US 11,719,713 B2
Gripper for test samples, positioning device for raw samples, handling system for raw samples and test samples, and test system for viscoelastic materials
Ralf Bäuerlein, Buchen (DE)
Assigned to MonTech System Solutions GmbH, Buchen (DE)
Appl. No. 16/349,994
Filed by MonTech System Solutions GmbH, Buchen (DE)
PCT Filed Nov. 17, 2017, PCT No. PCT/EP2017/079585
§ 371(c)(1), (2) Date May 15, 2019,
PCT Pub. No. WO2018/104030, PCT Pub. Date Jun. 14, 2018.
Claims priority of application No. 102016123585.7 (DE), filed on Dec. 6, 2016.
Prior Publication US 2019/0310272 A1, Oct. 10, 2019
Int. Cl. G01N 35/10 (2006.01); G01N 35/00 (2006.01); B01L 1/02 (2006.01); B01L 9/00 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01); G01N 33/44 (2006.01); B25J 15/02 (2006.01)
CPC G01N 35/0099 (2013.01) [B01L 1/02 (2013.01); B01L 9/00 (2013.01); B25J 15/0066 (2013.01); B25J 15/0071 (2013.01); B25J 15/0206 (2013.01); B25J 15/0616 (2013.01); G01N 33/442 (2013.01); B01L 2200/087 (2013.01); B01L 2300/10 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A multifunctional gripper (16) for a robot arm (31), comprising:
a first effector (4) with gripping jaws (5, 5′) that are moved toward each other in pairs for receiving and handling, by moving, positioning and securing, a raw sample (2) before and while punching a test sample (3),
a second effector (6) with a skewer-type gripper (6) for receiving and handling by transferring the test sample (3) after punching, wherein the skewer-type gripper (6) is configured for one-sidedly receiving the test sample (3) positioned in a defined manner and still compressed by plungers (26, 27) in a punching device (32), the test sample consisting of sticky viscoelastic materials of up to 100° C. and having an upper side (3a) and an edge area (3b) of 5 to 18 mm, wherein the gripper (6) has a base (6a) and at least one skewer (7, 7′,7″, 7″′) with an expansion arranged in a single plane therein, said at least one skewer being configured to pierce into the edge area (3b) of the still compressed test sample (3) with the plane of expansion parallel to the upper side (3a), wherein the gripper (6) is configured and set up for horizontally receiving the test sample (3) from the punching device (32), and the gripper (6) is exposed to a feed force of up to eight kilograms, wherein the skewer is a hollow needle pressurized with compressed air,
a third effector (13) with a suction gripper for handling, by transferring and positioning, the test sample (3),
a fourth effector (14) with a suction gripper for handling by transferring the raw sample (2),
wherein each of the effectors (4, 6, 13, 14) is arranged and designed so that it is controlled in terms of its position, its position relative to the raw sample (2) or test sample (3), its alignment, contact force and movement.