Systems and methods for acquiring and moving objects

Patent metadata

Field	Value
Publication number	US-10011020-B2
Application number	US-201615371921-A
Country	US
Kind code	B2
Filing date	Dec 7, 2016
Priority date	Jan 8, 2016
Publication date	Jul 3, 2018
Grant date	Jul 3, 2018

Abstract

An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

First claim

What is claimed is:

1. An end effector system for an arm of a robotic system, said end effector system comprising:
a primary acquisition system that includes a primary end effector for grasping an object from a first direction; and
a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein the secondary retention system is independently actuatable with respect to the primary acquisition system, wherein said secondary retention system applies retention forces in directions that are generally orthogonal to the first direction, and wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that said primary end effector may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination, and wherein said secondary retention system includes a flexible membrane generally in the form of an elastic toroid that contains a fluid or powder within the membrane.

2. The end effector system as claimed in claim 1 , wherein said primary acquisition system includes a conduit of air at other than atmospheric pressure for facilitating in providing vacuum pressure at the primary end effector.

3. The end effector system as claimed in claim 2 , wherein said air is at a positive pressure and is provided to a Venturi opening at or near the end effector.

4. An end effector system for an arm of a robotic system, said end effector system comprising:
a primary acquisition system that includes a primary end effector that provides a vacuum at an end effector contact surface; and
a secondary retention system proximate to the primary acquisition system and independently actuatable with respect to the primary acquisition system such that said primary end effector may be used to select an object from a plurality of objects, and the secondary retention system may be independently used to retain the object for rapid transport to an output destination, and wherein said secondary retention system includes a flexible membrane generally in the form of an elastic toroid that contains a fluid or powder within the membrane.

5. The end effector system as claimed in claim 4 , wherein said primary acquisition system includes a conduit of air at other than atmospheric pressure for facilitating in providing vacuum pressure at the primary end effector.

6. The end effector system as claimed in claim 5 , wherein said air is at a positive pressure and is provided to a Venturi opening at or near the end effector.

7. A method of engaging and moving an object using a robotic system, said method comprising the steps of:
engaging the object with a primary end effector of a primary acquisition system along a first direction;
moving the object toward a secondary retention system along a second direction that is generally opposite the first direction;
retaining the object with the secondary retention system through application of forces along directions that are generally orthogonal to the first and second directions, said step of retaining the object with the secondary retention system being independent of the prior steps of engaging the object and moving the object such that movement of the secondary retention system is not dependent on movement of the primary acquisition system, wherein the secondary retention system includes a flexible membrane generally in the form of a toroid that contains a fluid or powder within the membrane; and
transporting the object to an output destination.

8. The method as claimed in claim 7 , wherein said method further includes the step of releasing the object from the primary acquisition system once the object is retained by the secondary retention system.

9. The method as claimed in claim 7 wherein said primary acquisition system includes a conduit of air at other than atmospheric pressure for facilitating in providing vacuum pressure at the primary end effector.

10. The method as claimed in claim 9 wherein said air is at vacuum pressure, and wherein the secondary retention system substantially surrounds the conduit of air.

11. The method as claimed in claim 9 , wherein said air is at a positive pressure and is provided to a Venturi opening at or near the end effector, and wherein the secondary retention system substantially surrounds the conduit of air.

12. An end effector system for an arm of a robotic system, said end effector system comprising:
a primary acquisition system that includes a primary end effector that provides a vacuum at an end effector contact surface; and
a secondary retention system proximate to the primary acquisition system and independently actuatable with respect to the primary acquisition system such that said primary end effector may be used to select an object from a plurality of objects, and the secondary retention system may be independently used to retain the object for rapid transport to an output destination, wherein said secondary retention system includes a retention area for containing the object, and wherein the retention area is defined by a retention bin that includes at least one wall and a floor.

13. The end effector system as claimed in claim 12 , wherein said primary acquisition system includes a conduit of air at other than atmospheric pressure for facilitating in providing vacuum pressure at the primary end effector.

14. The end effector system as claimed in claim 13 , wherein said air is at a positive pressure and is provided to a Venturi opening at or near the end effector.

15. The end effector system as claimed in claim 12 , wherein the floor may be opened to release the object.

16. A method of engaging and moving an object using a robotic system, said method comprising the steps of:
engaging the object with a primary end effector of a primary acquisition system along a first direction;
moving the object toward a secondary retention system along a second direction that is generally opposite the first direction;
releasing the object from the primary acquisition system once the object is retained by the secondary retention system;
retaining the object with the secondary retention system through application of forces along directions that are generally orthogonal to the first and second directions, said step of retaining the object with the secondary retention system being independent of the prior steps of engaging the object and moving the object such that movement of the secondary retention system is not dependent on movement of the primary acquisition system; and
transporting the object to an output destination.

17. The method as claimed in claim 16 wherein said primary acquisition system includes a conduit of air at other than atmospheric pressure for facilitating in providing vacuum pressure at the primary end effector.

18. The method as claimed in claim 17 wherein said air is at vacuum pressure, and wherein the secondary retention system substantially surrounds the conduit of air.

19. The method as claimed in claim 17 , wherein said air is at a positive pressure and is provided to a Venturi opening at or near the end effector.

20. The method as claimed in claim 16 , wherein said secondary retention system includes a retention bin proximate to the primary gripper system, and wherein said step of retaining the object with the secondary retention system includes the step of transferring the object from the primary end effector to the retenti

Assignees

• Berkshire Grey Inc
• Berkshire Grey Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Cohen Benjamin
• DAWSON-HAGGERTY Michael
• GEYER Christopher
• Koletschka Thomas
• MARONEY Kyle
• Mason Matthew T
• Price Gene Temple
• Romano Joseph
• Smith Daniel
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• B25J15/10

  with three or more finger members {(B25J15/0009 takes precedence)} · CPC title

• B25J15/0616

  with vacuum · CPC title

• Y10S901/40

  Vacuum or mangetic · CPC title

• B25J15/0095

  with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations · CPC title

• B25J15/0023 Primary

  Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12) · CPC title