Automated gripping mechanism

Abstract

To provide a preferable automated gripping mechanism.SOLUTION: A container gripping mechanism includes first and second linear rails disposed on opposed side surfaces of a linear rail mount. A first linear rail guide coupled to the first rail is supported on a first gripper finger mount, and a second linear rail guide coupled to the second rail is supported on a second gripper finger mount. A first gripper finger is secured to the first gripper finger mount, and a second gripper finger is secured to the second gripper finger mount. A pinion gear driven by a drive motor engages to racks attached to the first and second gripper finger mounts, such that rotation of a pinion in a first direction causes the first and second gripper fingers to move toward each other, and rotation of the pinion in a second direction causes the first and second gripper fingers to move away from each other.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] Disclosure Fields The present disclosure relates to a gripping mechanism for gripping containers, such as cylindrically shaped containers (eg, test tubes), having a vertical orientation. [Background technology]

[0002] In automated systems for processing liquids, elongated, elongated, liquid containers, such as test tubes, may be supported in an upright or vertical orientation, for example, in a rack configured to hold one or more such containers, or on a conveyor configured to transport the containers between locations in the system. Often, the structure supporting such containers encloses a lower portion of each container (e.g., the lower 25-50% of each container), such that an upper portion of each container extends above the support structure without any contact with adjacent containers or structures.

[0003] It is often necessary to grip an individual container supported in an upright orientation so that the container can be removed from the structure supporting it, transported to another location in the system, and then installed in another structure where the container will again be supported in such an upright orientation. Typically, a container can be gripped or grasped by contacting the container with a gripping element on the opposite side and applying an equal and opposite gripping force to force the container between the gripping elements. Often, such containers are supported in a spatially dense condition, with one or more other containers and / or other system structures located in close proximity to each container. In such a dense condition, particularly when the upper portion of each container extends above the support structure, it is often most practical to approach the container to be gripped with a gripping element from above the container, with the gripping element spreading far enough apart to allow the gripping element to be lowered from a position above the container to a position adjacent the opposite side of the container. At the same time, as the gripping elements are lowered, they are in close proximity to the container to be gripped and cannot spread out so far away that they would contact other containers or structures.

[0004] After the gripping elements are lowered into position adjacent opposite sides of a container, the gripping elements must be moved together toward one another to apply equal and opposite gripping forces to the sides of the container. Similarly, after a container is moved to a new location in the system, the gripping elements must release the container by moving away from one another, and must do so without contacting adjacent containers and / or other structures in close proximity to the released container. Due to the limited amount of space available adjacent each of the containers, the mechanism itself that actuates the gripping elements to move them together to grip the container, or move them apart to release the container, is most practically located vertically above the containers.

[0005] Thus, a need exists for a gripping mechanism that is capable of gripping elongated containers that are supported in an upright orientation and in close proximity to each other and / or other structures. Summary of the Invention [Means for solving the problem]

[0006] The following presents a simplified summary in order to provide a basic understanding of some aspects described herein. This summary is not an extensive overview of the claimed subject matter. It is not intended to either identify key or critical elements or to delineate the scope of the claimed subject matter. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

[0007] Examples described herein include a mechanism for gripping a container. The mechanism may include a linear rail mount having first and second laterally opposed sides. The first and second linear rails may be disposed on the first and second sides of the linear rail mount, respectively. The mechanism may include a first gripper finger mount including a first mounting flange disposed below the linear rail mount. A first linear rail guide may be supported on the first gripper finger mount and coupled with the first linear rail on the first side of the linear rail 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 rail mount. A second linear rail guide may be supported on the second gripper finger mount and coupled with the second linear rail on the second side of the linear rail mount. A second rack may be supported on the second gripper finger mount. The first gripper finger may be fixed to a first mounting flange of the first gripper finger mount and extend below the linear rail mount, and the second gripper finger may be fixed to a second mounting flange of the second gripper finger mount and extend below the linear rail mount. The mechanism may include a drive motor and a pinion gear coupled to the drive motor and engaged with the first and second racks, whereby rotation of the pinion gear by the drive motor in a first direction moves the first and second gripper fingers toward each other and rotation of the pinion gear by the drive motor in a second direction moves the first and second gripper fingers away from each other.

[0008] In some embodiments, the first linear rail guide of the first gripper finger mount may include a rail slot that receives the first linear rail, and the second linear rail guide of the second gripper finger mount may include a rail slot that receives the second linear rail.

[0009] In some embodiments, the first and second linear rails may be attached to the first and second sides, respectively, of the linear rail mounting portion by mechanical fasteners.

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

[0011] In some embodiments, the first linear rail guide of the first gripper finger mount may be secured within a slot formed in a vertical wall of the first gripper finger mount, and the second linear rail guide of the second gripper finger mount may be secured within a slot formed in a vertical wall of the second gripper finger mount.

[0012] In some embodiments, the mounting flange of each of the first and second gripper finger mounts may have a step formed within an edge of the mounting flange that faces the mounting flange of the other of the first and second gripper finger mounts.

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

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

[0015] In some embodiments, 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 embodiments, the mounting base of each of the first and second gripper fingers may have a step formed on an edge of the mounting base that faces the mounting base of 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 a lower end of the upper vertical section and an upper end of the lower vertical section, whereby 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 a lower end of the upper vertical section and an upper end of the lower vertical section, whereby 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.

[0018] In some embodiments, the upper vertical section, the lower vertical section, and the angled section may be formed from spacing bars.

[0019] In some examples, the gripper sections 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 gripping pad affixed to the angled gripping surface of each of the first and second gripper fingers.

[0021] In some embodiments, the elastomeric gripping pad may be formed from a fluoropolymer elastomer and a synthetic rubber compound.

[0022] In some embodiments, the rack of the first gripper finger mount is positioned outward from a first side of the linear rail mount and above an upper edge of the linear rail mount, and the rack of the second gripper finger mount is positioned outward from a second side of the linear rail mount and above an upper edge of the linear rail mount.

[0023] In some embodiments, the first and second gripper fingers may be configured to grip the container in an upright orientation from a position above the container.

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

[0025] Examples disclosed herein include a mechanism for gripping a container. The mechanism may include a linear rail mount having first and second lateral opposing sides and first and second linear rails disposed on the first and second sides of the linear rail mount, respectively. The mechanism may include a first gripper finger assembly including a first gripper finger and a first gripper finger mount, the first gripper finger mount may include a first linear rail guide coupled with the first linear rail on the first side of the linear rail mount and a first mounting flange disposed below the linear rail mount to which the first gripper finger is attached. The mechanism may include a second gripper finger assembly including a second gripper finger and a second gripper finger mount, the second finger gripper mount may include a second linear rail guide coupled to the second linear rail on a second side of the linear rail mount, and a second mounting flange disposed below the linear rail mount to which the second gripper finger is attached. The first and second gripper finger assemblies may be configured to be movable relative to one another to move the first and second gripper fingers toward or away from one another. The mechanism may additionally or alternatively include a drive motor coupled to the first and second gripper finger assemblies, whereby rotation of the drive motor in a first direction moves the first and second gripper fingers toward one another and rotation of the drive motor in a second direction moves the first and second gripper fingers away from one another. In some examples, the first gripper finger may include an upper vertical section, a lower vertical section, and an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby 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 that 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.In some embodiments, the second gripper finger may include an upper vertical section, a lower vertical section, and an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby 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 that is laterally offset from the lower vertical section so as 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 embodiments, the mechanism may additionally or alternatively include a pinion gear coupled to the drive motor and operatively engaged with the first and second racks.

[0028] Other features and characteristics of the subject matter of the present disclosure, and its method of operation, associated elements of construction and combination of parts, and economies of manufacture will become more apparent upon review of the following description and appended claims, with reference to the accompanying drawings, all of which form a part of this specification and in which like reference numerals designate corresponding parts in the various views. The present specification also provides, for example, the following items: (Item 1) A mechanism for gripping a container, the mechanism comprising: a linear rail mounting portion having first and second laterally opposed sides; first and second linear rails disposed on the first and second sides of the linear rail mounting portion, respectively; a first gripper finger mount including a first mounting flange disposed below the linear rail mount; a first linear rail guide supported on the first gripper finger mount and coupled to the first linear rail on the first side of the linear rail mount; a first rack supported on the first gripper finger mount; a second gripper finger mount including a second mounting flange disposed below the linear rail mount; a second linear rail guide supported on the second gripper finger mount and coupled to the second linear rail on the second side of the linear rail mount; a second rack supported on the second gripper finger mount; a first gripper finger secured to the first mounting flange of the first gripper finger mount and extending below the linear rail mount; a second gripper finger secured to the second mounting flange of the second gripper finger mount and extending below the linear rail mount; A drive motor; a pinion gear coupled to the drive motor and engaged with the first and second racks, whereby rotation of the pinion gear by the drive motor in a first direction moves the first and second gripper fingers toward one another and rotation of the pinion gear by the drive motor in a second direction moves the first and second gripper fingers away from one another; and A mechanism comprising: (Item 2) 2. The mechanism of claim 1, wherein the first linear rail guide of the first gripper finger mount includes a rail slot that receives the first linear rail, and the second linear rail guide of the second gripper finger mount includes a rail slot that receives the second linear rail. (Item 3) 3. The arrangement of claim 1 or 2, wherein the first and second linear rails are attached to the first and second sides of the linear rail mounting portion, respectively, by mechanical fasteners. (Item 4) The mechanism of any one of items 1-3, wherein the first gripper finger mount includes a vertical wall disposed adjacent to the first side of the linear rail mount, the first mounting flange of the first gripper finger mount extending laterally from a bottom end of the vertical wall of the first gripper finger mount and beyond the second side of the linear rail mount, and the second gripper finger mount includes a vertical wall disposed adjacent to the second side of the linear rail mount, and the second mounting flange of the second gripper finger mount extending laterally from a bottom end of the vertical wall of the second gripper finger mount and beyond the first side of the linear rail mount. (Item 5) 5. The mechanism of claim 4, wherein the first linear rail guide of the first gripper finger mount is secured within a slot formed in the vertical wall of the first gripper finger mount, and the second linear rail guide of the second gripper finger mount is secured within a slot formed in the vertical wall of the second gripper finger mount. (Item 6) The mechanism of any one of items 1-5, wherein the mounting flange of each of the first and second gripper finger mounts has a step formed in an edge of the mounting flange that faces the mounting flange of the other of the first and second gripper finger mounts. (Item 7) 7. The mechanism of claim 4 or 6, wherein the first rack is fastened to an upper edge of the vertical wall of the first gripper finger mount and the second rack is fastened to an upper edge of the vertical wall of the second gripper finger mount. (Item 8) 7. The mechanism of any one of items 1-6, wherein the first rack is fastened to the first gripper finger mount and the second rack is fastened to the second gripper finger mount. (Item 9) The mechanism described in any one of items 1-8, wherein the first gripper finger has a first mounting base connected to the first mounting flange of the first gripper finger mounting portion, and the second gripper finger has a second mounting base connected to the second mounting flange of the second gripper finger mounting portion. (Item 10) 10. The mechanism of claim 9, wherein the mounting base of each of the first and second gripper fingers has a step formed on an edge of the mounting base that faces the mounting base of the other of the first and second gripper fingers. (Item 11) The first gripper finger includes: An upper vertical section; A lower vertical section; an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; a gripper section laterally offset from the lower vertical section of the first gripper finger so as to be positioned closer to the second gripper finger than the lower vertical section of the first gripper finger; Equipped with The second gripper finger An upper vertical section; A lower vertical section; an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby the lower vertical section is laterally offset to a position closer to the first gripper finger than the upper vertical section; a gripper section laterally offset from the lower vertical section so as to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger; 11. The mechanism according to any one of items 1 to 10, comprising: (Item 12) Item 12. The mechanism of item 11, wherein the upper vertical section, the lower vertical section, and the angled section comprise spacing bars. (Item 13) 13. The mechanism of claim 11 or 12, wherein the gripper sections of each of the first and second gripping fingers include converging angled gripping surfaces. (Item 14) Item 14. The mechanism of item 13, further comprising an elastomeric gripping pad affixed to the angled gripping surface of each of the first and second gripper fingers. (Item 15) Item 15. The mechanism of item 14, wherein the elastomeric gripping pad comprises a fluoropolymer elastomer and a synthetic rubber compound. (Item 16) The mechanism of any one of items 1-15, wherein the rack of the first gripper finger mount is positioned outward from the first side of the linear rail mount and above an upper edge of the linear rail mount, and the rack of the second gripper finger mount is positioned outward from the second side of the linear rail mount and above an upper edge of the linear rail mount. (Item 17) 17. The mechanism of any one of claims 1-16, wherein the first and second gripper fingers are configured to grip a container in an upright orientation from a position above the container. (Item 18) 18. The apparatus of any one of claims 1-17, wherein the container comprises a test tube. (Item 19) A mechanism for gripping a container, the mechanism comprising: a linear rail mounting portion having first and second laterally opposed sides; first and second linear rails disposed on the first and second sides of the linear rail mounting portion, respectively; a first gripper finger assembly including a first gripper finger and a first gripper finger mount, the first gripper finger mount including a first linear rail guide coupled to the first linear rail on the first side of the linear rail mount and a first mounting flange disposed below the linear rail mount to which the first gripper finger is attached; a second gripper finger assembly including a second gripper finger and a second gripper finger mount, the second finger gripper mount including a second linear rail guide coupled with the second linear rail on the second side of the linear rail mount and a second mounting flange disposed below the linear rail mount to which the second gripper finger is attached, the first and second gripper finger assemblies being configured to be movable relative to one another to move the first and second gripper fingers toward or away from one another; a drive motor coupled to the first and second gripper finger assemblies, whereby rotation of the drive motor in a first direction moves the first and second gripper fingers toward one another and rotation of the drive motor in a second direction moves the first and second gripper fingers away from one another; Equipped with The first gripper finger includes: An upper vertical section; A lower vertical section; an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby the lower vertical section is laterally offset to a position closer to the second gripper finger than the upper vertical section; a gripper section laterally offset from the lower vertical section of the first gripper finger so as to be positioned closer to the second gripper finger than the lower vertical section of the first gripper finger; Equipped with The second gripper finger An upper vertical section; A lower vertical section; an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby the lower vertical section is laterally offset to a position closer to the first gripper finger than the upper vertical section; a gripper section laterally offset from the lower vertical section so as to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger; A mechanism comprising: (Item 20) 20. The mechanism of claim 19, wherein the first gripper finger assembly includes a first rack and the second gripper finger assembly includes a second rack, the mechanism further including a pinion gear coupled to the drive motor and operably engaged with the first and second racks. [Brief description of the drawings]

[0029] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate various embodiments of the presently disclosed subject matter, in which like reference numbers indicate identical or functionally similar elements.

[0030] [Figure 1] FIG. 1 is a perspective view of an automated gripping mechanism as described herein.

[0031] [Diagram 2] FIG. 2 is a partial end view of the gripping mechanism.

[0032] [Diagram 3] FIG. 3 is an exploded perspective view of the linear rail mount, first linear rail, first linear rail guide, and first gripper finger mount.

[0033] [Figure 4] FIG. 4 is an exploded perspective view of the linear rail mount and the first gripper finger mount.

[0034] [Diagram 5] FIG. 5 is an exploded perspective view of the linear rail mount and second linear rail of the gripping mechanism.

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

[0036] [Figure 7] FIG. 7 is a perspective view of the first gripper finger mount.

[0037] [Figure 8] FIG. 8 is a perspective view of the second linear rail.

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

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

[0040] [Figure 11]FIG. 11 is an exploded bottom perspective view of the first and second gripper fingers and first and second gripper finger mounts of the robotic gripping mechanism.

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

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

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

[0044] [Figure 15] FIG. 15 is a side elevational view of the first gripper finger and the capped container.

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

[0046] [Figure 17] FIG. 17 is a rear elevational view of the first gripper finger. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0047] Detailed Description While aspects of the presently disclosed subject matter may be embodied in a variety of forms, the following description and the accompanying drawings are intended to disclose some of these forms merely as illustrative examples of the subject matter, and thus, the presently disclosed subject matter is not intended to be limited to the forms or embodiments so described and illustrated.

[0048] Unless otherwise defined, all technical terms, designations, and other technical or technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. All patents, applications, published applications, and other publications referenced herein are incorporated by reference in their entirety. If a definition set forth in this section is contrary to or otherwise inconsistent with a definition set forth in a patent, application, published application, or other publication incorporated herein by reference, the definition set forth in this section shall take precedence over the definition incorporated herein by reference.

[0049] As used herein, unless otherwise indicated or suggested otherwise by context, "a" or "an" means "at least one" or "one or more."

[0050] This description may use various terms describing relative spatial arrangements and / or orientations or directions when describing the location and / or orientation of a component, device, location, feature, or portion thereof, or the direction of movement, force, or other dynamic action, including, but not limited to, top, bottom, above, below, under, on top of, upper, lower, left of, right of, in front of, behind, next to, and so forth, unless specifically stated or dictated otherwise by the context of the description. Such terms, including, to, adjacent, between, horizontal, vertical, diagonal, longitudinal, transverse, radial, axial, clockwise, counter-clockwise, and the like, are used for convenience in referring to such components, devices, locations, features, or portions thereof, or movements, forces, or other dynamic actions within the drawings, and are not intended to be limiting.

[0051] Unless otherwise stated, any specific dimensions set forth in this description merely represent example implementations of devices embodying aspects of the present disclosure and are not intended to be limiting.

[0052] The use of the term "about" applies to all numerical values ​​set forth herein, whether or not expressly indicated. The term generally refers to a range of numbers that a person of ordinary skill in the art would consider, in the context of this disclosure, a reasonable amount of deviation (i.e., having an equivalent function or result) from the recited numerical values. For example, without intending to be limiting, the term can be interpreted as including a deviation of ±10 percent of a given numerical value, provided that such deviation does not alter the terminal function or result of the value. Thus, in some circumstances, as would be understood by a person of ordinary skill in the art, a value of about 1% can be interpreted as being in the range of 0.9% to 1.1%.

[0053] As used herein, the term "adjacent" refers to being near or next to one another. Adjacent objects may be spaced apart from one another or may be in actual or direct contact with one another. In some cases, adjacent objects may be joined to one another or formed integrally with one another.

[0054] As used herein, the terms "substantially" and "substantial" refer to a very large degree or extent. For example, when used in conjunction with an event, circumstance, characteristic, or property, the terms can refer to instances where the event, circumstance, characteristic, or property occurs precisely, as well as instances where the event, circumstance, characteristic, or property occurs close to an approximation, such as taking into account typical tolerance levels or variability of the embodiments described herein.

[0055] FIG. 1 is a perspective view and FIG. 2 is an end view of an example of an automated mechanism 10 for gripping items disclosed herein. In an example, the mechanism may be configured to grip longitudinally elongated items, such as containers oriented in a vertical upright manner, such as test tubes, with or without a cap surrounding the open end of the container. Mechanism 10 may be a robotic control component of a pick-and-place mechanism that provides lateral and vertical movement of mechanism 10 and 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 and second gripper finger assemblies 40, 70 are configured to be movable relative to one another to move the first and second gripper fingers 100, 130 toward or away from one another to selectively grip or release items with gripper fingers 100, 130. 1 shows the mechanism 10 in a first or open position with the first and second gripper fingers 100, 130 positioned away from each other. A drive motor 160 is coupled to the first and second gripper finger assemblies 40, 70 such that rotation of the drive motor 160 in a first direction moves the first and second gripper fingers 100, 130 toward each other and rotation of the drive motor 160 in a second direction moves the first and second gripper fingers 100, 130 away from each other. The drive motor 160 may be any motor that can be operated in a torque mode or a current control mode. For example, the drive motor 160 may be a DC brush motor or a brushless DC motor. The drive motor may alternatively comprise a stepper motor with precise electronic drive control.

[0056] One or more position sensors may be provided on the first gripper finger assembly 40 and / or the second gripper finger assembly 70 to monitor the position status of the gripper finger assemblies. Exemplary sensors include optical sensors, such as sensor 180, shown in FIG. 1, which may include a spaced 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 statuses that may be monitored include a fully open gripper finger 10, a fully closed gripper mechanism 10 with no container (e.g., test tube) present between the gripper fingers 100, 130, or a fully closed gripper mechanism 10 with a container present between the gripper fingers 100, 130. Additionally, the sensor may be configured to detect different sized containers between the fully closed gripper fingers 100, 130.

[0057] Mechanism 10 includes a linear rail mount 20 having a first side 22 and a second side 24 laterally opposite first side 22. Linear rail mount 20 generally bisects mechanism 10 between the first and second sides of the mechanism, which may be mirror images of one another.

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

[0059] As shown in Figure 3, in the illustrated embodiment, the first linear rail 26 includes a top groove 25 that extends vertically along a top of the horizontally oriented first linear rail 26 and a bottom groove 27 that extends vertically along a bottom of the horizontally oriented first linear rail 26. As shown in Figures 5 and 8, in the illustrated embodiment, the second linear rail 30 includes a top groove 37 that extends vertically along a top of the horizontally oriented second linear rail 30 and a bottom groove 38 that extends vertically along a bottom of the horizontally oriented second linear rail 30.

[0060] 1, 2 and 3, in one embodiment, the first gripper finger assembly 40 includes a first gripper finger mount 42 disposed on the first side 22 of the linear rail mounting portion 20 and a first side linear rail guide 52 disposed between the first gripper finger mount 42 and the first side 22 of the linear rail mounting portion 20 to receive the first linear rail 26. The second gripper finger assembly 70 includes a second gripper finger mount 72 disposed on the second side 24 of the linear rail mounting portion 20 and a second side linear rail guide 82 disposed between the second gripper finger mount 72 and the second side 24 of the linear rail mounting portion 20 to receive the second linear rail 30.

[0061] As shown in Figures 2, 3, 4, 6, and 7, in one embodiment, the first finger gripper finger mount 42 includes a vertical wall 44 disposed adjacent the first side 22 of the linear rail mount 20, and the first mounting flange 48 of the first finger gripper finger mount 42 may extend laterally from a bottom end of the vertical wall 44 beyond the second side 24 of the linear rail mount 20 (see Figures 1 and 2). Similarly, as can be seen in Figures 2 and 11, the second gripper finger mount 72 includes a vertical wall 74 disposed adjacent the second side 24 of the linear rail mount 20, and the second mounting flange 78 of the second finger gripper finger mount 72 extends laterally from a bottom end of the vertical wall 74 beyond the first side 22 of the linear rail mount 20. In one embodiment, the second gripper finger mount 72 is a mirror image of the first gripper finger mount 42. Features of the first side linear rail guides 52 of the first gripper finger assembly 40 are shown in Figures 3, 6, 9, and 10. In one embodiment, the first gripper finger assembly 40 includes two first side linear rail guides 52 arranged end to end to accommodate the entire length of the first linear rail 26. Each of the first side linear rail guides 52 are identical, so only one is shown in the drawings and described below.

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

[0063] 1 and 2, the second side linear rail guides 82 of the second gripper finger assembly 70 are disposed within rail guide slots 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 rail guides 82 arranged end to end to accommodate the entire length of the second linear rail 30.

[0064] Each second side linear rail guide 82 has a similar (or the same) configuration as the first side linear rail guide 52 and receives and engages a portion of the second linear rail 30 and top and bottom grooves 37, 38 in the same manner that the first side linear rail guide 52 receives and engages the first linear rail 26 and top and bottom grooves 27, 28. In particular, each second side linear rail guide 82 includes a rail slot 84 that slidably receives the second linear rail 30, and may include an upper ridge 86 (or row of bearings) extending longitudinally along a top side of the rail slot 84 and a lower ridge 88 (or row of bearings) extending longitudinally along a bottom side of the rail slot 84. An upper ridge 86 of each second side linear rail guide 82 extends into the top groove 37 of the second linear rail 30, and a lower ridge 88 extends into the bottom groove 38 of the second linear rail 30. The rail guide slots 84 and at least the sides of the upper and lower ridges 86, 88 may be made from a low friction material (e.g., a self-lubricating plastic). Exemplary low friction materials may include Delrin, ultra-high molecular weight polyethylene (UHMW), Teflon, and acetal.

[0065] As shown in FIG. 7, the width W of the vertical wall 44 of the first gripper finger mounting portion 42 44 is the width W of the first mounting flange 48 48 In one embodiment, the width W 44 is the width W of the linear rail guide 52 on each first side 52 In one embodiment, the width W 44 is the width W 48 Similarly, although not labeled in the drawings, the width of vertical wall 74 of second gripper finger mount 72 is greater than the width of second mounting flange 78 and is approximately twice the width of linear rail guide 82 on each second side.

[0066] The first linear rail 26 is fixed to the first side 22 of the linear rail mounting portion 20 and the linear rail guides 52 on each first side are mounted to the vertical wall 44 of the first gripper finger mounting portion 42, so that the first gripper finger assembly 40, including the first gripper finger mounting portion 42, the first side linear rail guides 52, and the first gripper finger 100, is supported on the upper side of the first linear rail 26. Additionally, the second linear rail 30 is fixedly attached to the second side 24 of the linear rail mounting portion 20 and the linear rail guides 82 on each second side are mounted to the vertical wall 74 of the first gripper finger mounting portion 72, so that the second gripper finger assembly 70, including the second gripper finger mounting portion 72, the second side linear rail guides 82, and the second gripper fingers 130, is supported on the upper side of the second linear rail 36.

[0067] In one embodiment, to minimize mechanical play between the first and second gripper assemblies 40, 70 and the linear rail mounting portion 20, there are strict 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] Exemplary first and second linear rails 26, 30 are precision grade model number SRS 5M rails with light preload (-1 to 0 μm) available from THK. Linear rail guides 52, 82 may comprise model number SRS 5M block linear bearing rail carriages available from THK.

[0069] Details of the mounting of the first and second gripper fingers 100, 130 on the first and second gripper finger mounts 42, 72, respectively, are shown in FIG. 11, and details of the first and second gripper fingers 100, 130 are shown in FIGS. 11-17. In one embodiment, 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 rail mount 20. The first gripper finger 100 includes a first mounting base 102 having connector holes 103, 105 formed therein that align with connector holes 47, 49, respectively, formed in the first mounting flange 48 of the first gripper finger mount 42 (see FIG. 11) through which a connector (e.g., a screw, bolt, rivet, etc.) (not shown) may be inserted. 13 and 14, in one embodiment, the mounting base 102 of the second gripper finger 100 has a step 104 formed in an edge of the mounting base that faces the mounting base of the second gripper finger 130. In the embodiment shown, the connector holes 103, 105 of the mounting base 102 are arranged diagonally relative to one another as opposed to laterally adjacent to one another, and the connector hole 103 is formed in a front, non-stepped portion of the mounting base 102. Similarly, the connector holes 47, 49 of the first mounting flange 48 are arranged diagonally relative to one another as opposed to laterally adjacent to one another, and the connector hole 47 is formed in a front, non-stepped portion of the mounting flange 48.

[0070] In one embodiment, 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 rail mount 20. In a further embodiment, the second gripper finger 130 includes a first mounting base 132 having connector holes 133, 135 formed therein that are aligned with connector holes 77, 79, respectively, formed in the second mounting flange 78 of the second gripper finger mount 72 (see FIG. 11 ) through which a connector (e.g., a screw, bolt, rivet, etc.) (not shown) may be inserted. As shown in FIG. 12 , in one embodiment, the mounting base 132 of the second gripper finger 130 has a step 134 formed in an edge of the mounting base that faces the mounting base 102 and the step 104 of the first gripper finger 100. In the embodiment shown, the connector holes 133, 135 of the mounting base 132 and the connector holes 77, 79 of the second mounting flange 78 (see FIGS. 11 and 12) are arranged diagonally relative to one another, as opposed to laterally adjacent to one another.

[0071] In one embodiment, the first gripper finger 100 comprises an upper vertical section 106, a lower vertical section 108, and an angled section 110 between a lower end of the upper vertical section 106 and an upper end of the lower vertical section 108. The lower vertical section 108 is thus laterally offset by a length 112 (FIG. 15) to a position closer to the second gripper finger 130 than the upper vertical section 106. Referring to FIGS. 12-14, the first gripper finger 100 further includes a gripper section 114 that is laterally offset by an amount 116 (see FIG. 15) from the lower vertical section 108 such that the lower vertical section 108 is positioned closer to the second gripper finger 130 than the lower vertical section 108.

[0072] In one embodiment, the gripper section 114 includes converging angled gripping surfaces 118, 120. As shown in FIG. 16, the gripper section 114 may also include an elastomeric gripping pad 122 that covers the angled gripping surfaces 118, 120. Suitable materials for the gripping pad 122 provide good chemical and abrasion resistance. Exemplary materials for the gripping pad 122 include fluoropolymer elastomers and synthetic rubber compounds available from DuPont under the brand name Viton®.

[0073] Similarly, the second gripper finger 130 comprises an upper vertical section 136, a lower vertical section 138, and an angled section 130 between a lower end of the upper vertical section 136 and an upper end of the lower vertical section 138. Thus, 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 that is laterally offset from the lower vertical section 138 such that the angled section 130 is located closer to the first gripper finger 100 than the lower vertical section 138.

[0074] In one embodiment, 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, the lower vertical section 108, and the angled section 110 of the first gripper finger 100 include spacing bars 124, 126. Similarly, the upper vertical section 136, the lower vertical section 138, and the angled section 140 of the second gripper finger 130 include spacing bars 154, 156.

[0076] As shown in FIG. 15 , the converging angled gripping surfaces 118, 120 of the first gripper finger 100 enable the gripper fingers to grip the tubular body 172 of the container 170. The lateral offset 116 between the gripper section 114 and the lower vertical section 108 provides a clearance for the cap 174 of the container 170 that is wider than the tubular body 172. When the container is gripped by the mechanism 10, the container 170 is gripped between the first gripper finger 100, which contacts one side of the tubular body 172 of the container 170 below the cap 174, and the second gripper finger 130, which contacts the opposite side of the tubular body 172 of the container 170 below the cap 174, as shown in FIG. 15 (although not shown in FIG. 15 , the second gripper finger 130 would be a mirror image of the first gripper finger 100).

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

[0078] The pinion gear 162 is operatively coupled to the drive motor 160, for example, by being attached to a drive shaft of the drive motor 160. The pinion gear 162 is disposed between the first rack 60 and the second rack 90, with its teeth engaged with the rack teeth 62 and the rack teeth 92. Thus, rotation of the pinion gear 162 by the drive motor 160 causes the rack 60, and the first gripper finger mount 42 and the first lateral linear rail guide 52, to slide in a first direction relative to the first linear rail 26, and causes the rack 90, and the second gripper finger mount 72 and the second lateral linear rail guide 82, to slide in a second opposite direction relative to the second linear rail 30. Thus, rotation of the pinion gear 162 by the drive motor 160 in a first direction moves the first and second gripper fingers 100, 130, which are mounted on the first and second gripper finger mounts 42, 72, respectively, toward each other (e.g., to grip an item, such as the tubular body 172 of a container 170 (see FIG. 15 )), and rotation of the pinion gear 162 by the drive motor 160 in a second, opposite direction moves the first and second gripper fingers 100, 130 away from each other (e.g., to release an item or to move the gripper fingers far enough apart that the mechanism 10 can be lowered and the gripper fingers will remove the cap 174). A sensor (not shown) mounted on the housing is communicatively coupled to the drive motor 160 and instructs the drive motor 160 when to stop moving the first and second gripper fingers 100, 130 towards each other.

[0079] The step 50 formed in the first mounting flange 48 of the first gripper finger mount 42 is aligned with the step 104 of the first mounting base 102 of the first gripper finger 100. Similarly, the step 80 formed in the second mounting flange 78 of the second gripper finger mount 72 is aligned with the step 134 of the second mounting base 132 of the second gripper finger 130. Furthermore, the steps 50 and 104 are mirror images of the steps 80 and 134, respectively. As the first and second gripper fingers 100, 130 are moved toward one another, the steps 50, 104 fit within the steps 80, 134, respectively, allowing the first and second gripper fingers 100, 130 to be moved closer together than would be possible if the mounting flanges 48, 78 and mounting bases 102, 132 were not stepped.

[0080] 15, when the first gripper finger 100 is closed to grip an item, such as a container 170, a gripping force F applied at the gripper section 114 is G is a reaction torsional moment M G Similarly, when the second gripper fingers 130 are closed to grip an item, such as a container 170, the gripping force F applied at the gripper section 144 is F G and M. G (not shown). The configuration of the gripper fingers 100, 130 and the manner in which each gripper finger 100, 130 is mounted to its respective gripper finger mount 42, 72 generates a reaction torsional moment M at the second mounting base 132 in an opposite direction to the gripper finger mount 42, 72. G and the resulting torsional moment M G The gripper fingers 100, 130 are designed to minimize the amount of deflection of each gripper finger 100, 130 due to

[0081] First, the angled sections 110 and 140 of the first and second gripper fingers 100, 130, respectively, provide lateral stiffness to each gripper finger (in the forward and backward directions relative to the direction of movement of the gripper fingers 100, 130) to reduce the gripping force F G This limits lateral back and forth 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 due to the above.

[0082] Second, gripping force F G The longitudinal length of the mounting base 102 of the first gripper finger 100 in a direction parallel to the direction of the axial extension of the mounting flange 48, the diagonal arrangement of the connector holes 103, 105, and 47, 50, and the forward positioning of the connector holes 103, 47 in the non-stepped portion of the first mounting base 102 and the first mounting flange 48, respectively, provide a torsional moment M with limited or no torsional deflection of the first gripper finger 100 on the first mounting base 102. G The mounting of the second gripper finger 130 similarly counteracts the torsional moment M with limited or no torsional deflection of the second gripper finger 100 at the second mounting base 132. G The stepped configuration of the first and second mounting flanges 48, 78 and the first and second mounting bases 102, 132 counteracts the torsional moment M G 144。

[0033] The gripper finger assemblies 40, 70 provide a longitudinally long mounting surface to react against the gripper segments 114, 144 while also allowing the first and second gripper finger assemblies 40, 70 to move the individual gripper segments 114, 144 in close proximity to one another.

[0083] Furthermore, the width W of the first mounting flange 48 48 , the relatively long width W of the two first side linear rail guides 52. 52 The relatively long width W of the vertical wall 44 of the first gripper finger mounting portion 42, which supports the 44 is the torsional moment M G2, while minimizing torsion of the first gripper finger assembly 40. Similarly, the relatively long width of the vertical wall 74 of the second gripper finger mounting portion 72, which supports the relatively long width of the two second side linear rail guides 82 compared to the width of the second mounting flange 78, minimizes torsional moment M G 4. To counteract the force of the second gripper finger assembly 70, a long engaging contact is provided between the second side linear rail guide 82 and the second linear rail 30 while minimizing twisting of the second gripper finger assembly 70. Exemplary embodiments

[0084] Aspects of the present disclosure are summarized by the following numbered embodiments.

[0085] Embodiment 1: A mechanism for gripping a container, the mechanism comprising:

[0086] a linear rail mounting portion having first and second laterally opposed sides;

[0087] first and second linear rails disposed on first and second sides of the linear rail mounting portion, respectively;

[0088] a first gripper finger mount including a first mounting flange disposed below the linear rail mount;

[0089] a first linear rail guide supported on the first gripper finger mount and coupled to the first linear rail on a first side of the linear rail mount;

[0090] a first rack supported on the first gripper finger mount;

[0091] a second gripper finger mount including a second mounting flange disposed below the linear rail mount;

[0092] a second linear rail guide supported on the second gripper finger mount and coupled to a second linear rail on a second side of the linear rail mount;

[0093] a second rack supported on the second gripper finger mount; and

[0094] a first gripper finger secured to a first mounting flange of the first gripper finger mount and extending below the linear rail mount;

[0095] a second gripper finger secured to a second mounting flange of the second gripper finger mount and extending below the linear rail mount;

[0096] A drive motor;

[0097] a pinion gear coupled to the drive motor and engaged with the first and second racks, whereby rotation of the pinion gear by the drive motor in a first direction moves the first and second gripper fingers toward one another and rotation of the pinion gear by the drive motor in a second direction moves the first and second gripper fingers away from one another; A mechanism comprising:

[0098] Embodiment 2: A mechanism as described in embodiment 1, wherein the first linear rail guide of the first gripper finger mount has a rail slot that receives the first linear rail, and the second linear rail guide of the second gripper finger mount has a rail slot that receives the second linear rail.

[0099] Embodiment 3: The mechanism of embodiment 1 or 2, wherein the first and second linear rails are attached to the first and second sides of the linear rail mounting portion, respectively, by mechanical fasteners.

[0100] Embodiment 4: A mechanism described in any one of embodiments 1-3, wherein the first gripper finger mounting portion includes a vertical wall positioned adjacent to a first side of the linear rail mounting portion, and a first mounting flange of the first gripper finger mounting portion extends laterally from a bottom end of the vertical wall of the first gripper finger mounting portion beyond a second side of the linear rail mounting portion, and the second gripper finger mounting portion includes a vertical wall positioned adjacent to the second side of the linear rail mounting portion, and a second mounting flange of the second gripper finger mounting portion extends laterally from a bottom end of the vertical wall of the second gripper finger mounting portion beyond the first side of the linear rail mounting portion.

[0101] Embodiment 5: A mechanism as described in embodiment 4, wherein the first linear rail guide of the first gripper finger mounting portion is secured within a slot formed in a vertical wall of the first gripper finger mounting portion, and the second linear rail guide of the second gripper finger mounting portion is secured within a slot formed in a vertical wall of the second gripper finger mounting portion.

[0102] Embodiment 6: A mechanism described in any one of embodiments 1-5, wherein each mounting flange of the first and second gripper finger mounting portions has a step formed within an edge of the mounting flange that faces the other mounting flange of the first and second gripper finger mounting portions.

[0103] Embodiment 7: A mechanism described in embodiment 4 or 6, wherein the first rack is fastened to the upper edge of the vertical wall of the first gripper finger mounting portion and the second rack is fastened to the upper edge of the vertical wall of the second gripper finger mounting portion.

[0104] Embodiment 8: A mechanism described in any one of embodiments 1-6, wherein the first rack is fastened to a first gripper finger mount and the second rack is fastened to a second gripper finger mount.

[0105] Embodiment 9: A mechanism described in any one of embodiments 1-8, wherein the first gripper finger has a first mounting base connected to a first mounting flange of the first gripper finger mounting portion, and the second gripper finger has a second mounting base connected to a second mounting flange of the second gripper finger mounting portion.

[0106] Embodiment 10: The mechanism of embodiment 9, wherein each mounting base of the first and second gripper fingers has a step formed on an edge of the mounting base that faces the other mounting base of the first and second gripper fingers.

[0107] Embodiment 11: The first gripper finger comprises an upper vertical section, a lower vertical section, and an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby 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 such that the first gripper finger is positioned closer to the second gripper finger than the lower vertical section of the lower gripper finger. The mechanism described in any one of embodiments 1-10, wherein the 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, whereby 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 so as to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger.

[0108] Embodiment 12: The mechanism of embodiment 11, wherein the upper vertical section, the lower vertical section, and the angled section comprise spacing bars.

[0109] Embodiment 13: A mechanism described in embodiment 11 or 12, wherein the gripper sections of each of the first and second gripping fingers comprise converging angled gripping surfaces.

[0110] Embodiment 14: The mechanism of embodiment 13, further comprising an elastomeric gripping pad affixed to each angled gripping surface of the first and second gripper fingers.

[0111] Embodiment 15: The mechanism of embodiment 14, wherein the elastomeric gripping pad comprises a fluoropolymer elastomer and a synthetic rubber compound.

[0112] Embodiment 16: A mechanism described in any one of embodiments 1-15, wherein the rack of the first gripper finger mount is positioned outward from a first side of the linear rail mount and above the upper edge of the linear rail mount, and the rack of the second gripper finger mount is positioned outward from a second side of the linear rail mount and above the upper edge of the linear rail mount.

[0113] Embodiment 17: The mechanism described in any one of embodiments 1-16, wherein the first and second gripper fingers are configured to grip a container in an upright orientation from a position above the container.

[0114] Embodiment 18: The mechanism of any one of embodiments 1-17, wherein the container comprises a test tube.

[0115] Embodiment 19: A mechanism for gripping a container, the mechanism comprising:

[0116] a linear rail mounting portion having first and second laterally opposed sides;

[0117] first and second linear rails disposed on the first and second sides of the linear rail mounting portion, respectively;

[0118] a first gripper finger assembly including a first gripper finger and a first gripper finger mount, the first gripper finger mount including a first linear rail guide coupled to the first linear rail on the first side of the linear rail mount and a first mounting flange disposed below the linear rail mount to which the first gripper finger is attached;

[0119] a second gripper finger assembly including a second gripper finger and a second gripper finger mount, the second finger gripper mount including a second linear rail guide coupled to the second linear rail on the second side of the linear rail mount and a second mounting flange disposed below the linear rail mount to which the second gripper finger is attached, the first and second gripper finger assemblies being configured to be movable relative to one another to move the first and second gripper fingers toward or away from one another;

[0120] a drive motor coupled to the first and second gripper finger assemblies, whereby rotation of the drive motor in a first direction moves the first and second gripper fingers toward one another and rotation of the drive motor in a second direction moves the first and second gripper fingers away from one another; Equipped with

[0121] the first gripper finger comprises an upper vertical section, a lower vertical section, an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby 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 such that the first gripper finger is positioned closer to the second gripper finger than the lower vertical section of the first gripper finger;

[0122] the second gripper finger comprises an upper vertical section, a lower vertical section, an angled section between a lower end of the upper vertical section and an upper end of the lower vertical section, whereby 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 so as to be positioned closer to the first gripper finger than the lower vertical section of the second gripper finger.

[0123] Embodiment 20: The mechanism of embodiment 19, wherein the first gripper finger assembly includes a first rack and the second gripper finger assembly includes a second rack, and the mechanism further includes a pinion gear coupled to the drive motor and operably engaged with the first and second racks.

[0124] Although the subject matter of the present disclosure has been described and illustrated in great detail with reference to certain illustrative embodiments, including various combinations and subcombinations of features, those skilled in the art will readily appreciate other embodiments and variations and modifications thereof that are encompassed within the scope of the present disclosure. Moreover, the description of such embodiments, combinations, and subcombinations is not intended to convey that the claimed subject matter requires any features or combinations of features other than those expressly recited in the claims. Thus, the scope of the present disclosure is intended to include all modifications and variations that are encompassed within the scope of the following appended claims.

Claims

[Claim 1] The invention described in this specification.

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