Patent Description:
Specimen containers are used in laboratory environments for storing and transporting specimens to be tested. Specimen containers come in a variety of sizes depending on the characteristics or the amount of a specimen needing to be stored or transported. Industry standards may also dictate the type of container to be used for transporting a particular specimen.

Multiple sizes of specimen containers may be delivered to a laboratory for specimen testing. The containers are typically sealed with a screw-on container cap. Consequently, testing specimens is typically a time-consuming and labor-intensive process, requiring removal of the cap, extraction of a specimen sample from the container, and re-installation of the cap. It is therefore desirable to develop a system and method that could be adapted to disparate styles and sizes of specimen containers, perform the operation quickly, and utilize a minimally-complex mechanical arrangement so as to maximize reliability.

Current systems for capping and decapping containers, including containers typically employed in laboratory environments, utilize rotary assemblies which grip either or both of the container body and cap. These systems have employed actuated blades, fingers, cushions, clamps and jaws, actuated electrically, pneumatically or hydraulically to grip an element with enough force and precision so as to be capable of applying a sufficient amount of torque to enable the sealing or unsealing of the container. A hand-held, non-automated coupler is described in <CIT>. Such systems typically require complex linkages and control systems in order to provide the requisite gripping force and mechanical dexterity. Furthermore, such systems rely on the use of elongated fingers as guides to prevent misalignment between splines on shafts and the corresponding receiving bore through elastic rotational force. Such systems as described also lack the sensor capabilities to effectively monitor the position of an ejector assembly. The complexity of these systems is detrimental to their overall reliability and presents an impediment to quickly adapting the systems to accommodate a variety of container sizes, shapes and styles.

Consequently, there is a need for a mechanically reliable, adaptable system to effectively grip a cap and/or container, apply a specific amount of torque or rotation, and then release the element.

According to the present invention there is provided an apparatus for capping and decapping a container according to claim <NUM> and a related method for using said apparatus according to claim <NUM>. Preferred embodiments of the claimed invention are defined in the dependent claims.

The present disclosure further describes a system and method, not falling under the scope of the appended claims, for gripping, torqueing and tightening/releasing an element so as to cap and/or decap a container, such as those typically utilized to carry specimens in laboratory environments. The system is driven by a single bi-directional motor linked to a coupler assembly via a rotating threaded shaft. The coupler assembly is configured to engage with a cap or container via mechanically-biased splines that are actuated without any complex linkages, or operative connection to the motor or other powered components. The system employs an ejector nut and an ejector, both of which are concentrically positioned about the threaded shaft. The ejector nut translates along the shaft as a function of the shaft's rotation, so as to permit the retraction of the ejector when an element is engaged in the coupler assembly, or to cause the ejector to extend into the coupler assembly thereby disengaging the element. The direction and rotation of the motor is controlled by a system coupled to sensors positioned within the system. Such control system may include one or more processors, component interfaces, and data storage/memory. The sensors may include multiple optical, magnetic or mechanical means for monitoring one or more of the positions of the ejector nut and ejector along the threaded shaft and/or the rotational position of the coupler assembly.

The coupler assembly is specific to a particular container or cap configuration. It is designed to mate with a cap or container having a specific radius, and mechanically-biased splines are specifically adapted to mate or engage with surface features of the cap or container or both. Furthermore, because the mechanically biased splines are not operatively connected to the bi-directional motor, or other powered components, the coupling assemblies can be easily connected/disconnected from the system. This permits the system to be quickly adapted to handle new or different cap/container configurations. The system may be employed in a fixed position, with the containers being transported in and out of the coupler assembly by a separate conveyance system. The system may also be positioned upon a movable gantry or articulated armature, enabling it to move relative to the position of a container or separate conveyance system. Therefore, the system and method can either be configured to deliver the capped container to the capper/decapper or deliver the capper/decapper to the capped container.

The features, aspects, and advantages of the present invention will become better understood with regard to the following description, appended claims, and accompanying drawings in which:.

This patent application relates to an apparatus for capping and decapping containers. In particular, this patent application relates to a container capper/decapper that can remove and replace a screw-on container cap.

<FIG> and <FIG> depict an exemplary embodiment of a capper/decapper system according to one embodiment of the present disclosure. As illustrated, the system <NUM> has four main components: the motor <NUM>, the transmission <NUM>, the driver mechanism <NUM>, and the coupler assembly <NUM>.

In an exemplary embodiment, motor <NUM> is a DC-powered, brushless motor, such as those available Maxon Precision Motors, Falls River, MA. This type of motor offers a high-degree of controllability, when mated with a position controller, such as the EPOS and MAXPOS controllers available from Maxon Precision Motors, Inc. The position controller is interfaced with a capper/decapper control system (not illustrated), that may include one or more processors, component interfaces, and data storage/memory. It will be understood that any suitably controllable drive means could be utilized in place of the DC-powered, brushless motor. This could include other electric motors (stepper, AC-powered, etc.) or pneumatically driven motors.

Motor <NUM> is shown to be coupled to driver assembly <NUM> by transmission <NUM>. In one embodiment, transmission <NUM> is a <NUM>:<NUM> step-down ratio gearbox. This gearing ratio delivers a predetermined torque range and angular-positional accuracy to threaded drive shaft <NUM> facilitating the capping and uncapping of a particular container type. In a particular embodiment of the disclosure, the mean torque delivered by the motor is limited to a maximum of <NUM> mNm (millinewton meters). Other gear ratios, including <NUM>:<NUM>, or direct drive are contemplated, and selection of a specific gear ratio depends from the particular motor and the types of caps/containers the system is intended to operate with.

As shown in <FIG>, driver mechanism <NUM> includes ejector <NUM>, ejector nut <NUM>, coupler assembly sensor <NUM>, ejector sensor <NUM>, ejector nut sensor <NUM>, ejector nut alignment shaft <NUM>, and threaded drive shaft <NUM>.

<FIG> provide a bottom, top, side and perspective views, respectively, of ejector nut <NUM>. In one preferred embodiment of the disclosure, ejector nut <NUM> is shown to have six blades <NUM> extending radially from the threaded central channel <NUM>, and six alignment grooves <NUM> situated around the circumference of ejector nut base <NUM>. Although in this particular embodiment, six top blades and six alignment grooves are shown, only one of each is required for system operation. This feature redundancy is a design choice and simplifies the alignment of the ejector nut during assembly of driver mechanism <NUM>. Threaded central channel <NUM> is dimensioned to mate with threaded shaft <NUM>.

<FIG> show a partial side view, and a partial cross-sectional side view, respectively, of driver mechanism <NUM>. <FIG> shows cowling <NUM> of the driver mechanism. A portion of ejector nut <NUM> can be viewed through cut-out <NUM>. As illustrated in <FIG>, the outermost surface <NUM> of ejector nut <NUM> is preferably dimensioned so as to create a gap <NUM> between it and inner wall <NUM> of cowling <NUM>. Ejector <NUM> is shown, in cross-section, positioned below ejector nut <NUM>. This is further illustrated in <FIG>, which provides a top cross-sectional view of driver mechanism <NUM>. As illustrated, the outermost radius <NUM> of ejector nut <NUM> is less than the inner radius <NUM> of cowling <NUM>. This creates gap <NUM> between ejector nut <NUM> and inner wall <NUM> of cowling <NUM>. <FIG> also illustrates the dimensional relationship between alignment groove <NUM> and ejector nut alignment shaft <NUM>. Groove <NUM> is contoured to conform to the shape of ejector nut alignment shaft <NUM>, so as to prevent the rotation of the ejector nut. However, alignment groove <NUM> is preferably dimensioned so as to allow for a gap <NUM> between the outer surface of the groove and the outer surface of ejector nut alignment shaft <NUM>. Gap <NUM> permits ejector nut <NUM> to translate along threaded shaft <NUM> as a function of the shaft's rotation (driven by transmission <NUM>), unimpeded by ejector nut alignment shaft <NUM>.

<FIG> provide a bottom, top, side and perspective views, respectively, of ejector <NUM>. In a preferred embodiment of the disclosure, ejector <NUM> is shown to have three elongated ejection rods <NUM> extending from the ejector's bottom surface <NUM>, which has a circular cross-section. Although three such rods are depicted in the figure, the number of rods is a design choice dictated by variables such as the type of element being ejected, as well as material, fabrication and assembly considerations. There is also a central, unthreaded channel <NUM>. As shown in <FIG>, the radius <NUM> of unthreaded channel <NUM> is greater than the outermost radius <NUM> of unthreaded channel <NUM>. This ensures a gap exists between unthreaded channel <NUM> and the outermost surface of threaded shaft <NUM>. This gap permits ejector <NUM> to translate along the longitudinal axis of threaded shaft <NUM>, without being impeded by that shaft. <FIG> also shows the dimensional relationship between ejector nut alignment shaft <NUM> and ejector <NUM>. The outer radius of ejector <NUM> must be limited to a dimension that ensures a gap <NUM> between ejector <NUM> and ejector nut alignment shaft <NUM>, thereby enabling ejector <NUM> to translate along the longitudinal axis of threaded shaft <NUM>, without impacting or otherwise contacting ejector nut alignment shaft <NUM>.

As shown in <FIG>, driver mechanism <NUM> includes three sensors: (i) coupler assembly sensor <NUM>, (ii) ejector sensor <NUM>, and (iii) ejector nut sensor <NUM>. In one example, coupler assembly sensor <NUM> is an optical fork sensor, mounted upon cowling <NUM>. One example of such a sensor is the PM-Y45-P Compact Photoelectric Sensor manufactured by the Panasonic Industrial Devices Company, a division of the Panasonic Corporation, Osaka, Japan. As shown in <FIG>, this sensor is positioned to sense the rotation of coupler assembly <NUM>, via milled window <NUM>. Referring to <FIG>, rotation is sensed by detecting radially-equidistant voids or notches <NUM> in the upper portion of coupler assembly <NUM> as they pass between the tines <NUM> of coupler assembly sensor <NUM>. Ejector sensor <NUM> is an inductive proximity sensor in one example. An example of a commercially available such sensor is a weld-field immune proximity sensor manufactured by Baluff, Inc. , Florence, KY. As illustrated in <FIG>, sensor <NUM> is mounted through cowling <NUM>, and positioned to sense when ejector <NUM> is translated along the longitudinal axis of threaded shaft <NUM> and brought into close proximity of coupler assembly <NUM> (position <NUM>'). The third sensor, ejector nut sensor <NUM>, is shown in <FIG> mounted upon cowling <NUM> within milled window <NUM>. In one example, ejector nut sensor <NUM> is an optical fork sensor of the same type as was specified for coupler assembly sensor <NUM>. As illustrated in <FIG>, ejector nut sensor <NUM> is positioned within the driver mechanism so that when ejector nut <NUM> is in its uppermost position along threaded shaft <NUM>, blade <NUM> interrupts the optical signal between tines <NUM>. The output of each sensor is transmitted via an interface to the capper/decapper control system (not illustrated). The information is processed and utilized by the controller system to govern the operation of the capper/decapper. In the above description, each of the sensors was described as being of a particular type (fork, optical, inductive) for purposes of illustration only. However, it will be understood that numerous types of sensors known in the art (e.g., optical, magnetic, inductive, mechanical, sonic, etc.) could be utilized in the capper/decapper described herein, so long as such sensors provide a reasonable means of monitoring the positions of ejector nut <NUM> and ejector <NUM> along the threaded shaft, and the rotational position of the coupler assembly <NUM>. Selection of a particular sensor is therefore largely a matter of design choice.

<FIG> provide a side and front view, respectively, of coupler assembly <NUM>, which is shown to be connected to threaded shaft <NUM>. As shown, in one exemplary embodiment of the coupler three fingers <NUM> protrude from the bottom of the coupler assembly, and are equidistantly positioned in a circular interior section <NUM> having a diameter Ø. Other exemplary embodiments of the coupler have as few fingers, or as many as may prove practical for the dimensions of a given coupler assembly <NUM>. In this regard, a larger diameter could accommodate a greater number of fingers. The coupler assembly <NUM> is also shown to have three circular channels <NUM>. These channels are positioned and dimensioned to permit the three ejection rods <NUM> of ejector <NUM> to freely pass through. The specific configuration of the fingers is largely a matter of design choice. In <FIG>, each of three fingers <NUM> is illustrated as having a tapered, trapezoidal cross-section and terminates at a prismatic quadrilateral tip <NUM>. Housed inside a chamber <NUM> within each finger <NUM> is an engagement spline <NUM>. As illustrated in <FIG>, engagement splines <NUM> have a circular cross-section in a particular embodiment of this disclosure. However, the specific geometric configuration of the splines is largely a matter of design choice that will depend upon the particular surface features of the element with which the engagement spline is intended to mate, and various other cross-sectional shapes are contemplated.

The trapezoidal three-fingered configuration is particularly adapted to permit the insertion of the coupler assembly into densely-packed container carriers, as illustrated in <FIG>. As shown, both the position and the cross-sectional shape of fingers <NUM> permit them to grasp a particular cap/container without contacting any of the surrounding caps/containers as the elongate fingers <NUM> fit easily in the interstices between containers in even densely packed arrays. <FIG> provides a partial cross-sectional top view of fingers <NUM> engaging cap <NUM>.

As previously explained, the capper/decapper described herein is configured to operate on an element, that element being one of a sample container or container cap. An internally-threaded cap <NUM> is illustrated in <FIG>. This type of cap is similar to those typically employed on laboratory specimen containers such as the <NUM> Phoenix Broth products manufactured by the Becton Dickinson and Company of Franklin Lakes, NJ. Cap <NUM> is screwed onto threaded container <NUM>. As shown in <FIG>, the lateral surface of cap <NUM> is ringed by longitudinal channels <NUM>, each of which has a substantially circular cross-section <NUM>.

<FIG> provides a cross-sectional view of the splines and coupler assembly <NUM>. <FIG> provides a cross-section view of coupler assembly <NUM> engaging cap <NUM>. The base of engagement spline <NUM> is shown to be retained by vertical lip <NUM> within prismatic quadrilateral tip <NUM> of finger <NUM>. The top of engagement spline <NUM> is biased by circular spring <NUM>, urging the upper portion of spline inward and against wall <NUM> of chamber <NUM>. <FIG> is a cross-section view of coupler assembly <NUM>, but with cap <NUM> fully inserted between fingers <NUM>. As shown, engagement spline <NUM> is securely mated with longitudinal channel <NUM>. Circular spring <NUM> has been deformed outward by the upper portion of spline <NUM>, which is been pushed away from wall <NUM> of chamber <NUM> as a consequence of the insertion of cap <NUM>. The mating between the engagement splines <NUM> and the longitudinal channels <NUM> provides a secure interface enabling a significant torque to be applied to cap <NUM> by coupler assembly <NUM> as threaded shaft <NUM> is rotated in either a clockwise or counter-clockwise direction. All references to clockwise or counter-clockwise are from a reference point looking down onto the top of capper/decapper system.

As illustrated in <FIG>, cap <NUM> fits securely between the fingers <NUM> of upon insertion into coupler assembly <NUM>. To ensure this secure fit, and the resultant mating of the engagement splines <NUM>, coupler assembly <NUM> must be designed with a cap-specific diameter, Ø (see <FIG>). A cap of a particular diameter requires a similarly dimensioned coupler assembly to be connected to the driver mechanism and threaded shaft.

For purposes of illustrating additional elements that will work in cooperation with the capper/decapper, the capper/decapper is described herein operating upon a capped container <NUM>, such as the one depicted in <FIG>. This operation requires that container be supported during the uncapping and capping processes. The particular means for providing this support is tangential to the capper/decapper described herein. The capper/decapper described herein is configured to work with a variety of holders, as long as such holders do not hinder proper placement of the capper/decapper on the capped container. One illustration of a container holder <NUM> is provided in <FIG>. Holder <NUM> is a representation of a holder that may be positioned in at least two states. <FIG> depicts the holder in a gripping state, wherein movable restraints <NUM> and <NUM>, supported by base <NUM>, are held in contact with the exterior of a container <NUM>. The force exerted upon container <NUM> by these restraints is greater than the amount of torque required to be exerted upon cap <NUM> during a capping and/or decapping operation. <FIG> depicts the holder in a retracted state, wherein restraints <NUM> and <NUM> are pulled away from the exterior of a container <NUM>. Thereby allowing the container, supported by spindle <NUM>, to rotate freely about its longitudinal axis upon application of a sufficient rotational torque.

<FIG> depicts capper/decapper <NUM> positioned above cap <NUM> of container <NUM>. It should be understood that capper/decapper <NUM> can be affixed to a robotic or computer-controlled gantry or armature (not illustrated), enabling it to move, with at least one degree of freedom, relative to the position of a separate conveyance or support system for one or more containers. One such support system is holder <NUM>, which is shown to be in a gripping state supporting container <NUM>. Capper/Decapper <NUM> is in an initial state for commencing a decapping operation. In this state, ejector nut <NUM> is in an uppermost position along the axis of threaded shaft <NUM>. In this position, blade <NUM> interrupts the optical signal between the tines of ejector nut sensor <NUM>. The output of sensor <NUM> is transmitted via an interface to a capper/decapper control system (not illustrated) confirming the ejector nut positioning. Ejector <NUM> is in its lowermost position along the axis of threaded shaft <NUM>, resting upon the upper surface of coupler assembly <NUM>. The ejection rods <NUM> are fully extended, protruding through the circular channels <NUM> of coupler assembly <NUM>. Ejector sensor <NUM> detects this initial position of ejector <NUM>, and transmits a signal confirming such position to the capper/decapper control system. Coupler assembly <NUM> is positioned concentrically above cap <NUM>. The rotational position of coupler <NUM>, as recognized by coupler assembly sensor <NUM>, may be adjusted via actuation of motor <NUM> to rotate threaded shaft <NUM> while the capper/decapper is in this initial state. This could be done, for example, to position fingers <NUM> so that they do not obscure any labeling upon the exterior of container <NUM>. The minimal rotational adjustment required to accomplish this (less than a <NUM>° shift given the three-fingered configuration of coupler assembly <NUM>), does not require any significant movement of ejector nut <NUM> along the axis of threaded shaft <NUM>. Consequently, blade <NUM> continues to interrupt the optical signal between the tines of ejector nut sensor <NUM>.

As shown in <FIG>, the next phase of the decapping operation requires capper/decapper <NUM> to be moved downward so as to cause circular interior section <NUM> of coupler assembly <NUM> to come into direct contact with the top surface of cap <NUM>. Positioning capper/decapper <NUM> in this manner causes the top of cap <NUM> to contact and push upward upon the lower surfaces of fingers <NUM>, and thereby push ejector <NUM> upward along the axis of threaded shaft <NUM>, and away from the proximity of ejector sensor <NUM>. In addition, as cap <NUM> is brought into contact with coupler assembly <NUM>, the engagement splines <NUM> mate with the longitudinal channels <NUM> of the cap <NUM>. This provides a secure interface enabling a significant torque to be applied to cap <NUM> by coupler assembly <NUM>. The position of ejector nut <NUM> remains unchanged for the initial state.

A predetermined counter-clockwise torque <NUM> is then applied to threaded shaft <NUM> via actuation of motor <NUM> by the capper/decapper control system (see <FIG>). In a preferred embodiment, the system applies this torque by actuating motor <NUM> to cause transmission <NUM> to rotate threaded shaft <NUM> through a specific angular rotation. This rotation is predetermined based upon the amount of rotation that is required to remove cap <NUM> from container <NUM>. As threaded shaft <NUM> rotates counter-clockwise, cap <NUM> is translated upwards. The aforementioned robotic or computer-controlled gantry or armature is programmed to raise capper/decapper <NUM> a predetermined distance at a predetermined rate so as to compensate for upward translation. Systems providing such controlled mechanical manipulation are well-known in the art and will not be discussed here. The system will not initiate application of counter-clockwise torque <NUM> unless sensors <NUM>, <NUM> and <NUM> provide signals indicative of the proper positioning of ejector nut <NUM>, coupling assembly <NUM> and ejector <NUM>, respectively. Failing the provision of such, the capper/decapper control system will default to an error-mode or actuate motor <NUM> and/or the aforementioned robotic or computer-controlled gantry or armature to bring the capper/decapper into a proper state of compliance. The operator can determine the default state of the capper/decapper in response to a signal from the sensors that the capper/decapper is not in the proper position for the capping/decapping operation.

Once cap <NUM> has been fully removed, capper/decapper <NUM> can be moved clear of container <NUM> under control of the capper/decapper control system (see <FIG>). This permits container <NUM> to be moved or otherwise processed.

To begin the recapping process, capper/decapper <NUM> is moved so that coupler assembly <NUM> is positioned concentrically above container <NUM> and lowered so that the internal threading of cap <NUM> comes into contact with the threads <NUM> on container <NUM> (<FIG>).

As shown in <FIG>, a predetermined clockwise torque <NUM> is applied to threaded shaft <NUM> via actuation of motor <NUM> by the capper/decapper control system. In a preferred embodiment, the system applies this torque by actuating motor <NUM> to cause transmission <NUM> to rotate threaded shaft <NUM> through a specific angular rotation. This rotation is predetermined based upon the amount of rotation is will require to tighten cap <NUM> onto container <NUM>. This rotation also causes ejector nut <NUM> to translate upwards along the axis if threaded shaft <NUM>. In a preferred embodiment of the disclosure this translation is not sufficient enough to cause blade <NUM> to interrupt the optical signal between the tines of ejector nut sensor <NUM>. As threaded shaft <NUM> rotates clockwise, cap <NUM> is translated downwards, and capper/decapper controller lowers capper/decapper <NUM> at a predetermined rate so as to compensate. In one embodiment of the disclosure, the system does not initiate application of clockwise torque <NUM> unless sensors <NUM>, <NUM> and <NUM> had provided signals indicative of the proper positioning of ejector nut <NUM>, coupler assembly <NUM> and ejector <NUM>, respectively. Failing the provision of such, the capper/decapper control system as described defaults to an error-mode or actuates motor <NUM> and/or the aforementioned robotic or computer-controlled gantry or armature to bring the capper/decapper into a proper state of compliance.

Once cap <NUM> has been fully tightened onto container <NUM> (see <FIG>), ejector nut <NUM> is in a position partially translated down the axis of threaded shaft <NUM>. However, this translation is not of such an extent that the bottom of ejector nut <NUM> comes into contact with the top surface of coupler assembly <NUM>. The capper/decapper is configured to prevent such contact, as such contact could result in the premature ejection of cap <NUM>. Unwanted contact is avoided by selecting the length of threaded shaft <NUM>, the spacing of the threads upon that shaft, and/or the horizontal dimensions of ejector nut <NUM> and/or ejector <NUM>.

To cause the ejection of now tightened cap <NUM>/container <NUM>, threaded shaft <NUM> must be rotated in a counter-clockwise direction. During this counter-clockwise rotation in cap <NUM>, the cap channels <NUM> are still securely mated with engagement splines <NUM> of coupler assembly <NUM>. The application of the counter-clockwise force will cause the cap to be unscrewed from container <NUM> in the container remains secure from rotating with the cap <NUM> at this point. To avoid this undesirable result, holder <NUM> is first placed into a retracted state, so that the cap <NUM>/container <NUM> assembly is free to rotate about its longitudinal axis upon application of a rotational torque. Shaft <NUM> is then rotated counter-clockwise (<NUM>) via actuation of motor <NUM> by the capper/decapper control system (see <FIG>). In a preferred embodiment, the system rotates shaft <NUM> until ejector nut <NUM> is driven downward to a point along the axis of threaded shaft <NUM> that causes it to contact the top of ejector <NUM> and push ejector <NUM> down into position adjacent to ejector sensor <NUM>. The rotation of the threaded shaft <NUM> is stopped in response to a signal received by the capper/decapper system controller from ejector sensor <NUM> indicative of ejector being in the proximity of that sensor. However, this rotation could also be stopped after a predetermined number of rotations based upon the amount of previous clockwise and counter-clockwise rotation the shaft had been subjected to since ejector nut <NUM> left its initial position. As ejector <NUM> is pushed down, ejection rods <NUM> protrude downward through channels <NUM> in coupler assembly <NUM>, exerting a downward force upon cap <NUM>. This force disengages the cap from the engagement splines <NUM>. Prior to disengagement, cap <NUM>/container <NUM> is rotated counter-clockwise by coupler assembly <NUM>. As the threaded shaft <NUM> is rotated, ejector nut <NUM> is lowered.

Capper/decapper <NUM>, now fully disengaged from cap <NUM>/container <NUM>, is then returned to its initial state in order to begin another capping/decapping cycle. As shown in <FIG>, to accomplish this, the system rotates shaft <NUM> in a clockwise direction <NUM> until ejector nut <NUM> moves upward to a point along the axis of threaded shaft <NUM> that causes blade <NUM> to interrupt the optical signal between the tines of ejector nut sensor <NUM>. This rotation of threaded shaft <NUM> is stopped in response to a signal received by the capper/decapper system controller from ejector nut sensor <NUM> indicative the ejector nut being back in its initial position (see <FIG>).

Claim 1:
An apparatus for capping or decapping a container (<NUM>) by imparting rotational torque upon a cap or the container comprising:
a coupling assembly (<NUM>) having a substantially circular surface having a diameter approximately equal to that of the container or the cap (<NUM>) wherein the coupling assembly (<NUM>) is adapted to receive the capped or uncapped container (<NUM>); and
a plurality of fingers (<NUM>) extending from the substantially circular surface wherein a proximate end of each finger (<NUM>) is attached to the coupling assembly (<NUM>) and a distal end extends away from the coupling assembly (<NUM>);
wherein each finger (<NUM>) includes a spline (<NUM>) at least partially recessed within a chamber (<NUM>) therein, wherein a first end of the spline (<NUM>) is pivotally retained in the distal end of each finger (<NUM>), and a second end of the spline (<NUM>) adjacent the coupling (<NUM>) is biased so that the second end is urged outward from the finger (<NUM>) that retains spline (<NUM>);
wherein each spline (<NUM>) is adapted to engage a surface feature of the container or the cap, when the capped or uncapped container (<NUM>) is received between the fingers (<NUM>) so that rotation of the coupling assembly (<NUM>) causes rotation of the cap or the container.