Patent Publication Number: US-2022234823-A1

Title: Deformable gripper arm

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit under 35 U.S.C. § 119(e) of U.S. Patent Application No. 63/141,767, entitled “Deformable Gripper Arm,” filed Jan. 26, 2021, which is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to systems and method for operating a refuse collection vehicle to engage a refuse container. 
     BACKGROUND 
     Refuse collection vehicles have been used for generations for the collection and transfer of waste. Traditionally, collection of refuse with a refuse collection vehicle required two people: (1) a first person to drive the vehicle and (2) a second person to pick up containers containing waste and dump the waste from the containers into the refuse collection vehicle. Technological advantages have recently been made to reduce the amount of human involvement required to collect refuse. For example, complex devices to engage refuse containers, such as mechanical or robotic lift arms, have been implemented. Some containers may be crushed while engaged by the lift arms. 
     SUMMARY 
     Many aspects of the disclosure feature operating a mechanical lift arm and grabber to perform refuse collection. 
     In an example implementation, a refuse collection vehicle includes a refuse grabber assembly, a lift arm coupled to the refuse grabber assembly, and a hopper configured to receive refuse from a refuse container. The lift arm is operable to position the refuse grabber assembly. The refuse grabber assembly includes a first grabber arm and a second grabber arm that are configured to cooperate to engage the refuse container. The first grabber arm includes a first gripper and a first support arm coupled to the first gripper. The first gripper includes a first deformable structure configured to contact a first surface of a refuse container, the first deformable structure defining a first lattice with a first internal web that deforms in response to application of a threshold force on a surface of the first gripper. The second grabber arm includes a second gripper and a second support arm coupled to the second gripper. The second gripper includes a second deformable structure configured to contact a second surface of the refuse container, the second deformable structure defining a second lattice with a second internal web that deforms in response to application of a threshold force on a surface of the second gripper. 
     In an aspect combinable with the example implementation, the first internal web includes at least two adjacent non-parallel walls and the second internal web includes at least two adjacent non-parallel walls. 
     In another aspect combinable with any of the previous aspects, the first deformable structure includes a first plurality of openings, wherein at least one opening of the first plurality of openings is configured to collapse in response to application of a threshold force a first surface of the first deformable structure, and the second deformable structure includes a second plurality of openings, wherein at least one opening of the second plurality of openings is configured to collapse in response to application of the threshold force to a second surface of the second deformable structure. 
     In another aspect combinable with any of the previous aspects, each opening of the first plurality of openings and the second plurality of openings are triangular shaped. 
     In another aspect combinable with any of the previous aspects, the first gripper includes a first insert surrounded by and coupled to the first deformable structure, and the second gripper includes a second insert surrounded by and coupled to the second deformable structure. 
     In another aspect combinable with any of the previous aspects, the first insert includes a third plurality of openings therethrough, and the second insert includes a fourth plurality of openings therethrough. 
     In another aspect combinable with any of the previous aspects, at least one of the third plurality of openings is configured to receive a first fastener, and at least one of the fourth plurality of openings is configured to receive a second fastener. 
     In another aspect combinable with any of the previous aspects, the refuse grabber assembly includes a first plurality of fasteners configured to couple the first gripper to the first support arm, and a second plurality of fasteners configured to couple the second gripper to the second support arm. 
     In another aspect combinable with any of the previous aspects, the first insert is coupled to the first gripper through at least one opening of the third plurality of openings, and the second insert is coupled to the second gripper through at least one opening of the fourth plurality of openings. 
     In another aspect combinable with any of the previous aspects, the first insert and the second insert each include a metal. 
     In another aspect combinable with any of the previous aspects, the first insert and the second insert each include a nylon reinforced fiberglass. 
     In another aspect combinable with any of the previous aspects, the first deformable structure and the second deformable structure each include a rubber material. 
     In another example implementation, a refuse grabber assembly includes a grabber arm that is operable to engage a refuse container. The grabber arm includes a gripper and a support arm coupled to the gripper. The gripper includes deformable structure configured to contact a surface of the refuse container, the deformable structure defining a lattice with internal webs that buckle during gripping. 
     In an aspect combinable with the example implementation, the deformable structure includes a plurality of openings, wherein at least one opening of the plurality of openings is configured to collapse in response to application of a threshold amount of force to a surface of the deformable structure. 
     In another aspect combinable with any of the previous aspects, the at least one opening of the plurality of openings is configured to collapse in order to conform the surface of the deformable structure to the surface of the refuse container. 
     In another aspect combinable with any of the previous aspects, each of the plurality of openings are triangular shaped. 
     In another aspect combinable with any of the previous aspects, the gripper further includes an insert, and the deformable structure surrounds and is coupled to the insert. 
     In another aspect combinable with any of the previous aspects, the insert includes a plurality of openings therethrough. 
     In another aspect combinable with any of the previous aspects, at least one of the plurality of openings through the insert is configured to receive a respective fastener. 
     In another aspect combinable with any of the previous aspects, the refuse grabber assembly includes a plurality of fasteners configured to couple the gripper to the support arm. 
     In another aspect combinable with any of the previous aspects, the gripper is coupled to the insert through at least one opening of the plurality of openings in the insert. 
     In another aspect combinable with any of the previous aspects, the insert includes a metal. 
     In another aspect combinable with any of the previous aspects, the insert includes a nylon reinforced fiberglass. 
     In another aspect combinable with any of the previous aspects, the deformable structure includes a rubber material. 
     In another aspect combinable with any of the previous aspects, a surface of the deformable structure includes a texture. 
     In another aspect combinable with any of the previous aspects, at least two of the internal webs have adjacent ends and are non-parallel. 
     In another aspect combinable with any of the previous aspects, the grabber arm is a first grabber arm; the gripper is a first gripper; the deformable structure is a first deformable structure; the support arm is a first support arm; the surface of the refuse container is a first surface of the refuse container; and the refuse grabber assembly includes a second grabber arm opposite the first grabber arm and operable to engage the refuse container, wherein the first grabber arm and the second grabber arm cooperate to engage the refuse container. The second grabber arm includes a second gripper and a second support arm coupled to the second gripper. The second gripper includes a second deformable structure configured to contact a second surface of the refuse container. 
     In another aspect combinable with any of the previous aspects, the refuse grabber assembly is coupled to a refuse collection vehicle. The refuse collection vehicle includes a lift arm coupled to the refuse grabber assembly, the lift arm operable to position the refuse grabber assembly; and a hopper configured to receive refuse from the refuse container. 
     In another aspect combinable with any of the previous aspects, the second deformable structure includes a plurality of openings, wherein at least one opening of the plurality of openings is configured to collapse in response to application of a threshold amount of force to the second surface of the second deformable structure. 
     In another aspect combinable with any of the previous aspects, each of the plurality of openings in the second deformable structure are triangular shaped. 
     In another aspect combinable with any of the previous aspects, the second gripper includes a second insert, and the second deformable structure surrounds and is coupled to the second insert. 
     In another aspect combinable with any of the previous aspects, the second insert includes a plurality of openings therethrough. 
     In another aspect combinable with any of the previous aspects, at least one of the plurality of openings through the second insert is configured to receive a respective second fastener. 
     In another aspect combinable with any of the previous aspects, the refuse grabber assembly includes a plurality of fasteners configured to couple the second gripper to the second support arm. 
     In another aspect combinable with any of the previous aspects, the second insert is coupled to the second gripper through at least one opening of the plurality of openings through the second insert. 
     In another aspect combinable with any of the previous aspects, the second insert includes a metal. 
     In another aspect combinable with any of the previous aspects, the second insert includes a nylon reinforced fiberglass. 
     In another aspect combinable with any of the previous aspects, the second deformable structure includes a rubber material. 
     Potential benefits of the one or more implementations described in the present specification may include increased waste collection efficiency and reduced operator error in refuse collection. For example, the grabber assembly described herein can engage refuse containers of multiple different sizes without requiring adjustment of the opening distance between the grabber arms. The one or more implementations may also reduce the likelihood of damaging refuse containers and refuse collection vehicles during the refuse collection process. For example, the deformable structure of the grabber assembly described herein may help prevent damage to the refuse container during collection of refuse from the refuse container by the refuse collection vehicle. The one or more implementations may also reduce the risk of injury to refuse collection vehicle operators by reducing the need for the operators to exit the vehicle to physically interact with the refuse containers as the grabber arm of the implementations described herein can accommodate a wider range of sizes of refuse containers without requiring manual adjustment of the grabber arm opening or closing distances. For example, the grabber assembly described herein can accommodate refuse containers of multiple different sizes without requiring movement of mechanical parts to adjust a distance between grabber arms. In addition, the grabber assembly described herein is easy to install and replace. The grabber assembly described herein ensures that refuse cans of various sizes can be firmly gripped throughout an entire dump cycle. 
     It is appreciated that methods in accordance with the present specification may include any combination of the aspects and features described herein. That is, methods in accordance with the present specification are not limited to the combinations of aspects and features specifically described herein, but also include any combination of the aspects and features provided. 
     The details of one or more implementations of the subject matter described in this disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the subject matter will be apparent from the description and drawings, and from the claims. 
    
    
     
       DESCRIPTION OF DRAWINGS 
         FIG. 1  depicts an example refuse collection vehicle. 
         FIG. 2A  depicts a perspective view of the example deformable gripper of  FIG. 1 . 
         FIG. 2B  depicts a top view of the example deformable gripper of  FIG. 2A . 
         FIG. 2C  depicts a cross-sectional view of the example deformable gripper of  FIG. 2A . 
         FIG. 2D  depicts a perspective view of an insert of the deformable gripper of  FIG. 2A . 
         FIG. 3  depicts a front view of another example deformable gripper. 
         FIG. 4A  depicts the refuse collection vehicle of  FIG. 1  with the grabber assembly engaging a small refuse container. 
         FIG. 4B  depicts the refuse collection vehicle of  FIG. 1  with the grabber assembly engaging a large refuse container. 
         FIG. 5A  depicts a perspective view of the grabber assembly engaging the small refuse container of  FIG. 4A . 
         FIG. 5B  depicts a perspective view of the grabber assembly engaging the large refuse container of  FIG. 4B . 
     
    
    
     Like reference numbers and designations in the various drawings indicate like elements. 
     DETAILED DESCRIPTION 
       FIG. 1  depicts an example vehicle for collecting refuse. Vehicle  102  is a refuse collection vehicle that operates to collect and transport refuse (e.g., garbage and/or recycling). The refuse collection vehicle  102  can also be described as a garbage collection vehicle, or garbage truck. The vehicle  102  is configured to lift a container  104  that contains refuse, to empty refuse in the container  104  into a hopper  106  of the vehicle  102 , and to enable transporting the refuse to a collection site, compacting of the refuse, and/or other refuse handling activities. 
     The body components of the vehicle  102  can include various components that are appropriate for the particular type of vehicle  102 . For example, the vehicle  102  has an automated side loader (ASL)  108 , as shown in  FIG. 1 . Alternatively, the vehicle may be a front-loading truck, a rear loading truck, a roll off truck, or some other type of garbage collection vehicle. A vehicle with an ASL, such as the example shown in  FIG. 1 , may include body components involved in the operation of the ASL, such as an arm and/or grabbers, as well as other body components such as a pump, a tailgate, a packer, and so forth. A front-loading vehicle may include body components such as a pump, tailgate, packer, grabber, and so forth. A rear loading vehicle may include body components such as a pump, blade, tipper, and so forth. A roll off vehicle may include body components such as a pump, hoist, cable, and so forth. Body components may also include other types of components that operate to bring garbage into a hopper (or other storage area) of a truck, compress and/or arrange the garbage in the vehicle, and/or expel the garbage from the vehicle. 
     Referring to  FIG. 1 , the ASL  108  of vehicle  102  includes a lift arm  110  and a grabber assembly  112  operable to grab the refuse container  104 , lift the refuse container  104  from the ground, empty the refuse container  104  into the hopper  106 , and place the refuse container  104  back on the ground. Referring to  FIG. 1 , the refuse container  104  can be engaged by the grabber assembly  112  of the refuse collection vehicle  102 . The grabber assembly  112  includes a grabber arm  120   a  and a grabber arm  120   b  that cooperate to apply pressure to the refuse container  104  in order to engage the refuse container  104 . 
     A lift arm  110  is coupled to the grabber assembly  112  and controls the position of the grabber assembly  112 . The lift arm  110  has a cylinder  158  and a piston  160  that work together to move the grabber arms  120   a ,  120   b  between an open position (not shown) to a closed or grabbing position (as depicted in  FIG. 1 ). For example, extension of the piston  160  from the cylinder  158  will cause the grabber arms  120   a ,  120   b  to move inward to reduce the distance  162  between the grabber arms  120   a ,  120   b . Retraction of the piston  160  into the cylinder  158  causes the grabber arms  120   a ,  120   b  to move outward and increase the distance  162  between the grabber arms  120   a ,  120   b . The distance  162  between the grabber arms  120   a ,  120   b  in the closed position is a set distance that can be manually or automatically adjusted prior to performing the dump cycle (e.g., during production). In some implementations, the distance  162  between the grabber arms  120   a ,  120   b  in the closed position is between 9 inches and 10 inches. In some implementations, the distance  162  between the grabber arms  120   a ,  120   b  in the closed position is a set distance that is optimized based on the specific configuration of the grippers  122   a ,  122   b . The cylinder  158  coupled to the grabber assembly  112  can be configured to control the distance  162  between the grabber arms  120   a ,  120   b  throughout a dump cycle. 
     The vehicle  102  can include an onboard computing device  114  to manage, monitor, and/or operate various body components of the vehicle  102 . The onboard computing device  114  can be connected to multiple sensors (not shown) in the vehicle  102 . The onboard computing device  114  can transmit one or more signals over a network or wiring on the vehicle  102  when the onboard computing device  114  senses a state change from any of the sensors. The vehicle  102  can include a display  118  in the cab of the vehicle to display images and/or video received from one or more cameras (not shown) positioned on the vehicle  102 . For example, display  118  can be used to monitor image and/or video data of the vehicle components engaging and servicing the refuse container  104 . 
     As depicted in  FIG. 1 , one or more controls  116  are provided to control mechanical components of the vehicle  102 . For example, controller  116  can be used to control movement of the lift arm  110  and the grabber assembly  112  to engage and service a refuse container  104 . The controller  116  can be communicably coupled to the onboard computing device  114  to send signals to the onboard computing device  114  and receive signals from the onboard computing device  114  that are used to control the operation of the lift arm  110  and the grabber assembly  112 . In some implementations, an operator  150  of the vehicle  102  uses one or more of the controls  116  to control the grabber assembly  112  to engage the refuse container  104   
     As previously discussed, the grabber assembly  112  includes the grabber arm  120   a  and the grabber arm  120   b  that cooperate with one another in order to engage a refuse container  104 . As can be seen in  FIG. 1 , the grabber arm  120   a  includes a gripper  122   a  that is coupled to a support arm  124   a  of the grabber arm  120   a . The gripper  122   a  includes a deformable structure  126   a . The deformable structure  126   a  is arranged on the support arm  124   a  to contact a surface  128  of the refuse container  104  when the refuse container  104  is being engaged by the grabber assembly  112 . As will be discussed in further detail herein, the deformable structure  126   a  includes openings that allow the deformable structure  126   a  to deform or collapse to accommodate a refuse container contacting the deformable structure  126   a.    
     Referring to  FIG. 1 , in some examples, the grabber assembly includes a second grabber arm  120   b  arranged to oppose the first grabber arm  120   a  and the second grabber arm  120   b  is in all respects identical to the first grabber arm  120   a  but being mirrored about a vertical plane. The grabber arm  120   b  includes a gripper  122   b  coupled to a support arm  124   b  of the grabber arm  120   b . In some examples, the second grabber arm  120   b  includes a gripper  122   b  that is in all respects identical to gripper  122   a  of the first grabber arm  120   a  but being mirrored about a vertical plane. For example, similar to gripper  122   a , gripper  122   b  has a deformable structure  126   b  that is configured to contact a surface  136  of the refuse container  104  when the refuse container  104  is being engaged by the grabber assembly  112 . As with gripper  122   a , deformable structure  126   b  includes openings discussed in further detail herein that allow the deformable structure  126   b  to deform or collapse to accommodate a refuse container contacting the deformable structure  126   b.    
     The gripper  122   a  and the gripper  122   b  are configured to contact surfaces (surface  128  and surface  136 ) on opposite sides of the refuse container  104  to grip the refuse container  104  without crushing, collapsing, or otherwise damaging the refuse container  104 . In particular, the design of the deformable structure  126   a ,  126   b  on each grabber arm  120   a ,  120   b  causes the deformable structure  126   a ,  126   b  to collapse in response to a threshold amount of pressure, which provides additional room and accommodates the refuse container between the grabber arms  120   a ,  120   b . For example, when the grabber arms  124   a ,  124   b  are moved into a closed position around a refuse container  104 , the grippers  122   a ,  122   b  contact the refuse container  104 . When the width of the refuse container being engaged by the grabber assembly  112  is larger than the distance  162  between the grabber arms  120   a ,  120   b , the deformable structure  126   a ,  126   b  of each of the grippers  122   a ,  122   b  can deform or collapse to accommodate the refuse container  104  without crushing or collapsing the refuse container. Crushing or collapsing the refuse container  104  can cause spills the refuse contained in the refuse container  104  and/or permanently damage the refuse container  104 . 
     The deformable structures  126   a ,  126   b  each have an overall structural stiffness which is less stiff than the stiffness of the respective surface of the refuse container  104  that the deformable structure  126   a ,  126   b  is engaging due to the stiffness of the material forming the deformable structure  126   a ,  126   b  and the lattice of internal webs formed by the openings within each of the deformable structures  126   a ,  126   b . As a result, when the deformable structure  126   a ,  126   b  engages the refuse container  104 , the refuse container applies a force above a threshold amount on the deformable structure  126   a ,  126   b , the deformable structure  126   a ,  126   b  collapses, in part or in whole, in order to continue to engage the refuse container  104  without crushing the refuse container  104 . In some implementations, the material forming the deformable structures  126   a ,  126   b  has a stiffness in a range of 60 to 90 on the Shore A scale. In some examples, the deformable structure  126   b  can be made of one or more of a rubber material, a polyurethane material, or smart or reactive materials (e.g., silicone, piezoelectric materials, or shape-memory materials). For example, in some implementations, the deformable structure  126   b  is made of styrene butadiene rubber. 
       FIG. 2A  depicts a perspective view of the example deformable gripper  122   b  of  FIG. 1  and  FIG. 2B  depicts a top view of the example deformable gripper of  FIG. 2A . As shown in  FIGS. 2A and 2B , the deformable structure  126   b  has multiple openings  228   a ,  228   b , and  228   c ,  228   d ,  228   e ,  228   f ,  228   g ,  228   h ,  228   i , and  228   j  through the deformable structure  126   b . As can be seen in  FIG. 2B , the openings  228   a - j  through the deformable structure  126   b  define a lattice of internal webs within the deformable structure  126   b . The webs formed by the openings  228   a - j  in the deformable structure  126   b  are configured to buckle and collapse when a force above a threshold force is applied to the deformable structure  126   b , such as during gripping a refuse container. For example, the internal web of the lattice structure defined by openings  228   h - j  deforms when a threshold amount of force is applied to the surface  230  of the deformable structure  126   b  in the direction of arrow  232  when gripping a refuse container  104 . When the deformable structure  126   b  collapses or otherwise deforms during engagement of a refuse container  104 , the surface  230  continues to grip the refuse container  104  as the force is applied to surface  230  by the refuse container. This lattice formed by the openings  228   a - j  through the deformable structure  126   b  allows for a significant deformation of the deformable structure  126   b , while keeping the surface  230  that contacts the refuse container  104  stiff enough to continue to engage and grip the refuse container  104 . 
     The internal lattice formed by the openings  228   a - j  in the deformable structure  126   b  is sufficiently resilient and durable to allow the deformable structure  126   b  to be repeatedly deformed and re-expanded over many refuse collection cycles. As such, once the force causing the internal lattice of the deformable structure  126   b  to buckle and the openings  228   a - j  to collapse is removed, the openings  228   a - j  in the deformable structure expand and the internal lattice of the deformable structure  126   b  returns to its original, expanded (uncollapsed) state, as depicted in  FIGS. 2A and 2B . For example, once the refuse container  104  engaged by the deformable structure  126   b  that is applying a threshold amount of force to the surface  230  of the deformable structure  126   b  is released from the grabber assembly  112 , the openings  228   a - j  in the deformable structure expand and the internal lattice of the deformable structure  126   b  returns to its original, expanded (uncollapsed) state, as depicted in  FIGS. 2A and 2B . 
     As noted above, the openings  228   a - j  are each configured to collapse in response to application of a respective threshold amount of a force to a surface  230  of the deformable structure  126   a . For example, when the grabber assembly  112  is operated to engage a refuse container  104 , the gripper  122   b  contacts the refuse container  104  and a force is applied to the surface  230  of the deformable structure  126   b  of the gripper  122   b  by the surface  128  of the refuse container  104  in the direction of arrow  232 . As will be described in further detail herein, in some implementations, the force applied to the surface  230  of the gripper  122   b  by the refuse container  104  exceeds a threshold force when the distance  162  between the grabber arms  120   a ,  120   b  is reduced as the grabber assembly  112  moves to the closed position (for example, due to a large size of the refuse container  104 ), which can cause one or more openings  228   a  through the deformable structure  126   a  to collapse in order to better accommodate the refuse container  104 . 
     In some implementations, a different level of force is required to collapse different portions of the deformable structure  126   b . For example, as depicted in  FIG. 2B , the differing sizes of the various opening  228   a - j  results in different thicknesses in the internal webs formed in the deformable structure  126   b . As a result in this difference in cross-sectional thickness of the internal webs formed by the openings  228   a - j , different portions of the deformable structure  126   b  require a different level of force to be applied to in order to collapse. For example, portions of the lattice of internal webs formed by the openings  228   a - j  having a thicker cross sectional width better maintain their shape and better resist shear force compared to areas with a thinner cross sectional width. As a result, portions of the lattice of internal webs having a thicker cross sectional width will require a different (e.g., higher) level of force application to collapse compared to areas with a thinner cross sectional width. As such, application of a force to the deformable structure  126   b  can result in some, but not all, portions of the deformable structure  126   b  to collapse. For example, as will described in detail herein, the force applied to the deformable structure  126   b  when the grabber assembly  112  engages a large refuse container may result in collapse of a greater number of openings  228   a - j  (or a more complete collapse of the same number of openings  228   a - j ) in the deformable structure  126   b  compared to when the grabber assembly  122  is engaging a smaller refuse container. 
     In some cases, the surface  230  of deformable structure  126   b  is textured to further improve the grip of the gripper  122   b  on the refuse container  104 . In some implementations, the texture on the surface  230  of the deformable structure  126   b  is configured to improve the grip of the refuse container  104  based on the material used to form the surface of the refuse container  104  contacting the grippers  122   a ,  122   b.    
     Still referring to  FIG. 2A , the gripper  122   b  includes an insert  234  positioned within and coupled to the deformable structure  126   b  of the gripper  122   b . For example,  FIG. 2B  depicts a cross-sectional view of the gripper  122   b  of  FIG. 2A  along the cross-section A-A, and, as shown in  FIG. 2C , the insert  234  is surrounded by and coupled to the deformable structure  126   b  of the gripper  122   a . In some implementations, the insert  234  is shaped to conform to the shape of the support arm  124   b  of  FIG. 1 . A portion  244  of the deformable structure  126   b  surrounding the insert  234  is angled away from a centerline  246  of the deformable structure  126   b  and the insert  234 . In other implementations, the surface  230  of the deformable structure  126   b  need not be angled away from the centerline  246 . The insert  234  supports the deformable structure  126   b  and couples the deformable structure  126   b  to the support arm  124   b , for example, as depicted in  FIG. 2A . 
     In some implementations, the insert  234  is straight. For example, all portions of the insert  234  can be parallel. In some implementations, the insert  234  includes one or more portions that are not parallel. For example, as depicted in  FIG. 2D , opposite ends  248 ,  250  of the insert  234  can be inclined (bent) towards one another, causing end portions  252 ,  254  of the insert  234  to curve inward towards a center portion  256  of the insert  234 . 
     Referring to  FIG. 2A , the gripper  122   b  has a surface  236  opposite the surface  230  in contact with the support arm  124   b , as shown in  FIG. 1 . The gripper  122   b  can be mechanically coupled to the support arm  124   b , as described later in reference to  FIGS. 2D and 3 . 
     As can be seen in  FIGS. 2A and 2D , the insert  234  has multiple openings  240   a ,  240   b ,  240   c ,  240   d , and  240   e  that are configured to accept fasteners  242  that couple the gripper  122   b  to the grabber arm  120   b . For example, fasteners  242  can be inserted through the openings  240   a -e in the insert  234  and corresponding openings in the support arm  124   b  to couple the gripper  122   b  to the support arm  124   b . The fasteners  242  can be bolts and nuts, as shown in  FIG. 2A . Any suitable type of fastener can be used to couple the gripper  122   b  to the support arm  124   b , including, but not limited to, threaded fasteners and clamping brackets. In some implementations, the fasteners  242  are placed inside a mold used to form the deformable structure  126   b  and the material used to form the deformable structure  126   b  flows around and encases at least a portion of the fasteners  242  during the process of molding the deformable structure  126   b.    
     Referring to  FIG. 2D , the insert  234  also includes one or more openings  246   a ,  246   b ,  246   c ,  246   d ,  246   e ,  246   f  that are configured to be filled with the material of the deformable structure  126   b  (e.g., rubber) during the process of molding the deformable structure  126   b  over the insert  234 . As will be explained in further detail herein, by flowing and curing the material used to form the deformable structure  126   b  within the openings  246   a ,  246   b ,  246   c ,  246   d ,  246   e ,  246   f  in the insert  234 , the insert  234  is coupled to the deformable structure  126   b.    
     The insert  234  is constructed from a rigid material to provide structural rigidity to the deformable structure  126   b  and aid in coupling the gripper  122   b  to the support arm  124   b . For example, the insert  234  can made of one or more metals, such as steel or aluminum, and/or a composite material, such as nylon reinforced fiberglass, or a rubber material. 
     In some implementations, the gripper does not includes an insert and the gripper is coupled to the support arm  124  without the use of an insert. 
     Further, while the grippers  122   a ,  122   b  have been described as being coupled to the grabber arms  120   a ,  120   b  using nuts and bolts, other fastening mechanisms can be used to couple the grippers  122   a ,  122   b  to the respective grabber arms  120   a ,  120   b . For example,  FIG. 3  depicts a front view of the gripper  122   a . Referring to  FIG. 3 , the gripper  122   a  includes a deformable structure  126   a  coupled to the support arm  124   a . As can be seen in  FIG. 3 , the gripper  122   a  includes a fastener assembly  304  which passes around a portion  302  the deformable structure  126   a  and the support arm  124  to couple the gripper  122   a  to the support arm  124   a . The fastener assembly  304  includes a U-bolt  306 , clamping bars  308   a ,  308   b , and multiple nuts  310   a ,  310   b ,  310   c ,  310   d.    
     Implementations can include two or more U-bolts  306 . For example, in some implementations, three or four clamping type fasteners  206  (e.g., U-bolts) can be used to fasten each gripper  122   a ,  122   b  to the respective grabber arm  120   a ,  120   b , including a clamping type fastener positioned at each end of the grabber arm  120   a ,  120   b  and one or two clamping type fasteners positioned along the length of the grabber arm  120   a ,  120   b  between the ends of the grabber arm  120   a ,  120   b . Likewise, implementations can include only one clamping bar  308 , or three, four, or more clamping bars  308   a.    
     The U-bolt  306  can be placed with an opening  312  of the U-bolt  306  facing towards the support arm  124   b  and the deformable structure  126   b , e.g., with the opening  312  of U-bolt  306  touching the support arm  124   b . The clamping bar  308   a  slides onto the U-bolt  306  and contacts the support arm  124   b , positioning the support arm  124   b  between U-bolt  306  and clamping bar  308   a . The clamping bar  308   a  is locked to the U-bolt  306  by the nuts  310   a  and  310   b , coupling the U-bolt  306  to the support arm  124   b . A portion of the gripper  122   b  is placed within the opening  312  of the U-bolt  306  between clamping bars  308   a  and  308   b , and the clamping bar  308   b  slides on the U-bolt  306 . The clamping bar  308   b  is locked to the U-bolt  306  by the nuts  310   c  and  310   d , coupling the U-bolt  306  to the gripper  122   b  and the support arm  124   b . In some implementations, one of clamping bars  308   b  is placed through one of the openings  228   a - j  in the deformable structure  126   b  and the other clamping bar  308   a  is positioned on a back surface  314  of the deformable structure  126   b  adjacent the selected opening  228   a - j . The clamping bars  308   a ,  308   b  apply pressure to the rubber wall  323  between the opening  228   a - j  and the back surface  314  of the deformable structure  126   b . An outside surface  316  of the U-bolt  306  surrounds the support arm  124   b.    
     Alternatively or additionally, the U-bolt  306  can be placed with the opening  312  of the U-bolt  306  facing towards the deformable structure  126   b , e.g. with the opening  312  of the U-bolt  306  touching the deformable structure  126   b  without use of the clamping bar  308   a . In this arrangement, the gripper  122   b  is placed in the opening  312  of the U-bolt  306  and the clamping bar  308   b  slides on the U-bolt  306  and contacts the outer surface of the support arm  124   b . The clamping bar  308   b  is locked to the U-bolt  306  by the nuts  310   c  and  310   d , coupling the U-bolt  306  to the gripper  122   b  and the support arm  124   b.    
     An example process of servicing a refuse container  104  using the vehicle  102  will now be described in reference to  FIGS. 1, 4A, 4B, 5A, and 5B . 
     In order to service a refuse container, an operator  150  of the vehicle  102  positions the vehicle  102  proximate the refuse container  104  to be serviced. Once the vehicle  102  is positioned proximate the refuse container  104  to be serviced, the lift arm  110  can be controlled to position the grabber assembly  112  proximate the refuse container  104  in order to engage the refuse container  104 . For example, the lift arm  110  can extend the grabber assembly  112  outward from the vehicle  102  until the grabber assembly  112  is in a position to engage the refuse container  104 . Once the grabber assembly  112  is in close proximity to the refuse container  104 , a distance  162  between the grabber arms  120   a ,  120   b  is adjusted in order to engage and apply pressure to the refuse container  104 . For example, in some implementations, the grabber arms  120   a ,  120   b  are moved from an open position inwards towards one another and the distance  162  between the grabber arms  120   a ,  120   b  is continually reduced until the grabber arms  120   a ,  120   b  are in a closed position. In some implementations, the grabber arms  120   a ,  120   b  are moved into one predetermined closed position (with a distance  162  between the grabber arms  120   a ,  120   b ) without having to monitor the pressure applied to the refuse container  104 . Depending on the size of the refuse container  104 , engaging the refuse container  104  with the grabber assembly  112  in the closed position can result in application of pressure on the grippers  122   a ,  122   b  of the grabber arms  120   a ,  120   b  above a threshold amount of pressure, causing the deformable structure  126   a ,  126   b  of the grippers  122   a ,  122   b  to deform or collapse, as depicted in  FIG. 4B . 
     For example,  FIGS. 4A and 5A  depict the refuse collection vehicle  102  of  FIG. 1  with the grabber assembly  112  engaging a small refuse container  402 . When the grabber assembly  112  engages a refuse container  402  that has a width that is similar to the distance  162  between the grabber arms  120   a ,  120   b  in the closed position, the refuse container  402  fits between the grabber arms  120   a ,  120   b  without the surface of the refuse container  402  applying much force (e.g., less than a threshold amount of force) to the grippers  122   a ,  122   b . As a result, the deformable structure  126   a ,  126   b  of the grippers  122   a ,  122   b  may not fully collapse when gripping a refuse container  402  having a width similar to the distance  162  between the grabber arms  120   a ,  120   b  in the closed position. Rather, the deformable structure  126   a ,  126   b  of the grippers  122   a ,  122   b  maintains its structural rigidity and grips the small refuse container  402  without deforming or only slightly deforming or crushing the small refuse container  402 . 
     In contrast,  FIGS. 4B and 5B  depict the refuse collection vehicle  102  of  FIG. 1  with the grabber assembly grabbing a refuse container  404  that has a width that is larger than the distance  162  between the grabber arms  120   a ,  120   b  in the closed position. When the grabber assembly  112  grabs the large refuse container  404  with a width that is larger than the distance  162  between the grabber arms  120   a ,  120   b  in the closed position, the surface of refuse container  404  applies a force to the grippers  122   a ,  122   b  on the grabber arms  120   a ,  120   b  (e.g., more than a threshold amount of force) as the grabber arms  120   a ,  120   b  are moved into the closed position around the refuse container  404 . As a result, many or all of the openings  228   a - j  the deformable structure  126   a ,  126   b  of the grippers  122   a ,  122   b  collapse in response to the force applied to the grippers  122   a ,  122   b  by the surface of refuse container  404 . The collapse of one or more openings  228   a - j  the deformable structure  126   a ,  126   b  of the grippers  122   a ,  122   b  in response to the force applied to the grippers  122   a ,  122   b  by the surface of a refuse container  404  that has a width that is larger than the distance  162  between the grabber arms  120   a ,  120   b  in the closed position allows the grippers  122   a ,  122   b  to deform when engaging the large refuse container  404 , which prevents damage to the refuse container  404 . 
     As can be seen in  FIGS. 4A and 4B , by including collapsible grippers  122   a ,  122   b  on the grabber arms  120   a ,  120   b , the vehicle  102  can engage multiple container sizes (such as 32-gallon refuse containers, 48-gallon refuse container, 64-gallon refuse containers, and/or 96-gallon refuse containers) without needing to adjust the preset distance  162  between the grabber arms  120   a ,  120   b  in the closed position, while simultaneously avoiding damage to the containers during refuse collection. As a result, the efficiency and safety of operating the vehicle  102  is improved, as operators  150  can collect multiple sizes of refuse containers using the vehicle  102  without having to adjust the distance  162  between the grabber arms  120   a ,  120   b  in the closed position. 
     After the grabber arms  120   a ,  120   b  are in a closed position and refuse container  104  is engaged by the grabber assembly  112 , as depicted in  FIGS. 4A and 4B , the engaged refuse container  104  is lifted by the lift arm  110  to dump the contents of the refuse container  104  into the hopper  106  of the refuse collection vehicle  102 . The grabber assembly  112  maintains the pressure applied by the grabber arms  120   a  and  120   b  to the refuse container  104  throughout the process of lifting the container  104  and dumping the contents of the container  104  to ensure that the container  104  is not prematurely dropped. 
     After the contents of the engaged refuse container  104  are dumped into the hopper  106  of the refuse collection vehicle  102 , the lift arm  110  is lowered to return the refuse container  104  to the ground (or to another surface on which the refuse container was positioned when initially engaged by the grabber assembly  112 ). Once the refuse container  104  has been lowered to the ground or other placement surface, the grabber arms  120   a  and  120   b  move apart from one another to an open position, which releases the refuse container  104  from the grabber assembly  112 . 
     A gripper (e.g., grippers  122   a ,  122   b  of  FIGS. 1 and 2A-2D ) configured to grip the refuse container  104  can be manufactured by the following process or similar processes. In an example manufacturing process, the insert  234  of the gripper  122   b  is formed from a material that includes one or more openings therethrough. For example, a portion of the insert  234  can be removed to create a set of openings  240   a - e , each opening  240   a - e  in the set of openings  240   a -e being configured to receive a respective fastener  242 . Another portion of the insert  234  can be removed to create another set of openings  246   a - f  to further couple the insert  234  to the gripper  122   b . This subsequent set of openings  246   a - f  increases the overall surface area of the insert  234  that contacts the deformable structure  126   b  and laterally adheres the insert to the deformable structure  126   b . The openings  246   a - f  through the insert  234  can be formed, for example, by drilling or punching the openings through the insert  234 . The material used to form the insert  234  can be a metal, a fiberglass (such as a nylon-reinforced fiberglass), or a rubber material. 
     In some implementations, an end portion  252  of the insert  234  is bent or otherwise formed to conform to a corresponding portion  164  of the support arm  124   b  of  FIG. 1 ). Another end portion  254  of the insert  234  can bent to conform to another corresponding portion  166  of the support arm  124   b . For example, as shown in  FIG. 2D , the insert  234  is not straight. Opposite ends  248 ,  250  of the insert  234  are angled (bent) towards each other, causing the end portions  252 ,  254  to curve inwards toward a center portion  256  of the insert  234 . The end portions  252 ,  254  can be formed by stamping, molding, or welding multiple sections together to form the insert  234 . 
     The insert  234  can then be placed in a mold that defines a negative of the deformable structure  126   b  of the gripper  122   b . In some implementations, the insert  234  is removably coupled to the mold using one or more fasteners, such as one or more screws or pins, during the molding process, and after molding is complete the one or more fasteners coupling the insert to the mold are removed. Once the insert  234  is placed within the mold, a flowable material is injected into the mold to form a deformable structure  126   b  surrounding and coupled to the insert  234 . For example, the flowable material is flowed around the insert  234  and through the one or more openings  246   a - f  in the insert  234 . The flowable material can be a rubber. 
     In some implementations, end portions  252 ,  254  of the insert  234  extend outside the mold. As a result, the flowable material does not contact the end portions  252 ,  254  or fill the openings  240   a - e  on the end portions  252 ,  254  that are configured to receive fasteners therethrough. 
     Once the flowable material has cured, gripper  122   b  is removed from the mold. The deformable structure  126   b  formed by the above-described molding process is configured to deform in response to application of a threshold force being applied to a surface of the deformable structure  126   b  (e.g., by a refuse container  104  contacting the deformable structure  126   b ). 
     In some implementations, the gripper  122   b  to grip a refuse container  104  can be manufactured using a three-dimensional (3D) printing process. For example, a three-dimensional printer (not shown) can be used print a first layer (not shown) of the deformable structure (e.g., deformable structure  126   a ,  126   b  of  FIGS. 1 and 2A-2D ) using a three-dimensional filament (not shown). The first layer can be printed using one or multiple passes of the 3D printer on a surface (not shown). In some implementations, the first layer is a support layer of the deformable structure  126   b . The first layer can be printed onto a heated bed (not shown). 
     Once the first layer has been printed, the three-dimensional printing can be paused and the insert  234  can be positioned on a top surface of the first layer. Alternatively, the insert  234  can be printed using another three-dimensional filament (not shown), for example, a metal filament. Once the insert  234  is placed onto the first layer of the deformable structure  126   b , the three-dimensional printing is resumed and the three-dimensional printer can print another layer on the top surface of the first layer and over the insert  234 , either in one or many passes, with the three-dimensional filament. The subsequent layer can form the second layer of the deformable structure  126   b  with openings that deform in response to application of a threshold force to a surface of the deformable structure  126   b  (for example, by a refuse container  104  gripped by the deformable structure  126   b ). 
     In some implementations, once 3D printing of the subsequent layer is complete, the heated bed is be cooled. As the heated bed cools, the layers of the gripper  122   b  cool and cure to form a deformable gripper structure for gripping the refuse container  104 . 
     The three-dimensional filament used for 3D printing the deformable structure  126   b  can be a rubber filament. In some cases, manufacturing the three-dimensional printed gripper  122   b  can include positioning a flexible support layer (not shown) of mesh fibers on a back surface of the gripper  122   b  to add strength at a back surface of the gripper  122   b , and the back surface of the gripper  122   b  can be attached to the support arm  124   b  of the grabber assembly  112 . 3D printing the deformable structure  126   b  can include printing a textured surface on a surface of the deformable structure  126   b  configured to contact the refuse container  104  in order to increase the friction between the gripper  122   b  and the refuse container  104 , and, as a result, improve the engagement between the gripper  122   b  and the refuse container  104 . 
     While this specification contains many specifics, these should not be construed as limitations on the scope of the disclosure or of what may be claimed, but rather as descriptions of features specific to particular implementations. Certain features that are described in this specification in the context of separate implementations may also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation may also be implemented in multiple implementations separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination may in some examples be excised from the combination, and the claimed combination may be directed to a sub-combination or variation of a sub-combination. 
     Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems may generally be integrated together in a single software product or packaged into multiple software products. 
     A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. For example, various forms of the flows shown above may be used, with steps re-ordered, added, or removed. Accordingly, other implementations are within the scope of the following claim(s).