Systems and methods for robotic suction grippers

Patent metadata

Field	Value
Publication number	US-11059075-B2
Application number	US-202017084339-A
Country	US
Kind code	B2
Filing date	Oct 29, 2020
Priority date	Sep 21, 2017
Publication date	Jul 13, 2021
Grant date	Jul 13, 2021

Abstract

In one example embodiment, a robotic vacuum sorting system comprises: a suction gripper mechanism mounted to a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics. In response to an image signal from the imaging device, the robot control logic and electronics outputs robot control signals to control the sorting robot, and outputs one or more airflow control signals to the vacuum system to execute a capture action on a target object using the suction gripper. During the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at the gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object.

First claim

What is claimed is:

1. A sorting system, comprising:
a processor configured to:
receive an image signal from an imaging device;
in response to the image signal:
cause one or more robotic arms of the sorting system to be positioned over a target object;
cause the one or more robotic arms to lower a suction gripper towards the target object, wherein the suction gripper is coupled to the one or more robotic arms, wherein the suction gripper comprises a linear shaft that is coupled to a corresponding suction cup, wherein the linear shaft is adjustable in position;
cause a vacuum system to pull a vacuum through the suction gripper to pick up the target object; and
cause the vacuum system to reverse air pressure to send a positive airflow through the suction gripper to release the target object; and

a memory coupled to the processor and configured to processor with instructions.

2. The sorting system of claim 1 , wherein the processor is further configured to cause the vacuum system to pull the vacuum through the suction gripper to pick up the target object by selecting a corresponding supply of pressurized air.

3. The sorting system of claim 1 , wherein the vacuum system, comprises a reversible airflow generator.

4. The sorting system of claim 1 , wherein the processor is further configured to:
receive a vacuum pressure from a pressure sensor; and
compare the vacuum pressure to a predetermined threshold.

5. The sorting system of claim 4 , wherein the processor is further configured to:
determine that the vacuum pressure is equal to or greater than the predetermined threshold; and
determine that the target object has been successfully grasped.

6. The sorting system of claim 4 , wherein the processor is further configured to:
determine that the vacuum pressure is less than the predetermined threshold; and
determine that the target object has not been successfully grasped.

7. The sorting system of claim 6 , wherein the processor is further configured to cause the vacuum system to pull the vacuum through the suction gripper in a subsequent attempt to pick up the target object.

8. The sorting system of claim 6 , wherein the processor is further configured to store the determination that the target object has not been successfully grasped in the memory.

9. The sorting system of claim 1 , wherein the processor is further configured to determine whether an obstruction is present in the vacuum system including to:
determine that the one or more robotic arms have not been lowered towards the target object;
activate the vacuum system; and
determine whether the vacuum through the suction gripper is detected.

10. The sorting system of claim 9 , wherein the processor is further configured to:
determine that the vacuum through the suction gripper is detected; and
determine that the obstruction is present with the vacuum system.

11. The sorting system of claim 9 , wherein the processor is further configured to:
determine that the vacuum through the suction gripper is not detected; and
determine that the obstruction is not present with the vacuum system.

12. The sorting system of claim 1 , wherein the vacuum system is associated with an air source, wherein the air source comprises one or more of the following: a blower, an air compressor, and a compressed air storage tank.

13. The sorting system of claim 1 , wherein the vacuum system comprises a vacuum generator, wherein the vacuum generator comprises a compressed air driven Venturi vacuum system.

14. The sorting system of claim 1 , wherein the vacuum system comprises a vacuum generator, wherein the vacuum generator comprises a compressed air driven Coanda vacuum system.

15. A sorting system, comprising:
a processor configured to:
receive an image signal from an imaging device;
in response to the image signal:
cause one or more robotic arms of the sorting system to be positioned over a target object;
cause the one or more robotic arms to lower a suction gripper towards the target object, wherein the suction gripper is coupled to the one or more robotic arms, wherein the suction gripper comprises a plurality of linear shafts that is coupled to a corresponding respective plurality of suction cups, wherein each linear shaft of the plurality of linear shafts is independently adjustable in position;
cause a vacuum system to pull a vacuum through the suction gripper to pick up the target object; and
cause the vacuum system to reverse air pressure to send a positive airflow through the suction gripper to release the target object; and

a memory coupled to the processor and configured to processor with instructions.

16. The sorting system of claim 15 , wherein the processor is further configured to cause the vacuum system to pull the vacuum through the suction gripper to pick up the target object by selecting a corresponding supply of pressurized air.

17. The sorting system of claim 15 , wherein the vacuum system, comprises a reversible airflow generator.

18. The sorting system of claim 15 , wherein the processor is further configured to:
receive a vacuum pressure from a pressure sensor; and
compare the vacuum pressure to a predetermined threshold.

19. The sorting system of claim 18 , wherein the processor is further configured to:
determine that the vacuum pressure is equal to or greater than the predetermined threshold; and
determine that the target object has been successfully grasped.

20. The sorting system of claim 18 , wherein the processor is further configured to:
determine that the vacuum pressure is less than the predetermined threshold; and
determine that the target object has not been successfully grasped.

21. The sorting system of claim 20 , wherein the processor is further configured to cause the vacuum system to pull the vacuum through the suction gripper in a subsequent attempt to pick up the target object.

22. The sorting system of claim 20 , wherein the processor is further configured to store the determination that the target object has not been successfully grasped in the memory.

23. The sorting system of claim 15 , wherein the processor is further configured to determine whether an obstruction is present in the vacuum system including to:
determine that the one or more robotic arms have not been lowered towards the target object;
activate the vacuum system; and
determine whether the vacuum through the suction gripper is detected.

24. The sorting system of claim 23 , wherein the processor is further configured to:
determine that the vacuum through the suction gripper is detected; and
determine that the obstruction is present with the vacuum system.

25. The sorting system of claim 23 , wherein the processor is further configured to:
determine that the vacuum through the suction gripper is not detected; and
determine that the obstruction is not present with the vacuum system.

26. The sorting system of claim 15 , wherein the vacuum system is associated with an air source, wherein the air source comprises one or more of the following: a blower, an air compressor, and a compressed air storage tank.

27. The sorting system of claim 15 , wherein the vacuum system comprises a vacuum generator, wherein the vacuum generator comprises a compressed air driven Venturi vacuum system.

28. The sorting system of claim 15 , wherein the vacuum system comprises

Assignees

• Amp Robotics Corp

Inventors

• Mccoy Jr John C
• Horowitz Matanya B
• Bailey James A

Classifications

• B25J15/0675 Primary

  of the ejector type · CPC title

• B25J15/0658

  Pneumatic type, e.g. air blast or overpressure · CPC title

• B07C2501/0063

  Using robots · CPC title

• B07C5/3422

  using video scanning devices, e.g. TV-cameras · CPC title

• B07C5/365 Primary

  using a single separation means · CPC title