Gripper assembly for improved handling of delicate produce

Abstract

An assembly for gripping fish comprising: a pair of gripper elements, each gripper element comprising: at least one elongate member; and a gripper foot, the gripper foot at a second end of the at least one elongate member; at least one gripper guide having a pair of guide tracks to guide each gripper element; each of the gripper elements further comprising a part proximate a first end of the at least one elongate member confined within its corresponding guide track of the gripper guide; and at least one linear actuator arranged in-between the gripper elements, a first end of the linear actuator having a point of contact positioned between a first end and a second end of a first of the pair of gripper elements and a second end of the linear actuator having a point of contact positioned between a first end and a second end of a second of the pair of gripper elements; wherein the assembly is configured such that when the at least one linear actuator extends longitudinally it applies a substantially outward force on each of the gripper elements proximate their second end causing the respective part of each gripper element confined to the track to move along its corresponding track in a substantially inward direction and causing each gripper foot to extend substantially outwards.

Description

[0001] GRIPPER ASSEMBLY FOR IMPROVED HANDLING OF DELICATE PRODUCE

[0002] Background

[0003] The present invention relates to a gripper assembly for picking up, and optionally repositioning food items, in particular fish. Some food items, such as fish, are delicate and can be prone to damage from mechanical processing and packaging equipment. One solution to this problem may be to replace elements that engage with the food items with softer materials. However, this solution has several disadvantages, for example the equipment may be less hard-wearing requiring more frequent replacement, and the equipment less precise in manipulation of the food items. Also, the softer materials may be more prone to damage from cleaning agents and more susceptible to pathogens and bacterial build-up.

[0004] Thus, the present invention presents a gripper assembly which provides a solution to the above-described problems with prior gripper-type devices.

[0005] Summary of the Invention

[0006] According to an aspect of the invention there is provided an assembly for gripping fish comprising: a pair of gripper elements, each gripper element comprising: at least one elongate member; and a gripper foot, the gripper foot at a second end of the at least one elongate member; at least one gripper guide having a pair of guide tracks to guide each gripper element; each of the gripper elements further comprising a part proximate a first end of the at least one elongate member confined within its corresponding guide track of the gripper guide; and at least one linear actuator arranged in-between the gripper elements, a first end of the linear actuator having a point of contact positioned between a first end and a second end of a first of the pair of gripper elements and a second end of the linear actuator having a point of contact positioned between a first end and a second end of a second of the pair of gripper elements; wherein the assembly is configured such that when the at least one linear actuator extends longitudinally it applies a substantially outward force on each of the gripper elements proximate their second end causing the respective part of each gripper element confined to the track to move along its corresponding track in a substantially inward direction and causing each gripper foot to extend substantially outwards.

[0007] The guide tracks to guide each gripper element may be configured to accommodate a latitudinal displacement of the gripper element that occurs as a result of ensuring an end of the gripper element furthest from the gripper guide follows a constant longitudinal plane at all positions of the assembly between the open and closed position inclusive.

[0008] The guide tracks may be arched-shaped.

[0009] The assembly may be configured to move between an open position and a closed position; wherein, in the open position, a distance between the first end of the pair of gripper elements is at a minimum, and a distance between the pair of gripper feet is at a maximum; and wherein, in the closed position, the distance between the first end of the pair of gripper elements is at a maximum, and the distance between the pair of gripper feet is at a minimum.

[0010] The part, proximate the first end of the at least one elongate member, of each of the pair of gripper elements may comprise a protrusion.

[0011] The pair of gripper elements comprises a left gripper element and a right gripper element, and the assembly further comprises a central clamp element, the central clamp element comprising: a clamp plate; at least one left-hand rod pivotally connected at a first end to the clamp plate; at least one right-hand rod pivotally connected at a first end to the clamp plate; wherein a second end of the left-hand rod is pivotably coupled to the left gripper element and a second end of the righthand rod is pivotably coupled to the right gripper element such that when the linear actuator extends longitudinally, a distance between a pivot point between the lefthand rod and the left gripper element, and a pivot point between the right-hand rod and the right gripper is increased causing a reduction in an internal angle between the clamp plate and respective left-hand and right-hand rods, causing retraction of the clamp plate in a direction towards the guide element.

[0012] The assembly may be further configured such that: when the assembly is in the open position, the clamp element is retracted; and when the assembly is in the closed position, the clamp element is extended.

[0013] The assembly may further comprise at least one pair of interlocking toothed gear members; wherein each toothed gear member is fixedly connected to its corresponding gripper element; and wherein the assembly is further configured such that when the at least one linear actuator extends longitudinally, an outward motion of a part of the elongate member of the gripper element to which the interlocking toothed gear member is attached causes co-rotation of the interlocking toothed gear with respect to each other to cause symmetrical outward movement of the pair of gripper elements.

[0014] The assembly is further configured such that: when the assembly is in the open position, the interlocking toothed gears are interlocked at teeth proximate to the gripper guide; and when the assembly is in the closed position, the interlocking toothed gears are interlocked at teeth closest to the clamp plate.

[0015] The at least one linear actuator may be pivotably connected at the first end to one of the pair of gripper elements and is slidably connected at the second end to the other of the pair of gripper elements.

[0016] The at least one left-hand rod and the at least one right-hand rod of the clamp element may have a mutual pivot point with the clamp plate; and an internal angle between the at least one left-hand rod and the at least one righthand rod is configured to increase as the assembly moves from the closed position to the open position. The assembly may have a first plane of substantial symmetry, said plane defined by: a first axis parallel with a length of the assembly; and a second axis orthogonal to the direction of linear extension of the linear actuator; and wherein each of the pair of elements in the assembly lies on either side of the first plane of substantial symmetry.

[0017] Each of the gripper feet may comprise: a substantially L-shaped cross-section in a second plane defined by a direction of linear extension of the at least one linear actuator and a height of the assembly; and a taper to an inner end point, the inner end points of the pair of gripper feet facing adjacent one another.

[0018] The assembly may further comprise a rigid frame, the pair of gripper elements rotatably connected to the rigid frame.

[0019] The clamp element may further comprise a lateral support supported by the rigid frame, configured to extend and retract in a lateral direction as the assembly moves between the closed and open position, respectively.

[0020] The interlocking gear members is an integral member may comprise: a series of cooperating teeth; a protrusion to provide the part of the gripper element proximate a second element of the elongate member confined within its corresponding guide track; a pivotable connection point to couple the second end of the respective rod to the respective gripper element; and a rotatable connection point to rotatably connect the rigid frame to the assembly.

[0021] The at least one linear actuator may comprise two linear actuators; the at least one gripper guide comprises two gripper guides; the at least one elongate member of each gripper element comprises two elongate members; the at least one lefthand rod of the clamp element comprises two left-hand rods; the at least one righthand rod of the clamp element comprises two right-hand rods; and the at least one pair of interlocking toothed gears comprises two pairs of interlocking toothed gears; wherein the two linear actuators, two gripper guides, two elongate members, two left-hand rods, two right-hand rods and two pairs of interlocking toothed gears are substantially symmetric to each other about a second plane, said second plane is defined by: a first axis parallel to a height of the assembly; and a second axis lying in a direction of linear actuation .

[0022] According to a second aspect of the invention there is provided a method for improved handling of delicate food items, comprising: aligning a food item and a gripping assembly; moving the gripping assembly from an open position to a closed position wherein leading edges of the gripper feet are encouraged underneath the food item in a scooping-type motion to grip the food item in the gripping assembly; moving the gripping assembly with the gripped food item to a desired food item drop location wherein, as gripper feet of the assembly open beyond a predetermined point a tipping angle is achieved for precise and delicate placement of the food item; and maintaining a constant height of the gripper assembly throughout the handling of said delicate food item.

[0023] A method for improved handling of delicate food items according to the second aspect, wherein the gripping assembly may be the gripping assembly according the first aspect.

[0024] Brief Description of the Drawings

[0025] Fig. 1 is a side-on view of a gripper assembly according to the invention in an open position;

[0026] Fig. 2a is a top-down view of the gripper assembly according to the invention in the open position;

[0027] Fig. 2b is a front-on view of the gripper assembly according to the invention in the open position;

[0028] Fig. 2c is a bottom-up view of the gripper assembly according to the invention in the open position;

[0029] Fig. 3a is a top-down view of the gripper assembly according to the invention in a closed position; Fig. 3b is a front-on view of the gripper assembly according to the invention in the closed position;

[0030] Fig. 3c is a bottom-up view of the gripper assembly according to the invention in the closed position;

[0031] Fig. 4 is a flowchart of the process of the gripper assembly as it moves from the closed position to the open position;

[0032] Fig. 5a is a side-on view of the gripper assembly according to the invention in the closed position;

[0033] Fig. 5b is a side-on view of the gripper assembly according to the invention in an intermediate position between the closed position and the open position;

[0034] Fig. 5c is a side-on view of the gripper assembly according to the invention in the open position;

[0035] Fig. 6a is a perspective view of the gripper assembly according to the invention in the closed position; and

[0036] Fig. 6b is a perspective view of the gripper assembly according to the invention in the open position.

[0037] Detailed Description

[0038] Unless otherwise defined, all terms of art, notations and other scientific terms or terminology used herein are intended to have the meanings commonly understood by those of skill in the art to which this invention pertains. In some cases, terms with commonly understood meanings are defined herein for clarity and / or for ready reference, and the inclusion of such definitions herein should not necessarily be construed to represent a substantial difference over what is generally understood in the art.

[0039] Figures 1 to 3c and 5a to 6b show various views of an example gripper assembly 100 according to the invention.

[0040] Figure 1 is a side-on view of the example gripper assembly 100 in an open position. The gripper assembly 100 has a pair of gripper elements including a left gripper element 110a and a right gripper element 110b, a linear actuator 104, a gripper guide 106 having a pair of guide tracks including a left guide track 108a and a right guide track 108b, a central clamp element 120, and a pair of interlocking toothed gear members including a left toothed gear member 130a and a right toothed gear member 130b. The left gripper element 110a has an elongate member 111 a and a gripper foot 112a. The right gripper element 110b has an elongate member 111 b and a gripper foot 112b. The left gripper foot 112a is at a second end E2a of the elongate member 111 a. The right gripper foot 112b is at a second end E2b of the elongate member 111 b.

[0041] In the in use orientation, the gripper guide is at the top-most part of the gripper assembly, the gripper elements extend downwards from the gripper guide from a first end to a second end. The gripper feet are at the bottom-most part of the gripper assembly, and are at the second end of the gripper elements. The actuator has a point of contact with each of the pair of gripper elements, said point of contact between the first end and the second end of respective gripper elements, in particular the point of contact of either side of the actuator is towards (proximate) the second end of the corresponding gripper element. The actuator extends in-between the pair of gripper elements.

[0042] The central clamp element 120 has a clamp plate 122, a left-hand rod 124a, and a right-hand rod 124b. The left-hand rod and the right-hand rod are pivotally connected Pi to the clamp plate 122 at their respective first ends. The left-hand rod 124a and the right-hand rod 124b have an internal angle [3 which changes with respect to a changing position of the assembly 100. The left-rod 124a and the clamp plate 122 have an internal angle ai which changes with respect to the changing position of the assembly 100. The right-hand rod 124b and the clamp plate 122 have an internal angle 02 which also changes with respect to the changing position of the assembly 100.

[0043] The interlocking gear members include a left gear member 130a and a right gear member 130b. In the example of the figures, the left gear member 130a is an integral part having a series of cooperating teeth and a protrusion 134a to provide the part of the gripper element proximate a first end E1a of the elongate member confined within its corresponding guide track 108a. The right gear member 130b is also an integral part having a series of cooperating teeth and a protrusion 134b to provide the part of the gripper element proximate a first end E1 b of the elongate member confined within its corresponding guide track 108b. In another example, the protrusion is integral with the gripper element and the gear member is a separate part coupled to the gripper element.

[0044] The assembly 100 also has a rigid frame 140, the first and second gripper elements are rotatably connected to the rigid frame 140. The left gear member 130a is pivotably connected to the rigid frame 140 via a pivot connection point P4. The right gear member 130b is also pivotably connected to the rigid frame 140 via a pivot connection point P5.

[0045] The assembly 100 is generally symmetric from the side-on view of figure 1 about the line-of-symmetry PS1.

[0046] With particular reference to figures 2a to 3c, 6a and 6b, the assembly extends backwards (lengthways) and is, thus, a three-dimensional, generally cuboidal structure. As shown in figure 3a and 3b, the assembly has a second line of substantial symmetry PS2 in the middle of the length of the assembly. Many of the elements described with reference to figure 1 have a matching pair on the other side of the second line of substantial symmetry PS2.

[0047] More specifically and with reference to figure 1 , 6a and 6b, the assembly 100 has a first plane of substantial symmetry (PS1 ). A first axis of PS1 is a length L of the assembly and a second axis of PS1 is a height H of the assembly.

[0048] With reference to figures 3a to 3c, 6a and 6b, the assembly has a second plane of substantial symmetry (PS2). A first axis of PS2 is the height H of the assembly and a second axis of PS2 is a direction of linear actuation DA. Thus, on a second side of PS2, the assembly 100 has a second linear actuator 104’, a second gripper guide 106’, a second pair of left and right elongate members 111a’, 111 b’ for the left and right gripper elements respectively, a second pair of left and right-hand rods 124a’, 124b’ of the clamp element, a second pair of interlocking toothed gears 130a’, 130b’, and a second rigid frame 140’.

[0049] The gripper feet 112a, 112b extend the length L of the assembly 100 and couple symmetrical elements on the first side of PS2 to symmetrical elements on the second side. Further spokes 154a, 154b connect the first gripper guide 106 to the second gripper guide 106’. Each of the gripper feet have a substantially L-shaped cross-section (in the plane PS2) tapering to an inner end point. The inner end points of the pair of gripper feet face adjacent one another.

[0050] A plurality of spokes extends between the symmetric elements about PS2 to provide a framework structure which reinforces the assembly. The plurality of spokes are connected between the first and second rigid frames 140, 140’. Spokes also connect respective frames 140, 140’ to the clamp element 120, and the first and second gripper guides 106, 106’. A pair of spokes 152a, 152b of the plurality of spokes, symmetric about PS1 , extend between the first and second interlocking toothed gears and support respective left and right-hand rods 124a, 124b. The first left-hand rod 124a and the second left-hand rod 124a’ are rotatably connected to the spoke 152a on the left side of PS1 . The first right-hand rod 124b and the second right-hand rod 124b’ are rotatably connected to the spoke 152b on the right side of PS1 . The rods 124 can rotate with respect to respective elongate members of the gripper elements. Thus, the clamp element is connected to the opening mechanism so that it automatically engages with a picked item when the assembly closes. The rods 124 have biasing members in the form of compression springs, the bias direction towards the closed position of the assembly 100. This has the effect that the clamp plate is a spring-loaded plate which facilitates keeping the picked item stationary.

[0051] As best shown in figure 5b, the clamp element 120 also has a lateral support 126 which is suspended by the first and second rigid frames 140, 140’ via orthogonal spokes. The lateral support 126 is configured to extend and retract in a lateral direction as the assembly moves between the closed and open position, respectively.

[0052] Figure 4 is a flowchart 200 of the movement of the gripper assembly as it moves from the closed position to the open position. At 10, the assembly is in the closed position. The assembly 100 at step 10 of the flowchart 200 is demonstrated in figure 5a. In the closed position, a distance d1 between the protrusion 134a of the left gripper element and the protrusion 134b of the right gripper element is at a maximum. A distance d2 between a tip of the gripper feet 112a, 112b is at a minimum. The clamp element 120 is extended and the clamp plate 122 proximate the gripper feet 112. The linear actuator 104 is longitudinally retracted and the interlocking toothed gear members are rotated towards the top of the assembly 100. In the closed position, the assembly 100 has a height H. In the closed position of step 10 as shown in figure 5a, an item such as a fish to be gripped and / or lifted and / or moved by the assembly, is securely held between the gripper feet 112 and the clamp plate 122.

[0053] With further reference to figure 5a, in the closed position, the distance d1 is around 50mm to 100mm, preferably 80mm to 100mm. Furthermore, in the closed position, the distance d2 is around 5mm to 20mm, preferably 5mm to 15mm, more preferably 10mm. In the closed position, the height H is around 150mm to 250mm, preferably 180mm to 220mm, more preferably 205mm. In the closed position a distance d3 between the clamp plate and leadings edges of the gripper feet is around 10mm to 20mm, preferably 16mm.

[0054] At step 20, the linear actuator 104 begins to extend longitudinally. The longitudinal extension of the linear actuator 104 pushes both the left and right gripper elements 110a, 110b outwards at a point of contact between the linear actuator and the gripper elements 110a, 110b. As shown in figure 2c, these points of contact are Si, Si ’, ps and ps’. In an example assembly having two linear actuators, one either side of PS2, the linear actuators are configured to extend in synchronicity. Thus, extension of the linear actuator(s) results in several actions 30a, 30b, 30c of elements of the assembly 100. A first resultant action 30a is that the protrusion at the first end E1 a, E1 b of each of the gripper elements moves inward along its respective guide track. A second resultant action 30b is that the clamp element, connected at the end of both the left and right-hand rods 124a, 124b to the moving gripper elements, is drawn upwards. A third resultant action 30c is that the interlocking gear elements, fixedly connected to the gripper elements, rotate downwards.

[0055] Figure 5b shows the assembly 100 in an intermediate position between the closed and open position of the assembly 100. The distance d1 has decreased as the protrusions of respective gripper elements have moved inwards. The distance d2 has increased as the gripper feet 112a, 112b swing outwards away from each other. The height H of the assembly 100 remains the same since the additional height created by the tilting of the gripper feet 112a, 112b is accommodated by raising the gripper elements 110a, 110b with respect to the assembly. This is achieved by the arc-shape of the guide tracks 108a, 108b. Specifically, as the gripper foot starts to swing out, the tilting of the blade extends downwards, yet the arc extends upwards. #The guide tracked in the example of the figures are arcshaped. In another example the guide tracks are V-shaped. In a yet further example the guide tracks are shaped to provide the effect of accommodate raising of the gripper elements to maintain a constant height of the assembly throughout opening and closing positions.

[0056] With further reference to figure 5b, in the intermediate position, the distance d1 is around 40mm to 80mm, preferably 55mm to 75mm. Furthermore, in the intermediate position, the distance d2 is around 70mm to 110mm, preferably 80mm to 100mm, more preferably 90mm. In the intermediate position, the height H remains constant and is around 150mm to 250mm, preferably 180mm to 220mm, more preferably 205mm. In the intermediate position a distance d3 between the clamp plate and leadings edges of the gripper feet is around 20mm to 40mm, preferably 32mm. As the linear actuator extends towards its maximum extended position, the protrusions of the gripper elements continue to move inward along their respective guide tracks, the gripper feet swing further outwards, the interlocking gears rotate further downward, and the clamp element retracts further upwards. The gripper feet continue to be in the downward tilted position, however the upward swing of the gripper elements reduces the height H of the overall apparatus. This is offset by the arc shape of the guide track. Specifically, the guide track arches downward from a halfway extension point, urging the gripper elements downwards to compensate for the retraction of height from outward extension of the gripper elements.

[0057] At step 40 of flowchart 200, the linear actuator is fully extended and at 50 the assembly is in the open position as demonstrated by figure 5c. As shown in figure 5c, the distance d1 is at a minimum and distance d2 is at a maximum, yet height H remains the same in comparison to the assembly in the closed or intermediate position. In the open position, the distance d1 is around 15mm to 65mm, preferably 30mm to 50mm. Furthermore, in the open position, the distance d2 is around 150mm to 200mm, preferably 160mm to 180mm, more preferably 170mm. In the open position, the height H remains constant and is around 150mm to 250mm, preferably 180mm to 220mm, more preferably 205mm. In the open position the distance d3 between the clamp plate and leadings edges of the gripper feet is around 30mm to 50mm, preferably 39mm.

[0058] To move from the fully open position to the fully closed position, the process of flowchart 200 is reversed. Thus, the linear actuator retracts, causing respective gripper arms to rotate about their pivot points P4, P5 such that gripper feet are drawn together, and the protrusions are pulled apart. Synchronously, the left and right-hand rods of the clamp element are pulled apart pulling the clamp plate outwards, and the interlocking toothed gears rotate upwards.

[0059] Rotation of the interlocking toothed gears as the assembly moves between the open and the closed position ensures that movement of the left and right gripper elements is symmetric. With further reference to figure 5c, the assembly further comprises a left belt element 160a and a right belt element 160b. The left belt element 160a comprises a left belt knob 162a for fastening of a belt, a left belt guide 164a and a left belt 166a. The right belt element 160b is substantially similar to the left belt element 160a but symmetric about PS1 . The right belt element 160b comprises a right belt knob 162b for fastening of belt, a right belt guide 164b and a right belt 166b. The belts 166 are preferably fabric belts, to facilitate capture of food items without damage. The belts 166 also facilitate a predictable release of a food item when the assembly 100 moves to the open position.

[0060] Figure 6a shows the gripper assembly 100 in the closed position from a perspective view and figure 6b shows the gripper assembly 100 in the open position from a perspective view.

[0061] Since the gripper elements 110a, 110b follow their respective arc-shaped guide tracks 108a, 108b, at any position of the assembly 100, no part of the gripper element (i.e. an end of the gripper element furthest from the gripper guide) extends beyond a predetermined boundary in the lateral direction. In this way, a height of the assembly remains constant at all points throughout its movement between the open and closed position. This ensures that a leading edge 114a, 114b of each of the gripper feet 112a, 112b (i.e. a first edge to engage the food item) follow a linear horizontal plane from the open to the close position. Thus, the leading edges 114a, 114b of the gripper feet are encouraged underneath the food item in a scooping-type motion as opposed to a picking-type motion which is prone to damaging the food item. For example, the assembly of the invention avoids pinching the food item, unlike other arrangement, which could cause harm to the item and degrade its quality. The effect of the arrangement of the gripper assembly herein is that the resulting movement of the gripper feet is at an angle which is substantially horizontal as the feet close in on the picked food item, as well as allowing for a tipping angle as the feet open beyond a predetermined point which is helpful for precise and delicate food item placement. The assembly 100 may be installed as part of a larger apparatus, such as an apparatus for sorting fish. The assembly 100 may be fixed in position whilst item storage or transport parts deliver items through the path of the assembly wherein the assembly 100 is designed to close and scoop the item between the clamp plate and the closed gripper feet. Thus, the constant height of the assembly 100 may also ensure other elements in the larger apparatus are not obstructed, or collided into, by the gripper assembly 100.

[0062] A yet further advantage of the assembly of the invention, and in particular of the constant height of the apparatus and of the leading edges 114a, 114b of the gripper elements moving along a fixed longitudinal (horizontal) plane, is that the food item will keep its orientation from the surface it is picked from, for example a conveyor belt, table, shelf, or any flat surface. Since the position of the leading edge 114a, 114b is constant in the y direction (with respect to the axes in figure 6a) an orientation of the food item remains the same when delivered by the assembly 100. Thus, the food item will not flip, slip or rotate about the z axis or the x axis.

[0063] With further reference to the axes in figure 6a: the longitudinal (horizontal plane) lies in the x-z plane; and the lateral direction lie along the y-axis.

[0064] Having described preferred examples of the invention it will be apparent to those skilled in the art that other embodiments incorporating the invention may be used. These and other examples of the invention illustrated above are intended by way of example only and the actual scope of the invention is to be determined from the appended claims.

Claims

P A T E N T C L A I M S1 . An assembly for gripping fish comprising: a pair of gripper elements, each gripper element comprising: at least one elongate member; and a gripper foot, the gripper foot at a second end of the at least one elongate member; at least one gripper guide having a pair of guide tracks to guide each gripper element; each of the gripper elements further comprising a part proximate a first end of the at least one elongate member confined within its corresponding guide track of the gripper guide; and at least one linear actuator arranged in-between the gripper elements, a first end of the linear actuator having a point of contact positioned between a first end and a second end of a first of the pair of gripper elements and a second end of the linear actuator having a point of contact positioned between a first end and a second end of a second of the pair of gripper elements; wherein the assembly is configured such that when the at least one linear actuator extends longitudinally it applies a substantially outward force on each of the gripper elements proximate their second end causing the respective part of each gripper element confined to the track to move along its corresponding track in a substantially inward direction and causing each gripper foot to extend substantially outwards.

2. The assembly claim 1 , wherein the guide tracks to guide each gripper element are configured to accommodate a latitudinal displacement of the gripper element that occurs as a result of ensuring an end of the gripper element furthest from the gripper guide follows a constant longitudinal plane at all positions of the assembly between the open and closed position inclusive.

3. The assembly of claim 2, wherein the guide tracks are arched-shaped.

4. The assembly of any of claims 1 to 3, wherein the assembly is configured to move between an open position and a closed position; wherein, in the open position, a distance between the first end of the pair of gripper elements is at a minimum, and a distance between the pair of gripper feet is at a maximum; and wherein, in the closed position, the distance between the first end of the pair of gripper elements is at a maximum, and the distance between the pair of gripper feet is at a minimum.

5. The assembly of any preceding claim, wherein the part, proximate the first end of the at least one elongate member, of each of the pair of gripper elements comprises a protrusion.

6. The assembly of any preceding claim, wherein the pair of gripper elements comprises a left gripper element and a right gripper element, and the assembly further comprises a central clamp element, the central clamp element comprising: a clamp plate; at least one left-hand rod pivotally connected at a first end to the clamp plate; at least one right-hand rod pivotally connected at a first end to the clamp plate; wherein a second end of the left-hand rod is pivotably coupled to the left gripper element and a second end of the right-hand rod is pivotably coupled to the right gripper element such that when the linear actuator extends longitudinally, a distance between a pivot point between the left-hand rod and the left gripper element, and a pivot point between the right-hand rod and the right gripper is increased causing a reduction in an internal angle between the clamp plate and respective left-hand and right-hand rods, causing retraction of the clamp plate in a direction towards the guide element.

7. The assembly of claim 6, wherein the assembly is further configured such that:when the assembly is in the open position, the clamp element is retracted; and when the assembly is in the closed position, the clamp element is extended.

8. The assembly of any preceding claim, further comprising at least one pair of interlocking toothed gear members; wherein each toothed gear member is fixedly connected to its corresponding gripper element; and wherein the assembly is further configured such that when the at least one linear actuator extends longitudinally, an outward motion of a part of the elongate member of the gripper element to which the interlocking toothed gear member is attached causes co-rotation of the interlocking toothed gear with respect to each other to cause symmetrical outward movement of the pair of gripper elements.

9. The assembly of claim 8, wherein the assembly is further configured such that: when the assembly is in the open position, the interlocking toothed gears are interlocked at teeth proximate to the gripper guide; and when the assembly is in the closed position, the interlocking toothed gears are interlocked at teeth closest to the clamp plate.

10. The assembly of any preceding claim, wherein the at least one linear actuator is pivotably connected at the first end to one of the pair of gripper elements and is slidably connected at the second end to the other of the pair of gripper elements.11 . The assembly of any of claims 7 to 10, wherein: the at least one left-hand rod and the at least one right-hand rod of the clamp element have a mutual pivot point with the clamp plate; and an internal angle between the at least one left-hand rod and the at least one right-hand rod is configured to increase as the assembly moves from the closed position to the open position.

12. The assembly of any preceding claim, wherein the assembly has a first plane of substantial symmetry, said plane defined by: a first axis parallel with a length of the assembly; and a second axis orthogonal to the direction of linear extension of the linear actuator; and wherein each of the pair of elements in the assembly lies on either side of the first plane of substantial symmetry.

13. The assembly of any preceding claim, wherein each of the gripper feet comprises: a substantially L-shaped cross-section in a second plane defined by a direction of linear extension of the at least one linear actuator and a height of the assembly; and a taper to an inner end point, the inner end points of the pair of gripper feet facing adjacent one another.

14. The assembly of any preceding claim, further comprising a rigid frame, the pair of gripper elements rotatably connected to the rigid frame.

15. The assembly of claim 14, wherein the clamp element further comprises a lateral support supported by the rigid frame, configured to extend and retract in a lateral direction as the assembly moves between the closed and open position, respectively.

16. The assembly of any of claims 14 or 15, wherein each of the interlocking gear members is an integral member comprising: a series of cooperating teeth; a protrusion to provide the part of the gripper element proximate a second element of the elongate member confined within its corresponding guide track; a pivotable connection point to couple the second end of the respective rod to the respective gripper element; anda rotatable connection point to rotatably connect the rigid frame to the assembly.

17. The assembly of any preceding claim, wherein: the at least one linear actuator comprises two linear actuators ; the at least one gripper guide comprises two gripper guides ; the at least one elongate member of each gripper element comprises two elongate members; the at least one left-hand rod of the clamp element comprises two left-hand rods; the at least one right-hand rod of the clamp element comprises two right-hand rods; and the at least one pair of interlocking toothed gears comprises two pairs of interlocking toothed gears; wherein the two linear actuators, two gripper guides, two elongate members, two left-hand rods, two right-hand rods and two pairs of interlocking toothed gears are substantially symmetric to each other about a second plane, said second plane is defined by: a first axis parallel to a height of the assembly; and a second axis lying in a direction of linear actuation .

18. A method for improved handling of delicate food items, comprising: aligning a food item and a gripping assembly; moving the gripping assembly from an open position to a closed position wherein leading edges of the gripper feet are encouraged underneath the food item in a scooping-type motion to grip the food item in the gripping assembly; moving the gripping assembly with the gripped food item to a desired food item drop location wherein, as gripper feet of the assembly open beyond a predetermined point a tipping angle is achieved for precise and delicate placement of the food item; and maintaining a constant height of the gripper assembly throughout the handling of said delicate food item.

19. A method for improved handling of delicate food items according to claim18, wherein the gripping assembly is the gripping assembly according any of claims 1 to 17.

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