Patent ID: 9010819
Filing Date: 2015-04-21
Classification: A61B,B25J,B65B,B65G,G01B,G01F,G01G,G01N,G01S,Y10T

Abstract:
1. A gripper unit for gripping a tube, the gripper unit comprising: a plurality of release elements; a plurality of elongated gripper fingers respectively associated with the plurality of release elements, the plurality of elongated gripper fingers adapted to move inward to grip the tube and outward to release the tube, the plurality of elongated gripper fingers comprising a plurality of first cavities, respectively; a mounting structure comprising a plurality of second cavities, wherein the plurality of elongated gripper fingers are removably coupled to the mounting structure by the plurality of release elements, respectively, wherein each release element comprises a plate, and a first sliding element and a second sliding element coupled to the plate, wherein the first sliding element is configured to pass through a first cavity in an elongated gripper finger in the plurality of elongated gripper fingers and a second cavity in the mounting structure to secure the elongated gripper finger to the mounting structure and to allow the elongated gripper finger to pivot inward about the first sliding element to grip the tube and outward about the first sliding element to release the tube, and wherein the second sliding element is configured to enable the first sliding element to release the elongated gripper finger when the second sliding element is pressed.