EP4146442A1 - Dispositif de préhension pour le transfert d'un barreau dipôle magnétique - Google Patents

Dispositif de préhension pour le transfert d'un barreau dipôle magnétique

Info

Publication number
EP4146442A1
EP4146442A1 EP21723692.6A EP21723692A EP4146442A1 EP 4146442 A1 EP4146442 A1 EP 4146442A1 EP 21723692 A EP21723692 A EP 21723692A EP 4146442 A1 EP4146442 A1 EP 4146442A1
Authority
EP
European Patent Office
Prior art keywords
magnetic dipole
diameter
gripping device
rod
metal bolt
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP21723692.6A
Other languages
German (de)
English (en)
Inventor
Daniel WITSCH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayer AG
Original Assignee
Bayer AG
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 Bayer AG filed Critical Bayer AG
Publication of EP4146442A1 publication Critical patent/EP4146442A1/fr
Pending legal-status Critical Current

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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
    • 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
    • B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F33/00—Other mixers; Mixing plants; Combinations of mixers
    • B01F33/45—Magnetic mixers; Mixers with magnetically driven stirrers
    • B01F33/452—Magnetic mixers; Mixers with magnetically driven stirrers using independent floating stirring elements

Definitions

  • the invention relates to a gripping device for transferring a magnetic dipole rod and a robot with a robot arm to which the gripping device is attached.
  • the invention also relates to a magazine for providing one or more magnetic dipole rods, a system for transferring a magnetic dipole rod and the use of the system.
  • mixing liquids with a magnetic stirrer is the preferred method to guarantee thorough mixing.
  • the liquid is placed in one or more sample vessels on a plate under which a magnet rotates at a controllable speed.
  • This magnet acts on a second, usually rod-shaped magnet, the magnetic dipole rod, located in the sample vessel, and sets the liquid in motion through it.
  • the magnetic dipole rod is usually made of plastic z.
  • Microtiter plates each with a hundred or more wells, play a major role here.
  • a typical example are the 96-well microtiter plates.
  • the wells of a microtiter plate are each equipped with a liquid sample. This is done automatically in order to cope with a high throughput in a short time.
  • Magnetic dipole rods are difficult to handle in automated processes because, depending on the design, they can be very small, for example only 10 mm long and 3 mm in diameter. Their surface is generally slippery because it is coated with Teflon, for example. In addition, several magnetic dipole rods adhere to each other due to their magnetism. In particular, the magnetic properties do not allow one of the usual separation methods, for example using vibrating pots or sorting screws. Also, because of their small size, it is difficult to safely handle the magnetic dipole rods using universal mechanical clamping grippers. In addition, manual pre-assembly of sample vessels with magnetic dipole rods is not possible, depending on the process. Due to the magnetism of the magnetic dipole rods, laboratory equipment (e.g. scales) will be disturbed if the predetermined amount of liquid sample is poured into the sample vessel after the magnetic dipole rods have been positioned.
  • laboratory equipment e.g. scales
  • An upper arm part of the robot arm is pivotably arranged on this robot arm holder and a lower arm part of the robot arm is pivotably arranged on the upper arm part.
  • Such systems are offered, for example, by the company CRS in Canada and by the company Zymark in the USA and are established in the fab area.
  • the robotic arm must be able to be coupled to a number of different functional units in order to be able to handle the samples in the desired manner.
  • the object of the present invention is to provide a gripping device for connection to a robot arm known per se, and which is suitable for automatically handling magnetic dipole rods in order to make the sample preparation more effective.
  • this object is achieved by a gripping device for a magnetic dipole rod, a robot with a gripping device for a magnetic dipole rod, a magazine for providing magnetic dipole rods and a system for transferring a magnetic dipole rod and its use.
  • the gripping device for a magnetic dipole rod has a ferromagnetic metal bolt.
  • the diameter of the metal stud is smaller than the diameter of the magnetic dipole rod.
  • At the front end of the metal bolt there is an adhesive area for the magnetic dipole rod.
  • the adhesion between the metal bolt and the magnetic dipole rod is made by the magnetic force.
  • the adhesive area is distinguished from the other areas of the metal bolt solely in that only the adhesive area comes into contact with the magnetic dipole rod.
  • the metal bolt can occupy at least two different positions, the dipole rod adhering to the front end of the magnetic dipole rod in the first position and being stripped off the front end of the magnetic dipole rod during the transition to the second position.
  • the metal bolt is movably mounted in a channel and in its catching direction between the first position, the receiving position, and the second position, the delivery position, for the magnetic dipole rod movable.
  • the metal bolt can assume a holding position that lies between the receiving position and the delivery position.
  • the channel is in a housing and has an open end.
  • the channel has a section, the so-called bolt guide section, the diameter of which is smaller than the diameter of the magnetic dipole rod.
  • the diameter of the bolt guide section is adapted to the diameter of the metal bolt in such a way that it is displaceable in the bolt guide section and is guided through the walls of the bolt guide section.
  • the adhesion area of the metal bolt is in the area of the open end of the channel and in the delivery position the adhesion area is in the bolt guide section.
  • the magnetic dipole rod remains adhered to the adhesive area of the metal bolt due to the magnetic force. If the metal bolt is withdrawn in the channel and brought into the second position in which the adhesive area is located in the bolt guide section, then the magnetic dipole rod cannot follow and is separated from the adhesive area.
  • a section is located between the open end of the channel and the bolt guide section, the diameter of which is adapted to the diameter of the magnetic dipole rod so that it can be received in the receiving section with sufficient play.
  • the diameter of the receiving section is preferably dimensioned such that the diameter of the receiving section is 102% to 120% of the diameter of the magnetic dipole rod.
  • the reduction in the diameter of the channel from the receiving section to the bolt guide section results in an edge which is referred to below as the stripping edge.
  • the length of the receiving section is preferably dimensioned such that the length of the receiving section is in the range from 80 to 150% of the length of the magnetic dipole rod.
  • the metal bolt can also assume a position in the channel in which the adhesive area is located in the receiving section. This is the stop position.
  • the rear end of the metal bolt is connected to a means for generating a translational movement for advancing and withdrawing the metal bolt in the channel.
  • the means for generating the translational movement can comprise a linear motor, a stepping motor or a servo motor, possibly with a corresponding gear.
  • the rear end of the metal bolt has a widening of its diameter, the metal bolt having a circular, square, octagonal or any other cross-section.
  • a so-called retraction section adjoins the bolt guide section in the channel, which has an enlarged diameter corresponding to the widening compared to the bolt guide section and a cross-section correspondingly adapted to the metal bolt, so that an edge results between the retraction section and the bolt guide section, which is shown below is referred to as the stop edge.
  • the stop edge In the receiving position, one side of the widening would then rest against the stop edge and define the maximum possible displacement of the metal bolt in the direction of the open end of the channel.
  • the connection to a motor shaft for example a screw thread, can also be located in the widening of the metal bolt.
  • a sensor or switch that reacts to a magnetic field can be attached to the outside of the housing in the area of the receiving section of the channel in order to detect whether a magnetic dipole rod is located in the receiving section.
  • a switch can be a reed contact, for example.
  • the gripping device can be permanently or detachably connected to the arm of a robot.
  • the subject matter of the invention is also a robot with a robot arm to which the gripping device described above is fixedly or detachably attached.
  • the robot preferably comprises a control system for controlling the robot arm and the gripping device.
  • the control takes place via a control system / controller with programmed control logic, which is connected to the robot arm on the one hand and to the electronic components of the gripping device on the other hand via known electronic communication options.
  • the control system comprises a processor, a memory and the communication component. The positions of the magazine and the wells are stored as well as the target positions to which the magnetic dipole rods are to be transported.
  • the control of the movement of the metal bolt in the different phases of the transfer of the magnetic dipole rod takes place through an interaction between a sensor system connected to the motor and the motor control. Position control is used for this.
  • a starting position of the motor and thus of the metal bolt is determined by an end position sensor and based on this, the motor moves the metal bolt into the receiving position, holding position and delivery position after appropriate control by the motor control electronics.
  • the starting position can coincide with the delivery position. If a magnetic sensor is attached to the outside of the channel in the area of the receiving section, its signals are also processed via the control logic.
  • the magnetic dipole rods are preferably provided in a magazine.
  • the magazine comprises a plate made of a non-magnetic material with a top and a bottom.
  • the diameter of the depressions is such that the magnetic dipole rods are more or less upright in the depressions, so they have a lot of play.
  • the diameter of the depressions should be in the range from 105% to 220% of the diameter of the magnetic dipole rods.
  • the diameter of the recesses should preferably be in the range from 1 mm to 2.5 mm larger than the diameter of a magnetic dipole rod.
  • the depth of the recesses should preferably be in the range from 0.5 mm to 2.5 mm smaller than the length of a magnetic dipole rod.
  • the recesses in the magazine are preferably arranged in regular rows and columns.
  • a minimum distance between the individual recesses should be maintained so that several magnetic dipole rods are not attracted to the metal bolt of the gripping device at the same time when this is located above a recess.
  • the minimum distance should be greater, the greater the magnetic strength of the magnetic dipole rods.
  • the diameter of the magnetic dipole rods offers a certain orientation.
  • the minimum distance between the individual depressions should be at least three times, preferably four times and particularly preferably five times the diameter of a magnetic dipole rod.
  • the subject matter of the invention is also a system for transferring a magnetic dipole rod having a robot described above with a robot arm to which the gripping device according to the invention is attached, and a magazine described above.
  • the system for transferring a magnetic dipole rod comprising a robot described above with a robot arm to which the gripping device according to the invention is attached and a magazine described above.
  • the execution of the transfer is described below:
  • the robot arm brings the gripping device with the open end of the channel over a recess in the magazine in which a magnetic dipole rod is located.
  • the metal bolt is in the pick-up position. If the open end of the channel and thus the front end of the metal bolt is in the immediate vicinity of the recess, the magnetic dipole rod aligns itself vertically. If the distance between the front end of the metal bolt and the magnetic dipole rod falls below a minimum, the magnetic dipole rod adheres with one end to the adhesive area at the front end of the metal bolt. Now the metal bolt is pulled back into the holding position and thus pulls the magnetic dipole rod into the receiving section of the channel. If there is a magnetic sensor on the outside of the receiving section, it would now detect the presence of the magnetic dipole rod in the channel.
  • the robot arm moves the gripping device over the target position.
  • the metal bolt is now withdrawn into the delivery position.
  • the magnetic dipole bar hits the scraper edge and is separated from the adhesive area at the front end of the metal bolt.
  • the magnetic dipole rod falls vertically into the target position following gravity. An existing magnetic sensor would now detect that there is no longer a magnetic dipole rod in the receiving section.
  • magnetic dipole rods can be successively transferred from the magazine to a target position.
  • the transfer of magnetic dipole rods can be carried out in an automated manner.
  • 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 more detail below using an exemplary embodiment and with reference to the accompanying drawings.
  • Fig. 1 gripping device according to the invention
  • Fig. 2 control system for the gripping device
  • FIG. 3 shows a side view of a magazine for magnetic dipole rods
  • 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 side of the connecting plate 41 opposite the bolt housing 20.
  • the bolt housing 20 has a channel 21 which is divided into the three sections receiving section 23, bolt guide section 25 and retraction section 26.
  • the channel has an open end 22 on one side and ends with the side opposite the open end 22 on the Connecting plate 41.
  • the dimensions of the receiving section are such that it can accommodate a magnetic dipole rod 15 with sufficient play.
  • Sufficient play means that the diameter of the receiving section is dimensioned so that it corresponds to the maximum diameter of a dipole rod 15, taking into account the statistical spread of the underlying manufacturing process of the dipole rods 15 used and any adhering impurities plus an air gap of at least 0.2 mm.
  • the diameter of the receiving section 23 is larger than the diameter of the bolt guide section 25, there is a wiper edge 24 between the receiving section 23 and the bolt guide section 25.
  • the diameter of the retraction section 26 is greater than the diameter of the bolt guide section 25, so that a stop edge 27 is formed between the retraction section 26 and the bolt guide section 25.
  • a magnetic sensor 35 is located on the outside of the bolt housing 20 in the area of the receiving section.
  • a metal bolt 30 is movably mounted in the channel 21.
  • the front end of the metal bolt 30, which points towards the open end of the channel 22, is referred to below as the adhesive area 31. Since the metal bolt 30 is made of a ferromagnetic material, a magnetic dipole rod 15 can adhere to the adhesive area 31.
  • the end of the metal bolt 30 opposite the adhesive area 31 forms the connection 32 to the motor shaft 43.
  • the metal bolt 30 has an enlarged diameter (widening) in the area of the connection 32 to the motor shaft 43. This is adapted to the inner diameter of the retraction section 26 and allows maximum displacement 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 the stop edge 27. In this position, the adhesive area 31 is located in the area of the open end 22 of the channel 21 (FIGS. 5a-c).
  • the motor housing 40 is located on the side of the connecting plate 41 opposite the bolt housing 20.
  • the connecting plate 41 has an opening (not shown here) through which the motor shaft 43 protrudes into the retraction section 26 of the channel 21.
  • 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 brought into connection with a contact 46 when the actuating lever is pressed.
  • 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, when the motor shaft 43 is in a certain retracted position, the microswitch 45 by pressing the actuating lever 44 actuated. This retraction position can be set using the adjusting screw 47.
  • the distance between the motor 42 and the microswitch 45 can be adjusted with the adjusting screw 47.
  • the motor shaft 43 is brought into the retracted position, in which the microswitch 45 is actuated by pressing 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 axis. All movement steps of the motor shaft 43 are calculated from this zero position.
  • the motor 42 or the motor control recognizes the current position of the motor on the basis of the incremental encoder / motor or the internal position controller (without sensor).
  • control system 60 for the gripping device 10 comprises a processor and a memory, which are not shown separately.
  • the processor is suitable for processing a program code which controls the gripping device 10 according to the sequence shown in FIGS. 5 a-h.
  • a person skilled in the art is familiar with appropriate programming.
  • the program code contains the control logic 61. This coordinates the control commands to the robot arm 70, to which the gripping device 10 is connected, and the position control 62 for the motor 42, which moves the metal bolt 30.
  • the motor 42 is a linear motor 422.
  • the position control contains signals from the end position sensor 67 via the digital input electronics 66.
  • the end position sensor 67 is nothing more than the functional description of the microswitch 45.
  • the position of the motor shaft 43 or the end piece 46 of the motor shaft 43, in which this establishes the contact on microswitch 45, is the starting position / end position for moving the motor 42, 422 and thus the metal bolt 30 into the various predetermined positions such as receiving position, holding position and delivery position.
  • the end position corresponds to the delivery position of the metal bolt 30.
  • These different positions can be adjusted, i.e. pushed forwards or backwards, using the adjusting screw 47.
  • the position control controls the linear motor 422 and thus the positioning of the metal bolt 30 via the motor control electronics 65 (encoder / incremental encoder).
  • the control logic 61 receives input signals as to whether a magnetic dipole rod 15 is currently located in the receiving section 23 of the channel 21 or not. If a magnetic dipole rod 15 or no magnetic dipole rod 15 is located in the receiving section at the wrong time, the control system 60 could react accordingly.
  • the magazine 50 is a plate made of a non-magnetic material with an upper side 51 and a lower side 52.
  • the magazine 50 has depressions 53 on its upper side 51.
  • the depressions 53 are arranged in regular rows 1 ... m and columns 1 ... n.
  • the diameter A of the depressions is in the range from 110% to 220% of the diameter of the magnetic dipole rods 15.
  • the diameter of the depressions A is in the range from 1 mm to 2, 5 mm larger than the diameter of a magnetic dipole rod 15.
  • FIGS. 5a-5h The sequence of the transfer of a magnetic dipole rod and delivery into a target vessel 55 is shown in FIGS. 5a-5h.
  • the magnetic dipole bar 15 is located in the recess 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 vessel 55 are located at predetermined positions in space.
  • the metal bolt 30 is in the receiving position.
  • the adhesion area 31 of the metal bolt 30 is located in the area of the open end 22 of the channel 21.
  • the connection 32 to the motor shaft 43 lies on the stop edge 27.
  • the arm of a robot moves the gripping device 10 with the open end 22 of the channel 21 over a recess 53 of the magazine 50, in which a magnetic dipole rod 15 is located (Fig. 5a).
  • the gripping device 10 is lowered by the arm of a robot, so that the adhesive area 31 is located directly above a magnetic dipole rod 15.
  • the magnetic dipole rod 15 aligns itself perpendicularly following the magnetic force, while the adjacent magnetic dipole rod 15 is not impaired because of the greater distance from the metal bolt 30 (FIG. 5b).
  • the motor 42 is now activated in order to withdraw the metal bolt 30 from the receiving position into the holding position with the aid of the motor shaft 43 and thereby bring the magnetic dipole rod 15 into the receiving section 23 of the channel 21 (FIG. 5d).
  • 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).
  • the arm of a robot now moves the gripping device 10 over the target vessel 55 (FIG. 5f).
  • the motor 42 is now activated in order to withdraw the metal bolt 30 from the holding position into the delivery position with the aid of the motor shaft 43 (FIG. 5g). While the metal bolt 30 is withdrawn into the delivery position in which the adhesive area 31 is located in the bolt guide section 25, the magnetic dipole rod 15 strikes the stripping edge 24 and is separated from the adhesive area 31. The magnetic dipole rod 15 falls vertically into the target vessel 55 following the force of gravity. The magnetic sensor 35 detects that there is no longer a magnetic dipole rod 15 in the receiving section 23.
  • the receiving section 23 and the wiping edge 24 are shown enlarged in FIG. 5i.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de préhension pour le transfert d'un barreau dipôle magnétique ainsi qu'un robot équipé d'un bras robotisé sur lequel le dispositif de préhension est fixé. L'invention concerne en outre un magasin destiné à fournir un ou plusieurs barreaux dipôles magnétiques, un système de transfert d'un barreau dipôle magnétique et l'utilisation de ce système. Le dispositif de préhension destiné à un barreau dipôle magnétique comprend une cheville métallique en matériau ferromagnétique, dont le diamètre est inférieur à celui du barreau dipôle magnétique. La cheville métallique peut adopter au moins deux positions différentes. Dans la première position, le barreau dipôle est soumis à une force d'adhérence à l'extrémité avant du barreau dipôle magnétique et, lorsque la cheville passe dans la deuxième position, elle se décolle de l'extrémité avant du barreau dipôle magnétique.
EP21723692.6A 2020-05-07 2021-04-30 Dispositif de préhension pour le transfert d'un barreau dipôle magnétique Pending EP4146442A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020002745 2020-05-07
PCT/EP2021/061379 WO2021224123A1 (fr) 2020-05-07 2021-04-30 Dispositif de préhension pour le transfert d'un barreau dipôle magnétique

Publications (1)

Publication Number Publication Date
EP4146442A1 true EP4146442A1 (fr) 2023-03-15

Family

ID=75801583

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21723692.6A Pending EP4146442A1 (fr) 2020-05-07 2021-04-30 Dispositif de préhension pour le transfert d'un barreau dipôle magnétique

Country Status (3)

Country Link
US (1) US20230173689A1 (fr)
EP (1) EP4146442A1 (fr)
WO (1) WO2021224123A1 (fr)

Family Cites Families (10)

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Publication number Priority date Publication date Assignee Title
JPH10109757A (ja) * 1996-10-08 1998-04-28 Sailor Pen Co Ltd:The 積層トレーの分離装置
US20060119119A1 (en) * 2002-08-08 2006-06-08 Danilo Molteni Mobile-pole lifter for moving ferromagnetic loads
CN101327593A (zh) * 2007-06-20 2008-12-24 鸿富锦精密工业（深圳）有限公司 磁性夹持座
DE102010040642B4 (de) * 2010-09-13 2014-01-30 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Magnetgreifer
US10493457B2 (en) * 2014-03-28 2019-12-03 Brooks Automation, Inc. Sample storage and retrieval system
CN106272510B (zh) * 2015-06-05 2018-12-04 苏州汉扬精密电子有限公司 可磁吸物件的吸放装置
US10239217B2 (en) * 2016-02-02 2019-03-26 General Atomics Magnet gripper systems
IT201600081444A1 (it) * 2016-08-03 2018-02-03 I M A Industria Macch Automatiche S P A In Sigla Ima S P A Macchina per il riempimento e confezionamento di flaconi, cartucce, siringhe e simili con cambio di formato automatico.
CN206593935U (zh) * 2017-03-14 2017-10-27 骏实生物科技(上海)有限公司 一种全自动循环肿瘤细胞阳性富集装置
CN107435023A (zh) * 2017-09-19 2017-12-05 中国医学科学院输血研究所 一种生物反应器及生物反应设备

Also Published As

Publication number Publication date
US20230173689A1 (en) 2023-06-08
WO2021224123A1 (fr) 2021-11-11

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