Gripper system (1) for picking an ophthalmic lens (CL) up at a start location (20), transporting the ophthalmic lens (CL) to a destination location (30) arranged in a liquid environment, and releasing the ophthalmic lens (CL) at the destination location (30) in the liquid environment, the gripper system (1) comprising
- a gripper shaft (10) having a hollow inner space extending through the gripper shaft in a longitudinal direction thereof;
- a separate suction tube (14) and a separate liquid supply tube (15) extending through the hollow inner space of the gripper shaft (10) towards a distal end of the gripper shaft, with a distal end of the suction tube (14) and a distal end of the liquid supply tube (15) being arranged in the inner space of the gripper shaft at a distance from the distal end of the gripper shaft;
- a connecting channel arranged in the inner space of the gripper shaft (10) and fluidically connecting the distal end of the suction tube (14) and the distal end of the liquid supply tube (15);
- a gripper head (11) attached to the gripper shaft (10) at the distal end of the gripper shaft and being configured to be pivotable about a pivot portion (111) of the gripper head (11), the gripper head having a fluid channel (113) extending through the gripper head (11) in a longitudinal direction thereof from a proximal end of the fluid channel (113) which is fluidically connected to the connecting channel, to a distal end of the fluid channel (113) which opens out into a suction opening (14) centrally arranged in a distal end surface (112) of the gripper head (11);
- a support (12) movably accommodating the gripper shaft (10) relative to the support (12) in the longitudinal direction (A) of the gripper shaft (10);
- a spring (13) mounted between the support (12) and the gripper shaft (10), the spring (13) biasing the gripper shaft (10) distally away from the support (12) in the longitudinal direction of the gripper shaft (12);
- a vacuum source (4) to which the suction tube (14) is fluidically connected;
- a first valve (40) arranged to establish or interrupt the fluidical connection between the vacuum source (4) and the suction tube (14);
- a liquid reservoir (6) to which the liquid supply tube (15) is fluidically connected;
- a source of pressurized gas (5, 9);
- a second valve (50, 90) arranged to establish or interrupt a fluidical connection between the source of pressurized gas (5, 9) and either the suction tube (14) or the liquid reservoir (6) to which the liquid supply tube (15) is fluidically connected, for the supply of overpressure to either the suction tube (14) or to the liquid reservoir (6);
- a control unit (8) for controlling the first valve (40) and the second valve (50, 90) such that:
- for picking the ophthalmic lens (CL) up at the start location (20) and making the ophthalmic lens (CL) adhere to the gripper head (11), the first valve (40) is opened to supply suction to the suction tube (14) and further to the suction opening (114) in the distal end surface (112) of the gripper head (11);
- for transporting the ophthalmic lens (CL) adhered to the gripper head (11) to the destination location (30), the first valve (40) remains open thereby continuing to supply suction to the suction tube (14) and drawing liquid through the liquid supply tube (15) and through the connecting channel into the suction tube (14) to fill the suction tube (14) with the liquid;
- for releasing the ophthalmic lens (CL) from the gripper head (11) at the destination location (30), the first valve (40) is closed to interrupt the supply of suction to the suction tube (14), and the second valve (50, 90) is opened to supply overpressure either to the liquid in the suction tube (14) or to the liquid reservoir (6) to which the liquid supply tube (15) is connected thereby pressing the liquid through the fluid channel (113) extending through the gripper head (11) and through the suction opening (114) centrally arranged in the distal end surface (112) of the gripper head (11).