Systems for removing items from a container

Patent metadata

Field	Value
Publication number	US-10363635-B2
Application number	US-201615387408-A
Country	US
Kind code	B2
Filing date	Dec 21, 2016
Priority date	Dec 21, 2016
Publication date	Jul 30, 2019
Grant date	Jul 30, 2019

Abstract

An example system includes a moveable arm, a pick tool connected to the arm, and a controller. The pick tool includes a first finger, a second finger disposed opposite the first finger, a first handler disposed at a first end of the first finger, and a second handler disposed at a first end of the second finger. Rotation of the first and second handlers while first and second forces are applied to an item by the first and second handlers, respectively, causes movement of the item.

First claim

The invention claimed is:

1. A system, comprising:
a substantially rigid frame;
an arm movably connected to the frame;
a pick tool connected to the arm; and
a controller operably connected to the arm and the pick tool, the controller being configured to control movement of the arm and operation of the pick tool, the pick tool including:
a first finger comprising a first segment and a second segment movably connected to the first segment;
a second finger disposed opposite the first finger and moveable relative to the first finger;
a first handler connected to the second segment and disposed at a first end of the first finger, the first handler being moveable relative to the first finger; and
a second handler disposed at a first end of the second finger and moveable relative to the second finger, wherein:
the first handler is configured to apply a first force to an item in a first direction toward the second handler,
the second handler is configured to apply a second force to the item in a second direction toward the first handler,
at least one component of the pick tool applies a biasing force to the first finger and the second finger such that the pick tool is temporarily maintained in a substantially closed position in which the first handler is disposed proximate the second handler, and
rotation of the first handler and the second handler during application of the first force and the second force to the item causes movement of the item in a lifting direction substantially perpendicular to the first direction and the second direction.

2. The system of claim 1 , further comprising a sensor connected to the pick tool or the arm, the sensor being configured to:
determine a position of the item relative to the pick tool;
generate a signal containing information indicative of the position; and
provide the signal to the controller, wherein the controller is configured to control operation of the pick tool at least partly in response to the signal.

3. The system of claim 1 , further comprising a conveyor disposed proximate the pick tool, wherein:
the pick tool is configured to remove the item from a container containing a plurality of additional items disposed substantially adjacent to the item by moving the item in the lifting direction; and
the conveyor is configured to receive the item from the pick tool, and to move the item to a location remote from the pick tool.

4. The system of claim 1 , further comprising:
a first actuator connected to a second end of the first finger and operably connected to the controller; and
a second actuator connected to the arm and operably connected to the controller, wherein
the first actuator is configured to move the first finger in a third direction away from the second finger, and
the second actuator is configured to rotate the arm in a fourth direction relative to the frame.

5. The system of claim 1 , wherein:
the first finger comprises a first actuator operably connected to the controller and configured to rotate the first handler relative to the first finger; and
the second finger comprises a second actuator operably connected to the controller and configured to rotate the second handler relative to the second finger.

6. A pick tool, comprising:
a first finger comprising a first segment and a second segment movably connected to the first segment;
a second finger disposed opposite the first finger and moveable relative to the first finger;
a first handler connected to the second segment and disposed at a first end of the first finger, the first handler being moveable relative to the first finger; and
a second handler disposed at a first end of the second finger and moveable relative to the second finger, wherein:
rotation of the first handler and the second handler, in opposite directions, while the first handler is in contact with a first side of an item and the second handler is in contact with a second side of the item, causes movement of the item, and wherein
the first side of the item is opposite the second side of the item.

7. The pick tool of claim 6 , further comprising a sensor configured to:
determine a position of the item relative to the pick tool;
generate a signal containing information indicative of the position; and
provide the signal to a controller configured to control operation of the pick tool at least partly in response to the signal.

8. The pick tool of claim 6 , further comprising at least one actuator, wherein a second end of the first finger is connected to the at least one actuator and the at least one actuator is configured to move the first finger in a direction away from the second finger.

9. The pick tool of claim 6 , further comprising a third finger movably connected to the first finger between a first end of the first segment and a second end of the first segment.

10. The pick tool of claim 9 , further comprising a third handler connected to a distal end of the third finger and rotatable relative to the third finger.

11. The pick tool of claim 6 , further comprising:
a third finger connected to the first finger; and
a third handler connected to the third finger and moveable relative to the third finger, wherein
the rotation of the first handler and the second handler, in opposite directions, while the first handler and the third handler are in contact with the first side of the item and the second handler is in contact with the second side of the item, causes the movement of the item.

12. The pick tool of claim 6 , further comprising a first protective shield connected to the first finger and covering at least part of the first handler, and a second protective shield connected to the second finger and covering at least part of the second handler.

13. The pick tool of claim 6 , wherein:
the first finger comprises a first actuator configured to rotate the first handler relative to the first finger; and
the second finger comprises a second actuator configured to rotate the second handler relative to the second finger.

14. The pick tool of claim 13 , wherein:
the first actuator is configured to rotate the first handler in a counterclockwise direction at a first speed; and
the second actuator is configured to rotate the second handler, during rotation of the first handler, in a clockwise direction at the first speed.

15. The pick tool of claim 6 , further comprising:
a third finger connected to the first finger;
a fourth finger connected to the second finger;
a third handler connected to the third finger and moveable relative to the third finger; and
a fourth handler connected to the fourth finger and moveable relative to the fourth finger, wherein:
rotation of the third handler and the fourth handler in opposite directions while the first handler, the second handler, the third handler, and the fourth handler are in contact with the item causes movement of the item in a substantially vertical direction.

16. The pick tool of claim 6 , wherein the first finger and the second finger are configured to pivot about a common axis, the pick tool further comprising:
a third finger movably connected to the first finger between a first end of the first finger and a second end of the first finger; and
a third handler connected to a first end of the third finger, the third handler being configured to apply a force to the item while the first handler is in contact with the first side of the item and the second handler is in contact with the second side of the item.

17. A method, comprising:
causing, with a controller, a first handler of a pick tool

Assignees

• Amazon Tech Inc

Inventors

• Claretti Ennio
• Marchese Andrew D
• Stubbs Andrew
• Xu Ying

Classifications

• B25J9/0093

  co-operating with conveyor means · CPC title

• B65G1/0464

  with access from above · CPC title

• B25J15/0206

  comprising articulated grippers · CPC title

• B25J19/0075

  Means for protecting the manipulator from its environment or vice versa · CPC title

• B25J15/08

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title