Automatic clamping mechanism

Abstract

A container gripping mechanism includes first and second linear tracks disposed on opposite sides of a linear track mount. A first linear track guide coupled with the first track is supported on a first gripper finger mount, and a second linear track guide coupled with the second track is supported on a second gripper finger mount. A first gripper finger is fixed to the first gripper finger mount, and a second gripper finger is fixed to the second gripper finger mount. A pinion driven by a drive motor engages a rack attached to the first and second gripper finger mounts such that rotation of the pinion in a first direction moves the first and second gripper fingers toward one another, and rotation of the pinion in a second direction moves the first and second gripper fingers away from one another.

Description

Technical Field

[0001] This disclosure relates to a clamping mechanism for holding a container, such as a cylindrical container having a vertical orientation (e.g., a test tube). Background Technology

[0002] In automated systems for handling liquids, slender, elongated liquid containers (such as test tubes) can be supported upright or vertically, for example, in a support structure configured to house one or more such containers or on a conveyor configured to transport containers between different locations within the system. Typically, the structure supporting such containers surrounds the lower portion of each container (e.g., the lower 25%–50% of each container) such that the upper portion of each container extends above the support structure without contacting adjacent containers or structures.

[0003] Typically, it is necessary to grip individual containers supported in this upright orientation so that the container can be removed from the supporting structure, transferred to another location within the system, and then placed in another structure where it will again be supported in an upright orientation. Generally, the container can be gripped or held by contacting the gripping element with opposite sides and applying equal and opposite gripping forces to compress the container between the gripping elements. Typically, such containers are supported together with one or more other containers and / or other system structures positioned very close to each container under space-constrained conditions. In such congested conditions, especially where the top portion of each container extends above the supporting structure, the most practical approach is usually to approach the container to be gripped from above, with the gripping element extended far enough to allow it to descend from its position above the container to a position adjacent to the opposite side of the container. Simultaneously, the gripping elements cannot extend so far that they will contact other containers or structures very close to the container to be gripped when descending.

[0004] After the clamping elements have descended to a position adjacent to the opposite side of the container, they must be moved together toward each other to apply equal and opposite clamping forces to the sides of the container. Similarly, after the container has been moved to a new position within the system, the clamping elements must release the container by moving away from each other, and this must be done without contacting adjacent containers and / or other structures very close to the released container. Due to the limited amount of available space adjacent to each container, the mechanisms that actuate the clamping elements to move them together to clamp the container or separate them to release the container are mostly located practically vertically above the container.

[0005] Therefore, there is a need for a clamping mechanism capable of gripping elongated containers that are supported in an upright orientation and are very close to each other and / or other structures. Summary of the Invention

[0006] The following is a simplified overview to provide a basic understanding of some of the aspects described herein. This overview is not an exhaustive summary of the claimed subject matter. It is not intended to identify key or defining elements of the claimed subject matter, nor to define its scope. Its sole purpose is to provide some concepts in a simplified form as a prelude to the more detailed description that follows.

[0007] The examples described herein include a mechanism for clamping a container. The mechanism may include a linear track mount having a first side and a second side laterally opposed. A first linear track and a second linear track may be disposed on the first side and the second side of the linear track mount, respectively. The mechanism may include a first gripper finger mount including a first mounting flange disposed below the linear track mount. A first linear track guide may be supported on the first gripper finger mount and coupled to the first linear track on the first side of the linear track mount. A first rack may be supported on the first gripper finger mount. The mechanism may include a second gripper finger mount including a second mounting flange disposed below the linear track mount. A second linear track guide may be supported on the second gripper finger mount and coupled to the second linear track on the second side of the linear track mount. A second rack may be supported on the second gripper finger mount. A first gripper finger can be fixed to a first mounting flange of a first gripper finger mount and extends below a linear track mount, and a second gripper finger can be fixed to a second mounting flange of a second gripper finger mount and extends below a linear track mount. The mechanism may include a drive motor and a pinion gear coupled to the drive motor and engaging with a first rack and a second rack, such that rotation of the drive motor in a first direction causes the first and second gripper fingers to move toward each other, and rotation of the drive motor in a second direction causes the first and second gripper fingers to move away from each other.

[0008] In some examples, the first linear track guide of the first gripper finger mount may include a track slot for receiving the first linear track, and the second linear track guide of the second gripper finger mount may include a track slot for receiving the second linear track.

[0009] In some examples, the first linear rail and the second linear rail can be attached to the first and second sides of the linear rail mount, respectively, by mechanical fasteners.

[0010] In some examples, the first gripper finger mount may include a vertical wall disposed adjacent to a first side of the linear track mount, and a first mounting flange of the first gripper finger mount may extend laterally from the bottom end of the vertical wall of the first gripper finger mount beyond a second side of the linear track mount. The second gripper finger mount may include a vertical wall disposed adjacent to a second side of the linear track mount, and a second mounting flange of the second gripper finger mount may extend laterally from the bottom end of the vertical wall of the second gripper finger mount beyond the first side of the linear track mount.

[0011] In some examples, a first linear track guide of the first gripper finger mount can be fixed in a slot formed in the vertical wall of the first gripper finger mount, and a second linear track guide of the second gripper finger mount can be fixed in a slot formed in the vertical wall of the second gripper finger mount.

[0012] In some examples, the mounting flange of each of the first clamping finger mount and the second clamping finger mount may have a step formed in the edge of the mounting flange facing the other of the first clamping finger mount and the second clamping finger mount.

[0013] In some examples, a first rack may be fastened to the top edge of the vertical wall of a first gripper finger mount, and a second rack may be fastened to the top edge of the vertical wall of a second gripper finger mount.

[0014] In some examples, the first rack can be fastened to the first gripper finger mount, and the second rack can be fastened to the second gripper finger mount.

[0015] In some examples, the first gripper finger includes a first mounting base connected to a first mounting flange of the first gripper finger mount, and the second gripper finger includes a second mounting base connected to a second mounting flange of the second gripper finger mount.

[0016] In some examples, the mounting base of each of the first and second gripper fingers may have a step formed in the edge of the mounting base facing the other of the first and second gripper fingers.

[0017] In some examples, the first gripper finger may include: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the second gripper finger than the lower vertical section of the first gripper finger. The second gripper finger may include: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger.

[0018] In some examples, the upper vertical section, the lower vertical section, and the angled section can be formed by spaced-out rods.

[0019] In some examples, the gripper section of each of the first and second gripping fingers may include converging, angled gripping surfaces.

[0020] In some examples, the mechanism may include an elastomeric clamping pad fixed to the angled clamping surface of each of the first and second clamping fingers.

[0021] In some examples, the elastomeric clamping pad can be formed from a fluoropolymer elastomer and a synthetic rubber compound.

[0022] In some examples, the rack of the first gripper holding the finger mount extends outward from a first side of the linear track mount and is positioned above the top edge of the linear track mount, and the rack of the second gripper holding the finger mount extends outward from a second side of the linear track mount and is positioned above the top edge of the linear track mount.

[0023] In some examples, the first and second gripping fingers can be configured to grip the container in an upright orientation from above.

[0024] In some examples, the container may include a test tube.

[0025] The examples disclosed herein include a mechanism for clamping a container. The mechanism may include: a linear track mount having a first side and a second side laterally opposed; and a first linear track and a second linear track disposed on the first side and the second side of the linear track mount, respectively. The mechanism may include a first gripper finger assembly including a first gripper finger and a first gripper finger mount, and the first gripper finger mount may include a first linear track guide coupled to the first linear track on the first side of the linear track mount, and a first mounting flange disposed below the linear track mount, to which the first gripper finger is attached. The mechanism may include a second gripper finger assembly, which includes a second gripper finger and a second gripper finger mount. The second gripper finger mount may include a second linear track guide coupled to a second linear track on a second side of the linear track mount, and a second mounting flange disposed below the linear track mount, to which the second gripper finger is attached. The first and second gripper finger assemblies may be configured to be movable relative to each other to move the first and second gripper fingers toward or away from each other. The mechanism may additionally or alternatively include a drive motor coupled to the first and second gripper finger assemblies, such that rotation of the drive motor in a first direction moves the first and second gripper fingers toward each other, and rotation of the drive motor in a second direction moves the first and second gripper fingers away from each other. In some examples, the first gripper finger may include: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the second gripper finger than the lower vertical section of the first gripper finger. In some examples, the second gripper finger may include: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger.

[0026] In some examples, the first gripper finger assembly may include a first rack, and the second gripper finger assembly may include a second rack.

[0027] In some examples, the mechanism may additionally or alternatively include a pinion coupled to a drive motor and operatively engaged with a first rack and a second rack.

[0028] Other features and characteristics of the subject matter of this disclosure, as well as the operation, function, and manufacturing economy of related structural elements and component combinations, will become more apparent upon consideration of the following description and appended claims with reference to the accompanying drawings, all of which form part of this specification, wherein the same reference numerals denote corresponding components in the figures. Attached Figure Description

[0029] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate various embodiments of the subject matter of this disclosure. In the drawings, the same reference numerals indicate the same or functionally similar elements.

[0030] Figure 1 This is a perspective view of the automatic clamping mechanism as disclosed in this article.

[0031] Figure 2 This is a partial end view of the clamping mechanism.

[0032] Figure 3 It is an exploded perspective view of the linear track mount, the first linear track, the first linear track guide, and the first clamp finger mount.

[0033] Figure 4 It is an exploded perspective view of the linear track mount and the first clamp finger mount.

[0034] Figure 5 This is an exploded perspective view of the linear track mounting component and the second linear track of the clamping mechanism.

[0035] Figure 6 It is an exploded perspective view of the first gripper finger mount and the first linear track guide.

[0036] Figure 7 This is a perspective view of the first gripper finger mounting component.

[0037] Figure 8 This is a perspective view of the second linear orbit.

[0038] Figure 9 This is a top perspective view of the first linear track guide.

[0039] Figure 10 This is a bottom perspective view of the first linear track guide.

[0040] Figure 11 This is an exploded bottom perspective view of the first gripper finger and the second gripper finger of the robot gripping mechanism, as well as the first gripper finger mounting and the second gripper finger mounting.

[0041] Figure 12 This is a top perspective view of the first gripper finger and the second gripper finger.

[0042] Figure 13 This is a first perspective view of the first gripper finger.

[0043] Figure 14 This is a second perspective view of the first gripper finger.

[0044] Figure 15 This is a side view of the first gripper finger and the covered container.

[0045] Figure 16 This is a front view of the first gripper finger.

[0046] Figure 17 This is a rear view of the first gripper finger. Detailed Implementation

[0047] While aspects of the subject matter of this disclosure may be embodied in various forms, the following description and accompanying drawings are intended only to disclose some of these forms as specific examples of the subject matter. Therefore, the subject matter of this disclosure is not intended to be limited to the forms or embodiments described and illustrated herein.

[0048] Unless otherwise defined, all field terms, symbols, and other technical terms or specialized expressions used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. All patents, applications, publications, and other disclosures mentioned herein are incorporated herein by reference in their entirety. Where a definition set forth in this section contradicts or is inconsistent with a definition set forth in a patent, application, publication, or other disclosure incorporated herein by reference, the definition set forth in this section shall prevail over the definition incorporated herein by reference.

[0049] Unless otherwise indicated or the context otherwise suggests, as used herein, “a / an” means “at least one” or “one or more”.

[0050] This specification may use various terms describing relative spatial arrangement and / or orientation or direction to describe the positioning and / or orientation, or direction of movement, force or other dynamic action, of components, devices, locations, features or portions thereof. Unless otherwise specified or determined by the context of this specification, such terms, including but not limited to top, bottom, above, below, under, on top of, upper, lower, left, right, front, rear, next to, adjacent, between, horizontal, vertical, diagonal, longitudinal, transverse, radial, axial, clockwise, counterclockwise, etc., are used for convenient reference to such components, devices, locations, features or portions thereof in the drawings, or movement, force or other dynamic action, and are not intended to be restrictive.

[0051] Furthermore, unless otherwise stated, any particular dimensions mentioned in this specification represent only exemplary embodiments of the apparatus embodying aspects of this disclosure and are not intended to be limiting.

[0052] The term “about” is used applicable to all numerical values ​​specified herein, whether or not explicitly indicated. The term generally refers to a range of numbers that, in the context of this disclosure, would be considered by one of ordinary skill in the art to be a reasonable deviation from the listed numerical values ​​(i.e., having an equivalent function or result). For example, and without being restrictive, this term can be interpreted as including a deviation of ±10% from a given numerical value, provided that such deviation does not alter the final function or result of the value. Thus, in some cases, as one of ordinary skill in the art will understand, a value of about 1% can be interpreted as ranging from 0.9% to 1.1%.

[0053] As used herein, the term "adjacent" means close or adjacent. Adjacent objects may be separated from each other, or may be in actual or direct contact with each other. In some cases, adjacent objects may be connected to each other or may form an integral part of each other.

[0054] As used herein, the terms “substantially” and “substantial” refer to a considerable degree or extent. When used in conjunction with, for example, an event, situation, characteristic, or attribute, the terms may refer to instances where the event, situation, characteristic, or attribute occurs precisely, and instances where the event, situation, characteristic, or attribute is close to occurring, for example, taking into account the typical tolerance levels or variability of the embodiments described herein.

[0055] Figure 1 This is a perspective view of an example of an automated mechanism 10 for gripping articles, as disclosed herein, and Figure 2This is an end view of this example of the automated mechanism. In one example, the mechanism may be specifically configured to grip longitudinally elongated articles, such as containers oriented vertically and upright, such as test tubes, with or without lids covering the open ends of the container. Mechanism 10 (which may be a robot-controlled component of a pick-and-place mechanism providing lateral and vertical movement of mechanism 10) includes: a first gripper finger assembly 40, including a first gripper finger 100; and a second gripper finger assembly 70, including a second gripper finger 130. The first gripper finger assembly 40 and the second gripper finger assembly 70 are configured to move relative to each other so that the first gripper finger 100 and the second gripper finger 130 move toward or away from each other to selectively grip or release articles with the gripper fingers 100, 130. Figure 1 The mechanism 10 is shown in a first or open position, wherein the first gripper finger 100 and the second gripper finger 130 are configured to be separated from each other. A drive motor 160 is coupled to the first gripper finger assembly 40 and the second gripper finger assembly 70 such that rotation of the drive motor 160 in a first direction moves the first gripper finger 100 and the second gripper finger 130 toward each other, and rotation of the drive motor 160 in a second direction moves the first gripper finger 100 and the second gripper finger 130 away from each other. The drive motor 160 can be any motor capable of operating in torque mode or current control mode. For example, the drive motor 160 can be a brushed DC motor or a brushless DC motor. Alternatively, the drive motor can include a stepper motor with proper electronic drive control.

[0056] One or more position sensors may be disposed on the first gripper finger assembly 40 and / or the second gripper finger assembly 70 to monitor the positional state of the gripper finger assembly. Exemplary sensors may include optical sensors, such as... Figure 1 The sensor 180 shown includes a spaced-apart transmitter and receiver pair that detects the positioning of a sensor flag 182 attached to the first gripper finger assembly 40. One or more similar sensors may be associated with the second gripper finger assembly 70. Different states that can be monitored include: gripper mechanism 10 fully open; gripper mechanism 10 fully closed, wherein there is no container (e.g., a test tube) between gripper fingers 100, 130; or gripper mechanism 10 fully closed, wherein there is a container between gripper fingers 100, 130. Furthermore, the sensor may be configured to detect containers of different sizes between the fully closed gripper fingers 100, 130.

[0057] Mechanism 10 includes a linear track mount 20 having a first side 22 and a second side 24 laterally opposite to the first side 22. The linear track mount 20 typically divides the mechanism 10 equally between the first side and the second side, which may be mirror images of each other.

[0058] like Figure 1 , Figure 2 and Figure 3 As shown, the first linear track 26 is disposed on the first side 22 of the linear track mount 20, and as... Figure 1 , Figure 2 and Figure 5 As shown, the second linear track 30 is disposed on the second side 24 of the linear track mount 20. In one example, as... Figures 3 to 5 As shown, the linear track mount 20 includes a first longitudinal groove 34 formed on a first side 22 and a second longitudinal groove 36 formed on a second side 24. The first linear track 26 can be secured in the groove 34 by mechanical fasteners, and the second linear track 30 can be secured in the groove 36 by mechanical fasteners. Fastener openings can be formed through each linear track, such as... Figure 3 The fastener opening 28 extending through the first linear track 26 and shown Figure 5 and Figure 8 The fastener opening 32, as shown, extends through the second linear track 30. Mechanical fasteners, such as screws, bolts, rivets, etc. (not shown), extend through fastener openings such as fastener openings 28 and 32 and enter fastener receiving openings formed in the linear track mount 20. Figures 3 to 5 The fastener receiving openings 33 and 35 are shown. The first linear track 26 and the second linear track 30 may be longitudinally offset relative to each other, for example, by securing the first linear track 26 to the fastener receiving opening 35 formed in the linear track mount 20 and securing the second linear track 30 to the fastener receiving opening 33, which is also formed in the track mount 20 and longitudinally offset from the fastener receiving opening 35.

[0059] like Figure 3 As shown, in the example illustrated, the first linear track 26 includes a top groove 25 extending longitudinally along the top of the horizontally oriented first linear track 26 and a bottom groove 27 extending longitudinally along the bottom of the horizontally oriented first linear track 26. Figure 5 and Figure 8 As shown, in the example shown, the second linear track 30 includes a top groove 37 extending longitudinally along the top of the horizontally oriented second linear track 30 and a bottom groove 38 extending longitudinally along the bottom of the horizontally oriented second linear track 30.

[0060] refer to Figure 1 , Figure 2 and Figure 3 In one example, the first gripper finger assembly 40 includes a first gripper finger mount 42 disposed on a first side 22 of the linear track mount 20, and a first side linear track guide 52 disposed between the first gripper finger mount 42 and the first side 22 of the linear track mount 20 and receiving a first linear track 26. The second gripper finger assembly 70 includes a second gripper finger mount 72 disposed on a second side 24 of the linear track mount 20, and a second side linear track guide 82 disposed between the second gripper finger mount 72 and the second side 24 of the linear track mount 20 and receiving a second linear track 30.

[0061] like Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the first finger holder finger mount 42 includes a vertical wall 44 disposed adjacent to the first side 22 of the linear track mount 20, and a first mounting flange 48 of the first finger holder finger mount 42 extends laterally from the bottom edge of the vertical wall 44 beyond the second side 24 of the linear track mount 20 (see [link]). Figure 1 and Figure 2 Similarly, such as Figure 2 and Figure 11 As can be seen, the second gripper finger mount 72 includes a vertical wall 74 disposed adjacent to the second side 24 of the linear track mount 20, and a second mounting flange 78 of the second gripper finger mount 72 extends laterally from the bottom end of the vertical wall 74 beyond the first side 22 of the linear track mount 20. In one example, the second gripper finger mount 72 is a mirror copy of the first gripper finger mount 42. The first side linear track guide 52 of the first gripper finger assembly 40 is characterized in... Figure 3 , Figure 6 , Figure 9 and Figure 10 As shown in the figure. In one embodiment, the first gripper finger assembly 40 includes two first-side linear track guides 52 arranged end-to-end to accommodate the entire length of the first linear track 26. Because each of the first-side linear track guides 52 is identical, only one first-side linear track guide is shown in the figures and described below.

[0062] Each first-side linear track guide 52 is disposed within a track guide slot 46 formed in the vertical wall 44 of the first finger holder finger mount 42 and attached to the first finger holder mount 42. Each first-side linear track guide 52 includes a track slot 54 that slidably receives a portion of the first linear track 26 and may include an upper ridge 56 extending longitudinally along the top side of the track slot 54 and a lower ridge 58 extending longitudinally along the bottom side of the track slot 54. The upper ridge 56 of the first-side linear track guide 52 extends into a top recess 25 of the first linear track 26, and the lower ridge 58 extends into a bottom recess 27 of the first linear track 26. At least the sides of the track guide slot 54 and the upper and lower ridges 56 and 58 may be made of a low-friction material (e.g., a self-lubricating plastic). Exemplary low-friction materials may include Ultra-high molecular weight polyethylene (UHMW), Teflon, and acetal. Alternatively, each first-side linear track guide 52 may include rows of linear ball bearings on the upper and lower sides of the track slot 54, instead of upper ridges 56 and lower ridges 58, which engage the upper groove 25 and lower groove 27 of the first linear track 26.

[0063] like Figure 1 and Figure 2 As shown, the second-side linear track guide 82 of the second gripper finger assembly 70 is disposed within a track guide slot 76 formed in the vertical wall 74 of the second gripper finger mount 72. In one embodiment, the second gripper finger assembly 70 includes two second-side linear track guides 82 arranged end-to-end to accommodate the entire length of the second linear track 30.

[0064] Each second-side linear track guide 82 has a similar (or identical) construction to the first-side linear track guide 52, and receives and engages a portion of the second linear track 30, as well as the top recess 37 and bottom recess 38, in the same manner as the first-side linear track guide 52 receives and engages the first linear track 26, the top recess 27, and the bottom recess 28. Specifically, each second-side linear track guide 82 includes a track slot 84 that slidably receives the second linear track 30, and may include an upper ridge 86 (or bearing row) extending longitudinally along the top side of the track slot 84 and a lower ridge 88 (or bearing row) extending longitudinally along the bottom side of the track slot 84. The upper ridge 86 of each second-side linear track guide 82 extends into the top recess 37 of the second linear track 30, and the lower ridge 88 extends into the bottom recess 38 of the second linear track 30. At least the sides of the track guide slot 84 and the upper and lower ridges 86 and 88 may be made of a low-friction material (e.g., self-lubricating plastic). Exemplary low-friction materials may include polyoxymethylene, ultra-high molecular weight polyethylene (UHMW), Teflon, and acetal.

[0065] like Figure 7 As shown, the width W of the vertical wall 44 of the first gripper finger mounting member 42 is... 44 Width W longer than the first mounting flange 48 48 In one embodiment, the width W 44 The width W of each first-side linear track guide 52 52 Approximately twice the size. In one example, the width W... 44 Significantly longer than width W 48 For example, at least twice. Similarly, although not shown in the figures, the width of the vertical wall 74 of the second gripper finger mount 72 is longer than the width of the second mounting flange 78, and is approximately twice the width of each second side linear track guide 82.

[0066] Because the first linear track 26 is fixed to the first side 22 of the linear track mount 20, and each first-side linear track guide 52 is mounted to the vertical wall 44 of the first gripper finger mount 42, the first gripper finger assembly 40 (including the first gripper finger mount 42, the first-side linear track guide 52, and the first gripper finger 100) is supported on the top side of the first linear track 26. And because the second linear track 30 is fixed to the second side 24 of the linear track mount 20, and each second-side linear track guide 82 is mounted to the vertical wall 74 of the first gripper finger mount 72, the second gripper finger assembly 70 (including the second gripper finger mount 72, the second-side linear track guide 82, and the second gripper finger 130) is supported on the top side of the second linear track 36.

[0067] In one example, to minimize the mechanical clearance between the first clamping assembly 40 and the second clamping assembly 70 and the linear rail mount 20, there are tight dimensional tolerances (e.g., ±0.015 mm) between the width of the first linear rail 26 and the width of the rail slot 54 of the first side linear rail guide 52, and between the width of the second linear rail 30 and the width of the rail slot 84 of the second side linear rail guide 82.

[0068] The exemplary first linear track 26 and second linear track 30 are available from THK as SRS 5M tracks, precision grade, with light preload (-1μm to 0μm). The linear track guides 52, 82 may include linear bearing track brackets, which are available from THK as SRS 5M blocks.

[0069] Details of mounting the first clamping finger 100 and the second clamping finger 130 to the first clamping finger mounting member 42 and the second clamping finger mounting member 72, respectively. Figure 11 The details of the first gripper finger 100 and the second gripper finger 130 are shown in the diagram. Figures 11 to 17 As shown in the figure. In one example, the first gripper finger 100 is secured to the first mounting flange 48 of the first gripper finger mount 42 and extends below the linear track mount 20. The first gripper finger 100 includes a first mounting base 102 having connector holes 103, 105 formed therein, which are aligned with connector holes 47, 49 formed in the first mounting flange 48 of the first gripper finger mount 42 (see Figure 100). Figure 11 ), and connectors (e.g., screws, bolts, rivets, etc.) (not shown) can be inserted through these connector holes. Figure 13 and Figure 14 As shown, in one example, the mounting base 102 of the first gripper finger 100 has a step 104 formed in the edge of the mounting base facing the second gripper finger 130. In the example shown, the connector holes 103, 105 of the mounting base 102 are arranged diagonally relative to each other, rather than laterally adjacent, wherein the connector hole 103 is formed in the forward, stepless portion of the mounting base 102. Similarly, the connector holes 47, 49 of the first mounting flange 48 are arranged diagonally relative to each other, rather than laterally adjacent, wherein the connector hole 47 is formed in the forward, stepless portion of the mounting flange 48.

[0070] In one example, the second gripper finger 130 is secured to the second mounting flange 78 of the second gripper finger mount 72 and extends below the linear track mount 20. In another example, the second gripper finger 130 includes a first mounting base 132 having connector holes 133, 135 formed therein, which are aligned with connector holes 77, 79 formed in the second mounting flange 78 of the second gripper finger mount 72 (see [link to documentation]). Figure 11 ), and connectors (e.g., screws, bolts, rivets, etc.) (not shown) can be inserted through these connector holes. Figure 12 As shown, in one example, the mounting base 132 of the second gripper finger 130 has a step 134 formed in the edges of the mounting base 102 facing the first gripper finger 100 and the step 104. In the example shown, the connector holes 133, 135 of the mounting base 132 and the connector holes 77, 79 of the second mounting flange 78 (see...) Figure 11 , Figure 12 They are arranged diagonally opposite each other, rather than horizontally adjacent to each other.

[0071] In one example, the first gripper finger 100 includes an upper vertical segment 106, a lower vertical segment 108, and an angled segment 110 located between the lower end of the upper vertical segment 106 and the upper end of the lower vertical segment 108. Therefore, the lower vertical segment 108 is laterally offset by a length 112 to a position closer to the second gripper finger 130 than the upper vertical segment 106. Figure 15 ). refer to Figures 12 to 14 The first gripper finger 100 further includes a gripper section 114 that is laterally offset from the lower vertical section 108 by an amount 116 (see [link]). Figure 15 ), so that it is positioned closer to the second gripper finger 130 than the lower vertical section 108.

[0072] In one example, the gripper section 114 includes converging, angled gripping surfaces 118, 120. For example... Figure 16 As shown, the clamping section 114 may further include an elastomeric clamping pad 122 covering the angled clamping surfaces 118, 120. Suitable materials for the clamping pad 122 provide good chemical resistance and abrasion resistance. Exemplary materials for the clamping pad 122 include fluoropolymer elastomers and synthetic rubber compounds, available from DuPont, trade name [trademark name missing].

[0073] Similarly, the second gripper finger 130 includes an upper vertical section 136, a lower vertical section 138, and an angled section 130 located between the lower end of the upper vertical section 136 and the upper end of the lower vertical section 138. Therefore, the lower vertical section 138 is laterally offset to a position closer to the first gripper finger 100 than the upper vertical section 136. The second gripper finger 130 further includes a gripper section 144 laterally offset from the lower vertical section 138 to be positioned closer to the first gripper finger 100 than the lower vertical section 138.

[0074] In one example, the gripper section 144 includes converging, angled gripping surfaces 148, 150. The gripper section 144 may also include an elastomeric gripping pad (not shown) covering the angled gripping surfaces 148, 150.

[0075] In one embodiment, the upper vertical section 106, lower vertical section 108, and angled section 110 of the first gripper finger 100 include spaced-apart rods 124 and 126. Similarly, the upper vertical section 136, lower vertical section 138, and angled section 140 of the second gripper finger 130 include spaced-apart rods 154 and 156.

[0076] like Figure 15 As shown, the converging, angled gripping surfaces 118, 120 of the first gripper finger 100 enable the gripper finger to grip the tubular body 172 of the container 170. A lateral offset 116 between the gripper section 114 and the lower vertical section 108 provides clearance for the lid 174 of the container 170, which is wider than the tubular body 172. When the container is gripped by the mechanism 10, the container 170 is held between the first gripper finger 100 and the second gripper finger 130, the first gripper finger contacting the side of the tubular body 172 of the container 170 below the lid 174, as... Figure 15 As shown, the second gripper finger contacts the opposite side of the tubular body 172 of the container 170 below the lid 174 (although in Figure 15 (Not shown, but the second gripper finger 130 will be a mirror image of the first gripper finger 100).

[0077] like Figure 1As shown, a first rack 60 having rack teeth 62 is fastened to a first gripper finger mount 42, such as by mechanical fasteners (e.g., screws, bolts, rivets, etc.) (not shown). In an alternative example, the first rack 60 is an integral part of the first gripper finger mount 42. Similarly, a second rack 90 having rack teeth 92 is fastened to a second gripper finger mount 72, such as by mechanical fasteners (e.g., screws, bolts, rivets, etc.) (not shown). In an alternative example, the second rack 90 is an integral part of the second gripper finger mount 72.

[0078] The pinion 162 is operably coupled to the drive motor 160, for example, via a drive shaft attached to the drive motor 160. The pinion 162 is disposed between the first rack 60 and the second rack 90, and the teeth of the pinion engage with the rack teeth 62 and 92. Therefore, rotation of the drive motor 160 causes the rack 60, the first gripper finger mount 42, and the first side linear track guide 52 to slide relative to the first linear track 26 in a first direction, and causes the rack 90, the second gripper finger mount 72, and the second side linear track guide 82 to slide relative to the second linear track 30 in an opposite second direction. Thus, rotation of the drive motor 160 in the first direction causes the first gripper finger 100 and the second gripper finger 130, respectively attached to the first gripper finger mount 42 and the second gripper finger mount 72, to move toward each other (e.g., to grip an article, such as the tubular body 172 of a container 170 (see [link to relevant documentation]). Figure 15 The pinion 162, through rotation of the drive motor 160 in the opposite second direction, moves the first gripper finger 100 and the second gripper finger 130 away from each other (e.g., to release an item or to move the gripper fingers apart enough that the mechanism 10 can descend and the gripper fingers will leave the cover 174). A sensor mounted to the housing (not shown) is communicatively coupled to the drive motor 160 to indicate when the drive motor 160 stops moving the first gripper finger 100 and the second gripper finger 130 toward each other.

[0079] A step 50 formed in the first mounting flange 48 of the first gripper finger mount 42 aligns with a step 104 of the first mounting base 102 of the first gripper finger 100. Similarly, a step 80 formed in the second mounting flange 78 of the second gripper finger mount 72 aligns with a step 134 of the second mounting base 132 of the second gripper finger 130. Further, steps 50 and 104 are mirror images of steps 80 and 134, respectively. When the first gripper finger 100 and the second gripper finger 130 move toward each other, steps 50 and 104 are fitted within steps 80 and 134, respectively, allowing the first gripper finger 100 and the second gripper finger 130 to move closer together than would be possible without the mounting flanges 48 and 78 and the mounting bases 102 and 132.

[0080] refer to Figure 15 When the first gripper finger 100 closes to grip an article, such as a container 170, a gripping force F is applied at the gripper section 114. G A reaction torque M is generated at the first mounting base 102. G Similarly, when the second gripper finger 130 closes to grip an article, such as container 170, the gripping force F applied at gripper section 144 is generated at the second mounting base 132 in conjunction with F G and M G (Not shown) The reaction torque M in the opposite direction. The construction of the gripper fingers 100, 130 and the manner in which each gripper finger 100, 130 is mounted to its corresponding gripper finger mount 42, 72 are designed to minimize the clamping force F on each gripper finger 100, 130. G and the resulting torque M G The resulting deflection.

[0081] First, the angled sections 110 and 140 of the first gripper finger 100 and the second gripper finger 130 respectively provide lateral stiffness to each gripper finger (in the forward and backward direction relative to the direction of movement of the gripper fingers 100, 130) to limit the clamping force F. G The resulting lateral and longitudinal deflection of the first gripper finger between the gripper section 114 and the first mounting base 102, and the second gripper finger between the gripper section 144 and the second mounting base 130.

[0082] Secondly, the mounting base 102 of the first gripper finger 100 is in contact with the gripping force F GThe longitudinal length in the direction parallel to the direction, the diagonal arrangement of connector holes 103, 105 and 47, 50, and the forward positioning of connector holes 103 and 47 in the stepless portion of the first mounting base 102 and the first mounting flange 48 respectively offset the torque M. G The first gripper finger 100 has limited or no torsional deflection at the first mounting base 102. The mounting of the second gripper finger 130 similarly counteracts the torque M. G The second gripper finger 100 has limited or no torsional deflection at the second mounting base 132. The stepped construction of the first mounting flange 48 and the second mounting flange 78, as well as the first mounting base 102 and the second mounting base 132, provides longitudinally long mounting surfaces that counteract the torque M. G It also allows the first gripper finger assembly 40 and the second gripper finger assembly 70 to move the corresponding gripper segments 114, 144 very close to each other.

[0083] Furthermore, the width W of the first mounting flange 48 48 In comparison, the width W of the two first-side linear track guides 52 is relatively long. 52 The width W of the relative length of the vertical wall 44 of the first clamping finger mounting member 42 44 A long engagement contact is provided between the first side linear track guide 52 and the first linear track 26 to counteract torque M. G This minimizes torsion of the first gripper finger assembly 40. Similarly, the relatively long width of the vertical wall 74 of the second gripper finger mount 72, which supports the two second-side linear track guides 82, compared to the width of the second mounting flange 78, provides a long engagement contact between the second-side linear track guides 82 and the second linear track 30 to counteract torque M. G At the same time, minimize the torsion of the second gripper finger assembly 70.

[0084] Exemplary embodiments

[0085] The various aspects of this disclosure are summarized by the following numbered embodiments.

[0086] Example 1. A mechanism for clamping a container, the mechanism comprising:

[0087] A linear track mount having a first side and a second side that are laterally opposed;

[0088] A first linear track and a second linear track are respectively disposed on the first side and the second side of the linear track mounting member;

[0089] A first gripper finger mount, the first gripper finger mount including a first mounting flange disposed below the linear track mount;

[0090] A first linear track guide is supported on the first clamp finger mount and coupled to the first linear track on the first side of the linear track mount;

[0091] A first rack, which is supported on the first gripper finger mount;

[0092] The second clamping finger mounting member includes a second mounting flange disposed below the linear track mounting member;

[0093] A second linear track guide is supported on the second gripper finger mount and coupled to the second linear track on the second side of the linear track mount;

[0094] The second rack is supported on the second gripper finger mount;

[0095] A first gripper finger is fixed to the first mounting flange of the first gripper finger mount and extends below the linear track mount;

[0096] The second clamping finger is fixed to the second mounting flange of the second clamping finger mount and extends below the linear track mount;

[0097] Drive motor; and

[0098] A pinion is coupled to the drive motor and engages with the first rack and the second rack, such that the pinion, by rotation of the drive motor in a first direction, moves the first gripper finger and the second gripper finger toward each other, and by rotation of the drive motor in a second direction, moves the first gripper finger and the second gripper finger away from each other.

[0099] Example 2. According to the mechanism described in Example 1, wherein the first linear track guide of the first gripper finger mount includes a track slot for receiving the first linear track, and the second linear track guide of the second gripper finger mount includes a track slot for receiving the second linear track.

[0100] Example 3. The mechanism according to Example 1 or 2, wherein the first linear track and the second linear track are respectively attached to the first side and the second side of the linear track mounting by mechanical fasteners.

[0101] Example 4. The mechanism according to any one of Examples 1 to 3, wherein the first gripper finger mount includes a vertical wall disposed adjacent to the first side of the linear track mount, and wherein the first mounting flange of the first gripper finger mount extends laterally from the bottom end of the vertical wall of the first gripper finger mount beyond the second side of the linear track mount, and the second gripper finger mount includes a vertical wall disposed adjacent to the second side of the linear track mount, and wherein the second mounting flange of the second gripper finger mount extends laterally from the bottom end of the vertical wall of the second gripper finger mount beyond the first side of the linear track mount.

[0102] Example 5. According to the mechanism described in Example 4, the first linear track guide of the first gripper finger mount is fixed in a slot formed in the vertical wall of the first gripper finger mount, and the second linear track guide of the second gripper finger mount is fixed in a slot formed in the vertical wall of the second gripper finger mount.

[0103] Example 6. The mechanism according to any one of Examples 1 to 5, wherein the mounting flange of each of the first clamping finger mount and the second clamping finger mount has a step formed in the edge of the mounting flange facing the other of the first clamping finger mount and the second clamping finger mount.

[0104] Example 7. The mechanism according to Example 4 or 6, wherein the first rack is fastened to the top edge of the vertical wall of the first gripper finger mount, and the second rack is fastened to the top edge of the vertical wall of the second gripper finger mount.

[0105] Example 8. The mechanism according to any one of Examples 1 to 6, wherein the first rack is fastened to the first gripper finger mount and the second rack is fastened to the second gripper finger mount.

[0106] Example 9. The mechanism according to any one of Examples 1 to 8, wherein the first gripper finger includes a first mounting base connected to the first mounting flange of the first gripper finger mount, and the second gripper finger includes a second mounting base connected to the second mounting flange of the second gripper finger mount.

[0107] Example 10. The mechanism according to Example 9, wherein the mounting base of each of the first gripper finger and the second gripper finger has a step formed in the edge of the mounting base facing the other of the first gripper finger and the second gripper finger.

[0108] Example 11. The mechanism according to any one of Examples 1 to 10, wherein the first gripper finger comprises: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the second gripper finger than the lower vertical section of the first gripper finger. The second gripper finger includes: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the first gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger.

[0109] Example 12. The mechanism according to Example 11, wherein the upper vertical section, the lower vertical section and the angled section include spaced-apart rods.

[0110] Example 13. The mechanism according to Example 11 or 12, wherein the gripper section of each of the first gripping finger and the second gripping finger includes converging, angled gripping surfaces.

[0111] Example 14. The mechanism according to Example 13 further includes an elastomeric clamping pad fixed to the angled clamping surface of each of the first clamping finger and the second clamping finger.

[0112] Example 15. The mechanism according to Example 14, wherein the elastomeric clamping pad comprises a fluoropolymer elastomer and a synthetic rubber compound.

[0113] Example 16. The mechanism according to any one of Examples 1 to 15, wherein the rack of the first gripper holding finger mount extends outward from the first side of the linear track mount and is positioned above the top edge of the linear track mount, and wherein the rack of the second gripper holding finger mount extends outward from the second side of the linear track mount and is positioned above the top edge of the linear track mount.

[0114] Example 17. The mechanism according to any one of Examples 1 to 16, wherein the first gripping finger and the second gripping finger are configured to grip the container in an upright orientation from above the container.

[0115] Example 18. The apparatus according to any one of Examples 1 to 17, wherein the container comprises a test tube.

[0116] Example 19. A mechanism for clamping a container; the mechanism includes:

[0117] A linear track mount having a first side and a second side that are laterally opposed;

[0118] A first linear track and a second linear track are respectively disposed on the first side and the second side of the linear track mounting member;

[0119] A first gripper finger assembly includes a first gripper finger and a first gripper finger mount, wherein the first gripper finger mount includes a first linear track guide coupled to the first linear track on the first side of the linear track mount, and a first mounting flange disposed below the linear track mount, the first gripper finger being attached to the first mounting flange;

[0120] A second gripper finger assembly, comprising a second gripper finger and a second gripper finger mount, wherein the second gripper finger mount includes a second linear track guide coupled to the second linear track on the second side of the linear track mount, and a second mounting flange disposed below the linear track mount, the second gripper finger attached to the second mounting flange, wherein the first gripper finger assembly and the second gripper finger assembly are configured to be movable relative to each other to allow the first gripper finger and the second gripper finger to move toward or away from each other; and

[0121] A drive motor, coupled to the first gripper finger assembly and the second gripper finger assembly, is provided such that rotation of the drive motor in a first direction causes the first gripper finger and the second gripper finger to move toward each other, and rotation of the drive motor in a second direction causes the first gripper finger and the second gripper finger to move away from each other.

[0122] The first gripper finger includes: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the second gripper finger than the lower vertical section of the first gripper finger.

[0123] The second gripper finger includes: an upper vertical section; a lower vertical section; an angled section between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and a gripper section laterally offset from the lower vertical section to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger.

[0124] Example 20. The mechanism according to Example 19, wherein the first gripper finger assembly includes a first rack, and the second gripper finger assembly includes a second rack, and wherein the mechanism further includes a pinion coupled to the drive motor and operably engaged with the first rack and the second rack.

[0125] Although the subject matter of this disclosure, including various combinations and sub-combinations of features, has been described and illustrated in considerable detail with reference to certain illustrative embodiments, those skilled in the art will readily recognize other embodiments, variations, and modifications covered within the scope of this disclosure. Furthermore, the description of such embodiments, combinations, and sub-combinations is not intended to imply that the claimed subject matter requires features or combinations of features other than those expressly recited in the claims. Therefore, the scope of this disclosure is intended to encompass all modifications and variations covered within the scope of the appended claims.

Claims

1. A mechanism for clamping a container, characterized in that, The institutions include: A linear track mounter having a first side and a second side that are laterally opposed; A first linear track and a second linear track are respectively disposed on the first side and the second side of the linear track mounting member; A first gripper finger mount, the first gripper finger mount including a first mounting flange disposed below the linear track mount; A first linear track guide is supported on the first gripper finger mount and coupled to the first linear track on the first side of the linear track mount. A first rack, the first rack being supported on the first gripper finger mount; The second clamping finger mounting member includes a second mounting flange disposed below the linear track mounting member; A second linear track guide is supported on the second gripper finger mount and coupled to the second linear track on the second side of the linear track mount; The second rack is supported on the second gripper finger mount; A first gripper finger, the first gripper finger being secured to the first mounting flange of the first gripper finger mount and extending below the linear track mount, wherein the first gripper finger includes: Upper vertical section; Lower vertical section; An angled section, the angled section being between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and A gripper section, which is laterally offset from the lower vertical section, is positioned closer to the second gripper finger than the lower vertical section of the first gripper finger; A second gripper finger, the second gripper finger being secured to the second mounting flange of the second gripper finger mount and extending below the linear track mount, wherein the second gripper finger includes: Upper vertical section; Lower vertical section; An angled section, the angled section being between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the first gripper finger than the upper vertical section; and A gripper section, which is laterally offset from the lower vertical section, is positioned closer to the first gripper finger than the lower vertical section of the second gripper finger; Drive motor; and A pinion, coupled to the drive motor and engaging with the first rack and the second rack, causes the first gripper finger and the second gripper finger to move toward each other by rotation of the drive motor in a first direction, and causes the first gripper finger and the second gripper finger to move away from each other by rotation of the drive motor in a second direction. The first gripper finger mounting includes a vertical wall adjacent to the first side of the linear track mounting, and the first mounting flange of the first gripper finger mounting extends laterally from the bottom end of the vertical wall of the first gripper finger mounting beyond the second side of the linear track mounting. The second gripper finger mounting includes a vertical wall adjacent to the second side of the linear track mounting, and the second mounting flange of the second gripper finger mounting extends laterally from the bottom end of the vertical wall of the second gripper finger mounting beyond the first side of the linear track mounting.

2. The mechanism for clamping a container according to claim 1, wherein the first linear track guide of the first clamping finger mount includes a track slot for receiving the first linear track, and the second linear track guide of the second clamping finger mount includes a track slot for receiving the second linear track.

3. The mechanism for clamping a container according to claim 1 or 2, wherein the first linear track and the second linear track are respectively attached to the first side and the second side of the linear track mount by mechanical fasteners.

4. The mechanism for clamping a container according to claim 1, wherein the first linear track guide of the first clamping finger mount is fixed in a slot formed in the vertical wall of the first clamping finger mount, and the second linear track guide of the second clamping finger mount is fixed in a slot formed in the vertical wall of the second clamping finger mount.

5. The mechanism for clamping a container according to claim 1, wherein the mounting flange of each of the first clamping finger mount and the second clamping finger mount has a step formed in the edge of the mounting flange facing the other of the first clamping finger mount and the second clamping finger mount.

6. The mechanism for clamping a container according to claim 1, wherein the first rack is fastened to the top edge of the vertical wall of the first clamping finger mount, and the second rack is fastened to the top edge of the vertical wall of the second clamping finger mount.

7. The mechanism for clamping a container according to claim 1, wherein the first rack is fastened to the first clamping finger mount, and the second rack is fastened to the second clamping finger mount.

8. The mechanism for clamping a container according to claim 1, wherein the first clamping finger includes a first mounting base connected to the first mounting flange of the first clamping finger mount, and the second clamping finger includes a second mounting base connected to the second mounting flange of the second clamping finger mount.

9. The mechanism for clamping a container according to claim 8, wherein the mounting base of each of the first clamping finger and the second clamping finger has a step formed in an edge of the mounting base facing the other of the first clamping finger and the second clamping finger.

10. The mechanism for clamping a container according to claim 1, wherein the upper vertical section, the lower vertical section and the angled section comprise spaced-apart rods.

11. The mechanism for clamping a container according to claim 1, wherein the clamping section of each of the first clamping finger and the second clamping finger includes converging, angled clamping surfaces.

12. The mechanism for clamping a container according to claim 11, the mechanism further comprising an elastomeric clamping pad fixed to the angled clamping surface of each of the first clamping finger and the second clamping finger.

13. The mechanism for clamping a container according to claim 12, wherein the elastomeric clamping pad comprises a fluoropolymer elastomer and a synthetic rubber compound.

14. The mechanism for clamping a container according to claim 1, wherein the first rack of the first clamping finger mount extends outward from the first side of the linear track mount and is positioned above the top edge of the linear track mount, and wherein the second rack of the second clamping finger mount extends outward from the second side of the linear track mount and is positioned above the top edge of the linear track mount.

15. The mechanism for holding a container according to claim 1, wherein the first gripper finger and the second gripper finger are configured to grip the container in an upright orientation from above the container.

16. The mechanism for clamping a container according to claim 1, wherein the container comprises a test tube.

17. A mechanism for clamping a container, characterized in that, The institutions include: A linear track mounter having a first side and a second side that are laterally opposed; A first linear track and a second linear track are respectively disposed on the first side and the second side of the linear track mounting member; A first gripper finger assembly, comprising a first gripper finger and a first gripper finger mount, wherein the first gripper finger mount includes a first linear track guide coupled to the first linear track on the first side of the linear track mount, and a first mounting flange disposed below the linear track mount, the first gripper finger being attached to the first mounting flange. A second gripper finger assembly, comprising a second gripper finger and a second gripper finger mount, wherein the second gripper finger mount includes a second linear track guide coupled to a second linear track on a second side of the linear track mount, and a second mounting flange disposed below the linear track mount, the second gripper finger being attached to the second mounting flange, wherein the first gripper finger assembly and the second gripper finger assembly are configured to be movable relative to each other to allow the first gripper finger and the second gripper finger to move toward or away from each other; and A drive motor, coupled to the first gripper finger assembly and the second gripper finger assembly, is provided such that rotation of the drive motor in a first direction moves the first gripper finger and the second gripper finger toward each other, and rotation of the drive motor in a second direction moves the first gripper finger and the second gripper finger away from each other. The first gripper finger includes: Upper vertical section; Lower vertical section; An angled section, the angled section being between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; and The gripper section is laterally offset from the lower vertical section so as to be positioned closer to the second gripper finger than the lower vertical section of the first gripper finger. The second gripper finger includes: Upper vertical section; Lower vertical section; An angled section, the angled section being between the lower end of the upper vertical section and the upper end of the lower vertical section, such that the lower vertical section is laterally offset to a position closer to the first gripper finger than the upper vertical section; and A gripper section, which is laterally offset from the lower vertical section, is positioned closer to the first gripper finger than the lower vertical section of the second gripper finger.

18. The mechanism for clamping a container according to claim 17, wherein the first clamping finger assembly includes a first rack, and the second clamping finger assembly includes a second rack, and wherein the mechanism further includes a pinion coupled to the drive motor and operably engaged with the first rack and the second rack.

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