End effector with selectively deformable interface

Patent metadata

Field	Value
Publication number	US-10625428-B2
Application number	US-201816018748-A
Country	US
Kind code	B2
Filing date	Jun 26, 2018
Priority date	Jun 26, 2018
Publication date	Apr 21, 2020
Grant date	Apr 21, 2020

Abstract

Implementations of an end effector and an associated method of grasping an item are disclosed. The end effector comprises an interface system comprising a mounting plate having at least a first portion movable relative to at least a second portion. For example, the first portion and/or second portion are configured to pivot about at least a first pivot axis. The interface system further comprises a pliable body member attached to the mounting plate and at least partially defining an inner recess. The end effector further comprises a pair of actuators operably connected to the plate and each configured to apply a force to the plate so as to pivot a portion of the mounting plate and deform the pliable body member. The end effector further comprises a vacuum port in fluid communication with the inner recess.

First claim

What is claimed is:

1. An end effector configured to grasp items, the end effector comprising:
an interface system comprising:
a mounting plate having at least a first portion pivotable relative to at least a second portion, wherein the first portion is configured to pivot about at least a first pivot axis; and
a pliable body member attached to the mounting plate and having a sealing surface at its distal end configured to seal with items brought into contact with the end effector, the pliable body member at least partially defining an inner recess;

a pair of actuators operably connected to the mounting plate and each configured to apply a force to the mounting plate so as to pivot a portion of the mounting plate and deform the pliable body member; and
a vacuum port in fluid communication with the inner recess.

2. The end effector of claim 1 , wherein the pair of actuators are configured to apply the force at lateral portions of the mounting plate so as to pivot the mounting plate and deform the pliable body member.

3. The end effector of claim 1 , wherein the pair of actuators are configured to alter a geometry of the sealing surface.

4. The end effector of claim 1 , wherein the inner recess is a first inner recess and the interface system further comprises:
a second pliable body member attached to the mounting plate and that defines a second inner recess.

5. The end effector of claim 4 , wherein the vacuum port is in fluid communication with the second inner recess.

6. The end effector of claim 1 , wherein the pair of actuators comprise one or more linear actuators.

7. The end effector of claim 6 , wherein the one or more linear actuators are each attached to a rigid base arranged at a proximal end of the end effector.

8. A method of grasping an item using an end effector, the end effector comprising an interface system comprising a pliable body having a sealing surface at its distal end, the pliable body attached to a mounting plate having at least a first portion moveable relative to at least a second portion, wherein the first portion is configured to move about at least a first axis, the method comprising:
applying one or more forces to place the mounting plate in a pivoted position, wherein applying the one or more forces causes the first portion of the mounting plate to pivot about the first axis and alters a geometry of the sealing surface;
contacting an item with the sealing surface while the mounting plate is in the pivoted position;
maintaining a vacuum between the item and the pliable body; and
grasping the item via the pliable body.

9. The method of claim 8 , wherein moving the first portion of the mounting plate comprises deforming the mounting plate.

10. The method of claim 8 , wherein the sealing surface comprises a first sealing surface,
wherein the interface system further comprises a second pliable body attached to the mounting plate, the second pliable body having a second sealing surface at the distal end, and
wherein moving the first portion of the mounting plate comprises altering a relative orientation of the first sealing surface and the second sealing surface.

11. The method of claim 8 , wherein applying the one or more forces comprises:
applying the vacuum to an inner recess of the pliable body.

12. The method of claim 8 , wherein applying the one or more forces causes the second portion of the mounting plate to move.

13. The method of claim 8 , wherein pivoting the mounting plate comprises:
applying, using one or more actuators, a force at one or more lateral portions of the mounting plate.

14. The method of claim 13 , wherein the one or more actuators comprise two actuators arranged on opposing sides of the pliable body, and
wherein moving the mounting plate comprises applying force with each of the two actuators.

15. The method of claim 8 , further comprising:
identifying, using imagery acquired by one or more visual sensors, a target contact region of the item; and
determining, using the imagery, a geometry of the target contact region,
wherein pivoting the mounting plate is based on the geometry of the target contact region.

16. The method of claim 15 , wherein one or more actuators are used to pivot the mounting plate into the pivoted position, the method further comprising:
pivoting the mounting plate from the pivoted position to a different pivoted position using a vacuum applied to an inner recess of the pliable body.

17. An end effector configured to grasp items, the end effector comprising:
an interface system comprising:
a deformable mounting plate capable of being urged into a deformed configuration upon application of one or more forces, and returning to an undeformed configuration in an absence of the one or more forces; and
a pliable body member attached to the mounting plate and having a sealing surface at its distal end, the pliable body member at least partially defining an inner recess between the sealing surface and the plate, wherein the mounting plate being urged into the deformed configuration alters a geometry of the sealing surface; and

a vacuum port in fluid communication with the inner recess.

18. The end effector of claim 17 , wherein the pliable body member is attached to a distal surface of the mounting plate,
wherein the mounting plate comprises:
a support comprising a plurality of wall portions extending from a proximal surface of the mounting plate opposing the distal surface,

wherein the plurality of wall portions are arranged on opposing sides of a central opening defined by the mounting plate, and
wherein the plurality of wall portions are aligned along a longitudinal axis extending across a diameter of the mounting plate.

19. The end effector of claim 18 , wherein the support further comprises:
a raised portion connected between the plurality of wall portions,
wherein the raised portion defines an opening supporting the fluid communication of the vacuum port with the inner recess.

20. The end effector of claim 19 , wherein the raised portion is arranged concentrically with the proximal surface of the mounting plate.

Assignees

• Amazon Tech Inc

Inventors

• Coleman Gregory
• Marcus Beth A

Classifications

• B25J15/0616 Primary

  with vacuum · CPC title

• B65G47/91 Primary

  incorporating pneumatic, e.g. suction, grippers · CPC title

• B65G47/90

  Devices for picking-up and depositing articles or materials · CPC title