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Vial Gripper assembly for the Z-axis of a cartesian robot. The gearmotor drives a cam-shaft that upon its rotation opens and closes the Gripper Fingers. The open/close positions are sensed via 2 flags that each trigger a home sensor. The presence of the vial in the area of the Gripper Fingers is detected using a wire-shaft connected with an on/off switch.
This view is from under the Gripper Finger.
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Vial Gripper assembly viewed in exploded state. The assembly contains 20 components and 3 subassemblies (the motor subassembly, the home sensor subassembly and the on/off switch subassembly). Only 7 of the components are custom-made for this assembly, the rest being off-the-shelf products. |
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Picture of the Vial Gripper mounted on the Z-axis assembly (the one on the right hand side). |
