Gripper apparatus and method for containers of different sizes
AssigneeBrooks Automation, Inc.
InventorRobert K. Neeper
Life of this patent
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Abstract
A gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping grip extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the grips inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location.
Claims15
A gripper apparatus for grasping and lifting containers of varying sizes from an array of containers, the gripper apparatus comprising:
- a gripper head being positionable at a selected position above the array of containers;
- a planetary gear assembly mounted in the gripper head, the planetary gear assembly having a plurality of planet gears;
- a plurality of grip members, each grip member connected to at least one of the plurality of planet gears, each grip member configured to move along a predetermined inward or outward path;
- wherein the planetary gear assembly is configured to rotate the planet gears to move each grip member at least inwardly into engagement with a selected container from the array of containers, whereby the selected container is grasped between the grip members.
A gripper apparatus for removing and replacing objects in an array of objects, the gripper apparatus comprising:
- a support arm;
- a gripper head mounted to the support arm;
- a plurality of grip members movably extending from the gripper head;
- and
- a planetary gear assembly mounted in the gripper head and having a plurality of planet gears, where the planetary gear assembly is configured to rotate the planet gears to effect at least inward movement of the grip members and gripping of an object between the grip members.
Dependencies are inferred from the claim text.