Test tube capping and de-capping apparatus

1. A capping and de-capping system comprising:

an array of capping and de-capping grippers coupled to a gripper attachment body and configured to cap and de-cap tubes in an array of tubes, each gripper configured to engage and retain a cap and having an axial throughgoing passage;

an array of ejector pins coupled to a pin attachment body, each ejector pin extending through the throughgoing passage of one of the grippers and configured to translate through the throughgoing passage to contact the cap retained by the gripper to eject the cap from the gripper;

an array of electromotors, each electromotor configured to induce a rotational movement to one of the grippers; and

a pin translation drive mechanism configured to translate the pin attachment body and the gripper attachment body relative to each other to effectuate translation of the ejector pins through the throughgoing passages of the grippers to cause the ejector pins to contact the caps retained by the grippers to eject the caps from the grippers.

2. The capping and de-capping system as claimed in claim 1 further comprising:

an array of ejector pin guides, each guide having a throughgoing passage through which one of the ejector pins translates; and

an array of gripper connectors, each connector detachably connecting one of the grippers to one of the ejector pin guides to rotate with the ejector pin guide.

3. The capping and de-capping system according to claim 2 wherein each capping and de-capping gripper further comprises a biasing means external to a detachable mechanical connection between the gripper and the ejector pin guide.

4. The capping and de-capping system according to claim 1 further comprising a control unit configured to detect a torque on each electromotor and to halt the rotational movement of the electromotor if a predetermined threshold value of torque acting on the electromotor is exceeded.

5. The capping and de-capping system according to claim 1 wherein each capping and de-capping gripper further comprises at least one friction pin oriented to either grab around a cap or to be inserted into a cavity within the cap or both.

6. The capping and de-capping system according to claim 1 wherein each capping and de-capping gripper is made from plastic.

7. The capping and de-capping system according to claim 6 , wherein each capping and de-capping gripper is injection molded.

8. The capping and de-capping system according to claim 1 , wherein the is electromotors are configured to induce a rotational movement to the grippers by transferring rotational movement to the ejector pins, the ejector pins configured to transfer rotational movement to the grippers.

9. A method of capping and de-capping tubes using the capping and de-capping system of claim 1 comprising:

moving the gripper attachment body and tubes toward each other to engage the caps on the tubes with the grippers;

detaching the caps from the tubes by movement of the grippers away from the tubes with simultaneous rotational movement of the grippers caused by the electromotors;

attaching the removed caps by reversing the above steps; and

rejecting the capped tubes by translating the ejector pins through the throughgoing passages of the grippers to bring the ejector pins in contact with the caps to press the caps and tubes from the grippers.

10. The method of claim 9 further comprising, during the step of attaching the removed caps, sensing torque of the electromotors and stopping the rotation when sensed torque exceeds a threshold torque.