Refrigeration – Article moving means
Reexamination Certificate
2007-01-16
2007-01-16
Doerrler, William C. (Department: 3744)
Refrigeration
Article moving means
C062S062000, C062S051100, C378S208000
Reexamination Certificate
active
10807599
ABSTRACT:
A method and robot-based automation system are provided for cryogenic crystal sample mounting, for example, for use for cryogenic crystal sample mounting in the x-ray crystallography station at an x-ray source. The system includes a robot arm carrying a handset. The handset includes a pair of elongated fingers for sample mounting, and each finger carrying a set of strain gauge arrays for providing force sensing. A slim finger design allows a sample mounting process with no interference with the beam stop, cryostreem and x-ray detectors. The handset can detect the contact force intensity and direction; provide a precise gripping action; and feel the results of the gripping. The finger design incorporates a mechanism to maintain the sample temperature well below the cryogenic safety margin for the crystal viability. A Dewar container is provided with an ice control system and liquid nitrogen flow control. A triangular sample magazine maximizes the Dewar space usage. A miniature kinematical mounting sample holder provides near micron positioning repeatability. These capabilities make the robot-arm more powerful, flexible, and reliable.
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Alkire Randy
Barraza, Jr. Juan
Cai Zhonghou
Ginell Stephan
Han Yufeng
Doerrler William C.
Pennington Joan
UChicago Argonne LLC
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