps (14) .

5. Cup catcher device as in claim 4, wherein said clamps (14) have extensions catching the cup configured to have the form faced to the cup to match with the form of the surface of the cup.

6. Cup catcher device as in claim 1, wherein said driving arrangement comprises a stepper motor (24) and a gear axis (23) gear coupled to said straight bar (27);

5 7. Cup catcher device as in claim 1, wherein said catching and releasing system comprises:

- a cup catcher claw fixed seat (210) connected to said second end of the pivoting arm;

- claws (214) in the form of levers pivotally connected to said cup catcher claw fixed seat (210), each of said claws comprising a first arm (241 ') which can engage with the cup, and comprising a second arm (214") engaging with the terminal part (27') of said straight bar0 (27) entering said cup catcher claw fixed seat (210), the movement of said straight bar (27) causing said claws pivoting, so as said first arm of each claw is capable to move from a closer distance to the other first arms, wherein the cup can be grasped by said first arm, to a wider distance from the other first arms, wherein the cup can be released by said first arm;

- return pressure means (215, 29) counteracting said pivoting of the claws with respect to the 5 movement of the straight bar (27).

8. Cup catcher device as in claim 7, wherein said first arm (214') terminates with a perpendicular extension (214' "), preferably in the form of a hook.

9. Cup catcher device as in claim 7, wherein said claws are at least three.

10. Cup catcher device as in claim 1, wherein said position sensing system (5, 8; 25, 28) is o configured so as to detect the following positions of said straight bar (27):

- a lower position wherein said claws are open releasing the cup;

- an intermediate position wherein said claws are closed grasping the cup;

- an higher position wherein said claws are closed without grasping the cup.

11. Cup catcher device as in claim 1, wherein said position sensing system (5, 8; 25, 28) 5 comprises photo electric sensing tools or capacitive sensing tools.