Capper / decapper system and method

Abstract

This application discloses a system and method for clamping, twisting, and releasing elements to cap and / or uncap containers (e.g., containers typically used to contain samples in a laboratory setting). The system is driven by a single bidirectional motor coupled to a coupler assembly via a rotating threaded shaft. The coupler assembly is configured to engage elements, such as caps or containers, via mechanically biased splines actuated without any complex linkages or operative connections to the motor or other power components. The system employs an ejector nut and an ejector, both concentrically positioned about the threaded shaft. The ejector nut translates along the shaft as the shaft rotates, allowing the ejector to retract when the element engages in the coupler assembly or to extend into the coupler assembly to disengage the element. The direction and rotation of the motor are controlled by a system of sensors coupled to a sensor located within the system. This control system may include one or more processors, component interfaces, and data storage devices / memories. The sensors may include multiple optical, magnetic, or mechanical devices for monitoring one or more of the positions of the ejector nut and ejector along the threaded shaft and / or the rotational position of the coupler assembly.

Description

[0001] This application is a divisional application of Chinese patent application 201980025536X (PCT / EP2019 / 060083) entitled “Capping / Removing System and Method”, filed on April 18, 2019. Background Technology

[0002] This application claims priority to U.S. Provisional Application No. 62 / 659,915, filed April 19, 2018, the contents of which are incorporated herein by reference in their entirety.

[0003] Sample containers are used in laboratory environments to store and transport samples to be tested. They come in various sizes to suit the characteristics or quantity of samples to be stored or transported. Industry standards may also specify the types of containers used for transporting particular samples.

[0004] Sample containers of various sizes can be transported to laboratories for sample testing. These containers are typically sealed with screw-on lids. Therefore, testing samples is often a time-consuming and labor-intensive process, requiring the removal of the lid, extraction of the sample from the container, and reinstallation of the lid. Consequently, there is a need to develop a system and method that can be adapted to sample containers of different styles and sizes, perform operations quickly, and maximize reliability with minimal mechanical complexity.

[0005] Current systems for capping and uncapping containers (including those commonly used in laboratory settings) utilize rotating components that clamp either or both of the container body and the cap. These systems employ actuating blades, fingers, pads, clamps, and jaws, electrically, pneumatically, or hydraulically driven to clamp the elements with sufficient force and precision to apply adequate torque for sealing or opening the container. Such systems typically require complex linkages and control systems to provide the necessary clamping force and mechanical flexibility. This complexity detracts from their overall reliability and hinders rapid system adaptation to various container sizes, shapes, and styles.

[0006] Therefore, a mechanically reliable and adjustable system is needed to effectively clamp the lid and / or container, apply a specific amount of torque or rotation, and then release the element. Summary of the Invention

[0007] This disclosure describes a system and method for clamping, twisting, and tightening / releasing elements to cap and / or uncap containers (e.g., containers typically used to carry samples in a laboratory setting). The system is driven by a single bidirectional motor coupled to a coupler assembly via a rotating threaded shaft. The coupler assembly is configured to engage with a cap or container via a mechanically biased spline actuated without any complex linkages or operational connections to a motor or other power components. The system employs an ejector nut and an ejector, both concentrically positioned about the threaded shaft. The ejector nut translates along the shaft as it rotates, allowing the ejector to retract when the element engages in the coupler assembly, or to extend into the coupler assembly, thereby disengaging from the element. The direction and rotation of the motor are controlled by a system sensor coupled to a sensor located within the system. This control system may include one or more processors, component interfaces, and data storage devices / memories. The sensor may include multiple optical, magnetic, or mechanical devices for monitoring one or more of the position of the ejector nut and ejector along the threaded axis and / or the rotational position of the coupler assembly.

[0008] This coupler assembly is specifically designed for a particular container or cap configuration. It is designed to mate with caps or containers of a specific radius, and the mechanically biased spline is specifically adapted to mate or engage with the surface features of the cap or container, or both. Furthermore, because the mechanically biased spline is not operatively connected to a bidirectional motor or other power component, the coupler assembly can be easily connected / disconnected from the system. This allows the system to be quickly adapted to handle new or different cap / container configurations. The system can be used in a fixed location, where containers are fed into and out of the coupler assembly via a separate conveyor system. The system can also be positioned on a movable rack or articulated armature, allowing it to move relative to the container or the separate conveyor system. Therefore, the system and method can be configured to convey capped containers to a capper / remover or to convey a capper / remover to a capped container. Attached Figure Description

[0009] The features, aspects, and advantages of the invention will be better understood in conjunction with the following description, the appended claims, and the accompanying drawings, wherein:

[0010] Figure 1A This is a perspective view of a capping / removing system according to an embodiment of the present disclosure.

[0011] Figure 1B yes Figure 1A A perspective view of the capping / uncapping system, depicting the drive mechanism components.

[0012] Figure 2A yes Figure 1BBottom view of the ejector nut of the capping / removing system.

[0013] Figure 2B yes Figure 1B Top view of the ejector nut of the capping / removing system.

[0014] Figure 2C yes Figure 1B Side view of the ejector nut of the capping / removing system.

[0015] Figure 2D yes Figure 1B Perspective view of the ejector nut of the capping / uncapping system.

[0016] Figure 3A yes Figure 1B Side view of the drive mechanism of the capping / removing system.

[0017] Figure 3B yes Figure 1B A partial cross-sectional side view of the drive mechanism of the capping / uncapping system.

[0018] Figure 3C yes Figure 1B A partial cross-sectional top view of the drive mechanism of the capping / removing system.

[0019] Figure 4A yes Figure 1B Bottom view of the ejector of the capping / removing system.

[0020] Figure 4B yes Figure 1B Top view of the ejector of the capping / removing system.

[0021] Figure 4C yes Figure 1B Side view of the ejector of the capping / removing system.

[0022] Figure 4D yes Figure 1B A perspective view of the ejector of a capping / removing system.

[0023] Figure 5 yes Figure 1B A partial cross-sectional bottom view of the drive mechanism of the capping / removing system.

[0024] Figure 6A It is installed in Figure 1B A perspective view of the coupler assembly position sensor, ejector sensor, and ejector nut sensor on the drive mechanism.

[0025] Figure 6B It is shown Figure 6AA partial cross-sectional perspective view of the coupler assembly position sensor.

[0026] Figure 6C It is shown Figure 6A A partial cross-sectional perspective view of the ejector sensor.

[0027] Figure 6D It is shown Figure 6A A partial cross-sectional perspective view of the ejector nut sensor.

[0028] Figure 7A yes Figure 1B Side view of the coupler component of the capping / removing system.

[0029] Figure 7B yes Figure 1B A front view of the coupler component of the capping / removing system.

[0030] Figure 7C yes Figure 1B Top view of the coupler assembly of the capping / removing system.

[0031] Figure 7D yes Figure 1B A bottom view of the coupler assembly of the capping / removing system.

[0032] Figure 8A It is positioned on a carrier that holds a series of lidded containers in a queue. Figure 1B Perspective view of the coupler assembly of the capper / remover system.

[0033] Figure 8B yes Figure 8A Top cross-sectional view of the coupler component.

[0034] Figure 8C This is a perspective view of an exemplary lid and container.

[0035] Figure 8D yes Figure 8A Top view of the cover.

[0036] Figure 9A yes Figure 6A A cross-sectional view of the coupling.

[0037] Figure 9B yes Figure 6A Couplers and Figure 8A A cross-sectional view of the lid and container.

[0038] Figure 10A This is a side view of the container holder in its first state.

[0039] Figure 10B yes Figure 10A A top view of the container holder.

[0040] Figure 10C It is in the second state. Figure 10A Side view of the container holder.

[0041] Figure 10D yes Figure 10C A top view of the container support.

[0042] Figure 11A It is in the initial uncoupled state. Figure 1B Side view of the capping / removing system.

[0043] Figure 11B It is in the initial coupling state. Figure 1B Side view of the capping / removing system.

[0044] Figure 11C It performs the cap removal operation. Figure 1B Side view of the capping / removing system.

[0045] Figure 11D It is in the uncovered state. Figure 1B Side view of the capping / removing system.

[0046] Figure 11E It is positioned to restart and re-cover. Figure 1B Side view of the capping / removing system.

[0047] Figure 11F During the resealing operation Figure 1B Side view of the capping / removing system.

[0048] Figure 11G It is currently being re-covered. Figure 1B Side view of the capping / removing system.

[0049] Figure 11H During the push-out process Figure 1B Side view of the capping / removing system.

[0050] Figure 11I It is in the ejection state. Figure 1B Side view of the capping / removing system.

[0051] Figure 11J Is it a return to Figure 11A The initial uncoupled state Figure 1B Side view of the capping / removing system.

[0052] Figure 11K Is in Figure 11A In the initial uncoupled state Figure 1BSide view of the capping / removing system. Detailed Implementation

[0053] This patent application relates to a device for capping and removing containers. In particular, the patent application relates to a container capping / removing device capable of removing and replacing screw-on container caps.

[0054] Figure 1A and Figure 1B An exemplary embodiment of a capping / removing system according to one embodiment of the present disclosure is depicted. As shown, the system 100 has four main components: a motor 102, a transmission 104, a drive mechanism 106, and a coupler assembly 108.

[0055] motor

[0056] In an exemplary embodiment, motor 102 is a DC-powered brushless motor, such as those available from Maxon Precision Motors, Falls River, Massachusetts, USA. This type of motor provides a high degree of controllability when used with a position controller, such as the EPOS and MAXPOS controllers available from Maxon Precision Motors. The position controller interfaces with a capper / removal controller system (not shown), which may include one or more processors, component interfaces, and data storage / memory. It should be understood that any suitable controllable drive can be used instead of a DC-powered brushless motor. This may include other electric motors (stepper, AC-powered, etc.) or pneumatic motors.

[0057] transmission

[0058] Motor 102 is shown coupled to drive assembly 106 via transmission 106. In one embodiment, transmission 106 is a 1:18 reduction ratio gearbox. This gear ratio transmits a predetermined torque range and angular position accuracy to threaded drive shaft 122 to facilitate capping and decapping of a specific container type. In a particular embodiment of the invention, the average torque delivered by the motor is limited to a maximum of 56.8 mNm (millineutm-meters). Other gear ratios, including 1:1 or direct drive, may be considered, and the choice of a particular gear ratio depends on the specific motor and the type of cap / container the system is to operate.

[0059] drive mechanism

[0060] like Figure 1BAs shown, the drive mechanism 106 includes an ejector 110, an ejector nut 112, a coupler assembly sensor 114, an ejector sensor 116, an ejector nut sensor 118, an ejector nut alignment shaft 120, and a threaded drive shaft 122.

[0061] Figure 2A , Figure 2B , Figure 2C and Figure 2D Bottom, top, side, and perspective views of the ejector nut 112 are provided. In a preferred embodiment of the invention, the ejector nut 112 is shown having six blades 202 extending radially from the threaded center channel 204 and six alignment slots 206 located around the perimeter of the ejector nut base 208. Although six top blades and six alignment slots are shown in this particular embodiment, only one is required for system operation. This feature redundancy is a design choice and simplifies the alignment of the ejector nut during assembly of the actuator mechanism 106. The threaded center channel 204 is dimensioned to mate with the threaded shaft 122.

[0062] Figure 3A and Figure 3B Partial side view and partial cross-sectional side view of the drive mechanism 106 are shown respectively. Figure 3A The cowling 302 of the drive mechanism is shown. A portion of the ejector nut 112 can be seen through the cutout 304. Figure 3B As shown, the outermost surface 306 of the ejector nut 112 is preferably sized to create a gap 308 between it and the inner wall 310 of the guard 302. The ejector 110 is shown in cross-section below the ejector nut 112. This is in Figure 3C The text further illustrates that, Figure 3C A top cross-sectional view of the actuator mechanism 106 is provided. As shown, the outermost radius 312 of the ejector nut 112 is smaller than the inner radius 314 of the shield 302. This creates a gap 308 between the ejector nut 112 and the inner wall 310 of the shield 302. Figure 3C The dimensional relationship between the alignment groove 206 and the ejector nut alignment shaft 120 is also shown. The profile of the groove 206 conforms to the shape of the ejector nut alignment shaft 120, thereby preventing rotation of the ejector nut. However, the dimensions of the alignment groove 206 are preferably designed to allow a gap 308 between the outer surface of the groove and the outer surface of the ejector nut alignment shaft 120. The gap 308 allows the ejector nut 112 to translate along the threaded shaft 122 as the threaded shaft 122 rotates (driven by the transmission 104) without being obstructed by the ejector nut alignment shaft 120.

[0063] Figure 4A , Figure 4B , Figure 4C and Figure 4DBottom, top, side, and perspective views of the ejector 110 are provided. In a preferred embodiment of the invention, the ejector 110 is shown as having three elongated ejector rods 402 extending from the bottom surface 403 of the ejector (which has a circular cross-section). Although three such rods are shown in the figures, the number of rods is a design choice determined by variables such as the type of element being ejected and material, processing, and assembly considerations. There is also a central unthreaded channel 404. Figure 5 As shown, the radius 302 of the unthreaded channel 404 is larger than the outermost radius 504 of the unthreaded channel 404. This ensures that a gap exists between the unthreaded channel 404 and the outermost surface of the threaded shaft 122. This gap allows the ejector 110 to translate along the longitudinal axis of the threaded shaft 122 without being obstructed by the shaft. Figure 5 The dimensional relationship between the ejector nut alignment shaft 120 and the ejector 110 is also shown. The outer radius of the ejector 110 must be limited to ensure the size of the gap 506 between the ejector 110 and the ejector nut alignment shaft, thereby allowing the ejector 110 to translate along the longitudinal axis of the threaded shaft 122 without impacting or otherwise contacting the ejector nut alignment shaft 120.

[0064] like Figure 6A As shown, the actuator mechanism 106 includes three sensors: (i) a coupler assembly sensor 114, (ii) an ejector sensor 116, and (iii) an ejector nut sensor 118. In one example, the coupler assembly sensor 114 is an optical fork sensor mounted on the housing 302. An example of such a sensor is the PM-Y45-P compact photoelectric sensor manufactured by Panasonic Industrial Devices Company, a subsidiary of Panasonic Corporation in Osaka, Japan. Figure 6A As shown, the sensor is positioned to sense the rotation of the coupler assembly 108 through a milled window 602. See also Figure 6B Rotation is sensed by detecting the radially equidistant gaps or notches 604 in the upper portion of the coupler assembly 116 as they pass between the teeth 606 of the coupler assembly sensor 114. In one example, the ejector sensor 116 is an inductive proximity sensor. An example of such a commercially available sensor is the welding field immune proximity sensor manufactured by Baluff Corporation in Florence, Kentucky, USA. Figure 6C As shown, sensor 116 is mounted via cover 302 and positioned to sense when ejector 110 translates along the longitudinal axis of threaded shaft 122 and brings it very close to coupler assembly 108 (position 110'). A third sensor, ejector nut sensor 118, is located in... Figure 6A The sensor is shown mounted on a shroud 302 within the milling window 608. In one example, the ejector nut sensor 118 is the same type of optical fork sensor specified for the coupler assembly sensor 114. Figure 6D As shown, the ejector nut sensor 118 is located within the actuator mechanism such that when the ejector nut 112 is at its highest position along the threaded shaft 122, the toothed plate 202 interrupts the optical signal between the teeth 610. The output of each sensor is transmitted via an interface to the capper / remover control system (not shown). The controller system processes and utilizes this information to manage the operation of the capper / remover. In the above description, each sensor is described as a specific type (fork-shaped, optical, inductive) for illustrative purposes only. However, it should be understood that many types of sensors known in the art (e.g., optical, magnetic, inductive, mechanical, acoustic, etc.) can be used in the capper / remover described herein, provided that such sensors provide a reasonable means for monitoring the position of the ejector nut 112 and ejector 110 along the threaded shaft and the rotational position of the coupler assembly 114. Therefore, the selection of a particular sensor depends largely on the design choice.

[0065] Coupler assembly

[0066] Figure 7A and Figure 7B Side and front views of the coupler assembly 108 are provided, showing it connected to a threaded shaft 122. As shown, in one exemplary embodiment of the coupler, three fingers 702 protrude from the bottom of the coupler assembly and are equidistantly positioned on a shaft having a diameter of [missing information]. Within the circular inner section 704. Other exemplary embodiments of the coupler have as few or as many fingers as possible that prove practical for the given dimensions of the coupler assembly 108. In this respect, a larger diameter can accommodate a greater number of fingers. The coupler assembly 108 is also shown as having three circular channels 706. The position and size of these channels are designed to allow the three ejector rods 402 of the ejector 110 to pass freely. The specific configuration of the fingers depends largely on the design choices. Figures 7A-7D In the diagram, each of the three fingers 702 is shown as having a tapering trapezoidal cross-section and terminating at a prism quadrilateral apex 708. A connecting spline 712 is housed within a chamber 710 within each finger 702. Figure 7C As shown, in a particular embodiment of the invention, the spline 712 has a circular cross-section. However, the specific geometry of the spline depends largely on the design choice, which will depend on the specific surface features of the element to which the spline will mate, and various other cross-sectional shapes can be envisioned.

[0067] like Figure 8A and Figure 8B As shown, the trapezoidal three-finger construction is particularly well-suited to allow the coupling assembly to be inserted into densely packed container carriers. As illustrated, the position and cross-sectional shape of the fingers 702 allow them to grip a specific cap / container without contacting any surrounding caps / containers, as the elongated fingers 702 easily fit into the interstices between containers in a denser array of packings. Figure 8B A partial cross-sectional top view of the finger 702 that engages with the cover 802 is provided.

[0068] As previously stated, the capping / removing device described herein is configured to operate on an element, which is one of a sample container or a container cap. The internally threaded cap 802 is... Figure 8C and Figure 8D As shown in the image. This type of cap is similar to those commonly used on laboratory sample containers, such as the 8ml Phoenix Broth product manufactured by Becton Dickinson and Company in Franklin Lakes, New Jersey, USA. Cap 802 is screwed onto the threaded container 804. (See image for reference.) Figure 8C and Figure 8D As shown, the side surface of the cover 802 is surrounded by longitudinal channels 806, each channel 806 having a generally circular cross-section 808.

[0069] Figure 9A A cross-sectional view of the spline and coupler assembly 108 is provided. Figure 9B A cross-sectional view of the coupler assembly 108 engaging with the cover 802 is provided. The base of the engagement spline 712 is shown as being held by a vertical lip 902 within the prism-quadrilateral tip 708 of the finger 702. The top of the engagement spline 712 is biased by a circular spring 904, thereby pushing the upper part of the spline inward and abutting against the wall 906 of the chamber 710. Figure 9B This is a cross-sectional view of the coupler assembly 108, but with the cap 802 fully inserted between the fingers 702. As shown, the engaging spline 712 engages securely with the longitudinal channel 806. The circular spring 904 has been deformed outward from the upper part of the spline 712, which is pushed away from the wall 906 of the chamber 710 due to the insertion of the cap 802. The engagement between the engaging spline 712 and the longitudinal channel 806 provides a robust interface that allows significant torque to be applied to the cap 802 by the coupler assembly 108 when the threaded shaft 122 rotates clockwise or counterclockwise. All references for clockwise or counterclockwise rotation are top views of the capping / uncapping system from a reference point.

[0070] like Figure 9BAs shown, the cap 802 securely engages between the fingers 702 when the coupler assembly 108 is inserted. To ensure this secure engagement and the resulting engagement of the spline 712, the coupler assembly 108 must be designed with a specific cap diameter. (see Figure 7D A cap of a specific diameter requires a coupler assembly of similar size to connect to the drive mechanism and the threaded shaft.

[0071] Container support

[0072] To illustrate the additional components that will work in conjunction with the capping / uncapping device, this document describes the use of a capped container 804 (e.g., Figures 8A-8D A capper / remover operates on the container shown. This operation requires the container to be supported during cap removal and capping. The specific means for providing such support is tangential to the capper / remover described herein. The capper / remover described herein is configured to work with various retainers, provided that such retainers do not impede the proper placement of the capper / remover on a capped container. Figure 10A and Figure 10B A diagram of a container holder 1002 is provided. Holder 1002 is a representation of a holder that can be positioned in at least two states. Figure 10A A retainer in a clamped state is depicted, wherein movable restraints 1004 and 1006, supported by a base 1008, are held in contact with the exterior of a container 804. The force exerted on the container 804 by these restraints is greater than the amount of torque required to be applied to the cap 802 during capping and / or capping operations. Figure 10B The retainer is depicted in a retracted state, with restraints 1004 and 1006 pulled away from the outside of container 804. This allows the container, supported by spindle 1010, to rotate freely about its longitudinal axis when sufficient rotational torque is applied.

[0073] Capping / Removing Tool Operation

[0074] Figure 11AA capper / remover 1102 is depicted above the cap 802 of container 804. It should be understood that the capper / remover 1102 can be fixed to a robot or computer-controlled frame or armature (not shown), allowing it to move with at least one degree of freedom relative to the position of a separate transport or support system for one or more containers. One such support system is a retainer 1002, shown in a clamping state supporting container 804. The capper / remover 1102 is in an initial state for initiating the cap removal operation. In this state, the ejector nut 112 is in its highest position along the axis of the threaded shaft 122. In this position, the toothed plate 202 interrupts the optical signal between the teeth of the ejector nut sensor 118. The output of sensor 118 is sent via an interface to a capper / remover control system (not shown) to confirm the ejector nut positioning. The ejector 110 is in its lowest position along the axis of the threaded shaft 122, resting on the upper surface of coupler assembly 108. The ejector rod 402 extends fully, protruding through the circular channel 706 of the coupler assembly 108. The ejector sensor 116 detects this initial position of the ejector 110 and sends a signal confirming this position to the capper / remover control system. The coupler assembly 110 is concentrically positioned above the cap 802. When the capper / remover is in this initial state, the rotational position of the coupler 108, as identified by the coupler assembly sensor 114, can be adjusted by actuation of the motor 102 to rotate the threaded shaft 122. For example, this can be done to position the fingers 708 so that they do not obstruct any markings on the exterior of the container 804. The minimal rotational adjustment required to achieve this (less than 60° of displacement for the three-finger configuration of the coupler assembly 108) does not require any significant movement of the ejector nut 112 along the axis of the threaded shaft 122. Therefore, the toothed sprocket 202 continues to interrupt the optical signal between the teeth of the ejector nut sensor 118.

[0075] like Figure 11B As shown, the next stage of the cap removal operation requires the capping / removing device 1102 to move downwards so that the circular inner section 704 of the coupler assembly 108 comes into direct contact with the top surface of the cap 802. Positioning the capping / removing device 1102 in this manner causes the top of the cap 802 to contact and push upwards the lower surface of the fingers 708, thereby pushing the ejector 110 upwards along the axis of the threaded shaft 122 and away from the vicinity of the ejector sensor 116. Furthermore, when the cap 802 contacts the coupler assembly 108, the engaging spline 712 mates with the longitudinal channel 806 of the cap 802. This provides a robust interface that allows significant torque to be applied to the cap 802 from the coupler assembly 108. The position of the ejector nut 112 remains unchanged in the initial state.

[0076] Then controlled by the capper / remover system (see...) Figure 11CA predetermined counterclockwise torque 1104 is applied to the threaded shaft 122 by actuation of motor 102. In a preferred embodiment, the system applies this torque by actuating motor 102 to cause transmission 104 to rotate the threaded shaft 122 by a specific angle. This rotation is predetermined based on the amount of rotation required to remove the cap 802 from container 804. As the threaded shaft 122 rotates counterclockwise, the cap 802 translates upward. The aforementioned robot or computer-controlled frame or armature is programmed to raise the capping / uncapping device 1012 a predetermined distance at a predetermined rate to compensate for the upward translation. Systems providing such controlled mechanical manipulation are well known in the art and will not be discussed further here. The system will not initiate the application of the counterclockwise torque 1104 unless sensors 114, 116, and 118 provide signals indicating the correct positioning of the ejector nut 112, coupling assembly 108, and ejector 110, respectively. If no such signal is provided, the capper / remover control system will default to an error mode or actuate motor 102 and / or the aforementioned robot or computer-controlled frame or armature to bring the capper / remover into the appropriate compliant state. The operator can determine the default state of the capper / remover in response to signals from sensors indicating that the capper / remover is not in the appropriate position for capping / removing operations.

[0077] Once the cap 802 has been completely removed, the capper / remover 1102 can be moved away from container 804 under the control of the capper / remover control system (see...). Figure 11D This allows container 804 to be moved or otherwise processed.

[0078] To initiate the recapping process, the capper / recap remover 1102 is moved such that the coupler assembly 110 is concentrically positioned above and lowered on the container 804, such that the internal thread of the cap 802 contacts the thread 1108 on the container 804. Figure 11E ).

[0079] like Figure 11FAs shown, a predetermined clockwise torque 1106 is applied to the threaded shaft 122 by the capper / removal control system via the actuation of the motor 102. In a preferred embodiment, the system applies this torque by actuating the motor 102 to cause the transmission 104 to rotate the threaded shaft 122 by a specific angle. This rotation is predetermined based on the amount of rotation required to tighten the cap 802 onto the container 804. This rotation also causes the ejector nut 112 to translate upward along the axis of the threaded shaft 122. In a preferred embodiment of the invention, this translation is insufficient to cause the toothed sprocket 202 to interrupt the optical signal between the teeth of the ejector nut sensor 118. As the threaded shaft 122 rotates clockwise, the cap 802 translates downward, and the capper / removal controller lowers the capper / removal device 1012 at a predetermined rate to compensate. In one embodiment of the invention, the system will not initiate the application of clockwise torque 1104 unless sensors 114, 116, and 118 provide signals indicating correct positioning of the ejector nut 112, coupling assembly 108, and ejector 110, respectively. If no such signal is provided, the capper / uncapper control system, as described above, will default to an error mode or actuate motor 102 and / or the aforementioned robot or computer-controlled frame or armature to bring the capper / uncapper into the appropriate compliance state.

[0080] Once the lid 802 has been fully secured to the container 804 (see...) Figure 11G If the ejector nut 112 is partially translated downwards along the axis of the threaded shaft 122, this translation does not reach the point where the bottom of the ejector nut 112 contacts the top surface of the coupler assembly 108. The capping / removing device is configured to prevent such contact, as it could lead to premature ejection of the cap 802. Unwanted contact is avoided by selecting the length of the threaded shaft 122, the thread spacing on the shaft, and / or the horizontal dimensions of the ejector nut 112 and / or the ejector 110.

[0081] To eject the now-tightened cap 802 / container 804, the threaded shaft 122 must rotate counterclockwise. During this counterclockwise rotation in cap 802, cap channel 806 remains firmly engaged with engagement spline 712 of coupler assembly 108. The application of counterclockwise force will keep the cap to be unscrewed from container 804 in the container securely in place and prevent it from rotating with cap 802. To avoid this undesirable result, retainer 1002 is first placed in the retracted position, allowing cap 802 / container 804 assembly to rotate freely about its longitudinal axis when rotational torque is applied. Then, the capping / uncapping control system (see...) Figure 11HThe shaft 122 is rotated counterclockwise (1110) by actuation of motor 102. In a preferred embodiment, the system rotates shaft 122 until the ejector nut 112 is driven downward along the axis of the threaded shaft 122 to a point where it contacts the top of ejector 110 and pushes ejector 110 downward to a position adjacent to ejector sensor 116. Rotation of the threaded shaft 122 is stopped in response to a signal received from ejector sensor 116 by the capper / uncapper system controller indicating that the ejector is near the sensor. However, rotation may also be stopped after a predetermined number of rotations based on the amount of previous clockwise and counterclockwise rotations the shaft has undergone since the ejector nut 112 left its initial position. As ejector 110 is pushed downward, ejector rod 402 protrudes downward through channel 706 in coupler assembly 108, applying a downward force on cap 802. This force disengages the cap from engagement spline 712. Before disengagement, the cover 802 / container 804 is rotated counterclockwise by the coupler assembly 108. As the threaded shaft 122 rotates, the ejector nut 112 descends.

[0082] The capper / uncapper 1102, now completely detached from lid 802 / container 804, returns to its initial state to begin another capping / uncapping cycle. Figure 11J As shown, to achieve this, the system rotates shaft 122 clockwise 1112 until the ejector nut 112 moves upward along the axis of the threaded shaft 122 to a point where the toothed plate 202 interrupts the optical signal between the teeth of the ejector nut sensor 118. This rotation of the threaded shaft 122 is stopped in response to a signal received from the ejector nut sensor 116 by the capper / uncapper system controller instructing the ejector nut to return to its initial position (see [link to documentation]). Figure 11K ).

[0083] Although the invention has been described with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. Therefore, it should be understood that various modifications can be made to the illustrative embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. An apparatus for capping or removing the cap from a container, comprising: A coupling assembly having a substantially circular surface, the diameter of which is approximately equal to the diameter of a substantially cylindrical object, wherein the coupling assembly is adapted to receive the substantially cylindrical object. as well as A plurality of fingers extending from the basic circular surface, wherein the proximal end of each finger is attached to the coupling assembly and the distal end extends away from the coupling assembly, wherein the distal end of each finger terminates at a prism quadrilateral tip. Each finger includes a spline at least partially recessed into a cavity within the finger, wherein a first end of the spline is pivotally retained in the distal end of each finger, and a second end of the spline adjacent to the coupling assembly is biased to push the second end outward from the finger with the spline retained. Each spline is configured to securely engage multiple channels defined on the basic cylindrical object to provide a robust interface; as well as A retainer that holds a container adapted to hold the basic cylindrical object thereon, wherein the retainer includes a movable constraint for holding the object.

2. The device as claimed in claim 1, further comprising: Multiple rods, each having a first end and a second end and positioned to pass through a channel in the coupling assembly, such that the first end of each rod is in contact with a first surface of the basic columnar object; as well as An ejector nut is actuated to push the plurality of rods through corresponding channels, such that the first end of each of the plurality of rods moves the basic cylindrical object in a direction away from the basic circular surface, thereby disengaging the basic cylindrical object from the spline.

3. The device of claim 2, wherein the driving device causes the coupling assembly to rotate about the center of the basic columnar object, such that the finger hovers about the center of the basic columnar object, and the spline applies a rotational torque to the basic columnar object.

4. The device as claimed in claim 1, 2 or 3, wherein each spline has a circular cross-section.

5. The device as claimed in claim 1, 2 or 3, wherein each spline has a triangular cross-section.

6. The device as claimed in claim 1, 2 or 3, wherein each spline has a rectangular cross-section.

7. The device of claim 1, 2 or 3, wherein each of the plurality of splines is biased by a single circular spring concentric with the basic cylindrical object and in contact with the second end of each spline.

8. The device as claimed in claim 1, 2 or 3, wherein each spline is biased by an individual spring that contacts the second end of each spline.

9. The device of claim 1, 2 or 3, wherein the plurality of fingers comprises at least three fingers.

10. The device as claimed in claim 1, 2 or 3, wherein each finger has a trapezoidal cross-section.

11. The device of claim 1, 2 or 3, wherein a portion of each spline is housed within a cavity located within the finger.

12. The device of claim 1, 2 or 3, wherein the basic cylindrical object is a screw cap for the container.

13. The device of claim 12, wherein the robust interface enables rotational torque to be applied to the screw cap by the coupling assembly.

14. The device of claim 3, wherein the drive unit includes a central shaft.

15. The device of claim 14, wherein the central shaft is threaded.

16. The apparatus of claim 14, further comprising: An ejector assembly includes a first side and a second side, wherein the second end of each of the plurality of rods is connected to the first side of a support platform, such that the ejector nut operates on the second side of the ejector assembly to move the plurality of rods substantially simultaneously.

17. The device of claim 16, wherein: The ejector assembly has a circular cross-section and an unthreaded channel through which a threaded central axis extends. The ejector assembly is concentrically positioned relative to the basic cylindrical object and is adapted to travel along the longitudinal axis of the threaded central axis independently of rotation of the threaded central axis. The ejector nut has a circular cross-section and is concentrically positioned relative to the basic cylindrical object and is adapted to travel along the longitudinal axis of the threaded central axis as the threaded central axis rotates.

18. The device of claim 17, further comprising a sensor adapted to detect the position of the ejector nut along the longitudinal axis of the threaded central axis.

19. The device of claim 17, further comprising a sensor adapted to detect the position of the support platform along the longitudinal axis of the threaded central axis.

20. The device of claim 17, further comprising a sensor adapted to detect the rotational position of the support platform along the longitudinal axis of the threaded central axis.

21. The device of claim 3, further comprising a sensor for detecting the rotational position of the coupling assembly.

22. The device of claim 14, wherein the central shaft is connected to a bidirectional servo motor.

23. A method for capping or removing a container, comprising: A coupling assembly having a substantially circular surface, the diameter of which is approximately equal to the diameter of a substantially cylindrical object; The coupling assembly includes a plurality of fingers positioned around and extending from the perimeter of the substantially circular surface, each of the plurality of fingers having at least one surface substantially tangent to the perimeter of the substantially circular surface, wherein the distal end of each finger terminates at a prism quadrilateral tip. Each of the plurality of fingers includes a biased spline having a first end pivotally retained in a chamber in the tip of each finger, the spline being biased such that a second end of each spline is pushed away from the finger that retains the spline; Each spline is secured to a plurality of channels defined on the basic cylindrical object, and each spline is configured to engage the plurality of channels to provide a robust interface; as well as The coupling assembly is rotated about the center of the basic circular surface, thereby rotating the plurality of fingers about the center; as well as Thus, a rotational torque is applied to the basic columnar object through the interface between each spline and the plurality of channels of the basic columnar object.

24. The method of claim 23, further comprising: The actuated ejector nut is used to push each of the plurality of rods through a channel in the coupling assembly, such that one end of each rod contacts a first face of the basic cylindrical object, thereby pushing it away from the basic circular surface; as well as Disconnect each spline of the plurality of fingers from the fixation of the plurality of channels of the basic columnar object.

25. The method of claim 24, wherein the step of actuating the ejector nut comprises: Rotate the threaded shaft, and the thread of the threaded shaft engages with the ejector nut, causing the ejector nut to translate along the longitudinal axis of the threaded shaft.

26. The method of claim 23, 24 or 25, wherein each spline has a circular cross-section.

27. The method of claim 23, 24 or 25, wherein each spline has a triangular cross-section.

28. The method of claim 23, 24 or 25, wherein each spline has a rectangular cross-section.

29. The method of claim 23, 24 or 25, wherein the plurality of fingers comprises at least three fingers.

30. The method of claim 23, 24 or 25, wherein the basic columnar object is a screw cap for the container.

31. The method of claim 30, wherein the robust interface enables rotational torque to be applied to the screw cap by the coupling assembly.

32. The method of claim 25, wherein the step of actuating the ejector nut is initiated in response to a signal received from a sensor monitoring the position of the ejector nut along the longitudinal axis of the threaded shaft.

33. The method of claim 25, wherein the step of actuating the ejector nut is initiated in response to a signal received from a sensor monitoring the position of the rod.

34. The method of claim 25, wherein the step of actuating the ejector nut is initiated in response to a signal received from a sensor monitoring the rotational position of the coupling assembly.

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