SYSTEM FOR GRIPPING CYLINDRICAL OBJECTS IN A MANUFACTURING ENVIRONMENT

Description

FIELD

[0001] This document relates generally to systems and methods for gripping cylindrical objects in a manufacturing environment and, more particularly, to a system and method for gripping syringe bodies during manufacturing of the syringe.BACKGROUND

[0002] Automated manufacturing processes typically require parts to be releasably gripped in careful alignment relative to one another prior to assembly into a product. Conventional gripping mechanisms are designed to grip a part having particular dimensions within particular tolerances, and cannot be used with parts having differing dimensions. However, a production line using automated manufacturing may need to change the dimensions of one or more parts from time to time, for example when a product line includes products having a range of sizes. This requires re-tooling of the production line to exchange the gripping mechanisms to accommodate the change in part dimensions, typically causing significant downtime on the production line.

[0003] Cylindrical parts may require careful alignment with the centerline of the cylinder, for example to align a syringe cannula with a syringe body, and pose a particular challenge with regard to accommodating changes in dimensions. Cylindrical parts are typically gripped by their outer edges, however a change in diameter causes a change in the position of the centerline of the cylinder relative to the edge of the cylinder. Cylindrical parts typically require a specific offset in the gripping mechanism to accommodate each size of cylinder used, causing downtime when the part sizes are changed. There is therefore an unmet need in the art for a gripping mechanism that can grip cylindrical parts of varying sizes while maintaining a constant position of the centerline of the part.

[0004] DE112006000620 T5 discloses relates to a robot hand for loading a plurality of products. The robot hand is capable of loading a plurality of products at one time. The robot hand includes a plurality of grippers arranged side by side and horizontally separated from each other; a plurality of movable frames being combined with an upper portion of the gripper to fix the gripper; a guide rod passing through a plurality of movable frames to fix the movable frames; a pair of guide wings installed in both side ones of a plurality of movable frames; and a cylinder rod interconnecting a pair of guide wings and having a variable length.

[0005] US5762391 A discloses a gripper assembly with gripper fingers which are mounted so that they can be guided and moved radially inward and outward relative to the main body of the assembly. The gripper fingers are biased radially inward by springs. Fitted in the main body is a finger-opening device with a conical body which moves all of the fingers radially outward together against the action of the springs. If the finger-opening device is then retracted, at least some of the fingers come to rest against the edge of the disc-shaped article. If the device is retracted further, the remaining fingers also come to rest, under the action of their associated springs, against the edge of the disc-shaped article. The conical body in the finger-opening device acts on the fingers via guiding elements fitted inside the main body and connected to the fingers by guiding rods.

[0006] US5471738 A discloses a robotic system for inserting cylinder liners into the cylinder block from an internal combustion engine includes an articulated robot arm for cycling an end effector between a dunnage unloading position and a cylinder insertion position. The end effector, which is attached to the robot arm, picks liners from dunnage and places the liners in the cylinder bores of the cylinder block. The end effector includes remotely deployable combination teeth for gripping the liners to permit removal from their dunnage and for aligning the end effector and liner into the cylinder bores to permit insertion of the liners.

[0007] DE3322142 A1 discloses a gripper for an industrial robot, the gripping force of the gripping jaws is applied by prestressed springs. The gripper can be opened counter to the spring tension by a wedge slidable between the rollers of the gripping jaws.

[0008] CN109318250 A discloses a mechanical clamping jaw mechanism of a make-up pen and relates to the technical field of mechanical equipment. The mechanism comprises a rack body and a clamping jaw unit connected to the rack body. The clamping jaw unit is provided with a base, the section of which is of a U-shaped groove, a slide block and a pair of claws are connected in the groove of the base, the slide block is provided with a V-shaped opening, the rodlike end parts of the claws are wedge-shaped, and the wedge shapes of the end parts of the claws are matched with the V-shaped opening of the slideblock. The mechanism provided by the invention solves the technical problem that in the prior art, the make-up pen is easily damaged as the mechanical clamping jaw is non-uniform in clamping force to the make-up pen or the mechanical clamping jaw clamps the make-up pen insecurely or the mechanical clamping jaw overexerts. The mechanical clamping jaw mechanism has the beneficial effects that the mechanical clamping jaw mechanism is uniform in clamping force to the make-up pen and does not damage the make-up pen; the mechanical clamping jaw mechanism is firm and reliable to clamp; the clamped make-up pen can overturn to prepare a next step; the slide block pushes the claws to close, so that the mechanical clamping jaw mechanism is small in thrust, short in needed stroke, small in consumed power and energy-saving; and the mechanical clamping jaw mechanism is compact and small in structure and is widely suitable for clamping small workpieces of an assembly line so as to prevent clamping deformation or damage.

[0009] CN209478222 U discloses a system according to the preamble of claim 1 and describes a pneumatic clamping device for the infectious disease department, and belongs to the technical field of clamping devices. An end cap; the pneumatic driving mechanism is arranged on the base, the pneumatic driving mechanism comprises an air cylinder output end, and the air cylinder output end can move in a telescopic mode; a movable head; the clamping mechanism comprises two clamping arms, a first driving mechanism, a second driving mechanism and a third driving mechanism, and the two clamping arms are arranged in a bilateral symmetry mode; each clamping arm is provided with a middle hole, the middle hole divides the clamping arm into a spring, and the spring is connected between the front portions of the clamping arms of the two clamping arms.The fixing bolt is connected with the middle hole and the base; wherein the movable head acts on the clamping arm rear portion, and the clamping arm front portion is made to rotate around the middle position hole through the clamping arm rear portion. The technical effects that automatic clamping and fixing are achieved, and an operator is prevented from making direct contact with an infection source are achieved.

[0010] CN 110 076 819 A discloses a system with two symmetrical gripping arms and two driving wedges.SUMMARY

[0011] According to the invention, there is provided a system for gripping a cylindrical object, the system including: a housing; a pair of gripping arms provided to the housing, with one gripping arm on an opposite side of a centerline plane from another gripping arm; and one single driving wedge mounted in the housing and configured such that movement of the driving wedge moves each gripping arm in a pair towards or away from each other such that the gripping arms in a pair remain equidistant from the centerline plane, wherein each of the gripping arms in a pair is biased toward or away from the centerline plane and the driving wedge is configured to move each gripping arm in a pair away from or toward the centerline plane, wherein each of the gripping arms comprises a driven surface and the driving wedge comprises at least one driving surface configured to match with the driven surface to move the related gripping arm, and wherein each of the plurality of gripping arms also comprise an additional driven surface symmetrical with the driven surface across a mirror plane of symmetry perpendicular to a first direction.

[0012] In these cases, each of the gripping arms may further include: a connecting portion having a first end and a second end opposite the first end; a gripping portion positioned at the first end; and the driven surface positioned at the second end.

[0013] Still further, in these cases, each driven surface and driving surface may be configured at complementary driving angles with respect to the centerline plane. In some cases, the driving angle may be between 5 and 25 degrees.

[0014] In some cases, the system may further include a cam, wherein the driving wedge is moveable in response to movement of the cam and the driving wedge is biased away from the pair of gripping arms.BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 shows a schematic view of three exemplary syringes. Figure 2A is a front view of a gripper biased to grip a cylindrical body according to an embodiment herein. Figure 2B is a top view of a gripper biased to grip a cylindrical body the embodiment of Figure 2A. Figure 3A is a top view of a portion of gripper biased to grip the cylindrical body according to an embodiment herein. Figure 3B is a top view of a portion of gripper biased to grip the cylindrical body according to an embodiment herein. Figure 4A is a cutaway rear view of gripper biased to grip the cylindrical body according to an embodiment herein. Figure 4B is a schematic view of Figure 4A. Figure 5A is a perspective back view of the embodiment of Figure 4A. Figure 5B is a top view of the embodiment of Figure 4A. Figure 5C is a cutaway side view of the embodiment of Figure 4A. Figure 6 is a perspective front view of a gripper holding a cylindrical body according to a non-claimed example herein; Figure 7 is a perspective front exploded view of the gripper of Figure 6 with the housing removed; Figure 8 is a side view of the gripper of Fig. 6; Figure 9 is a perspective front view of the gripper of Fig. 6; Figure 10 is a back view of the gripper of Figure 6 with the housing removed; Figure 11 is a perspective back view of the gripper of Figure 6 with the housing shaded; Figure 12 is a flow diagram for a method for gripping a cylindrical object in a manufacturing environment; Figure 13A is a top view of a system for gripping a cylindrical object according to an embodiment herein. Figure 13B is a top view of the system of Figure 13A. Figure 13C is a perspective top view of the system of Figure 13A. Figure 13D is a perspective top view of the system of Figure 13A. DETAILED DESCRIPTION

[0016] The present disclosure relates generally to an actuated gripper for holding one or more syringe barrels, or more generally, cylindrical bodies. The gripper may accommodate syringe barrels made of varying materials, for example glass, plastic, metal, or other materials. Furthermore, the gripper may accommodate cylindrical bodies that are not syringe bodies. The gripper may accommodate different diameters of syringe barrels, including diameters defined by standard sizes and can be actuated to grip and / or release syringe barrels in such a way that a center axis (sometimes referred to as a centerline) of each of the syringe barrels is in a predetermined position. In this way, the gripper is intended to accommodate variations in barrel diameter. For syringe barrels there may be significant variation in barrel diameter from one type of barrel to the next. In some cases, there may be variation in barrel diameter from one part to the next, owing to the material characteristics and manufacturing processes of the syringe barrel or parts. In some embodiments, the syringe barrels may be positioned vertically within the grippers such that a pre-determined length of the syringe body (e.g. a dome or the like) extends above / out of the gripper.

[0017] Figure 1 shows a side view of three exemplary syringes 101, 102, and 103 of a type that can be gripped by embodiments of the system and method disclosed herein. Each syringe typically includes a plunger, a barrel, and a needle. Syringes 101, 102, and 103 include syringe barrels 110, 120, and 130, having diameters 112, 122, and 132, and centerlines 114, 124, and 134, and needles 116, 126, and 136, respectively. Plungers are not shown. In the context of the present disclosure, the term "needle" includes both needles and cannulae, where a needle typically has a sharp tip while a cannula typically has a blunt tip. Automated assembly of syringes may include inserting a needle into an end of a syringe barrel and, generally speaking, the needle and the centerline of the syringe barrel need to be aligned. The needle may then be affixed to the syringe barrel, for example with glue or the like. While needles 116, 126, and 136 may have different gauges and lengths, a portion of each needle will be affixed in respective syringe barrels within manufacturing tolerances.

[0018] It is desirable to have the centerline of the syringe barrel in the same position, independent of the size of the syringe, as this avoids the need to change the position at which the needle is inserted into the syringe barrel. As illustrated in Fig. 1, the diameters 112, 122, and 132 may be different from one another which, in conventional manufacturing, can shift the positions of centerlines 114, 124, and 134 relative to exterior gripping surfaces of syringe barrels 110, 120 and 130. For example, diameter 112 may be approximately 7 mm, diameter 122 may be approximately 8 mm, and diameter 132 may be approximately 10 mm. For conventional grippers, assembling syringes 101 and then assembling syringes 102 may require a resetting / reprogramming or other change to the production line. To avoid the need to take these additional steps, a gripper according to embodiments herein is configured to hold the syringe barrel in a manner such that the position of the centerline of the syringe barrel is unaffected by the size / diameter of the syringe barrel.

[0019] Figure 2A is a front view of a system 200 in which a gripper 205 is biased to grip a cylindrical body 130 according to an embodiment herein. Figure 2B is a top view of the gripper 205. The system 200 includes the gripper 205 (including two gripping arms 210, two springs 220), a housing 230, and a driving wedge 240 (illustrated partially in Fig. 2B and shown in further detail in later figures). The driving wedge 240 is mounted in the housing 230 and is slideable in a first direction (referred to as the Z direction herein). A skilled person, with the benefit of the present disclosure, will appreciate that when an element (e.g. a driving wedge, a gripping arm) is referred to as slidable and / or movable in a given direction, the element may also be slidable and / or movable in a direction opposite the given direction. Each gripping arm 210 is slideably mounted in the housing 230 and is slideable in a second direction, (left and right in Figures 2A and 2B, for example the X direction, which is generally perpendicular to the first direction (Z direction)). The two gripping arms 210 may be moved together to grip a cylindrical body and / or moved apart to release a cylindrical body. A skilled person, with the benefit of the present disclosure, will appreciate that in other embodiments the gripping arms may alternatively be pivotably mounted in the housing.

[0020] Each spring 220 exerts a bias force 216 on each gripping arm 210, causing each gripping arm to be biased to a closed position and thus, contact opposite sides of syringe barrel 130 when present. Each bias force 216 may be, for example, between 5 and 35 Newtons to grip cylindrical bodies made of relatively rigid / strong materials, for example syringe bodies made of glass, plastic, metal or the like. For cylindrical bodies made of lower strength / less rigid materials, for example, elastomers, or the like, a reduced gripping force may be employed. The bias force 216 is thereby exerted on the syringe barrel 130, and the resulting friction between each gripping arm 210 and the syringe barrel 130 causes the two gripping arms 210 to grip the syringe barrel 130. It will be understood that the bias force 216 should, in any event, be less than the breaking point of the syringe barrel 130. In some embodiments, the bias force 216 may be less than e.g. 10 N.

[0021] Each gripping arm 210 is positioned an equal distance from a centerline 134 of the syringe and biased toward that centerline, and syringe centerline 134 is aligned with needle 136 and / or the mechanism that provides needle 136. In the present embodiment, the position of needle 136 is a position that centerline 134 must be aligned with prior to inserting needle 136 into syringe barrel 130. In other words, the position of needle 136 is a part alignment position, and syringe barrel 130 is aligned with the part alignment position. As will be explained below, if syringe 101 was gripped by gripper 200 instead of syringe 103, centerline 114 would remain aligned with the part alignment position.

[0022] Figure 3A is a top view of a portion of gripper 205 biased to grip the cylindrical body 130 according to an embodiment herein. Figure 3B is a top view of a portion of gripper 205 biased to grip the cylindrical body 110 according to an embodiment herein. In Figure 3B, both gripping arms 210 are closer together to grip cylindrical body 110 compared to the positions of both gripping arms 210 in Figure 3A. In particular, each gripping arm 210 is positioned an equal distance closer to the part alignment position in Figure 3B compared to Figure 3A, with the gripping arms 210 remaining parallel to one another. The parallel movement of the gripping arms 210 allows the gripping arms 210 to grip cylindrical bodies of varying diameters without changing the position of the centerline of each cylindrical body relative to the gripper 205. Each gripping arm 210 includes a jaw 232. Each jaw 232 is formed of two surfaces formed at an angle, with a meeting point of the angles aligned with the part alignment position. The angle 234 of the surfaces relative to a line perpendicular to the direction of movement is shown in Figures 3A and 3B may be between 20 and 40 degrees.

[0023] Figure 4A is a cutaway rear view of the system 200 according to an embodiment herein. Figure 4B is a schematic view of Figure 4A. Figure 5A is a perspective back view of the embodiment of Figure 4A. Figure 5B is a top view of the embodiment of Figure 4A. Figure 5C is a cutaway side view of the embodiment of Figure 4A. As shown in Figures 5A, 5B, and 5C, each of the pair of gripping arms includes a connecting portion 214 having a first end and a second end opposite the first end, a gripping arm 210 positioned at the first end, and a driven surface 212 positioned at the second end in a path of and oriented parallel to a corresponding driving surface 250 of the driving wedge 240. In other words, each driven surface 212 is complementary to a driving surface 250.

[0024] The system 200 includes a driving wedge 240 mounted in the housing 230 and slidable in the first (Z) direction (up and down in Figures 4A and 4B). The first direction is aligned with a first plane (Y-Z) passing through the part alignment position. While the first direction is parallel to the cylinder axis 134 in the present embodiment, a skilled person with the benefit of the present disclosure will appreciate that the first direction may be oriented at an angle or be perpendicular to the cylinder axis. In alternative embodiments, the driving wedge 240 may be an inverted wedge with the gripping arms adapted accordingly, e.g. to maintain a complementary relationship between driving and driven surfaces. The driving wedge 240 includes two driving surfaces 250. Each driving surface 250 has a driving angle 246 relative to the first direction, where the driving angle may be between 5 and 25 degrees. The driving surfaces 250 are positioned symmetrically with respect to the first direction, in this case having a mirror plane of symmetry passing through the first direction.

[0025] The system 200 may include an activating bolt 242 in some embodiments. The activating bolt 242 may transmit an activating force acting on the activating bolt to the wedge 240. The activating force may be provided mechanically, for example by a cam (not shown) pressing on activating bolt 242. In alternative embodiments, the activating force may be provided pneumatically, electrically, hydraulically or other known driving systems. The driving wedge 240 may be moved by the forces transmitted through activating bolt 242. In some embodiments, the wedge 240 includes wedge guidance portions 244 which engage the housing 230 to guide the wedge 240 as the wedge 240 slides in the first direction. The wedge 240 is biased away from the gripping arms 210 in the first direction by spring 222. In alternative embodiments, the wedge 240 may be biased towards the gripping arms 210, or may not be biased.

[0026] As shown in Figures 5A and 5B, the two gripping arms 210 are positioned such that contact between the driving surfaces 250 and the driven surfaces 212 causes the gripping arms 210 to move in at least the second direction an equal distance relative to the part alignment position in response to movement of the driving wedge 240 in the first direction. In particular, each gripping arm 210 includes a driven surface 212 oriented parallel to and positioned in the path of a corresponding driving surface 250. In other words, each gripping arm 210 includes a driven surface 212 complementary to a driving surface 250. Contact between each driven surface 212 and the corresponding driving surface 250 as the driving wedge 240 moves in an upward direction as shown in Figures 4A and 4B causes each driving surface 250 to exert a driving force 226 on each driven surface 212. Each driving force 226 contains a component parallel to the second direction, and if this component is greater than the biasing force 216 then the corresponding gripping arm 210 will slide in response to the force. Since each driving surface 250 is symmetrical around the Z direction, and the Z direction is aligned with the part alignment position, the movement of the two gripping arms 210 is symmetrical around the part alignment position. In other words, the two gripping arms 210 move an equal distance away from the part alignment position due to the movement of the wedge 240.

[0027] The gripping arms 210 include an additional driven surface positioned and oriented to be symmetrical with the driven surface 250 across a mirror plane of symmetry perpendicular to the first direction. In other words, the additional driven surface is symmetrical with the driven surface 250 to allow the gripping arms 210 to be reversible. Each gripping arm 210 may be rotated 180 degrees to be exchanged with each other gripping arm 210. This may extend the useable life of each gripping arm 210 by allowing a worn driven surface to be exchanged for an unworn additional driven surface.

[0028] In some embodiments, each gripping arm 210 comprises a guiding portion 218 and an opening having a shape and position to interface with a respective guiding portion 218 of the other gripping arms. Each guiding portion is configured to be slideably mountable in each respective guiding portion. Each guiding portion 218 guides each gripping arm 210 to provide more parallel movement of the two gripping arms 210.

[0029] The two gripping arms 210 are positioned equidistant in the second direction from the part alignment position and biased in opposite directions in the second (X) direction. In the present embodiment, the two gripping arms 210 are biased together, however a skilled person having the benefit of the present disclosure will appreciate that in alternative embodiments the two gripping arms 210 may be biased apart, with appropriate modifications in the driving wedge. In this embodiment, the two gripping arms 210 are biased by springs 220. In alternative embodiments, the two gripping arms 210 may be biased via electrical, hydraulic, pneumatic or other actuators or the like, however springs do not require a power supply to be connected to gripper arms 210 to function.

[0030] Generally speaking, the two gripping arms 210 cooperate to form two sets of self-centering jaws 232 positioned to align a gripped part with the part alignment position in a third direction, where the third direction is perpendicular to the second direction. In this embodiment, the two gripping arms 210 include a U-shaped end effector, include a first (sometimes "upper") and second (sometimes "lower") jaw 232, and cooperate to form a first and second set of jaws 232.

[0031] Figure 6 is a perspective front view of a non-claimed example of a system 300. Similar parts in this non-claimed example will generally make use of similar reference numbers to the embodiment above. The system 300 includes a housing 230, a plurality of sets of gripping arms 210, and a plurality of wedges 240. As above, each set of gripping arms 210 and each corresponding driving wedge 240 is mounted in the housing 230, and each set of gripping arms 210 may hold a cylindrical body such as a syringe barrel. In this embodiment, each set of gripping arms 210 includes two gripping arms 210. Figure 7 is a perspective front view of the gripper of Figure 6 with the housing removed to better show the gripping arms 210. Figure 8 is a side view of the gripper of Fig. 6. Figure 9 is a perspective front view of the gripper of Fig. 6. Figure 10 is a back view of the gripper of Figure 6 with the housing removed. Figure 11 is a perspective back view of the gripper of Figure 6 with the housing shaded. As shown most clearly in Fig. 9, each set of gripping arms 210 is mounted adjacent to at least one other set of gripping arms 210, and multiple cylindrical bodies may be held simultaneously by the system 300.

[0032] A skilled person will appreciate that, while the present non-claimed example includes three sets of gripping arms 210 and three driving wedges 240, in alternative non-claimed examples the gripper may include two, four, five, six or more sets of gripping arms 210 with corresponding driving wedges 240. In some non-claimed examples each set of gripping arms 210 with corresponding driving wedge 240 beyond the first may be referred to as an additional gripping arm and additional driving wedge. Each driving wedge 240 of the present non-claimed example may be activated concurrently by a single input. For example, a single cam may act on three wedges 240 (or three activating bolts 242) to move the wedges up and down to release and grip, respectively, three cylindrical bodies. Because each set of gripping arms 210 moves symmetrically, cylindrical bodies of differing sizes may be gripped in each of the three sets of gripping arms 210 while maintaining alignment with the respective part alignment positions of each set of gripping arms 210. In particular, as each driving wedge 240 moves downwards, each set of gripping arms 210 stops moving towards the part alignment position when contact is made with a cylindrical body. Since each driving wedge 240 and set of gripping arms 210 move independently, a given set of gripping arms 210 may stop moving without affecting the movement of neighbouring sets of gripping arms 210, which allows syringe barrels of different diameters to be gripped simultaneously by the system 300.

[0033] Figure 12 is a flow diagram for a method 1200 for gripping a cylindrical object in a manufacturing environment. A skilled person having the benefit of the present disclosure will appreciate that the method may be modified to provide other non-claimed examples. Non-exclusive examples of physical elements that may be employed by method 1200 are called out in parentheses.

[0034] At 1210, a system (200, 300) is configured to have a plurality of gripping arms (210) biased into a closed position. In the closed position, the gripping arms (210) define a central plane therebetween.

[0035] At 1220, a wedge (240) is slid in a first direction that is parallel with the central plane. The wedge (240) and gripping arms (210) are configured to interact such that sliding the wedge (240) in the first direction causes the plurality of gripping arms (210) to open against the bias. In particular, each of the gripping arms (210) may include a driven surface (212) and the wedge (240) may include corresponding driving surfaces (250) that make contact in response to sliding the wedge (240) in the first direction and, thus, open the gripping arms (210). A skilled person having the benefit of the present disclosure will appreciate that the wedge (240) may also be slid in a different way but still achieve the intended result.

[0036] At 1230, the plurality of gripping arms (210) are opened against the biasing force (216) in response to sliding the wedge (240) in the first direction. Each of the plurality of gripping arms (210) is moved parallel to one another to generally maintain an equal distance between each portion of each gripping arm (210) and the central plane (sometimes called a part alignment position). Sliding the wedge (240) in the first direction exerts a wedge force greater than the biasing force (216) on the gripping arms (210) via contact between the wedge (240) and the plurality of gripping arms (210).

[0037] At 1240, a cylindrical body (110, 120, 130) is placed into the area of the gripping arms (210) or the gripping arms (210) are placed around or near the cylindrical body (110, 120, 130).

[0038] At 1250, the wedge (240) is removed (i.e. moved in the opposite direction) to allow the gripping arms (210) to grip the cylindrical body (110, 120, 130) in alignment with the central plane / part alignment position. In particular, as the wedge (240) is removed, the biasing force (216) is exerted against the cylindrical body (110, 120, 130) by each gripping arm (210) to grip the cylindrical body (110, 120, 130). In this way, the cylindrical body (110, 120, 130) is gripped in alignment with the part alignment position regardless of the diameter of the cylindrical body (110, 120, 130).

[0039] As described herein, the wedge (240) may include a plurality of driving surfaces (250). Each gripping arm (210) may include at least one driven surface (212) parallel to a corresponding one of the plurality of driving surfaces (250). Moving each gripping arm (210) in a second direction may include moving each portion of each gripping arm (210) in response to contact between each of the plurality of driven surfaces (212) and each corresponding driving surface (250).

[0040] In some non-claimed examples, the method may further include: sliding the wedge (240) in the first direction again to cause movement of each of the plurality of gripping arms (210) against the biasing force (216) to allow the gripping arms (210) to release the cylindrical body (110, 120, 130) and thereby allow a new cylindrical body (110, 120, 130) to be gripped by the gripping arms.

[0041] It will be understood that a manufacturing process may be performed on the syringe barrel (110, 120, 130) when held in position by the gripper. For example, a needle (116, 126, 136) may be placed in each syringe barrel (110, 120, 130) (at the part alignment position) and glued in place as a part of the manufacture of syringes (101, 102, 103).

[0042] Figure 13A is a top view of a system 1300 in which a gripper 1305 is biased open and may be actuated to grip a cylindrical body, in this case a needle, cannula or the like, according to a non-claimed example herein. Figure 13B is a top view of the system 1300 in which the gripper 1305 is actuated to grip a cylindrical body. Figure 13C is a perspective top view of the system 1300. In this view, the gripper 1305 is shown biased open. Figure 13D is a perspective top view of the system 1300 in which the gripper 1305 is actuated to grip a cylindrical body. The system 1300 includes the gripper 1305 (two gripping arms 1310, a spring 1320), a housing 1330, and a driving wedge 1340. The system 1300 is similar in some ways to the system 200 but has an opposite bias.

[0043] The driving wedge 1340 is mounted in the housing 1330 and is slidable in a first direction (referred to as the Y direction in the present embodiment). Each gripping arm 1310 is pivotably mounted in the housing 1330 and is pivotable around an axis perpendicular to the Y direction (referred to as the Z direction in the present non-claimed example). Pivoting each gripping arm 1310 causes at least a portion of each gripping arm 1310 to move at least partially in a third direction (referred to as the X direction in the present non-claimed example) The two gripping arms 1310 may be moved together to grip a cylindrical body and / or moved apart to release a cylindrical body. In particular, movement of each gripping arm 1310 in the X direction may cause the two gripping arms 1310 to grip and / or release a cylindrical body, for example a cannula or needle 136.

[0044] Each gripping arm 1310 includes a driven surface 1312. The driving wedge 1340 includes two driving surfaces 1350. The driving wedge 1340 is biased by spring 1322 and may be moved in response to forces exerted on an activating bolt 1342. The spring 1320 exerts a bias force on each gripping arm 1310, causing each gripping arm to be biased to an open position. The two gripping arms 1310 are positioned such that contact between the driving surfaces 1350 and the driven surfaces of the gripping arms 1310 causes the gripping arms 1310 to pivot in response to movement of the driving wedge 1340 in the first direction. In other words, movement of the driving wedge 1340 causes the two gripping arms 1310 to grip and / or release a cylindrical body in a manner similar in some ways to the operation of the system 200.

[0045] A skilled person having the benefit of the present disclosure will appreciate that the embodiments disclosed herein may be employed in an automated assembly system further including a system, such as a pick-and-place system, to position a cylindrical body (including positioning the cylindrical body in the Z direction) at a predetermined position or positions, a pallet to support the systems or parts disclosed herein, and a transport system to transport the pallet to and from at least one workstation. In particular, a system for assembling a syringe may include a first station for loading syringe barrels, a second station for loading cannulas / needles, a third station for positioning the cannulas / needles and syringe barrels in relation to each other, a fourth station (which may be combined with the third station), at which adhesive or the like is applied to hold the cannulas / needles in place, and a fifth station where the assembled syringe barrel and cannula / needle are released for further processing.

[0046] In the preceding description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the example embodiments. However, it will be apparent to one skilled in the art that these specific details may not be required. In other instances, well-known structures may be shown in block diagram form in order not to obscure the understanding. It will be further understood that, where appropriate, aspects from one embodiment may be used in other embodiments.

[0047] What has been described is merely illustrative of the application of some embodiments. It will be understood that elements of each embodiment may be combined with elements of other embodiments and that not every element in an embodiment is required. For example, each embodiment may include more or fewer elements as would be understood by one of skill in the art on reading this description. Further, other systems, apparatus and methods can be implemented by those skilled in the art without departing from the scope of the invention, which is defined by the following claims.

Claims

1. A system (200) for gripping a cylindrical object, the system comprising: a housing (230); a pair of gripping arms (210) provided to the housing, with one gripping arm on an opposite side of a centerline plane from another gripping arm; and one single driving wedge (240) mounted in the housing and configured such that movement of the driving wedge moves each gripping arm in a pair towards or away from each other such that the gripping arms in a pair remain equidistant from the centerline plane, wherein each of the gripping arms in a pair is biased (216) toward or away from the centerline plane and the driving wedge is configured to move each gripping arm in a pair away from or toward the centerline plane, wherein each of the gripping arms comprises a driven surface (212) and the driving wedge comprises at least one driving surface (250) configured to match with the driven surface to move the related gripping arm, and characterised in that each of the plurality of gripping arms also comprise an additional driven surface symmetrical with the driven surface across a mirror plane of symmetry perpendicular to a first direction.

2. A system according to claim 1, wherein each of the gripping arms comprises: a connecting portion (214) having a first end and a second end opposite the first end; a gripping portion positioned at the first end; and the driven surface positioned at the second end.

3. A system according to claim 1, wherein each driven surface and driving surface are configured at complementary driving angles with respect to the centerline plane.

4. A system according to claim 3, wherein the driving angle is between 5 and 25 degrees.

5. A system according to claim 1, further comprising a cam, wherein the driving wedge is moveable in response to movement of the cam and the driving wedge is biased away from the pair of gripping arms.