Gripping devices and methods thereof

Abstract

A device for gripping a cylindrical object comprises two gripping springs and an actuator, wherein: each gripping spring comprises a first end, a second end opposite the first end, and an arcuate section disposed therebetween; the gripping springs are disposed on the device such that the first ends are pivotally coupled to the device, and the arcuate sections oppose each other so as to define an opening through which the cylindrical object is inserted; and the actuator is mechanically coupled to at least one of the second ends of the gripping springs such that movement of the actuator causes the arcuate sections of the gripping springs to grip the cylindrical object when inserted into the opening.

What is claimed is: 
     
         1 . A device for gripping a cylindrical object, the device comprising:
 a body;   a first gripping spring having a first end and a second end opposite the first end, the first end of the first gripping spring coupled to the body;   a second gripping spring having a first end and a second end opposite the first end, the first end of the second gripping spring coupled to the body;   a first drive link coupled to the second end of the first gripping spring;   a second drive link coupled to the second end of the second gripping spring;   an actuator coupled to at least one of the first or second gripping springs such that a first movement of the actuator moves the first and second gripping springs from a first position to a second position and a second movement of the actuator moves the first and second gripping springs from the second position to the first position;   wherein the first and second gripping springs oppose each other so as to define a gripping area.   
     
     
         2 . The device of  claim 1 , wherein the first gripping spring comprises an arcuate section and the second griping spring comprises an arcuate section, wherein the arcuate sections of the respective first and second gripping springs form the gripping area. 
     
     
         3 . The device of  claim 1 , wherein the first and second movements are rotational movements. 
     
     
         4 . The device of  claim 1 , wherein the first and second movements are linear movements. 
     
     
         5 . The device of  claim 1 , wherein the first and second gripping springs are compliant gripping springs. 
     
     
         6 . The device of  claim 1 , wherein at least a portion of the first gripping spring and at least a portion of the second gripping spring comprises a high friction material. 
     
     
         7 . The device of  claim 6 , wherein the high friction material is a material selected from the group consisting of elastomer, urethane, and combinations thereof. 
     
     
         8 . The device of  claim 1 , wherein the actuator is a device selected from the group consisting of a manual actuator, servo motor, rotary solenoid, rotary pneumatic motor, and cam actuator. 
     
     
         9 . The device of  claim 1 , wherein the actuator is a cam bearing and corresponding cam plate. 
     
     
         10 . The device of  claim 1 , wherein the first position is a gripping position and the second position is a release position. 
     
     
         11 . The device of  claim 1 , further comprising an actuating link pivotally coupled to the first and second drive links, wherein the actuator is pivotally coupled to at least one of the first drive link, the second drive link or the actuating link. 
     
     
         12 . The device of  claim 11 , wherein the actuator is pivotally coupled to the first and second drive links. 
     
     
         13 . The device of  claim 12 , wherein the respective ends of the first and second drive links are pivotally coupled to the second ends of the respective first and second gripping springs. 
     
     
         14 . The device of  claim 11 , wherein the actuator is pivotally coupled to the actuating link. 
     
     
         15 . The device of  claim 14 , wherein the respective ends of the first and second drive links are pivotally coupled to the second ends of the respective first and second gripping springs. 
     
     
         16 . The device of  claim 1 , wherein:
 the first end of the first gripping spring is pivotally coupled to the body;   the first end of the second gripping spring is pivotally coupled to the body;   the first drive link is pivotally coupled to the second end of the first gripping spring;   the second drive link is pivotally coupled to the second end of the second gripping spring; and   the actuator is pivotally coupled to at least one of the first gripping spring or the second gripping spring.   
     
     
         17 . A device for gripping a cylindrical object, the device comprising:
 a body;   a first gripping spring having a first end, a second end opposite the first end, and an arcuate section disposed therebetween, the first end of the first gripping spring pivotally coupled to the body;   a second gripping spring having a first end, a second end opposite the first end, and an arcuate section disposed therebetween, the first end of the second gripping spring pivotally coupled to the body;   a first drive link pivotally coupled to the second end of the first gripping spring;   a second drive link pivotally coupled to the second end of the second gripping spring;   an actuating link pivotally coupled to the first and second drive links;   an actuator pivotally coupled to at least one of the first drive link, the second drive link or the actuating link and coupled to at least one of the second ends of the first and second gripping springs such that the actuator moves the first and second gripping springs between a first position and a second position;   wherein the arcuate sections of the first and second gripping springs oppose each other so as to define a gripping area.   
     
     
         18 . A method of gripping a cylindrical object, the method comprising:
 actuating the device of  claim 17  such that the first and second gripping springs move to the first position;   inserting a cylindrical object into the gripping area defined by the first and second gripping springs; and   actuating the first and second gripping springs from the first position to the second position such that the first and second gripping springs grip the cylindrical object disposed within the gripping area.   
     
     
         19 . The method of  claim 18 , further comprising actuating the first and second gripping springs from the second position back to the first position such that the first and second gripping springs release their grip on the cylindrical object and removing the cylindrical object from the gripping area. 
     
     
         20 . A method of removing a cap from a test tube, comprising:
 inserting a test tube into a gripping area defined by a first gripping spring and a second gripping spring of a gripping device, wherein the gripping device comprises:
 a body, 
 the first gripping spring having a first end and a second end opposite the first end, the first end of the first gripping spring coupled to the body, 
 the second gripping spring having a first end and a second end opposite the first end, the first end of the second gripping spring coupled to the body, 
 a first drive link coupled to the second end of the first gripping spring, 
 a second drive link coupled to the second end of the second gripping spring, and 
 an actuator coupled to at least one of the first or second gripping springs such that such that the actuator moves the first and second gripping springs between a first position and a second position; 
   actuating the first and second gripping springs to grip the test tube disposed within the gripping area;   inserting a cap that is connected to an open end of the test tube into a gripping area of a second gripping device;   actuating the second gripping device to grip the cap;   rotating the second gripping device while the cap is gripped by the second gripping device; and   moving the second gripping device away from the test tube while the cap is gripped by the second gripping device.