Container gripper assembly
View Patent ↗Various examples are directed to a container gripper assembly comprising a first jaw member and a second jaw member. The first jaw member may comprise a first plurality of pivotable inserts and the second jaw member may comprise a second plurality of pivotable inserts. The first jaw member may be movable towards the second jaw member to grip a container between the first plurality of pivotable inserts and the second plurality of pivotable inserts.
1. A container gripper assembly, comprising: a first jaw member comprising:
a first insert holder;
a first pivotable insert positioned at least partially in the first insert holder and comprising a first concave surface; and a
a second pivotable insert positioned at least partially in the first insert holder and comprising a second concave surface; and
a second jaw member comprising:
a second insert holder;
a third pivotable insert positioned at least partially in the second insert holder and having a third concave surface; and
a fourth pivotable insert positioned at least partially in the second insert holder and having a fourth concave surface, wherein the first jaw member is movable towards the second jaw member to grip a container between at least the first pivotable insert and the third pivotable insert, and wherein the first concave surface and the third concave surface are pivotable to at least partially contact the container when the container is gripped.
2. The container gripper assembly of claim 1 , wherein the first insert holder comprises a cavity to receive the first pivotable insert.
3. The container gripper assembly of claim 1 , wherein the first pivotable insert comprises a notch positioned on a surface of the first pivotable insert that is about perpendicular to the first concave surface, and wherein the first insert holder comprises a detent received into the notch.
4. The container gripper assembly of claim 3 , further comprising a spring to bias the detent towards the first pivotable insert.
5. The container gripper assembly of claim 3 , wherein the first pivotable insert comprises a first convex surface opposite the first concave surface.
6. The container gripper assembly of claim 3 , wherein the notch is curved to permit the detent to slide along the notch as the first pivotable insert pivots in the first insert holder.
7. The container gripper assembly of claim 1 , wherein the first concave surface comprises:
a first edge section curved at a first radius of curvature;
a second edge section curved at the first radius of curvature; and
a middle edge section positioned between the first edge section and the second edge section, wherein the middle edge section is curved at a second radius of curvature larger than the first radius of curvature.
8. The container gripper assembly of claim 1 , wherein the first concave surface comprises:
first edge section curved at a first radius of curvature;
a second edge section curved at the first radius of curvature; and a notched section positioned between the first edge section and the second edge section.
9. The container gripper assembly of claim 1 , wherein the first jaw member further comprises a slot to receive the first insert holder, wherein the slot has a width larger than a width of the first insert holder.
10. The container gripper assembly of claim 1 , further comprising: a force sensor positioned to sense a force exerted by the first pivotable insert and the second pivotable insert on the container; and
a motor positioned to move the first jaw member towards the second jaw member; and
a controller in communication with the force sensor and configured to:
activate the motor to move the first jaw member towards the second jaw member;
determine that the force sensed by the force sensor exceeds a threshold force; and
modify an operation of the motor.
11. The container gripper assembly of claim 10 , wherein the force sensor is positioned between the first insert holder and a portion of the first jaw member.
12. The container gripper assembly of claim 1 , further comprising: a position sensor to sense a relative position of the first jaw member and the second jaw member;
a motor positioned to move the first jaw member towards the second jaw member; and
a controller in communication with the position sensor and configured to:
activate the motor to move the first jaw member towards the second jaw member;
determine that the relative position of the first jaw member and the second jaw member is greater than a position threshold; and
modify an operation of the motor.
13. The container gripper assembly of claim 1 , further comprising a seal for placing on the container to fill the container with a fluid.