# US 4,816,730 A · Autosampler

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- Number: US 4,816,730 A
- Document ID: US4816730A
- Status: Granted
- Kind: A
- Application number: 06/944,749
- Filed: 1986-12-22
- Granted: 1989-03-28
- Earliest claimed: 1986-12-22
- Assignees: E. I. Du Pont de Nemours and Company
- Inventors: Robert E. Wilhelm, Jr.; John R. Reader, Jr.; Kenneth W. Gormley, Sr.; Kendall B. Hendrick; Richard J. Celeste
- Web page: https://patentgrep.com/patent/US4816730A

## CPC

- G05B 19/40: Open loop systems, e.g. using stepping motor
- B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor}
- G05B 2219/36395: Load local computer program from host, data transfer ram to rom, BTR
- G05B 2219/40006: Placing, palletize, un palletize, paper roll placing, box stacking
- G05B 2219/50042: Return to origin, reference point, zero point, homing
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

An apparatus for handling and moving a plurality of objects such as containers each holding a sample to be analyzed by an analytical instrument contains the following: a. a robotic arm assembly capable of vertical, horizontal and rotational movement; b. gripper mechanism for holding objects attach to the arm of the assembly; c. stepper motors for driving the robotic arm assembly; d. a power source that drives the stepper motors electrically coupled to the motors; e. a sensing system with a feedback loop that monitors the movement of arm assembly, the objects being manipulated by the arm assembly and the force applied to the objects by the gripper mechanism; f. a computer electrically interfaced with the linear stepper motors, the power means and the sensing system with the feedback loop and g. a means for providing operating data input to the computer; operating data is provided to the computer for operation of the autosampler and the autosampler moves the object as directed.

## Claims

### Claim 1

An apparatus for handling and moving a plurality of objects; wherein the apparatus comprising:
a. a robotic arm assembly capable of vertical, horizontal and rotational movement;
b. gripper mechanism for holding objects attach to the arm of the assembly; said gripper mechanism having gripper fingers attached thereto actuated by a cone;
p1 c. stepper motors for driving the robotic arm assembly, wherein one stepper motor drives the cone thereby simultaneously opening and closing the gripper fingers of the gripper mechanism;
d. a power source that drives the stepper motors electrically coupled to the stepper motors;
e. a first sensing system with a feedback loop that monitors the movement of the arm assembly;
f. a second sensing system for the gripper that controls the amount of force applied to the object being moved, senses the presence of the object in the gripper and sense the presence of surrounding objects and prevents contact with such objects and thereby prevents damage to the gripper and surrounding objects;
g. a computer electrically interfaced with the stepper motors, the power means and the first and second sensing systems with the feedback loop and receives operating data for the operation of the apparatus and movement of objects and feed back information from the first and second sensing systems and controls and corrects movements of the arm assembly and the force applied by the gripper mechanism by controlling the stepper motors that operates the gripper mechanism;
h. means for providing operating data input to the computer.

### Claim 2 (depends on 1)

The apparatus of claim 1 in which the means for providing operating data to the computer comprises an input port to which is connected a second computer that provides a programmed input to the computer of the apparatus.

### Claim 3 (depends on 1)

The apparatus of claim 1 in which the gripper mechanism comprises a system of fingers capable of holding objects of various different shapes.

### Claim 4 (depends on 3)

The apparatus of claim 3 in which the robotic arm assembly comprises a vertical drive component, a horizontal drive component and a rotational drive component that are individually driven by separate stepper motors.

### Claim 5 (depends on 4)

The apparatus of claim 4 in which the sensing system comprises optical sensors that are interfaced with the computer.

### Claim 6 (depends on 5)

The apparatus of claim 5 in which the first sensing system continuously monitors the position of the objects being handled and the force being applied to the objects by the gripper mechanism of the apparatus and feeds this information back to the computer through the feed back loop and controls the stepper motor operating the gripper mechanism, and the second sensing system that monitors the position of the vertical, horizontal and rotational components of the arm assembly and feeds this information through the feed back loop to the computer which controls the stepper motors driving the components of the arm assembly.