Vial gripper mechanism

• US 5,873,488 A
• Filed: 07/21/1997
• Issued: 02/23/1999
• Est. Priority Date: 07/21/1997
• Status: Expired due to Fees

• Current Assignee: ScriptPro LLC
• Original Assignee: ScriptPro LLC
• Inventors: Guerra, Lawrence E.
• Primary Examiner(s): Terrell, William E.
• Assistant Examiner(s): MACKEY, PATRICK HEWEY
• Application Number:
  US08/897,184
• Time in Patent Office: 582 Days
• Field of Search: 221/2, 221/7, 221/219, 221/220, 294/104, 294/907, 901/34, 901/39
• US Class Current: 221/220
• CPC Class Codes: B25J 15/00 Gripping heads and other end effectors grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used in the manufacture of semiconductors H01L21/68707; gripping means used for mounting electrical components H05K13/04
• CPC Class Codes: B25J 15/0206 comprising articulated grippers
• CPC Class Codes: Y10S 294/907 Sensor controlled device

Abstract

In an automatic medicament dispensing machine, a vial gripper mechanism includes a rotatable first jaw and a second jaw coupled with the output shaft of a jaw motor. In an open position, the jaws are spaced for receiving a medicament vial therebetween. Actuation of jaw motor rotates the second jaw toward the first jaw for gripping the vial therebetween in a gripping position. Continued rotation of the jaw motor causes rotation of both of said jaws and any vial gripped therebetween to a dispensing position for receipt of medicament into the vial from an adjacent dispensing cell.

Claims

1. In an automatic medicament dispensing machine having a plurality of selectively actuatable medicament dispensing cells and a manipulator mechanism operable for positioning a vial adjacent a selected one of the cells and for actuating the selected cell in order to dispense medicament therefrom into the vial, a vial gripper apparatus comprising:

a first vial gripper jaw;

a second vial gripper jaw; and

coupling means rotatably coupling said jaws with the manipulator mechanism and positioning said jaws for rotation toward and away from one another, said coupling means including

motor means including a selectively actuatable jaw motor having a rotatable output shaft coupled with said second jaw for rotating said second jaw from an open position, in which said jaws are spaced for receiving a vial therebetween, toward said first jaw for engaging and gripping a vial therebetween in a gripping position, and for further rotating said second jaw in order to cause rotation of said first jaw therewith along with a vial gripped therebetween beyond said gripping position to a dispensing position in which the vial is positioned for receipt of medicament from an adjacent dispensing cell.

2. The apparatus as set forth in claim 1, said motor means including means for determining the amount of rotation of said second jaw from said open position to said gripper position, such being indicative of whether a vial is present between said jaws and indicative of the size of a vial present between said jaws.

3. The apparatus as set forth in claim 2, said means for determining including an encoder coupled with said motor for measuring the rotation of said output shaft, such being indicative of the rotation of said second jaw.

4. The apparatus as set forth in claim 3, said means for determining further including switch means positioned for actuation by said first jaw upon rotation thereof induced by said second jaw wherein actuation of said switch means indicating said jaws in said gripper position.

5. The apparatus as set forth in claim 1, said jaws having respective axes of rotation with said axes being coincident.

6. The apparatus as set forth in claim 5, said first jaw being coupled about said output shaft and rotatable relative thereto.

7. The apparatus as set forth in claim 1 further including biasing means biasing said first jaw toward said second jaw.

8. The apparatus as set forth in claim 7, said biasing means including a spring.

9. The apparatus as set forth in claim 7 further including a stop for limiting the rotation of said first jaw under the bias of said biasing means.