US 12,138,780 B2
Vessel gripper
Stephen White, Chester (GB)
Assigned to Azenta US, Inc., Burlington, MA (US)
Filed by Azenta US, Inc., Burlington, MA (US)
Filed on Jan. 20, 2021, as Appl. No. 17/153,835.
Claims priority of application No. 2000798 (GB), filed on Jan. 20, 2020.
Prior Publication US 2021/0221007 A1, Jul. 22, 2021
Int. Cl. B25J 15/00 (2006.01); B25J 13/08 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01); B65G 47/90 (2006.01); B25J 15/10 (2006.01)
CPC B25J 15/0038 (2013.01) [B25J 13/082 (2013.01); B65G 1/0464 (2013.01); B65G 1/137 (2013.01); B25J 15/103 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An apparatus for gripping a vessel, comprising:
a support structure having a center axis;
a motor; and
a gripper stage including:
a plurality of blades, each of the plurality of blades having a) a first end through which a blade rotation axis extends, the blade rotation axis being fixed relative to the support structure and offset from the center axis, b) a second end that is circumferentially and radially moveable to rotate the blade about the blade rotation axis, and c) a center portion located between the first end and the second end; and
a ring structure coupled to the motor to rotate the ring structure around the center axis, the ring structure, as it rotates, moving the second end of each blade around the center axis to rotate the blade about the blade rotation axis of the blade to shift the center portion towards the center axis to contact an outer portion of a vessel extending along the center axis.